Method and system for determining the current signal light color of the lane based on V2X technology

Abstract

The present invention provides a method and system for determining the current signal light color of a lane based on V2X technology, including: step S1: RSU equipment broadcasts map information of a local area and traffic light messages at intersections; step S2: OBU equipment obtains the signal light phase information of the current intersection based on the map information and traffic light messages at intersections broadcasted by the RSU; step S3: obtains the GPS longitude and latitude information of the vehicle through the OBU equipment, and calculates the real-time vehicle lane and lane phase information in combination with the map information broadcasted by the RSU equipment; step S4: obtains the current signal light color of the lane where the vehicle is located in combination with the signal light phase information and lane phase information. The present invention effectively solves the problems of reduced recognition rate and misidentification of the vehicle's own sensing equipment when encountering bad weather, thereby improving driving safety; it can broadcast traffic light information at intersections to all surrounding vehicles equipped with V2X equipment, thereby improving information coverage.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a method and system for determining the current color of a traffic light in a lane based on V2X technology. Background Art

[0002] Currently, autonomous driving vehicles generally use the vehicle's own sensing equipment (cameras, radars) to identify the color of traffic lights at intersections. This method relies on the recognition accuracy of the sensing equipment. Under the influence of severe weather conditions, there are problems such as reduced recognition rate and misidentification, which seriously affects driving safety.

[0003] V2X, which means vehicle to everything, refers to the information exchange between vehicles and the outside world. This method introduces a method based on V2X technology to achieve data fusion calculation based on the GPS positioning information collected by the vehicle itself, the MAP packet data broadcast by the roadside unit RSU, and the signal machine SPAT data to obtain the light color of the current lane.

[0004] This method uses radio broadcast communication technology and will not be interfered by the external weather environment. It has the advantages of long communication distance, high recognition rate, large amount of information and high accuracy. It can effectively make up for the shortcomings of the vehicle's own sensing equipment and help improve the safety of drivers and passengers.

[0005] This allows the autonomous vehicle to obtain the current traffic light color when passing through an intersection, and further enables the autonomous driving computer to complete lane route planning, realizing application scenarios such as vehicle green wave guidance or red light running warning.

[0006] Patent document CN106909937B (application number: CN201710070814.6) discloses a traffic light recognition method, a vehicle control method, a device and a vehicle, wherein the traffic light recognition method comprises: real-time acquisition of the front image of the vehicle; determining the region of interest of the front image; converting the image of the region of interest from RGB space to HSI space to obtain the HSI component map of the region of interest; performing local dynamic threshold segmentation on the S component of the HSI component map to segment the traffic light area; and classifying the traffic light area using a preset classifier to obtain the information of the traffic light. However, the invention relies on the recognition accuracy of the sensing device, and has problems such as reduced recognition rate and misrecognition under the influence of severe weather conditions. Summary of the invention

[0007] In view of the defects in the prior art, the purpose of the present invention is to provide a method and system for determining the current color of a traffic light in a lane based on V2X technology.

[0008] According to the present invention, a method for determining the current light color of a traffic light in a lane based on V2X technology includes:

[0009] Step S1: The RSU device broadcasts the map information of the local area and the traffic light information of the intersection;

[0010] Step S2: The OBU device obtains the signal light phase information of the current intersection according to the map information and intersection signal light message broadcast by the RSU;

[0011] Step S3: Calculate the real-time vehicle lane and lane phase information based on the map information broadcast by the received RSU device;

[0012] Step S4: Combining the signal light phase information and the lane phase information, obtain the current signal light color of the lane where the vehicle is located.

[0013] Preferably, the V2X device OBU and its attached antennas LTE antenna, GNSS antenna and V2X antenna installed on the vehicle, and the V2X device RSU and its attached antennas LTE antenna, GNSS antenna and V2X antenna installed on the electric police pole at the intersection; the OBU device on the vehicle communicates with the RSU device through the PC5 port, obtains the map data packet MAP packet and the traffic light data packet SPAT packet broadcasted by the RSU, and determines the lane according to its own GPS information, and then matches the lane phase information and the traffic light phase information to obtain the current traffic light color of the lane.

