CN113129606A - Road signal lamp early warning method, device and medium - Google Patents
Road signal lamp early warning method, device and medium Download PDFInfo
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- CN113129606A CN113129606A CN202010041818.3A CN202010041818A CN113129606A CN 113129606 A CN113129606 A CN 113129606A CN 202010041818 A CN202010041818 A CN 202010041818A CN 113129606 A CN113129606 A CN 113129606A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
- G08G1/13—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station the indicator being in the form of a map
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W28/00—Network traffic management; Network resource management
- H04W28/02—Traffic management, e.g. flow control or congestion control
- H04W28/0226—Traffic management, e.g. flow control or congestion control based on location or mobility
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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Abstract
本发明涉及一种道路信号灯预警方法、装置及介质，所述方法包括：接收车载终端发送的目标车辆的位置信息和航向信息；基于所述目标车辆的位置信息、航向信息和预设的路侧地图信息确定所述目标车辆距离前方路口的距离；基于所述目标车辆的位置信息、所述路侧地图信息和预设的路侧信号灯信息确定与所述目标车辆的车道对应的信号灯信息；将所述目标车辆距离前方路口的距离和与所述目标车辆的车道对应的信号灯信息发送给所述车载终端，以使所述车载终端基于所述目标车辆的车速、目标车辆距离前方路口的距离和与所述目标车辆的车道对应的信号灯信息判断是否执行道路信号灯预警。实施本发明，可最小化车路交互的数据通信量，提高车路交互数据传输的效率。
The invention relates to a road signal light warning method, device and medium. The method includes: receiving the position information and heading information of a target vehicle sent by a vehicle-mounted terminal; based on the position information, heading information and preset roadside information of the target vehicle The map information determines the distance between the target vehicle and the intersection ahead; the signal light information corresponding to the lane of the target vehicle is determined based on the position information of the target vehicle, the roadside map information and the preset roadside signal light information; The distance of the target vehicle from the intersection ahead and the signal light information corresponding to the lane of the target vehicle are sent to the vehicle terminal, so that the vehicle terminal is based on the speed of the target vehicle, the distance between the target vehicle and the intersection ahead and The signal light information corresponding to the lane of the target vehicle is used to determine whether to execute the road signal light warning. By implementing the present invention, the data communication amount of vehicle-road interaction can be minimized, and the efficiency of vehicle-road interaction data transmission can be improved.
Description
Technical Field
The invention relates to the field of vehicle safety, in particular to a road signal lamp early warning method, a road signal lamp early warning device and a road signal lamp early warning medium.
Background
With the development of vehicle intelligent technology, automatic driving becomes the mainstream development direction of vehicle technology, and in the automatic driving process, a vehicle needs to acquire and analyze real-time traffic information to guide the driving behavior of the vehicle and avoid traffic accidents. For example, traffic light information of an intersection ahead of the vehicle can be provided for a vehicle driver through a road signal light warning such as an RLVW (red light running warning), so that a possible red light running risk can be warned even if the signal light of the road is blocked.
In the process, the vehicle needs to receive the map information provided by the roadside terminal, but the map information of the roadside terminal may cover a plurality of intersection ranges, and when a large number of vehicles are provided, the total amount of vehicle-road interaction data is greatly increased, and the real-time performance of data reception is affected.
Therefore, it is necessary to provide an economic and effective interaction mode for vehicle-road data and cooperative signaling, which controls the total overhead of signaling data transmission, reduces the data transmission time, and improves the real-time performance and driving safety of vehicle to acquire traffic information on the basis of ensuring the necessary traffic information transmission.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a method, an apparatus and a medium for warning a road signal lamp, so as to improve the efficiency of vehicle-road interactive data transmission.
The invention provides a road signal lamp early warning method in a first aspect, which comprises the following steps: receiving position information and course information of a target vehicle sent by a vehicle-mounted terminal; determining the distance between the target vehicle and a front intersection based on the position information, the course information and preset roadside map information of the target vehicle; determining signal lamp information corresponding to a lane of the target vehicle based on the position information of the target vehicle, roadside map information, and roadside signal lamp information; and sending the distance between the target vehicle and the front intersection and signal lamp information corresponding to the lane of the target vehicle to the vehicle-mounted terminal so that the vehicle-mounted terminal judges whether to execute road signal lamp early warning or not based on the speed of the target vehicle, the distance between the target vehicle and the front intersection and the signal lamp information corresponding to the lane of the target vehicle.
