CN112382100A - Crossing safe passing method and related equipment - Google Patents
Crossing safe passing method and related equipment Download PDFInfo
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- CN112382100A CN112382100A CN202011201350.6A CN202011201350A CN112382100A CN 112382100 A CN112382100 A CN 112382100A CN 202011201350 A CN202011201350 A CN 202011201350A CN 112382100 A CN112382100 A CN 112382100A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 52
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- G—PHYSICS
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- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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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
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- G08G—TRAFFIC CONTROL SYSTEMS
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Abstract
The embodiment of the application discloses a safe crossing passing method and related equipment, which are used for helping a driver to know information of a lane where the driver is located in time. The method of the embodiment of the application comprises the following steps: the RSU unit monitors an entrance lane image transmitted by an intersection monitoring system; the RSU unit establishes a communication link with the vehicle-mounted unit in the signal coverage range; the vehicle-mounted unit sends identification information of the first vehicle to the RSU unit; triggering a roadbed sensor array of an entrance lane to send a first traffic signal; the RSU unit detects whether the identification information of the second vehicle in the entrance lane image conforms to the identification information of the first vehicle; the RSU unit sends the traffic information of the first lane to the vehicle-mounted unit.
Description
Technical Field
The embodiment of the application relates to the technical field of urban roads, in particular to a safe crossing passing method and related equipment.
Background
The road condition of the urban crossroads is complex, the number of lanes is large, and each lane of the crossroads is divided into a straight lane, a left-turn lane and a right-turn lane according to functions. According to traffic regulations, vehicles which need to go straight, turn left or turn right at a crossroad need to enter a corresponding lane in advance, and the lane cannot be selected randomly.
In order to allow the driver to quickly distinguish each lane, the current method is to draw a corresponding turning or straight bottom mark on each lane, and the driver can change the driving rule of each lane from the ground mark and then to the lane of each traveling route.
However, due to landmark wear, front vehicle blockage and the like, a driver often cannot quickly confirm the driving rule of the lane where the driver is located, and traffic accidents caused by illegal lane changes are easy to occur.
Disclosure of Invention
The embodiment of the application provides a safe crossing passing method and related equipment, which can help a driver to quickly confirm the driving rule of a lane when the driver drives into a crossing.
The first aspect of the application provides a safe crossing passing method, which is applied to an RSU unit, wherein a first communication link exists between the RSU unit and a crossing monitoring system, and a second communication link also exists between the RSU unit and a roadbed sensor array; the method comprises the following steps:
monitoring an entrance lane image transmitted by an intersection monitoring system;
establishing a third communication link with a vehicle-mounted unit entering a signal coverage area of the RSU unit, wherein the vehicle-mounted unit is mounted on a first vehicle;
the RSU unit receives the identification information of the first vehicle sent by the vehicle-mounted unit;
receiving a first traffic signal sent by a roadbed sensor array, wherein the first traffic signal indicates that a second vehicle enters a first lane or runs along the first lane;
detecting whether identification information of a second vehicle in the entrance lane image conforms to identification information of the first vehicle;
if yes, the traffic information of the first lane is sent to the vehicle-mounted unit.
Optionally, the method further comprises:
monitoring an exit lane image transmitted by an intersection monitoring system;
receiving a second traffic signal sent by the roadbed sensor array, wherein the second traffic signal represents that a third vehicle exits the intersection along a second lane;
detecting whether identification information of a third vehicle in the exit lane image conforms to identification information of the first vehicle;
if so, determining that the first vehicle has driven out of the intersection along a second lane;
and sending the traffic information of the second lane to the vehicle-mounted unit.
Optionally, the method further comprises:
recording the time when the first vehicle enters the intersection;
and if the first vehicle does not drive out after driving into the intersection for a long time and the time that the first vehicle passes through the intersection exceeds the preset time, determining that the intersection is congested.
