Method and device for realizing automatic visual processing for C-V2X roadside message, processor and computer readable storage medium

Abstract

The invention relates to a method for realizing automatic visualization processing for C-V2X roadside messages. The method comprises the following steps: extracting messages which can be used for visually presenting a traffic environment from C-V2X messages; analyzing the message, and calculating longitude and latitude values according to a rule; classifying the data into three geometrical shapes of points, lines and surfaces; positioning the data position of the point, endowing a corresponding icon or filling a color, and taking the text content in the message as the label field of the point; positioning data positions of the lines, and endowing line segments with different styles and colors; and positioning the data position of the surface, and endowing the surface with different styles and colors. By the adoption of the method and device for achieving automatic visualization processing of the C-V2X roadside message, the processor and the computer readable storage medium, traffic environment information can be presented more efficiently and visually, and the data information analysis efficiency of a user is improved; the dynamic process of data can be displayed, a user is helped to judge traffic environment changes, meanwhile, abnormal values are easy to perceive, and problems can be found quickly.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle networking, in particular to the field of C-V2X roadside message systems, and specifically refers to a method, device, processor and computer-readable storage medium for automatically visualizing C-V2X roadside messages. Background Art

[0002] With the gradual increase in the demand for the intelligence level of automobiles in today's society, a single on-vehicle unit can no longer meet the requirements. At this time, it is necessary for the vehicle to communicate with roadside devices to achieve a higher-level autonomous driving function. C-V2X (Cellular Vehicle-to-Everything) roadside message is a communication technology based on a cellular network, which realizes efficient interaction between the vehicle and the surrounding environment through real-time data transmission. It is regarded as an important means to achieve seamless communication between pedestrians, road facilities, motor vehicles and non-motor vehicles, and can greatly improve road safety and traffic efficiency, thus contributing to the construction of an intelligent transportation system.

[0003] At present, the C-V2X roadside message system has become increasingly perfect after multiple versions of iteration, and more and more devices on the market support the C-V2X message protocol. The existing C-V2X application solutions are basically concentrated on the vehicle side. After receiving C-V2X messages, automobile enterprises present basic road information on the in-vehicle computer. In intelligent transportation, in addition to the response of the OBU (On board Unit) to C-V2X messages, the RSU (Road Side Unit), as the transmitter of road environment information, is also of crucial importance in the construction of the whole system. However, the current market solutions for the role of roadside devices are blank.

[0004] In the absence of an automated visualization solution, roadside device builders often have to extract C-V2X messages from in-vehicle devices and then manually analyze the road information. Since the road location information in the messages is recorded in the form of longitude and latitude, visualizing this data on a map is basically a time-consuming and laborious task. Therefore, at the present stage, for the demand of visualizing roads, it is often necessary to arrange personnel to manually draw in the test and then conduct unified analysis later. The huge human and time costs, the differences in the drawing levels of test personnel, the deviations in manual drawing, and the various disadvantages of being unable to be used electronically have greatly restricted the development speed of intelligent roads. Summary of the Invention

[0005] The object of the present invention is to overcome the above-mentioned disadvantages of the prior art, and provide a method, device, processor and computer-readable storage medium for automatically visualizing C-V2X roadside messages, which meet the requirements of high precision, low cost and wide application range.

[0006] To achieve the above object, the method, apparatus, processor and computer-readable storage medium for automatically visualizing C-V2X roadside messages of the present invention are as follows:

[0007] The method for automatically visualizing C-V2X roadside messages is mainly characterized in that the method comprises the following steps:

[0008] (1) Extract messages from C-V2X messages that can be used to visually present the traffic environment;

[0009] (2) Parse the messages and calculate the longitude and latitude values according to the rules;

[0010] (3) Classify the data into three geometric shapes: points, lines, and surfaces;

[0011] (4) Locate the data position of the points on the map, assign corresponding icons or filling colors according to different message types, and use the text content in the message as the label field of the points;

[0012] (5) Locate the data position of the lines on the map, and assign different styles and colors to the line segments according to different message types;

[0013] (6) Locate the data position of the surfaces on the map, and assign different styles and colors to the surfaces according to different message types.