Further, the determining the distance from the target vehicle to the intersection ahead based on the position information, the heading information and the preset roadside map information of the target vehicle comprises: determining lane stop line information of a front intersection of the target vehicle based on the position information, the course information and the roadside map information of the target vehicle; determining a distance of the target vehicle from a front intersection based on the position information of the target vehicle and the lane stop line information.
Further, the determining signal light information corresponding to the lane of the target vehicle based on the position information of the target vehicle, roadside map information, and roadside signal light information includes: determining lane information of the target vehicle based on the position information of the target vehicle and roadside map information; and extracting signal light information corresponding to the lane of the target vehicle from the roadside signal light information based on the lane information of the target vehicle.
The second aspect of the present invention provides a road signal lamp early warning method, including: sending the position information and the course information of the target vehicle to a road side terminal; receiving the distance from the target vehicle to the front intersection, which is sent by a road side terminal, wherein the distance from the target vehicle to the front intersection is the distance determined by the road side terminal based on the position information, the course information and preset road side map information of the target vehicle; receiving signal lamp information which is sent by a road side terminal and corresponds to a lane of the target vehicle, wherein the signal lamp information which corresponds to the lane of the target vehicle is the signal lamp information which is determined by the road side terminal based on the position information of the target vehicle, road side map information and preset road side signal lamp information; and judging whether to execute road signal lamp early warning or not based on the speed of the target vehicle, the distance between the target vehicle and a front intersection and signal lamp information corresponding to a lane of the target vehicle.
Further, the signal light information corresponding to the lane of the target vehicle includes: the state of the current signal lamp, the remaining time of the current signal lamp and the state of the next signal lamp; correspondingly, the judging whether to execute the road signal lamp early warning or not based on the vehicle speed of the target vehicle, the distance of the target vehicle from the front intersection and the signal lamp information corresponding to the lane of the target vehicle comprises: determining a remaining time for the target vehicle to travel to a front intersection based on a vehicle speed of the target vehicle and a distance of the target vehicle from the front intersection; and judging whether to execute road signal lamp early warning or not based on the remaining time of the target vehicle running to the front intersection, the state of the current signal lamp, the remaining time of the current signal lamp and the state of the next signal lamp.
Further, the method further comprises: if the early warning of the road signal lamp is executed, controlling the target vehicle to stop at the front intersection for waiting; and if the early warning of the road signal lamp is not executed, controlling the target vehicle to pass through the front intersection.
The third aspect of the invention provides a road signal lamp early warning method, which comprises the following steps: the vehicle-mounted terminal sends the position information and the course information of the target vehicle to the road side terminal; the road side terminal determines the distance between the target vehicle and the front intersection based on the position information and the course information of the target vehicle and preset road side map information; the roadside terminal determines signal lamp information corresponding to the lane of the target vehicle based on the position information of the target vehicle, roadside map information and roadside signal lamp information; the roadside terminal sends the distance between the target vehicle and the front intersection and signal lamp information corresponding to the lane of the target vehicle to the vehicle-mounted terminal; and the vehicle-mounted terminal executes road signal lamp early warning based on the speed of the target vehicle, the distance from the target vehicle to the front intersection and signal lamp information corresponding to the lane of the target vehicle.
A fourth aspect of the present invention provides a road signal lamp warning device, comprising: the position and course information receiving module is used for receiving the position information and the course information of the target vehicle sent by the vehicle-mounted terminal; the distance determining module is used for determining the distance between the target vehicle and a front intersection based on the position information, the course information and preset roadside map information of the target vehicle; a signal light information determination module for determining signal light information corresponding to a lane of the target vehicle based on the position information of the target vehicle, roadside map information, and roadside signal light information; and the distance and signal lamp information sending module is used for sending the distance between the target vehicle and the front intersection and the signal lamp information corresponding to the lane of the target vehicle to the vehicle-mounted terminal so that the vehicle-mounted terminal judges whether to execute road signal lamp early warning or not based on the speed of the target vehicle, the distance between the target vehicle and the front intersection and the signal lamp information corresponding to the lane of the target vehicle.