The intersection safe passing method provided by the application further comprises the following steps:
counting the number of vehicles entering the intersection and the number of vehicles leaving the intersection to obtain the number of vehicles staying at the intersection;
calculating whether the number of vehicles staying at the intersection exceeds a preset congestion threshold value or not;
if so, confirming that the intersection is in a congestion state.
A fourth aspect of the present application provides a safe crossing passing method, which is applied to an on-board unit mounted on a first vehicle, and includes:
acquiring identification information of the first vehicle;
establishing a third communication link with the RSU unit;
transmitting identification information of the first vehicle to the RSU unit so that the RSU unit can identify the first vehicle from the image transmitted by the monitoring system; and when the first vehicle runs on a target lane, receiving a target passing rule sent by the RSU unit.
Optionally, the method further comprises:
and broadcasting the traffic information of the target lane to a driver of the first vehicle.
The third aspect of the present application provides a roadbed sensor array, there is a second communication link roadbed sensor array and RSU unit, roadbed sensor array includes a plurality of roadbed sensors, the roadbed sensors are installed at the entrance lane and the exit lane of crossing according to the preset interval, when the vehicle passes through the detection area of the roadbed sensor of the entrance lane, the roadbed sensor is triggered and sends a first traffic signal, when the vehicle passes through the detection area of the roadbed sensor of the exit lane, the roadbed sensor is triggered and sends a second traffic signal.
A fourth aspect of the present application provides an RSU unit, comprising:
the monitoring unit is used for monitoring an entrance lane image transmitted by the intersection monitoring system;
the system comprises a connecting unit, a first vehicle and a second vehicle, wherein the connecting unit is used for establishing a communication link with a vehicle-mounted unit entering a signal coverage range of an RSU unit, and the vehicle-mounted unit is mounted on the first vehicle;
the first receiving unit is used for receiving the identification information of the first vehicle sent by the vehicle-mounted unit;
the second receiving unit is used for receiving a first traffic signal sent by the roadbed sensor array, and the first traffic signal indicates that a second vehicle enters the first lane or runs along the first lane;
a detection unit configured to detect whether identification information of a second vehicle in the entrance lane image conforms to identification information of the first vehicle;
and the sending unit is used for sending the traffic information of the first lane to the vehicle-mounted unit when the detection unit judges that the traffic information is positive.
A fifth aspect of the present application provides an on-board unit comprising:
an acquisition unit configured to acquire identification information of the first vehicle;
the connection unit is used for establishing a communication link with the RSU unit;
a transmitting unit for transmitting the identification information of the first vehicle to the RSU unit so that the RSU unit can recognize the first vehicle from the image transmitted from the monitoring system;
and the receiving unit is used for receiving the target passing rule sent by the RSU unit when the first vehicle runs on a target lane.
A sixth aspect of the present application provides a crossing safe passage system, including:
the system comprises an intersection monitoring system, an RSU unit, a roadbed sensor array and a vehicle-mounted unit;
the intersection monitoring system is characterized in that monitoring cameras are distributed on each lane of the intersection, images of each lane of the intersection are monitored in real time, and the images of each lane are transmitted to the RSU unit;
the roadbed sensor array and the RSU unit have a second communication link, the roadbed sensor array comprises a plurality of roadbed sensors, the roadbed sensors are arranged at an entrance lane and an exit lane of an intersection according to a preset distance, when a vehicle passes through a detection area of the roadbed sensor of the entrance lane, the roadbed sensors are triggered and send first traffic signals, and when the vehicle passes through the detection area of the roadbed sensor of the exit lane, the roadbed sensors are triggered and send second traffic signals;
a first communication link exists between the RSU unit and the intersection monitoring system, and a second communication link also exists between the RSU unit and the roadbed sensor array; the RSU unit is specifically configured to:
monitoring an entrance lane image transmitted by an intersection monitoring system;
establishing a third communication link with a vehicle-mounted unit entering a signal coverage area of the RSU unit, wherein the vehicle-mounted unit is mounted on a first vehicle;
the RSU unit receives the identification information of the first vehicle sent by the vehicle-mounted unit;
receiving a first traffic signal sent by a roadbed sensor array, wherein the first traffic signal indicates that a second vehicle enters a first lane or runs along the first lane;
detecting whether identification information of a second vehicle in the entrance lane image conforms to identification information of the first vehicle;
if so, sending the traffic information of the first lane to the vehicle-mounted unit;
the on-board unit stores identification information of the first vehicle, and is specifically configured to: establishing a third communication link with the RSU unit; and sending identification information of the first vehicle to the RSU unit so that the RSU unit can identify the first vehicle from the images transmitted by the monitoring system; and when the first vehicle runs on a target lane, receiving a target passing rule sent by the RSU unit.