[0014] Preferably, the step (1) is specifically:

[0015] Filter the C-V2X messages and extract the messages containing geographical information.

[0016] Preferably, the step (2) specifically comprises the following steps:

[0017] (2.1) Parse the message content according to the rules and extract the longitude and latitude data;

[0018] (2.2) Calculate the real longitude and latitude data.

[0019] Preferably, the step (2) further comprises the following steps:

[0020] If it is a MAP message, calculate the distance using the ellipsoid geographic algorithm according to the road section trajectory and road width to obtain the outline of the lane;

[0021] Calculate the forward and reverse azimuth angles according to the last two points of the road section trajectory, and use the point diffraction algorithm to calculate the positions of the lane turning icons, speed limit icons, road attribute icons, road section text positions, and upstream node text positions.

[0022] Preferably, the step (4) specifically comprises the following steps:

[0023] Determine whether the data source is a SPAT message. If it is not a SPAT message, draw the corresponding icon at the specified latitude and longitude position according to the message type; otherwise, draw a dot at that position, and use the dot color to represent the phase state of the traffic signal; draw descriptive text above the dot position.

[0024] Preferably, step (5) specifically includes the following steps:

[0025] Set the style and color of the line pen according to the message type, draw a line according to the point list, and draw descriptive text above the line.

[0026] Preferably, step (6) specifically includes the following steps:

[0027] Set the style and color of the surface brush according to the message type, draw an area according to the point list, and draw descriptive text inside the area.

[0028] Preferably, the method further includes the following steps:

[0029] Map all the drawn contents to the actual geographical location to obtain the visualized content of C-V2X messages on the map.

[0030] The device for automatically visualizing C-V2X roadside messages is characterized in that the device includes:

[0031] A processor configured to execute computer-executable instructions;

[0032] A memory storing one or more computer-executable instructions, and when the computer-executable instructions are executed by the processor, each step of the method for automatically visualizing C-V2X roadside messages described above is implemented.

[0033] The processor for automatically visualizing C-V2X roadside messages is characterized in that the processor is configured to execute computer-executable instructions, and when the computer-executable instructions are executed by the processor, each step of the method for automatically visualizing C-V2X roadside messages described above is implemented.

[0034] The computer-readable storage medium is characterized in that a computer program is stored thereon, and the computer program can be executed by a processor to implement each step of the method for automatically visualizing C-V2X roadside messages described above.

[0035] By adopting the method, device, processor and computer-readable storage medium for automatically visualizing C-V2X roadside messages according to the present invention, visual content can be generated in real time when collecting or playing back C-V2X message data. Converting complex data into simple and easy-to-understand graphics enables users to quickly understand the traffic information contained in the data without the need to understand the relevant knowledge of C-V2X messages, reducing the operation threshold. Through visual operations, traffic environment information can be presented more efficiently and intuitively. Through multi-dimensional presentation, users can accurately capture key points, reduce the time and effort required to read the original text, reduce errors caused by manual processing, and improve the efficiency of users' analysis of data information. After data visualization, the dynamic process of the data can be displayed, which helps users to judge the changes in the traffic environment. At the same time, abnormal values are also easy to detect, which helps to quickly discover problems. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a flowchart of the method for automatically visualizing C-V2X roadside messages according to the present invention.

[0037] Figure 2 It is a schematic diagram of the visualized content of C-V2X messages mapped on a map by the method for automatically visualizing C-V2X roadside messages according to the present invention.

[0038] Figure 3 It is a schematic diagram of the visualized content of C-V2X messages abstracted according to certain rules by the method for automatically visualizing C-V2X roadside messages according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0039] In order to more clearly describe the technical content of the present invention, the following will be further described in conjunction with specific embodiments.

[0040] The method for automatically visualizing C-V2X roadside messages according to the present invention includes the following steps:

[0041] (1) Extract messages from C-V2X messages that can be used to visualize the traffic environment;

[0042] (2) Parse the messages and calculate the longitude and latitude values according to the rules;

[0043] (3) Classify the data into three geometric shapes: points, lines, and surfaces;

[0044] (4) Locate the data position of the points in the map, assign corresponding icons or filling colors according to different message types, and use the text content in the messages as the label field of the points;

[0045] (5) Locate the data position of the line in the map, and assign different styles and colors to the line segments according to different message types;

[0046] (6) Locate the data position of the surface in the map, and assign different styles and colors to the surfaces according to different message types.