The fifth aspect of the present invention provides a road signal lamp early warning device, comprising: the position and course information sending module is used for sending the position information and the course information of the target vehicle to the road side terminal; the distance information receiving module is used for receiving the distance from the target vehicle to the front intersection, which is sent by the road side terminal, wherein the distance from the target vehicle to the front intersection is the distance determined by the road side terminal based on the position information, the course information and the preset road side map information of the target vehicle; the signal lamp information receiving module is used for receiving signal lamp information which is sent by a road side terminal and corresponds to the lane of the target vehicle through second information, wherein the signal lamp information which corresponds to the lane of the target vehicle is the signal lamp information which is determined by the road side terminal based on the position information of the target vehicle, road side map information and preset road side signal lamp information; and the early warning judgment module is used for judging whether to execute road signal lamp early warning or not based on the speed of the target vehicle, the distance between the target vehicle and the front intersection and signal lamp information corresponding to the lane of the target vehicle.
A sixth aspect of the present invention provides a computer-readable storage medium storing at least one instruction, at least one program, a set of codes, or a set of instructions that cause a computer to perform any one of the road signal warning methods.
Due to the technical scheme, the invention has the following beneficial effects:
in the interaction process of the vehicle-mounted terminal and the road-side terminal, the road-side terminal does not need to send all map information in a communication range to a target vehicle, only by receiving position information and course information sent by the vehicle-mounted terminal, and determining the distance from the target vehicle to a front intersection and signal lamp information corresponding to a lane of the target vehicle by combining the road-side map information and the road-side signal lamp information of the road-side terminal, and only sending the determined distance from the target vehicle to the front intersection and the signal lamp information corresponding to the lane of the target vehicle to the vehicle-mounted terminal, so that the vehicle-mounted terminal carries out road signal lamp early warning based on the received information, thereby realizing economical and effective interaction of vehicle-road data and cooperative signaling, controlling the total overhead of signaling transmission data and reducing the data transmission time on the basis of ensuring necessary traffic information transmission, the data communication traffic of vehicle-road interaction is minimized, and the efficiency of vehicle-road interaction data transmission is improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic structural diagram of a road signal lamp early warning system provided in an embodiment of the present invention;
fig. 2 is a schematic flow chart of a road signal lamp warning method using a roadside terminal as an execution main body according to an embodiment of the present invention;
fig. 3 is a data structure diagram of road side map information of a road side terminal according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an inLinks structure in roadside map information provided by an embodiment of the present invention;
fig. 5 is a schematic flow chart of a road signal lamp warning method using a vehicle-mounted terminal as an execution subject according to an embodiment of the present invention;
fig. 6 is a schematic flow chart of data interaction between a vehicle-mounted terminal and a roadside terminal according to an embodiment of the present invention;
fig. 7 is a schematic block diagram of a structure of a road signal lamp early warning device provided in an embodiment of the present invention;
fig. 8 is a block diagram schematically illustrating another road signal lamp warning device according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.
Referring to fig. 1, fig. 1 is a schematic view of a road signal lamp warning system according to an embodiment of the present invention, and as shown in fig. 1, the system may at least include a vehicle-mounted terminal 01, a roadside terminal 02, and a server 03.
Specifically, the vehicle-mounted terminal 01 may include a vehicle-mounted central control device, a vehicle-mounted control device, and other types of physical devices, and may also include software running in the physical devices, such as an application program.
Specifically, the roadside terminal 02 may include a read/write controller, an antenna, and the like, may store map information and the like in a target range, and may be used for information acquisition and the like.
Specifically, the server 03 may include an independently operating server, or a distributed server, or a server cluster composed of a plurality of servers. The server 03 may comprise a network communication unit, a processor, a memory, etc. Specifically, the server 03 may provide background services for the vehicle-mounted terminal 01 and the roadside terminal 02, and the server 03 may store map information of a target area and the like.