A seventh aspect of the present application provides an RSU unit comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any one of the first aspect when executing the computer program.
An eighth aspect of the present application provides an in-vehicle device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any one of the second aspect when executing the computer program.
A ninth aspect of the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method according to any one of the second or third aspects.
According to the technical scheme, the embodiment of the application has the following advantages: the method confirms the position of the vehicle by arranging the sensor on the lane of the crossroad and combines the existing crossroad monitoring system to accurately position the lane where the vehicle is positioned at the crossroad and accurately inform the lane where each vehicle is positioned.
Drawings
FIG. 1 is a schematic representation of a scenario of the present application;
FIG. 2 is a schematic representation of a scenario of the present application;
FIG. 3 is a schematic diagram of an embodiment of the intersection safe passage method of the present application;
FIG. 4 is a schematic diagram of an embodiment of the intersection safe passage method of the present application;
FIG. 5 is a schematic diagram of an embodiment of the intersection safe passage method of the present application;
FIG. 6 is a schematic diagram of an embodiment of the intersection safe passage method of the present application;
FIG. 7 is a schematic diagram of one embodiment of an RSU unit of the present application;
fig. 8 is a schematic view of an embodiment of the on-board unit of the present application.
Detailed Description
The embodiment of the application provides a safe crossing passing method and related equipment, which are used for improving the passing safety of a crossing. Fig. 1 and 2 show a schematic view of an environment of a road crossing for passing vehicles and a roadbed facility, wherein fig. 1 is a schematic view of a situation that the vehicles do not enter the road junction, and fig. 2 is a schematic view of a situation that a part of the vehicles enter and exit the road junction. According to the scheme, the roadbed sensor arrays are arranged on each lane entering the crossroad at certain intervals, the RSU is used for collecting detection results of the roadbed sensor arrays, and the condition of vehicles entering the crossroad is monitored in real time. Wherein, a plurality of roadbed sensors are arranged at certain intervals on the entrance lane of the intersection, and only one roadbed sensor can be arranged on each lane on the exit lane. When the vehicle does not enter the intersection, the OBU on the vehicle already establishes a communication link with the RSU unit and enters the shooting range of the intersection monitoring system.
Specifically, these ballast sensors are arranged at a certain density on all the entrance lanes of the intersection, thereby sensing the dynamics of the vehicles on the entrance lanes. For example, when a vehicle changes lanes from a straight lane to a left-hand lane, different road-based sensors may be triggered.
Fig. 3 is an embodiment of a crossing safe passing method provided by the present application, and the steps of the embodiment include:
301. the RSU unit monitors an entrance lane image transmitted by an intersection monitoring system;
a first communication link is pre-established between the RSU unit and the intersection monitoring system, and an entrance lane image shot by the intersection monitoring system can be monitored and analyzed in real time. The entrance lane mentioned here specifically refers to a lane leading to an intersection according to traffic regulations, and may include a straight lane, a left-turn lane, and a right-turn lane, or may include a straight left-turn lane and a straight right-turn lane.