[0014] Preferably, lane1 and lane2 are two lanes, pos1 and pos2 are the position information of two waypoints on lane2, width is the lane width of lane2, distance is the distance between the two waypoints pos1 and pos2, pos is the position information of the vehicle OBU device, d_lo is the longitude difference between point pos and point pos1, and d_la is the latitude difference between point pos and point pos1;

[0015] In lane 2, two point information pos1 and pos2 are collected, and these two points are used as reference points. The line connecting these two points is used as the center axis of the lane, and width is used as the lane width. The drawn rectangular area is defined as a section of lane 2.

[0016] The coordinate system is established with the position pos of the vehicle OBU device as the origin of the coordinate system and the vehicle's forward direction as the positive direction of the Y axis of the coordinate system. The OBU device antenna calibrates the distance hd to the front of the vehicle, the distance td to the rear of the vehicle, the distance ld to the left side of the vehicle, and the distance rd to the right side of the vehicle;

[0017] According to the position information of pos1 and pos, the longitude difference d_lo and latitude difference d_la between the two points are calculated. The specific formula is as follows:

[0018] la=2*pi*r*(pos_la–pos1_la)*0.0000001 / 360

[0019] lo=2*pi*r*((pos_lo-pos1_lo)*0.0000001 / 360)*cos(pi*pos_la*0.0000001 / 180);

[0020] rotate=pi*heading*0.0125 / 180;

[0021] d_lo=(lo*cos(rotate)-la*sin(rotate))*100

[0022] d_la=(lo*sin(rotate)+la*cos(rotate))*100

[0023] la is the distance between the latitudes of pos and pos1; pi is the pi, which is 3.1415926; r is the radius of the earth, which is 6378245, in meters; pos_la is the latitude of position pos; pos1_la is the latitude of position pos1; lo is the distance between the longitudes of pos and pos1; pos_lo is the longitude of position pos; pos1_lo is the longitude of position pos1; rotate is in radians; heading is the clockwise angle of the vehicle's forward direction relative to the north direction; d_lo is the arc length between the longitudes of the two points; d_la is the arc length between the latitudes of the two points;

[0024] Calculate the longitude and latitude difference, which should satisfy the condition that the longitude difference is less than or equal to the lane width, and the latitude difference is less than or equal to the distance between the waypoints. According to the conditions, determine whether the vehicle is in the lane 2 lane section;

[0025] The lane phase information is obtained according to the lane attributes, and matched with the signal light phase information to obtain the current light color state of the signal light with the same phase information.

[0026] Preferably, in step S1:

[0027] The RSU device on the electric police pole broadcasts the map information of the local area based on the pre-configured road basic data, including the intersection information, road section information, lane information, and the connection relationship between roads in the local area;

[0028] The RSU device on the electric alarm pole communicates with the intersection signal through a wired network, broadcasting the intersection signal light message, which includes the current status information of the current intersection signal light.

[0029] Preferably, in step S3:

[0030] The vehicle obtains its own GPS longitude and latitude information through the OBU device, and combines it with the map information broadcast by the received RSU device to calculate the real-time vehicle lane and lane phase information.

[0031] According to the present invention, a system for determining the current light color of a traffic light in a lane based on V2X technology includes:

[0032] Module M1: RSU equipment broadcasts local area map information and intersection signal light messages;

[0033] Module M2: The OBU device obtains the signal light phase information of the current intersection based on the map information and intersection signal light message received from the RSU broadcast;

[0034] Module M3: Calculate the real-time vehicle lane and lane phase information based on the map information broadcast by the received RSU device;

[0035] Module M4: Combine the signal light phase information and the lane phase information to obtain the current signal light color of the lane where the vehicle is located.

[0036] Preferably, the V2X device OBU and its attached antennas LTE antenna, GNSS antenna and V2X antenna installed on the vehicle, and the V2X device RSU and its attached antennas LTE antenna, GNSS antenna and V2X antenna installed on the electric police pole at the intersection; the OBU device on the vehicle communicates with the RSU device through the PC5 port, obtains the map data packet MAP packet and the traffic light data packet SPAT packet broadcasted by the RSU, and determines the lane according to its own GPS information, and then matches the lane phase information and the traffic light phase information to obtain the current traffic light color of the lane.