Referring to fig. 2, fig. 2 is a schematic flow chart of the warning method for a road signal lamp according to the embodiment of the present invention, and the present specification provides the method operation steps described in the embodiment or the flow chart, but may include more or less operation steps based on conventional or non-creative labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In practice, the device or storage medium may be executed sequentially or in parallel (e.g., in the context of parallel processors or multi-threaded processing) in accordance with the methods described in the embodiments or shown in the drawings. Specifically, as shown in fig. 2, the method may include:
step S201: receiving position information and course information of a target vehicle sent by a vehicle-mounted terminal;
in an embodiment of the present specification, the vehicle-mounted terminal is a terminal that is set on a target vehicle within a communication range of the roadside terminal, the position information of the target vehicle may include, but is not limited to, real-time coordinate information of the target vehicle, and the like, and the position information of the target vehicle may be obtained by a global positioning system such as GPS or beidou; the heading information may include, but is not limited to, a heading angle of the target vehicle, and the like.
Step S203: determining the distance between the target vehicle and a front intersection based on the position information, the course information and preset roadside map information of the target vehicle;
in the embodiment of the present specification, the roadside map information is stored in the roadside terminal in advance, the roadside map information includes all map information within a communication coverage area of the roadside terminal, and specifically, the roadside map information includes all intersection information within the communication coverage area of the roadside terminal, information of a plurality of intersections corresponding to each intersection, lane information included in each intersection, lane stop line information of each lane at an intersection ahead, and the like.
In a specific embodiment, referring to the national standard document (T/CSAE, application layer of cooperative intelligent transportation system for vehicle and application data interaction standard, 53-2017), the data structure of the roadside information map information is shown in fig. 3, and as can be seen from the data structure, each intersection includes an inlines structure, each inlines structure includes Link information of a plurality of intersections corresponding to the intersection, and as shown in fig. 4, when an intersection includes 4 intersections, the inlines structure of the intersection includes four sets of information, namely Link1, Link2, Link3 and Link 4. Each intersection may include a plurality of lane information, as shown in fig. 3, each Link may include a plurality of lanes, and each lane may include a plurality of points for indicating the direction of the lane, the lane stop line information of the lane at the intersection ahead, and the like.
In some embodiments, the determining the distance of the target vehicle from the intersection ahead of the target vehicle based on the position information, the heading information, and the preset roadside map information of the target vehicle may include:
determining lane stop line information of a front intersection of the target vehicle based on the position information, the course information and the roadside map information of the target vehicle;
specifically, the lane information where the target vehicle is currently located may be matched based on the position information of the target vehicle and the roadside map information, and the lane stop line information of the intersection ahead of the target vehicle may be determined based on the lane information and the heading information where the target vehicle is currently located.
For example, after the roadside terminal receives the position information of the target vehicle, when the map data stored in the following route Node1-Link1-lane2 of the roadside map information is determined to be closest to the position information of the target vehicle, that is, when the lane where the target vehicle is currently located is matched with lane2, and when the lane where the target vehicle is currently located is matched with lane2, the lane stop line information of the intersection ahead of the target vehicle may be determined based on the heading information of the target vehicle and the lane stop line information included in lane 2.
Determining a distance of the target vehicle from a front intersection based on the position information of the target vehicle and the lane stop line information.
Specifically, the shortest distance from the head of the target vehicle to the lane stop line may be determined as the distance from the target vehicle to the intersection ahead.
Step S205: determining signal lamp information corresponding to a lane of the target vehicle based on the position information of the target vehicle, the roadside map information and preset roadside signal lamp information;
in this embodiment, the roadside signal light information is pre-stored in the roadside terminal, and the roadside signal light information includes all signal light information within the communication coverage of the roadside terminal, specifically, the roadside signal light information includes, but is not limited to, information such as the current signal light state, the current signal light remaining time, and the next signal light state of the signal lights of all lanes within the communication coverage of the roadside terminal.
In some embodiments, the determining signal light information corresponding to the lane of the target vehicle based on the position information of the target vehicle, roadside map information, and roadside signal light information may include:
determining lane information of the target vehicle based on the position information of the target vehicle and roadside map information;
as described above, after the roadside terminal receives the position information of the target vehicle, the lane information of the target vehicle may be determined based on the position information of the target vehicle and roadside map information.
And extracting signal light information corresponding to the lane of the target vehicle from the roadside signal light information based on the lane information of the target vehicle.