302. The RSU unit establishes a communication link with the vehicle-mounted unit in the signal coverage range;
the RSU unit has a microwave transceiving function and can communicate with the vehicle-mounted unit within a certain range. When an automobile with the vehicle-mounted unit enters the coverage range of the RSU unit, the automobile with the vehicle-mounted unit and the RSU unit automatically establish a communication link for connection.
303. The vehicle-mounted unit sends identification information of the first vehicle to the RSU unit;
the first vehicle has an on-board unit mounted thereon, and identification information of the first vehicle is stored in advance in this on-board unit. The identification information may specifically include information such as a color, a model, a size, and a license plate of the first vehicle. When a first vehicle carrying the vehicle-mounted unit enters the coverage area of the RSU unit, the identification information of the first vehicle is sent to the RSU unit.
304. Triggering a roadbed sensor array of an entrance lane to send a first traffic signal;
after the on-board unit of the first vehicle sends the identification information of the first vehicle, the first vehicle continues to drive to the intersection along the entrance lane and enters the arrangement area of the roadbed sensor array. These road-based sensors are distributed over the entrance lane and are triggered when any vehicle passes by them and send a first traffic signal to the RSU unit. The first signal may be used only to indicate that a vehicle is traveling in a particular entry lane, or may include specific sensors that are triggered to identify the specific location in the entry lane where the ballast sensor is triggered.
305. The RSU unit detects whether the identification information of the second vehicle in the entrance lane image conforms to the identification information of the first vehicle;
the RSU can confirm that an unknown second vehicle has driven past the corresponding location of the road-based sensor through the first traffic signal, but cannot confirm the specific identity of the vehicle only through the road-based sensor. Therefore, the RSU unit further acquires an image of the entrance lane through the first link, and then captures an image area of the corresponding position of the roadbed sensor for image analysis, so as to confirm the identity of the vehicle in the image area. And if the vehicle is matched with the identification information of the previous first vehicle, confirming that the vehicle is the first vehicle.
306. The RSU unit sends the traffic information of the first lane to the vehicle-mounted unit.
After confirming the position of the first vehicle according to the first traffic signal and the entrance lane image, the RSU unit sends the traffic information of the first lane to the vehicle-mounted unit of the first vehicle, so that the driver of the first vehicle can know the traffic information of the lane where the driver drives the vehicle, and the traffic accident caused by the fact that the driver turns in the crossroad by mistake is avoided. The way in which the onboard unit informs the driver of the traffic rules is various, and some alternatives include: and one or more of vehicle-mounted navigation interface reminding, vehicle-mounted HUD display or voice reminding. It is understood that the first traffic information may include only the type of turn of the first lane (e.g., the first lane is a left turn), or may include more along-the-way information of the lane (e.g., the first lane leads to south of the people, traffic congestion is severe).
In another embodiment of the present application, a ballast sensor is also added to the exit lane. Compared with the entrance lane, the number of the roadbed sensors arranged on the exit lane can be less, and only one roadbed sensor is arranged on each exit lane. After the roadbed sensor of the exit lane is added, the RSU unit can also send lane passing information to each vehicle which exits the intersection, and the specific information of the lane where the RSU unit is located is informed. Referring to fig. 4, the embodiment includes:
401. the RSU unit monitors an entrance lane image transmitted by an intersection monitoring system;
a first communication link is pre-established between the RSU unit and the intersection monitoring system, and an entrance lane image shot by the intersection monitoring system can be monitored and analyzed in real time. The entrance lane mentioned here specifically refers to a lane leading to an intersection according to traffic regulations, and may include a straight lane, a left-turn lane, and a right-turn lane, or may include a straight left-turn lane and a straight right-turn lane.
402. The RSU unit establishes a communication link with the vehicle-mounted unit in the signal coverage range;
the RSU unit has a microwave transceiving function and can communicate with the vehicle-mounted unit within a certain range. When an automobile with the vehicle-mounted unit enters the coverage range of the RSU unit, the automobile with the vehicle-mounted unit and the RSU unit automatically establish a communication link for connection.