[0047] As a preferred embodiment of the present invention, the step (1) is specifically:

[0048] Filter C-V2X messages and extract the messages containing geographical information.

[0049] As a preferred embodiment of the present invention, the step (2) specifically includes the following steps:

[0050] (2.1) Parse the message content according to the rules and extract the longitude and latitude data;

[0051] (2.2) Calculate the real longitude and latitude data.

[0052] As a preferred embodiment of the present invention, the step (2) further includes the following steps:

[0053] If it is a MAP message, calculate the distance using the ellipsoidal geographic algorithm according to the road segment trajectory and road width to obtain the lane profile;

[0054] According to the last two points of the road segment trajectory, calculate the forward and reverse azimuth angles, and use the point diffraction algorithm to calculate the positions of lane turning icons, speed limit icons, road attribute icons, road segment text positions, and upstream node text positions.

[0055] As a preferred embodiment of the present invention, the step (4) specifically includes the following steps:

[0056] Judge whether the data source is a SPAT message. If it is not a SPAT message, draw the corresponding icon at the specified longitude and latitude position according to the message type; otherwise, draw a dot at this position, and use the dot color to represent the phase state of the traffic signal; draw the description text above the dot position.

[0057] As a preferred embodiment of the present invention, the step (5) specifically includes the following steps:

[0058] Set the style and color of the line pen according to the message type, draw a line segment according to the point list, and draw the description text above the line segment.

[0059] As a preferred embodiment of the present invention, the step (6) specifically includes the following steps:

[0060] Set the style and color of the surface brush according to the message type, draw a region according to the point list, and draw the description text inside the region.

[0061] As a preferred embodiment of the present invention, the method further comprises the following steps:

[0062] Map all the drawn contents to the actual geographical locations to obtain the visualized contents of C-V2X messages on the map.

[0063] The device for automatically visualizing C-V2X roadside messages, wherein the device comprises:

[0064] A processor configured to execute computer-executable instructions;

[0065] A memory storing one or more computer-executable instructions, and when the computer-executable instructions are executed by the processor, each step of the method for automatically visualizing C-V2X roadside messages as described above is implemented.

[0066] The processor for automatically visualizing C-V2X roadside messages, wherein the processor is configured to execute computer-executable instructions, and when the computer-executable instructions are executed by the processor, each step of the method for automatically visualizing C-V2X roadside messages as described above is implemented.

[0067] The computer-readable storage medium having stored thereon a computer program, and the computer program can be executed by a processor to implement each step of the method for automatically visualizing C-V2X roadside messages as described above.

[0068] In a specific embodiment of the present invention, a method for visually presenting road information, traffic participant positions, signal light phase states, and roadside poles according to C-V2X roadside message content is involved, which solves the problem of being unable to automatically present a visualized road environment based on the C-V2X messages received by the on-vehicle unit.

[0069] In view of the problems of low efficiency, high cost, large error, and poor timeliness in manually drawing C-V2X road information, this article provides a method for automatically visualizing traffic-related message content based on existing C-V2X message data, achieving the purpose of improving test efficiency, saving labor costs, and objectively presenting the traffic environment in real time. To achieve the above purpose, the following technical solutions can be implemented:

[0070] Step 1: Extract messages from C-V2X messages that can be used to visually present the traffic environment;

[0071] Step 2: Parse the messages and calculate the longitude and latitude values according to the rules;

[0072] Step 3: Classify the data in Step 2 into three geometric shapes: points, lines, and surfaces;

[0073] Step 4: Locate the data position of the points in Step 3 on the map, assign corresponding icons or filling colors according to different message types, and use the text content in the message as the label field of the point;

[0074] Step 5: Locate the data position of the lines in Step 3 on the map, and assign different styles and colors to the line segments according to different message types;

[0075] Step 6: Locate the data position of the surfaces in Step 3 on the map, and assign different styles and colors to the surfaces according to different message types.