Specifically, the roadside signal light information includes information such as the current signal light state, the current signal light remaining time, and the next signal light state of the signal lights of all the lanes within the communication coverage area of the roadside terminal, so that after the lane information of the target vehicle is determined, the signal light information corresponding to the lane of the target vehicle can be extracted from the roadside signal light information based on the lane information of the target vehicle.
Step S207: and sending the distance between the target vehicle and the front intersection and signal lamp information corresponding to the lane of the target vehicle to the vehicle-mounted terminal so that the vehicle-mounted terminal judges whether to execute road signal lamp early warning or not based on the speed of the target vehicle, the distance between the target vehicle and the front intersection and the signal lamp information corresponding to the lane of the target vehicle.
In the embodiment of the present specification, the road signal light warning includes, but is not limited to, a red light running warning, a yellow light running warning, and the like.
It is understood that the in-vehicle terminal may determine the remaining time of the target vehicle traveling to the intersection ahead of the target vehicle based on the vehicle speed of the target vehicle and the distance of the target vehicle from the intersection ahead, and may determine whether to perform the traffic light warning by comparing the remaining time of the target vehicle traveling to the intersection ahead of the target vehicle with the traffic light information corresponding to the lane of the target vehicle.
At one endIn some embodiments, if the current signal light status is red light, the next signal light status is green light, and the remaining time T of the current signal lightR(ii) a Calculating the remaining time T of the target vehicle running to the intersection in front of the target vehicle according to the distance between the target vehicle and the intersection in front of the target vehicle and the vehicle speed of the target vehicle; calculating T-TRIf the first difference is less than or equal to a first preset threshold value, sending a red light running early warning; if the first difference is larger than a first preset threshold value, no red light running early warning is sent; in one embodiment, the first preset threshold may be 0 s.
In other embodiments, if the current signal lamp status is green, the next signal lamp status is yellow, and the current signal lamp remaining time TG(ii) a Calculating the remaining time T of the target vehicle running to the intersection in front of the target vehicle according to the distance between the target vehicle and the intersection in front of the target vehicle and the vehicle speed of the target vehicle; calculating T-TGIf the second difference is larger than or equal to a second preset threshold value, sending a yellow light running early warning; if the second difference is smaller than a second preset threshold value, no yellow light running early warning is sent; in one embodiment, the second preset threshold may be 0 s.
In other embodiments, if the current signal light state is green, the next signal light state is red, and the remaining time T of the current signal lightG(ii) a Calculating the remaining time T of the target vehicle running to the intersection in front of the target vehicle according to the distance between the target vehicle and the intersection in front of the target vehicle and the vehicle speed of the target vehicle; calculating T-TGIf the third difference is greater than or equal to a third preset threshold, sending a red light running early warning; if the third difference is smaller than a third preset threshold value, no red light running early warning is sent; in one embodiment, the third preset threshold may be 0 s.
It should be noted that the current signal lamp status and the next signal lamp status may have more combinations, and are not limited to the combination manner in the above-described embodiments. The first preset threshold, the second preset threshold and the third preset threshold are not limited to 0s, and may be determined as appropriate according to actual conditions of vehicles and traffic.
Referring to fig. 5, fig. 5 is a schematic flow chart diagram of a road signal lamp warning method according to an embodiment of the present invention, where the method may include:
step S501: sending the position information and the course information of the target vehicle to a road side terminal;
step S503: receiving the distance from the target vehicle to the front intersection, which is sent by a road side terminal, wherein the distance from the target vehicle to the front intersection is the distance determined by the road side terminal based on the position information, the course information and preset road side map information of the target vehicle;
step S505: receiving signal lamp information which is sent by a road side terminal and corresponds to a lane of the target vehicle, wherein the signal lamp information which corresponds to the lane of the target vehicle is the signal lamp information which is determined by the road side terminal based on the position information of the target vehicle, road side map information and preset road side signal lamp information;
step S507: and judging whether to execute road signal lamp early warning or not based on the speed of the target vehicle, the distance between the target vehicle and a front intersection and signal lamp information corresponding to a lane of the target vehicle.