[0037] Preferably, lane1 and lane2 are two lanes, pos1 and pos2 are the position information of two waypoints on lane2, width is the lane width of lane2, distance is the distance between the two waypoints pos1 and pos2, pos is the position information of the vehicle OBU device, d_lo is the longitude difference between point pos and point pos1, and d_la is the latitude difference between point pos and point pos1;

[0038] In lane 2, two point information pos1 and pos2 are collected, and these two points are used as reference points. The line connecting these two points is used as the center axis of the lane, and width is used as the lane width. The drawn rectangular area is defined as a section of lane 2.

[0039] The coordinate system is established with the position pos of the vehicle OBU device as the origin of the coordinate system and the vehicle's forward direction as the positive direction of the Y axis of the coordinate system. The OBU device antenna calibrates the distance hd to the front of the vehicle, the distance td to the rear of the vehicle, the distance ld to the left side of the vehicle, and the distance rd to the right side of the vehicle;

[0040] According to the position information of pos1 and pos, the longitude difference d_lo and latitude difference d_la between the two points are calculated. The specific formula is as follows:

[0041] la=2*pi*r*(pos_la–pos1_la)*0.0000001 / 360

[0042] lo=2*pi*r*((pos_lo-pos1_lo)*0.0000001 / 360)*cos(pi*pos_la*0.0000001 / 180);

[0043] rotate=pi*heading*0.0125 / 180;

[0044] d_lo=(lo*cos(rotate)-la*sin(rotate))*100

[0045] d_la=(lo*sin(rotate)+la*cos(rotate))*100

[0046] la is the distance between the latitudes of pos and pos1; pi is the pi, which is 3.1415926; r is the radius of the earth, which is 6378245, in meters; pos_la is the latitude of position pos; pos1_la is the latitude of position pos1; lo is the distance between the longitudes of pos and pos1; pos_lo is the longitude of position pos; pos1_lo is the longitude of position pos1; rotate is in radians; heading is the clockwise angle of the vehicle's forward direction relative to the north direction; d_lo is the arc length between the longitudes of the two points; d_la is the arc length between the latitudes of the two points;

[0047] Calculate the longitude and latitude difference, which should satisfy the condition that the longitude difference is less than or equal to the lane width, and the latitude difference is less than or equal to the distance between the waypoints. According to the conditions, determine whether the vehicle is in the lane 2 lane section;

[0048] The lane phase information is obtained according to the lane attributes, and matched with the signal light phase information to obtain the current light color state of the signal light with the same phase information.

[0049] Preferably, in the module M1:

[0050] The RSU device on the electric police pole broadcasts the map information of the local area based on the pre-configured road basic data, including the intersection information, road section information, lane information, and the connection relationship between roads in the local area;

[0051] The RSU device on the electric alarm pole communicates with the intersection signal through a wired network, broadcasting the intersection signal light message, which includes the current status information of the current intersection signal light.

[0052] Preferably, in the module M3:

[0053] The vehicle obtains its own GPS longitude and latitude information through the OBU device, and combines it with the map information broadcast by the received RSU device to calculate the real-time vehicle lane and lane phase information.

[0054] Compared with the prior art, the present invention has the following beneficial effects:

[0055] 1. The present invention effectively solves the problems of reduced recognition rate and misidentification of the vehicle's own sensing equipment when encountering bad weather, thereby improving driving safety;

[0056] 2. The present invention can broadcast intersection signal light information to all surrounding vehicles equipped with V2X devices, thereby improving information coverage;

[0057] 3. The present invention has the advantages of long communication distance, high recognition rate, large amount of information carried and high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0059] Figure 1 is the system topology diagram;

[0060] Figure 2 For a specific flow chart;

[0061] Figure 3 The basic algorithm used by this system. DETAILED DESCRIPTION

[0062] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0063] Embodiment 1:

[0064] According to a method for determining the current light color of a traffic light in a lane based on V2X technology provided by the present invention, Figure 1-Figure 3 As shown, including:

[0065] Step S1: The RSU device broadcasts the map information of the local area and the traffic light information of the intersection;

[0066] Step S2: The OBU device obtains the signal light phase information of the current intersection according to the map information and intersection signal light message broadcast by the RSU;

[0067] Step S3: Calculate the real-time vehicle lane and lane phase information based on the map information broadcast by the received RSU device;

[0068] Step S4: Combining the signal light phase information and the lane phase information, obtain the current signal light color of the lane where the vehicle is located.