403. The vehicle-mounted unit sends identification information of the first vehicle to the RSU unit;
the first vehicle has an on-board unit mounted thereon, and identification information of the first vehicle is stored in advance in this on-board unit. The identification information may specifically include information such as a color, a model, a size, and a license plate of the first vehicle. When a first vehicle carrying the vehicle-mounted unit enters the coverage area of the RSU unit, the identification information of the first vehicle is sent to the RSU unit.
404. Triggering a roadbed sensor array of an entrance lane to send a first traffic signal;
after the on-board unit of the first vehicle sends the identification information of the first vehicle, the first vehicle continues to drive to the intersection along the entrance lane and enters the arrangement area of the roadbed sensor array. These road-based sensors are distributed over the entrance lane and are triggered when any vehicle passes by them and send a first traffic signal to the RSU unit. The first signal may be used only to indicate that a vehicle is traveling in a particular entry lane, or may include specific sensors that are triggered to identify the specific location in the entry lane where the ballast sensor is triggered.
405. The RSU unit detects whether the identification information of the second vehicle in the entrance lane image conforms to the identification information of the first vehicle;
the RSU can confirm that an unknown second vehicle has driven past the corresponding location of the road-based sensor through the first traffic signal, but cannot confirm the specific identity of the vehicle only through the road-based sensor. Therefore, the RSU unit also acquires an entrance lane image, and then captures an image area of the corresponding position of the roadbed sensor for image analysis to confirm the identity of the vehicle in the image area. And if the vehicle is matched with the identification information of the previous first vehicle, confirming that the vehicle is the first vehicle.
406. The RSU unit sends the traffic information of the first lane to the vehicle-mounted unit;
after confirming the position of the first vehicle according to the first traffic signal and the entrance lane image, the RSU unit sends the traffic information of the first lane to the vehicle-mounted unit of the first vehicle, so that the driver of the first vehicle can know the traffic information of the lane where the driver drives the vehicle, and the traffic accident caused by the fact that the driver turns in the crossroad by mistake is avoided. The way in which the onboard unit informs the driver of the traffic rules is various, and some alternatives include: and one or more of vehicle-mounted navigation interface reminding, vehicle-mounted HUD display or voice reminding. It is understood that the first traffic information may include only the type of turn of the first lane (e.g., the first lane is a left turn), or may include more along-the-way information of the lane (e.g., the first lane leads to south of the people, traffic congestion is severe).
407. The RSU unit monitors an exit lane image transmitted by the intersection monitoring system;
the RSU unit also monitors and analyzes the exit lane images shot by the intersection monitoring system in real time through the first communication link. The exit lane here refers to a lane where the vehicle is driven out of the intersection according to the traffic regulations.
408. Triggering a roadbed sensor array of the exit lane to send a second traffic signal;
and a third vehicle with unknown identity drives out of the intersection and enters a certain exit lane, and a roadbed sensor of the exit lane is triggered. At this time, the roadbed sensor sends a second traffic signal to the RSU unit to inform the RSU unit that a third vehicle with unknown identity enters an exit lane where the roadbed sensor is located from the intersection.
409. Detecting whether identification information of a third vehicle in the exit lane image conforms to identification information of the first vehicle;
the RSU can confirm that an unknown third vehicle has driven past the corresponding location of the road-based sensor through the first traffic signal, but cannot confirm the specific identity of the vehicle only by the road-based sensor. Therefore, the RSU unit also acquires an exit lane image, and captures an image area of the corresponding position of the roadbed sensor from the exit lane image to perform image analysis, so as to confirm the identity of the vehicle in the image area. And if the vehicle is matched with the identification information of the previous first vehicle, confirming that the vehicle is the first vehicle. It can be understood that the triggering range of the roadbed sensor arranged on the exit lane is smaller, so that the area of the intersection monitoring system in the exit lane range where the image needs to be acquired can be properly reduced, and the third vehicle image triggering the roadbed sensor can be acquired.