In some embodiments, the signal light information corresponding to the lane of the target vehicle may include: the state of the current signal lamp, the remaining time of the current signal lamp and the state of the next signal lamp;
correspondingly, the determining whether to perform the road signal light early warning based on the vehicle speed of the target vehicle, the distance of the target vehicle from the intersection ahead, and the signal light information corresponding to the lane of the target vehicle may include:
determining a remaining time for the target vehicle to travel to a front intersection based on a vehicle speed of the target vehicle and a distance of the target vehicle from the front intersection;
and judging whether to execute road signal lamp early warning or not based on the remaining time of the target vehicle running to the front intersection, the state of the current signal lamp, the remaining time of the current signal lamp and the state of the next signal lamp.
In some embodiments, the method may further comprise:
if the early warning of the road signal lamp is executed, controlling the target vehicle to stop at the front intersection for waiting;
and if the early warning of the road signal lamp is not executed, controlling the target vehicle to pass through the front intersection.
Referring to fig. 6, fig. 6 is a schematic flow chart of a road signal lamp warning method according to an embodiment of the present invention, where the method may include:
step S601: the vehicle-mounted terminal sends the position information and the course information of the target vehicle to the road side terminal;
step S603: the road side terminal determines the distance between the target vehicle and the front intersection based on the position information and the course information of the target vehicle and preset road side map information;
step S605: the roadside terminal determines signal lamp information corresponding to the lane of the target vehicle based on the position information of the target vehicle, the roadside map information and preset roadside signal lamp information;
step S607: the roadside terminal sends the distance between the target vehicle and the front intersection and signal lamp information corresponding to the lane of the target vehicle to the vehicle-mounted terminal;
step S609: and the vehicle-mounted terminal executes road signal lamp early warning based on the speed of the target vehicle, the distance from the target vehicle to the front intersection and signal lamp information corresponding to the lane of the target vehicle.
An embodiment of the present invention further provides a road signal lamp early warning device, as shown in fig. 7, the device includes:
the position and course information receiving module 710 is used for receiving the position information and the course information of the target vehicle sent by the vehicle-mounted terminal;
a distance determining module 720, configured to determine, based on the position information, the heading information, and preset roadside map information of the target vehicle, a distance from the target vehicle to a road junction ahead;
a signal light information determining module 730, configured to determine signal light information corresponding to a lane of the target vehicle based on the position information of the target vehicle, the roadside map information, and preset roadside signal light information;
and the distance and signal lamp information sending module 740 is configured to send the distance between the target vehicle and the front intersection and the signal lamp information corresponding to the lane of the target vehicle to the vehicle-mounted terminal, so that the vehicle-mounted terminal determines whether to perform the road signal lamp warning based on the vehicle speed of the target vehicle, the distance between the target vehicle and the front intersection, and the signal lamp information corresponding to the lane of the target vehicle.
In some embodiments, the distance determination module may include:
the lane stop line determining submodule is used for determining lane stop line information of a front intersection of the target vehicle based on the position information, the course information and the road side map information of the target vehicle;
and the distance determining submodule is used for determining the distance between the target vehicle and the front intersection based on the position information of the target vehicle and the lane stop line information.
In some embodiments, the signal light information determination module may include:
a lane information determination submodule for determining lane information of the target vehicle based on the position information of the target vehicle and roadside map information;
and the signal lamp information extraction submodule is used for extracting signal lamp information corresponding to the lane of the target vehicle from the road side signal lamp information based on the lane information of the target vehicle.
An embodiment of the present invention further provides a road signal lamp early warning device, as shown in fig. 8, the device includes:
a position and heading information sending module 810, configured to send position information and heading information of the target vehicle to the roadside terminal;
a distance information receiving module 820, configured to receive a distance from the target vehicle to a front intersection, where the distance from the target vehicle to the front intersection is a distance determined by a roadside terminal based on the position information, the heading information, and preset roadside map information of the target vehicle;
a signal light information receiving module 830, configured to receive, by a second information receiving roadside terminal, signal light information corresponding to a lane of the target vehicle, where the signal light information corresponding to the lane of the target vehicle is signal light information determined by the roadside terminal based on the position information of the target vehicle, roadside map information of the roadside, and preset roadside signal light information;
the early warning judgment module 840 is configured to judge whether to perform road signal light early warning based on the vehicle speed of the target vehicle, the distance between the target vehicle and the front intersection, and signal light information corresponding to the lane of the target vehicle.