[0069] Specifically, the V2X device OBU installed on the vehicle and its affiliated antennas LTE antenna, GNSS antenna and V2X antenna, the V2X device RSU installed on the electric police pole at the intersection and its affiliated antennas LTE antenna, GNSS antenna and V2X antenna; the OBU device on the vehicle communicates with the RSU device through the PC5 port, obtains the map data packet MAP packet and traffic light data packet SPAT packet broadcast by the RSU, and determines the lane based on its own GPS information, and then matches the lane phase information and the traffic light phase information to obtain the current traffic light color of the lane.

[0070] Specifically, lane1 and lane2 are two lanes, pos1 and pos2 are the location information of two waypoints on lane2, width is the lane width of lane2, distance is the distance between the two waypoints pos1 and pos2, pos is the location information of the vehicle OBU device, d_lo is the longitude difference between point pos and point pos1, and d_la is the latitude difference between point pos and point pos1;

[0071] In lane 2, two point information pos1 and pos2 are collected, and these two points are used as reference points. The line connecting these two points is used as the center axis of the lane, and width is used as the lane width. The drawn rectangular area is defined as a section of lane 2.

[0072] The coordinate system is established with the position pos of the vehicle OBU device as the origin of the coordinate system and the vehicle's forward direction as the positive direction of the Y axis of the coordinate system. The OBU device antenna calibrates the distance hd to the front of the vehicle, the distance td to the rear of the vehicle, the distance ld to the left side of the vehicle, and the distance rd to the right side of the vehicle;

[0073] According to the position information of pos1 and pos, the longitude difference d_lo and latitude difference d_la between the two points are calculated. The specific formula is as follows:

[0074] la=2*pi*r*(pos_la–pos1_la)*0.0000001 / 360

[0075] lo=2*pi*r*((pos_lo-pos1_lo)*0.0000001 / 360)*cos(pi*pos_la*0.0000001 / 180);

[0076] rotate=pi*heading*0.0125 / 180;

[0077] d_lo=(lo*cos(rotate)-la*sin(rotate))*100

[0078] d_la=(lo*sin(rotate)+la*cos(rotate))*100

[0079] la is the distance between the latitudes of pos and pos1; pi is the pi, which is 3.1415926; r is the radius of the earth, which is 6378245, in meters; pos_la is the latitude of position pos; pos1_la is the latitude of position pos1; lo is the distance between the longitudes of pos and pos1; pos_lo is the longitude of position pos; pos1_lo is the longitude of position pos1; rotate is in radians; heading is the clockwise angle of the vehicle's forward direction relative to the north direction; d_lo is the arc length between the longitudes of the two points; d_la is the arc length between the latitudes of the two points;

[0080] Calculate the longitude and latitude difference, which should satisfy the condition that the longitude difference is less than or equal to the lane width, and the latitude difference is less than or equal to the distance between the waypoints. According to the conditions, determine whether the vehicle is in the lane 2 lane section;

[0081] The lane phase information is obtained according to the lane attributes, and matched with the signal light phase information to obtain the current light color state of the signal light with the same phase information.

[0082] Specifically, in step S1:

[0083] The RSU device on the electric police pole broadcasts the map information of the local area based on the pre-configured road basic data, including the intersection information, road section information, lane information, and the connection relationship between roads in the local area;

[0084] The RSU device on the electric alarm pole communicates with the intersection signal through a wired network, broadcasting the intersection signal light message, which includes the current status information of the current intersection signal light.

[0085] Specifically, in step S3:

[0086] The vehicle obtains its own GPS longitude and latitude information through the OBU device, and combines it with the map information broadcast by the received RSU device to calculate the real-time vehicle lane and lane phase information.

[0087] Embodiment 2:

[0088] Embodiment 2 is a preferred example of Embodiment 1, and is used to illustrate the present invention in more detail.

[0089] Those skilled in the art may understand the method for determining the current color of a signal light in a lane based on V2X technology provided by the present invention as a specific implementation of a system for determining the current color of a signal light in a lane based on V2X technology, that is, the system for determining the current color of a signal light in a lane based on V2X technology may be implemented by executing the step flow of the method for determining the current color of a signal light in a lane based on V2X technology.