[0076] As Figure 1 shown, a flowchart for automatically visualizing C-V2X roadside information includes the following steps:

[0077] Step 1: Filter C-V2X messages. Only messages containing geographical information can be visualized, such as messages like MAP, SPAT, BSM, RSM, and RSI.

[0078] Step 2: According to the message structure defined in the official document, parse the message content according to the rules and extract the latitude and longitude data. The latitude and longitude data at this time has been processed and cannot be used directly;

[0079] Step 3: There are differences in the latitude and longitude algorithms for different messages. Calculate the true latitude and longitude data according to the method given in the document;

[0080] Step 4: Determine the message type. If it is a MAP message, then according to the road section trajectory and road width, use the ellipsoid geographic algorithm to calculate the distance to obtain the lane contour. Then, according to the last two points of the road section trajectory, calculate the azimuth angles in the forward and reverse directions. With the two point coordinates and the azimuth angles, use the point diffraction algorithm to calculate the positions of lane turning icons, speed limit icons, road attribute icons, road section text positions, and upstream node text positions according to different distance values;

[0081] Step 5: Determine the content of the latitude and longitude collection, which is divided into three different geometric shapes: points, lines, and surfaces;

[0082] For point data, determine whether the data source is a SPAT message. If it is not a SPAT message, then draw the corresponding icon at the specified latitude and longitude position according to the message type; otherwise, draw a dot at this position and use the dot color to represent the phase state of the traffic signal. Finally, draw the descriptive text above the point position;

[0083] For line data, set the style and color of the line brush according to the message type, draw a line segment according to the point list, and finally draw the descriptive text above the line segment;

[0084] Step 8: For the face data, set the style and color of the face brush according to the message type, draw a region based on the point list, and finally draw the description text inside the region;

[0085] Step 9: Map all the drawn content to the actual geographical location, that is, obtain the visualized content of C-V2X messages on the map, as Figure 2 shown;

[0086] Step 10: If it is not necessary to display on the map and to avoid too many irrelevant elements in the picture, the position information can be recalculated according to the trajectory of the central road section, that is, obtain the abstracted visualized content of C-V2X messages, as Figure 3 shown.

[0087] In the technical solution of the present invention, the parsing process of the V2X data file is involved, and all detailed environmental messages during the corresponding test can be obtained. Combining with the visualization effect in the solution, the existence check of RSU messages can also be realized from the data.

[0088] The technical solution of the present invention supports parsing C-V2X messages, can identify all C-V2X messages. In addition to SPAT, RSM, RSI, and MAP messages, it can also identify and parse messages such as BSM, PSM, SSM, CLPMM, RSC, and VIR.

[0089] The technical solution of the present invention can extract the geographical location data in the message and present it in the form of a graphic effect on the map base map.

[0090] For the specific implementation solution of this embodiment, reference can be made to the relevant descriptions in the above embodiments, and details will not be elaborated here.

[0091] It can be understood that the same or similar parts in the above embodiments can be referred to each other, and the content not described in detail in some embodiments can be referred to the same or similar content in other embodiments.

[0092] It should be noted that in the description of the present invention, terms such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "a plurality of" refers to at least two.

[0093] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of the code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present invention includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in the reverse order according to the involved functions, rather than in the order shown or discussed, and this should be understood by those skilled in the technical field to which the embodiments of the present invention belong.

[0094] It should be understood that each part of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution device. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following technologies well known in the art can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application specific integrated circuits with appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0095] Those of ordinary skill in the art can understand that all or part of the steps carried by the method of the above embodiments can be completed by instructing relevant hardware through a program, and the corresponding program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0096] In addition, in each embodiment of the present invention, each functional unit can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0097] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disk, etc.