In some embodiments, the signal light information corresponding to the lane of the target vehicle includes: the state of the current signal lamp, the remaining time of the current signal lamp and the state of the next signal lamp;
correspondingly, the early warning judgment module may include:
a time determination submodule for determining a remaining time for the target vehicle to travel to a front intersection based on a vehicle speed of the target vehicle and a distance of the target vehicle from the front intersection;
and the signal lamp early warning submodule is used for judging whether to execute road signal lamp early warning or not based on the remaining time of the target vehicle running to the front intersection, the state of the current signal lamp, the remaining time of the current signal lamp and the state of the next signal lamp.
In some embodiments, the apparatus may further comprise:
and the driving control module is used for controlling the target vehicle to stop and wait at the front intersection when the early warning of the road signal lamp is executed, and controlling the target vehicle to pass through the front intersection when the early warning of the road signal lamp is not executed.
The embodiment of the invention also provides a computer-readable storage medium, which stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set enables the computer to execute any one of the road signal lamp early warning methods.
It can be seen from the above embodiments of the road signal lamp warning method, apparatus, and medium provided by the present invention that in the course of interaction between the vehicle-mounted terminal and the roadside terminal, the roadside terminal does not need to send all map information within the communication range to the target vehicle, only by receiving the position information and the heading information sent by the vehicle-mounted terminal, and determining the distance from the target vehicle to the front intersection and the signal lamp information corresponding to the lane of the target vehicle by combining the roadside map information and the roadside signal lamp information of the roadside terminal, and only sending the determined distance from the front intersection and the determined signal lamp information corresponding to the lane of the target vehicle to the vehicle-mounted terminal, so that the vehicle-mounted terminal performs road signal lamp warning based on the received information, thereby implementing economical and effective interaction between vehicle-road data and cooperative signaling, and on the basis of ensuring necessary traffic information transmission, the total overhead of signaling transmission data is controlled, the data transmission time is reduced, the data communication traffic of vehicle-road interaction is minimized, and the efficiency of vehicle-road interaction data transmission is improved.
The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A road signal lamp early warning method is characterized by comprising the following steps:
receiving position information and course information of a target vehicle sent by a vehicle-mounted terminal;
determining the distance between the target vehicle and a front intersection based on the position information, the course information and preset roadside map information of the target vehicle;
determining signal lamp information corresponding to a lane of the target vehicle based on the position information of the target vehicle, the roadside map information and preset roadside signal lamp information;
and sending the distance between the target vehicle and the front intersection and signal lamp information corresponding to the lane of the target vehicle to the vehicle-mounted terminal so that the vehicle-mounted terminal judges whether to execute road signal lamp early warning or not based on the speed of the target vehicle, the distance between the target vehicle and the front intersection and the signal lamp information corresponding to the lane of the target vehicle.
2. The method of claim 1, wherein the determining the distance from the target vehicle to the intersection ahead based on the position information, the heading information and the preset roadside map information of the target vehicle comprises:
determining lane stop line information of a front intersection of the target vehicle based on the position information, the course information and the roadside map information of the target vehicle;
determining a distance of the target vehicle from a front intersection based on the position information of the target vehicle and the lane stop line information.
3. The method of claim 1, wherein the determining signal light information corresponding to the lane of the target vehicle based on the position information of the target vehicle, the roadside map information and preset roadside signal light information comprises:
determining lane information of the target vehicle based on the position information of the target vehicle and roadside map information;
and extracting signal light information corresponding to the lane of the target vehicle from the roadside signal light information based on the lane information of the target vehicle.
4. A road signal lamp early warning method is characterized by comprising the following steps:
sending the position information and the course information of the target vehicle to a road side terminal;
receiving the distance from the target vehicle to the front intersection, which is sent by a road side terminal, wherein the distance from the target vehicle to the front intersection is the distance determined by the road side terminal based on the position information, the course information and preset road side map information of the target vehicle;
receiving signal lamp information which is sent by a road side terminal and corresponds to a lane of the target vehicle, wherein the signal lamp information which corresponds to the lane of the target vehicle is the signal lamp information which is determined by the road side terminal based on the position information of the target vehicle, road side map information and preset road side signal lamp information;
and judging whether to execute road signal lamp early warning or not based on the speed of the target vehicle, the distance between the target vehicle and a front intersection and signal lamp information corresponding to a lane of the target vehicle.