[0090] According to the present invention, a system for determining the current light color of a traffic light in a lane based on V2X technology includes:

[0091] Module M1: RSU equipment broadcasts local area map information and intersection signal light messages;

[0092] Module M2: The OBU device obtains the signal light phase information of the current intersection based on the map information and intersection signal light message received from the RSU broadcast;

[0093] Module M3: Calculate the real-time vehicle lane and lane phase information based on the map information broadcast by the received RSU device;

[0094] Module M4: Combine the signal light phase information and the lane phase information to obtain the current signal light color of the lane where the vehicle is located.

[0095] Specifically, the V2X device OBU installed on the vehicle and its affiliated antennas LTE antenna, GNSS antenna and V2X antenna, the V2X device RSU installed on the electric police pole at the intersection and its affiliated antennas LTE antenna, GNSS antenna and V2X antenna; the OBU device on the vehicle communicates with the RSU device through the PC5 port, obtains the map data packet MAP packet and traffic light data packet SPAT packet broadcast by the RSU, and determines the lane based on its own GPS information, and then matches the lane phase information and the traffic light phase information to obtain the current traffic light color of the lane.

[0096] Specifically, lane1 and lane2 are two lanes, pos1 and pos2 are the location information of two waypoints on lane2, width is the lane width of lane2, distance is the distance between the two waypoints pos1 and pos2, pos is the location information of the vehicle OBU device, d_lo is the longitude difference between point pos and point pos1, and d_la is the latitude difference between point pos and point pos1;

[0097] In lane 2, two point information pos1 and pos2 are collected, and these two points are used as reference points. The line connecting these two points is used as the center axis of the lane, and width is used as the lane width. The drawn rectangular area is defined as a section of lane 2.

[0098] The coordinate system is established with the position pos of the vehicle OBU device as the origin of the coordinate system and the vehicle's forward direction as the positive direction of the Y axis of the coordinate system. The OBU device antenna calibrates the distance hd to the front of the vehicle, the distance td to the rear of the vehicle, the distance ld to the left side of the vehicle, and the distance rd to the right side of the vehicle;

[0099] According to the position information of pos1 and pos, the longitude difference d_lo and latitude difference d_la between the two points are calculated. The specific formula is as follows:

[0100] la=2*pi*r*(pos_la–pos1_la)*0.0000001 / 360

[0101] lo=2*pi*r*((pos_lo-pos1_lo)*0.0000001 / 360)*cos(pi*pos_la*0.0000001 / 180);

[0102] rotate=pi*heading*0.0125 / 180;

[0103] d_lo=(lo*cos(rotate)-la*sin(rotate))*100

[0104] d_la=(lo*sin(rotate)+la*cos(rotate))*100

[0105] la is the distance between the latitudes of pos and pos1; pi is the pi, which is 3.1415926; r is the radius of the earth, which is 6378245, in meters; pos_la is the latitude of position pos; pos1_la is the latitude of position pos1; lo is the distance between the longitudes of pos and pos1; pos_lo is the longitude of position pos; pos1_lo is the longitude of position pos1; rotate is in radians; heading is the clockwise angle of the vehicle's forward direction relative to the north direction; d_lo is the arc length between the longitudes of the two points; d_la is the arc length between the latitudes of the two points;

[0106] Calculate the longitude and latitude difference, which should satisfy the condition that the longitude difference is less than or equal to the lane width, and the latitude difference is less than or equal to the distance between the waypoints. According to the conditions, determine whether the vehicle is in the lane 2 lane section;

[0107] The lane phase information is obtained according to the lane attributes, and matched with the signal light phase information to obtain the current light color state of the signal light with the same phase information.

[0108] Specifically, in the module M1:

[0109] The RSU device on the electric police pole broadcasts the map information of the local area based on the pre-configured road basic data, including the intersection information, road section information, lane information, and the connection relationship between roads in the local area;

[0110] The RSU device on the electric alarm pole communicates with the intersection signal through a wired network, broadcasting the intersection signal light message, which includes the current status information of the current intersection signal light.

[0111] Specifically, in the module M3:

[0112] The vehicle obtains its own GPS longitude and latitude information through the OBU device, and combines it with the map information broadcast by the received RSU device to calculate the real-time vehicle lane and lane phase information.