[0098] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0099] By adopting the method, device, processor and computer-readable storage medium of the present invention for automatically visualizing C-V2X roadside messages, visual content can be generated in real time when collecting or playing back C-V2X message data. The conversion of complex data into simple and understandable graphics enables users to quickly understand the traffic information contained in the data without the need to understand the relevant knowledge of C-V2X messages, reducing the operation threshold. Through visual operations, traffic environment information can be presented more efficiently and intuitively. Through multi-dimensional presentation, users can accurately capture key points, reducing the time and effort required to read the original text, reducing errors caused by manual processing, and improving the efficiency of users' analysis of data information. After data visualization, the dynamic process of the data can be displayed, which helps users judge the changes in the traffic environment. At the same time, abnormal values are also easy to detect, which helps to quickly discover problems.

[0100] In this specification, the present invention has been described with reference to its specific embodiments. However, it is obvious that various modifications and variations can still be made without departing from the spirit and scope of the present invention. Therefore, the specification and drawings should be regarded as illustrative rather than restrictive.

Claims

1. A method for automatically visualizing and processing C-V2X roadside messages, characterized in that, The method described above includes the following steps: (1) Extract messages from C-V2X messages that can be used for visualizing the traffic environment; (2) Parse the messages and calculate the longitude and latitude values according to the rules; (3) Classify the data into three geometric shapes: points, lines, and planes; (4) Locate the data position of the points on the map, and according to different message types, assign corresponding icons or filling colors, and use the text content in the message as the label field of the points; (5) Locate the data position of the lines on the map, and according to different message types, assign different styles and colors to the line segments; (6) Locate the data position of the planes on the map, and according to different message types, assign different styles and colors to the planes.

2. The method for automatically visualizing C-V2X roadside messages according to claim 1, wherein The specific content of step (1) is as follows: Filter the C-V2X messages and extract the messages containing geographical information.

3. The method for automatically visualizing the C-V2X roadside message according to claim 1, wherein The specific content of step (2) includes the following steps: (2.1) Parse the message content according to the rules and extract the longitude and latitude data; (2.2) Calculate the real longitude and latitude data.

4. The method for automatically visualizing the C-V2X roadside message according to claim 1, wherein Step (2) also includes the following steps: If it is a MAP message, calculate the distance using the ellipsoid geography algorithm according to the road segment trajectory and road width to obtain the contour of the lane; Calculate the forward and reverse azimuth angles according to the last two points of the road segment trajectory, and use the point diffraction algorithm to calculate the positions of the lane turning icons, speed limit icons, road attribute icons, road segment text positions, and upstream node text positions.

5. The method for automatically visualizing the C-V2X roadside message according to claim 1, wherein The specific content of step (4) includes the following steps: Judge whether the data source is a SPAT message. If it is not a SPAT message, draw the corresponding icon at the specified longitude and latitude position according to the message type; otherwise, draw a dot at this position, and use the dot color to represent the phase state of the traffic signal; draw the description text above the dot position.

6. The method for automatically visualizing the C-V2X roadside message according to claim 1, characterized in that The specific content of step (5) includes the following steps: Set the style and color of the line brush according to the message type, draw a line segment according to the point list, and draw the description text above the line segment.

7. The method for automatically visualizing the C-V2X roadside message according to claim 1, wherein The specific content of step (6) includes the following steps: Set the style and color of the plane brush according to the message type, draw a region according to the point list, and draw the description text inside the region.

8. The method for automatically visualizing the C-V2X roadside message according to claim 1, characterized in that The method also includes the following steps: Map all the drawn contents to the actual geographical positions to obtain the visualized content of the C-V2X messages on the map.

9. An apparatus for automatically visualizing C-V2X roadside messages, characterized in that, The device described above includes: A processor configured to execute computer-executable instructions; A memory storing one or more computer-executable instructions, and when the computer-executable instructions are executed by the processor, each step of the method for automatically visualizing C-V2X roadside messages described in any one of claims 1 to 8 is implemented.

10. A processor for automatically visualizing C-V2X roadside messages, characterized in that, The processor is configured to execute computer-executable instructions, and when the computer-executable instructions are executed by the processor, each step of the method for automatically visualizing C-V2X roadside messages described in any one of claims 1 to 8 is implemented.

11. A computer-readable storage medium, characterized in that, A computer program is stored thereon, and the computer program can be executed by the processor to implement each step of the method for automatically visualizing C-V2X roadside messages described in any one of claims 1 to 8.

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