5. The method of claim 4, wherein the signal light information corresponding to the lane of the target vehicle comprises: the state of the current signal lamp, the remaining time of the current signal lamp and the state of the next signal lamp;
correspondingly, the judging whether to execute the road signal lamp early warning or not based on the vehicle speed of the target vehicle, the distance of the target vehicle from the front intersection and the signal lamp information corresponding to the lane of the target vehicle comprises:
determining a remaining time for the target vehicle to travel to a front intersection based on a vehicle speed of the target vehicle and a distance of the target vehicle from the front intersection;
and judging whether to execute road signal lamp early warning or not based on the remaining time of the target vehicle running to the front intersection, the state of the current signal lamp, the remaining time of the current signal lamp and the state of the next signal lamp.
6. The method of claim 4, further comprising:
if the early warning of the road signal lamp is executed, controlling the target vehicle to stop at the front intersection for waiting;
and if the early warning of the road signal lamp is not executed, controlling the target vehicle to pass through the front intersection.
7. A road signal lamp early warning method is characterized by comprising the following steps:
the vehicle-mounted terminal sends the position information and the course information of the target vehicle to the road side terminal;
the road side terminal determines the distance between the target vehicle and the front intersection based on the position information and the course information of the target vehicle and preset road side map information;
the roadside terminal determines signal lamp information corresponding to the lane of the target vehicle based on the position information of the target vehicle, the roadside map information and preset roadside signal lamp information;
the roadside terminal sends the distance between the target vehicle and the front intersection and signal lamp information corresponding to the lane of the target vehicle to the vehicle-mounted terminal;
and the vehicle-mounted terminal executes road signal lamp early warning based on the speed of the target vehicle, the distance from the target vehicle to the front intersection and signal lamp information corresponding to the lane of the target vehicle.
8. The utility model provides a road signal lamp early warning device which characterized in that, the device includes:
the position and course information receiving module is used for receiving the position information and the course information of the target vehicle sent by the vehicle-mounted terminal;
the distance determining module is used for determining the distance between the target vehicle and a front intersection based on the position information, the course information and preset roadside map information of the target vehicle;
a signal lamp information determination module, configured to determine signal lamp information corresponding to a lane of the target vehicle based on the position information of the target vehicle, the roadside map information, and preset roadside signal lamp information;
and the distance and signal lamp information sending module is used for sending the distance between the target vehicle and the front intersection and the signal lamp information corresponding to the lane of the target vehicle to the vehicle-mounted terminal so that the vehicle-mounted terminal judges whether to execute road signal lamp early warning or not based on the speed of the target vehicle, the distance between the target vehicle and the front intersection and the signal lamp information corresponding to the lane of the target vehicle.
9. The utility model provides a road signal lamp early warning device which characterized in that, the device includes:
the position and course information sending module is used for sending the position information and the course information of the target vehicle to the road side terminal;
the distance information receiving module is used for receiving the distance from the target vehicle to the front intersection, which is sent by the road side terminal, wherein the distance from the target vehicle to the front intersection is the distance determined by the road side terminal based on the position information, the course information and the preset road side map information of the target vehicle;
the signal lamp information receiving module is used for receiving signal lamp information which is sent by a road side terminal and corresponds to the lane of the target vehicle through second information, wherein the signal lamp information which corresponds to the lane of the target vehicle is the signal lamp information which is determined by the road side terminal based on the position information of the target vehicle, road side map information and preset road side signal lamp information;
and the early warning judgment module is used for judging whether to execute road signal lamp early warning or not based on the speed of the target vehicle, the distance between the target vehicle and the front intersection and signal lamp information corresponding to the lane of the target vehicle.
10. A computer-readable storage medium having stored thereon at least one instruction, at least one program, a set of codes, or a set of instructions for causing a computer to perform the method of any one of claims 1-7.
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