[0113] Embodiment 3:

[0114] Embodiment 3 is a preferred example of Embodiment 1, and is used to illustrate the present invention in more detail.

[0115] A method and system for determining the current signal light color of the lane where a vehicle is located based on V2X technology. The implementation system of the method includes a V2X device (OBU) installed on the vehicle and its attached antennas (LTE antenna, GNSS antenna, V2X antenna), and a V2X device (RSU) installed on the electric police pole at the intersection and its attached antennas (LTE antenna, GNSS antenna, V2X antenna). The OBU device on the vehicle communicates with the RSU device through the PC5 port, obtains the map data packet (MAP packet) and signal light data packet (SPAT packet) broadcasted by the RSU, and determines the lane based on its own GPS information, and then matches the lane phase information and the signal light phase information to obtain the current signal light color of the lane.

[0116] 1. The RSU device on the electric police pole broadcasts the map information of the local area based on the pre-configured road basic data, including the intersection information, road section information, lane information, and the connection relationship between roads in the local area.

[0117] 2. The RSU device on the electric alarm pole communicates with the intersection signal through a wired network and broadcasts the intersection signal light message, which includes the current status information of the current intersection signal light.

[0118] 3. The OBU device obtains the signal light phase information of the current intersection based on the map information and signal light message received from the RSU broadcast.

[0119] 4. The vehicle obtains its own GPS latitude and longitude information through the OBU device, and combines it with the map information broadcast by the received RSU device to calculate the real-time vehicle lane and lane phase information.

[0120] 5. Combining the lane phase information and the signal light phase information, the current signal light color of the lane where the vehicle is located can be obtained.

[0121] 6. The specific flow chart is as follows Figure 2 shown.

[0122] like Figure 3 As shown, lane1 and lane2 are two lanes, pos1 and pos2 are the location information of two waypoints on lane2, width is the lane width of lane2, distance is the distance between the two waypoints pos1 and pos2, pos is the location information of the vehicle OBU device, d_lo is the longitude difference between point pos and point pos1, and d_la is the latitude difference between point pos and point pos1.

[0123] (1) In lane 2, two point information pos1 and pos2 are collected. These two points are used as reference points. The line connecting the two points is used as the center axis of the lane. Width is used as the lane width. The drawn rectangular area is defined as a section of lane 2.

[0124] (2) Then, the position (pos) of the vehicle's OBU device is used as the origin of the coordinate system, and the direction of the vehicle's forward movement is used as the positive direction of the Y-axis of the coordinate system to establish the coordinate system. (Note: The OBU device antenna needs to be calibrated with the distance hd to the front of the vehicle, the distance td to the rear of the vehicle, the distance ld to the left side of the vehicle, and the distance rd to the right side of the vehicle).

[0125] (3) Calculate the longitude difference d_lo and latitude difference d_la between the two points based on the position information of pos1 and pos. The specific formula is as follows:

[0126] la=2*pi*r*(pos_la–pos1_la)*0.0000001 / 360;

[0127] lo=2*pi*r*((pos_lo–

[0128] pos1_lo)*0.0000001 / 360)*cos(pi*pos_la*0.0000001 / 180);

[0129] rotate=pi*heading*0.0125 / 180;

[0130] d_lo=(lo*cos(rotate)-la*sin(rotate))*100

[0131] d_la=(lo*sin(rotate)+la*cos(rotate))*100

[0132] (4) The calculated longitude and latitude differences must meet the following conditions: the longitude difference is less than or equal to the lane width, and the latitude difference is less than or equal to the distance between the waypoints. Based on these conditions, it is determined whether the vehicle is in the lane 2 section.

[0133] (5) Finally, the lane phase information is obtained based on the lane attributes and matched with the signal light phase information to obtain the current light color state of the signal light with the same phase information.

[0134] Those skilled in the art know that, in addition to implementing the system, device and its various modules provided by the present invention in a purely computer-readable program code, it is entirely possible to implement the same program in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, the system, device and its various modules provided by the present invention can be considered as a hardware component, and the modules included therein for implementing various programs can also be considered as structures within the hardware component; the modules for implementing various functions can also be considered as both software programs for implementing the method and structures within the hardware component.