410. If so, determining that the first vehicle has driven out of the intersection along a second lane;
if the identification information of the third vehicle is confirmed to be in accordance with the identification information of the first vehicle, the driving path of the first vehicle is shown to be that the first vehicle drives into the intersection from the first lane and then drives out of the intersection from the second lane.
411. The RSU unit transmits traffic information of the second lane to the on-board unit.
After confirming the position of the first vehicle according to the second traffic signal and the exit lane image, the RSU unit sends traffic information of the first lane to the vehicle-mounted unit of the first vehicle. The traffic information of the first lane can be different, and the traffic information of the second lane is more focused on informing drivers where the vehicle is located to go, and whether congestion and accidents exist on the lane.
In particular, the RSU unit has confirmed the first lane of the first vehicle entering the intersection at step 306, and the RSU may infer from which exit lanes the first vehicle may exit in accordance with road traffic regulations. If the first vehicle enters the intersection from a straight road from south to north and is driven out from a lane at the east side of the intersection, the first vehicle is proved to have illegal steering behavior in the intersection. Therefore, when the route comparing the first traffic road and the second traffic road does not accord with the road traffic rule, the RSU unit may further include a reminder of the violation of the driver, and inform the driver of the first vehicle that the first vehicle has the violation of the lane change behavior at the intersection, and the notice is recorded in the urban traffic management system.
Based on the embodiment shown in fig. 4, the RSU unit may also count the congestion at the intersection through the roadbed sensor array. Referring specifically to fig. 5, in this embodiment, the RSU unit further performs the following steps:
501. recording the time when the first vehicle enters the intersection;
the 5SU unit records the time when the first vehicle enters the intersection from the entrance lane image or the signal of the entrance sensor array.
502. Detecting whether the first vehicle is not driven out for a long time after driving into the intersection or not, or the time of the first vehicle passing through the intersection exceeds preset time; if so, go to step 403
Calculating the time of the first vehicle entering the intersection, and if the first vehicle does not exit after entering the intersection for a long time, indicating that the first vehicle is trapped in the intersection due to an accident or congestion after entering the intersection; or after the first vehicle enters the intersection and exits, it takes significantly more time than normal travel. When any one of the conditions is met, the intersection is not good in traffic condition, and the intersection is determined to be congested
503. And determining that congestion exists at the intersection.
And confirming that the intersection is in a congestion state, and reporting the congestion condition of the intersection by the RSU unit through a network.
Based on the embodiment shown in fig. 4 or fig. 5, the RSU unit may also count the congestion condition at the intersection through the roadbed sensor array. Referring specifically to fig. 6, in this embodiment, the RSU unit further performs the following steps:
601. counting the number of vehicles entering the intersection and the number of vehicles leaving the intersection to obtain the number of vehicles staying at the intersection;
the RSU unit calculates the number of vehicles entering the intersection and the number of vehicles exiting the intersection from the signals of the entrance sensor array and the signals of the exit sensor array, and the difference value of the two is the number of vehicles staying at the intersection.
602. Calculating whether the number of vehicles staying at the intersection exceeds a preset congestion threshold value or not; if so, go to step 503;
a comparison is made as to whether the number of vehicles remaining at the intersection exceeds a predefined congestion threshold and if so, step 503 is performed.
603. And confirming that the intersection is in a congestion state.
And confirming that the intersection is in a congestion state, and reporting the congestion condition of the intersection by the RSU unit through a network.