[0135] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A method for determining the current signal light color of a lane based on V2X technology, characterized in that: include: Step S1: The RSU device broadcasts the map information of the local area and the traffic light information of the intersection; Step S2: The OBU device obtains the signal light phase information of the current intersection according to the map information and intersection signal light message broadcast by the RSU; Step S3: Calculate the real-time vehicle lane and lane phase information based on the map information broadcast by the received RSU device; Step S4: combining the signal light phase information and the lane phase information to obtain the current signal light color of the lane where the vehicle is located; lane1 and lane2 are two lanes, pos1 and pos2 are the location information of two waypoints on lane2, width is the lane width of lane2, distance is the distance between the two waypoints pos1 and pos2, pos is the location information of the vehicle OBU device, d_lo is the longitude difference between point pos and point pos1, and d_la is the latitude difference between point pos and point pos1; In lane 2, two point information pos1 and pos2 are collected, and these two points are used as reference points. The line connecting these two points is used as the center axis of the lane, and width is used as the lane width. The drawn rectangular area is defined as a section of lane 2. The coordinate system is established with the position pos of the vehicle OBU device as the origin of the coordinate system and the vehicle's forward direction as the positive direction of the Y axis of the coordinate system. The OBU device antenna calibrates the distance hd to the front of the vehicle, the distance td to the rear of the vehicle, the distance ld to the left side of the vehicle, and the distance rd to the right side of the vehicle; According to the position information of pos1 and pos, the longitude difference d_lo and latitude difference d_la between the two points are calculated. The specific formula is as follows: la=2*pi*r*(pos_la–pos1_la)*0.0000001 / 360 lo=2*pi*r*((pos_lo-pos1_lo)*0.0000001 / 360)*cos(pi*pos_la*0.0000001 / 180); rotate=pi*heading*0.0125 / 180; d_lo=(lo*cos(rotate)-la*sin(rotate))*100 d_la=(lo*sin(rotate)+la*cos(rotate))*100 la is the distance between the latitudes of pos and pos1; pi is the pi, which is 3.1415926; r is the radius of the earth, which is 6378245, in meters; pos_la is the latitude of position pos; pos1_la is the latitude of position pos1; lo is the distance between the longitudes of pos and pos1; pos_lo is the longitude of position pos; pos1_lo is the longitude of position pos1; rotate is in radians; heading is the clockwise angle of the vehicle's forward direction relative to the north direction; d_lo is the arc length between the longitudes of the two points; d_la is the arc length between the latitudes of the two points; Calculate the longitude and latitude difference, which should satisfy the condition that the longitude difference is less than or equal to the lane width, and the latitude difference is less than or equal to the distance between the waypoints. According to the conditions, determine whether the vehicle is in the lane 2 lane section; The lane phase information is obtained according to the lane attributes, and matched with the signal light phase information to obtain the current light color state of the signal light with the same phase information.

2. The method for determining the current signal light color of a lane based on V2X technology according to claim 1, characterized in that: The V2X device OBU installed on the vehicle and its attached antennas LTE antenna, GNSS antenna and V2X antenna, the V2X device RSU installed on the electric police pole at the intersection and its attached antennas LTE antenna, GNSS antenna and V2X antenna; the OBU device on the vehicle communicates with the RSU device through the PC5 port, obtains the map data packet MAP packet and traffic light data packet SPAT packet broadcasted by the RSU, and determines the lane it is in based on its own GPS information, and then matches it based on the lane phase information and the traffic light phase information to obtain the current traffic light color of the lane.

3. The method for determining the current signal light color of the lane based on V2X technology according to claim 1, characterized in that: In step S1: The RSU device on the electric police pole broadcasts the map information of the local area based on the pre-configured road basic data, including the intersection information, road section information, lane information, and the connection relationship between roads in the local area; The RSU device on the electric alarm pole communicates with the intersection signal through a wired network, broadcasting the intersection signal light message, which includes the current status information of the current intersection signal light.

4. The method for determining the current signal light color of the lane based on V2X technology according to claim 1, characterized in that: In step S3: The vehicle obtains its own GPS longitude and latitude information through the OBU device, and combines it with the map information broadcast by the received RSU device to calculate the real-time vehicle lane and lane phase information.

5. A system for determining the current traffic light color of a lane based on V2X technology, characterized in that: include: Module M1: RSU equipment broadcasts local area map information and intersection signal light messages; Module M2: The OBU device obtains the signal light phase information of the current intersection based on the map information and intersection signal light message received from the RSU broadcast; Module M3: Calculate the real-time vehicle lane and lane phase information based on the map information broadcast by the received RSU device; Module M4: Combine the signal light phase information and lane phase information to obtain the current signal light color of the lane where the vehicle is located; lane1 and lane2 are two lanes, pos1 and pos2 are the location information of two waypoints on lane2, width is the lane width of lane2, distance is the distance between the two waypoints pos1 and pos2, pos is the location information of the vehicle OBU device, d_lo is the longitude difference between point pos and point pos1, and d_la is the latitude difference between point pos and point pos1; In lane 2, two point information pos1 and pos2 are collected, and these two points are used as reference points. The line connecting these two points is used as the center axis of the lane, and width is used as the lane width. The drawn rectangular area is defined as a section of lane 2. The coordinate system is established with the position pos of the vehicle OBU device as the origin of the coordinate system and the vehicle's forward direction as the positive direction of the Y axis of the coordinate system. The OBU device antenna calibrates the distance hd to the front of the vehicle, the distance td to the rear of the vehicle, the distance ld to the left side of the vehicle, and the distance rd to the right side of the vehicle; According to the position information of pos1 and pos, the longitude difference d_lo and latitude difference d_la between the two points are calculated. The specific formula is as follows: la=2*pi*r*(pos_la–pos1_la)*0.0000001 / 360 lo=2*pi*r*((pos_lo-pos1_lo)*0.0000001 / 360)*cos(pi*pos_la*0.0000001 / 180); rotate=pi*heading*0.0125 / 180; d_lo=(lo*cos(rotate)-la*sin(rotate))*100 d_la=(lo*sin(rotate)+la*cos(rotate))*100 la is the distance between the latitudes of pos and pos1; pi is the pi, which is 3.1415926; r is the radius of the earth, which is 6378245, in meters; pos_la is the latitude of position pos; pos1_la is the latitude of position pos1; lo is the distance between the longitudes of pos and pos1; pos_lo is the longitude of position pos; pos1_lo is the longitude of position pos1; rotate is in radians; heading is the clockwise angle of the vehicle's forward direction relative to the north direction; d_lo is the arc length between the longitudes of the two points; d_la is the arc length between the latitudes of the two points; Calculate the longitude and latitude difference, which should satisfy the condition that the longitude difference is less than or equal to the lane width, and the latitude difference is less than or equal to the distance between the waypoints. According to the conditions, determine whether the vehicle is in the lane 2 lane section; The lane phase information is obtained according to the lane attributes, and matched with the signal light phase information to obtain the current light color state of the signal light with the same phase information.

6. The system for determining the current signal light color of a lane based on V2X technology according to claim 5, characterized in that: The V2X device OBU installed on the vehicle and its attached antennas LTE antenna, GNSS antenna and V2X antenna, the V2X device RSU installed on the electric police pole at the intersection and its attached antennas LTE antenna, GNSS antenna and V2X antenna; the OBU device on the vehicle communicates with the RSU device through the PC5 port, obtains the map data packet MAP packet and traffic light data packet SPAT packet broadcasted by the RSU, and determines the lane it is in based on its own GPS information, and then matches it based on the lane phase information and the traffic light phase information to obtain the current traffic light color of the lane.

7. The system for determining the current signal light color of a lane based on V2X technology according to claim 5, characterized in that: In the module M1: The RSU device on the electric police pole broadcasts the map information of the local area based on the pre-configured road basic data, including the intersection information, road section information, lane information, and the connection relationship between roads in the local area; The RSU device on the electric alarm pole communicates with the intersection signal through a wired network, broadcasting the intersection signal light message, which includes the current status information of the current intersection signal light.

8. The system for determining the current signal light color of a lane based on V2X technology according to claim 5, characterized in that: In the module M3: The vehicle obtains its own GPS longitude and latitude information through the OBU device, and combines it with the map information broadcast by the received RSU device to calculate the real-time vehicle lane and lane phase information.

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