Fig. 7 also shows an RSU unit comprising:
a monitoring unit 701, configured to monitor an entrance lane image transmitted by an intersection monitoring system;
a connection unit 702 for establishing a communication link with an on-board unit entering a signal coverage area of the RSU unit, the on-board unit being mounted on a first vehicle;
a first receiving unit 703, configured to receive the identification information of the first vehicle sent by the on-board unit;
a second receiving unit 704, configured to receive a first traffic signal sent by the roadbed sensor array, where the first traffic signal indicates that a second vehicle enters the first lane or travels along the first lane;
a detection unit 705 configured to detect whether identification information of a second vehicle in the entrance lane image corresponds to identification information of the first vehicle;
a sending unit 706, configured to send the traffic information of the first lane to the vehicle-mounted unit when the detecting unit determines that the vehicle-mounted unit is the vehicle-mounted unit.
Fig. 8 also shows an on-board unit comprising:
an acquisition unit 801 configured to acquire identification information of the first vehicle;
a connection unit 802 for establishing a communication link with the RSU unit;
a sending unit 803, configured to send the identification information of the first vehicle to the RSU unit, so that the RSU unit can identify the first vehicle from the image transmitted by the monitoring system.
The embodiment of the present application further provides a crossing safe passing system, including:
the system comprises an intersection monitoring system, an RSU unit, a roadbed sensor array and a vehicle-mounted unit;
the intersection monitoring system is characterized in that monitoring cameras are distributed on each lane of the intersection, images of each lane of the intersection are monitored in real time, and the images of each lane are transmitted to the RSU unit;
the roadbed sensor array and the RSU unit have a second communication link, the roadbed sensor array comprises a plurality of roadbed sensors, the roadbed sensors are arranged at an entrance lane and an exit lane of an intersection according to a preset distance, when a vehicle passes through a detection area of the roadbed sensor of the entrance lane, the roadbed sensors are triggered and send first traffic signals, and when the vehicle passes through the detection area of the roadbed sensor of the exit lane, the roadbed sensors are triggered and send second traffic signals;
a first communication link exists between the RSU unit and the intersection monitoring system, and a second communication link also exists between the RSU unit and the roadbed sensor array; the RSU unit is specifically configured to:
monitoring an entrance lane image transmitted by an intersection monitoring system;
establishing a third communication link with a vehicle-mounted unit entering a signal coverage area of the RSU unit, wherein the vehicle-mounted unit is mounted on a first vehicle;
the RSU unit receives the identification information of the first vehicle sent by the vehicle-mounted unit;
receiving a first traffic signal sent by a roadbed sensor array, wherein the first traffic signal indicates that a second vehicle enters a first lane or runs along the first lane;
detecting whether identification information of a second vehicle in the entrance lane image conforms to identification information of the first vehicle;
if so, sending the traffic information of the first lane to the vehicle-mounted unit;
the on-board unit stores identification information of the first vehicle, and is specifically configured to: establishing a third communication link with the RSU unit; and sending identification information of the first vehicle to the RSU unit so that the RSU unit can identify the first vehicle from the images transmitted by the monitoring system;
it is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and the like.
Claims (10)
1. A safe crossing passing method is characterized by being applied to a Road Side Unit (RSU), wherein a first communication link exists between the RSU and a crossing monitoring system, and a second communication link also exists between the RSU and a roadbed sensor array; the method comprises the following steps:
monitoring an entrance lane image transmitted by an intersection monitoring system;
establishing a third communication link with a vehicle-mounted unit entering a signal coverage area of the RSU unit, wherein the vehicle-mounted unit is mounted on a first vehicle;
the RSU unit receives the identification information of the first vehicle sent by the vehicle-mounted unit;
receiving a first traffic signal sent by a roadbed sensor array, wherein the first traffic signal indicates that a second vehicle enters a first lane or runs along the first lane;
detecting whether identification information of a second vehicle in the entrance lane image conforms to identification information of the first vehicle;
if yes, the traffic information of the first lane is sent to the vehicle-mounted unit.
2. The intersection safe passage method according to claim 1, further comprising:
monitoring an exit lane image transmitted by an intersection monitoring system;
receiving a second traffic signal sent by the roadbed sensor array, wherein the second traffic signal represents that a third vehicle exits the intersection along a second lane;
detecting whether identification information of a third vehicle in the exit lane image conforms to identification information of the first vehicle;
if so, determining that the first vehicle has driven out of the intersection along a second lane;
and sending the traffic information of the second lane to the vehicle-mounted unit.
3. The intersection safe passage method according to claim 1, further comprising:
recording the time when the first vehicle enters the intersection;
and if the first vehicle does not drive out after driving into the intersection for a long time and the time that the first vehicle passes through the intersection exceeds the preset time, determining that the intersection is congested.
4. The intersection safe passage method according to claim 1, further comprising:
counting the number of vehicles entering the intersection and the number of vehicles leaving the intersection to obtain the number of vehicles staying at the intersection;
calculating whether the number of vehicles staying at the intersection exceeds a preset congestion threshold value or not;
if so, confirming that the intersection is in a congestion state.
5. A safe crossing passage method applied to an on-board unit mounted on a first vehicle, the method comprising:
acquiring identification information of the first vehicle;
establishing a third communication link with the RSU unit;
transmitting identification information of the first vehicle to the RSU unit so that the RSU unit can identify the first vehicle from the image transmitted by the monitoring system;
and when the first vehicle runs on a target lane, receiving a target passing rule sent by the RSU unit.
6. The intersection safe passage method according to claim 5, further comprising:
and broadcasting the traffic information of the target lane to a driver of the first vehicle.
7. An intersection safe passage system, comprising:
the system comprises an intersection monitoring system, an RSU unit, a roadbed sensor array and a vehicle-mounted unit;
the intersection monitoring system is characterized in that monitoring cameras are distributed on each lane of the intersection, images of each lane of the intersection are monitored in real time, and the images of each lane are transmitted to the RSU unit;
the roadbed sensor array and the RSU unit have a second communication link, the roadbed sensor array comprises a plurality of roadbed sensors, the roadbed sensors are arranged at an entrance lane and an exit lane of an intersection according to a preset distance, when a vehicle passes through a detection area of the roadbed sensor of the entrance lane, the roadbed sensors are triggered and send first traffic signals, and when the vehicle passes through the detection area of the roadbed sensor of the exit lane, the roadbed sensors are triggered and send second traffic signals;
a first communication link exists between the RSU unit and the intersection monitoring system, and a second communication link also exists between the RSU unit and the roadbed sensor array; the RSU unit is specifically configured to:
monitoring an entrance lane image transmitted by an intersection monitoring system;
establishing a third communication link with a vehicle-mounted unit entering a signal coverage area of the RSU unit, wherein the vehicle-mounted unit is mounted on a first vehicle;
the RSU unit receives the identification information of the first vehicle sent by the vehicle-mounted unit;
receiving a first traffic signal sent by a roadbed sensor array, wherein the first traffic signal indicates that a second vehicle enters a first lane or runs along the first lane;
detecting whether identification information of a second vehicle in the entrance lane image conforms to identification information of the first vehicle;
if so, sending the traffic information of the first lane to the vehicle-mounted unit;
the on-board unit stores identification information of the first vehicle, and is specifically configured to: establishing a third communication link with the RSU unit; and sending identification information of the first vehicle to the RSU unit so that the RSU unit can identify the first vehicle from the images transmitted by the monitoring system; and when the first vehicle runs on a target lane, receiving a target passing rule sent by the RSU unit.
8. An RSU unit comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any of claims 1 to 4 when executing the computer program.
9. An in-vehicle device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method according to any one of claims 5 to 6 when executing the computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method as set forth in any one of claims 1 to 4 or claims 5 to 6.
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| CN202011201350.6A CN112382100A (en) | 2020-11-02 | 2020-11-02 | Crossing safe passing method and related equipment |
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| CN202011201350.6A CN112382100A (en) | 2020-11-02 | 2020-11-02 | Crossing safe passing method and related equipment |
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