Method and device for verifying traffic light of car-road cooperation system and storage medium

Abstract

The application discloses a traffic light verification method and device of a vehicle-road cooperation system and a storage medium, wherein the vehicle-road cooperation system is applied to a roadside device, and the method comprises the following steps: issuing target traffic light information perceived by the vehicle-road cooperation system to an automatic driving vehicle; receiving a first matching result of target traffic light information recognized by the automatic driving vehicle and the target traffic light information perceived by the vehicle-road cooperation system, which is sent by the automatic driving vehicle; collecting the running state of a vehicle in a region controlled by the target traffic light perceived by the vehicle-road cooperation system; obtaining a second matching result according to the running state of the vehicle and the target traffic light information perceived by the vehicle-road cooperation system; and verifying the accuracy of the traffic light information in the vehicle-road cooperation system according to the first matching result and the second matching result. The application is efficient, low in cost and high in accuracy.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a traffic light verification method, device and storage medium for a vehicle-road cooperative system. Background Technology

[0002] As autonomous driving of individual vehicles gradually reaches its bottleneck, vehicle-to-infrastructure (V2I) solutions are increasingly seen as an essential path to achieving fully autonomous driving. Among these solutions, the acquisition and processing of traffic light data by V2I roadside equipment plays a crucial role in the entire V2I autonomous driving system.

[0003] Vehicle-road cooperative systems enable autonomous vehicles to obtain all traffic light information along their planned routes in advance and adjust their routes accordingly, making the routes more rational and efficient.

[0004] Furthermore, vehicle-road cooperative systems enable city traffic control centers to obtain timely and efficient traffic light information from various intersections, and supplement this with traffic flow information provided by vehicle-road cooperative systems to identify traffic congestion points. This allows for timely adjustments to traffic light cycles to alleviate traffic pressure and rationally control traffic light durations. Ultimately, this improves overall urban traffic efficiency, achieves energy conservation and emission reduction, and realizes the goal of green transportation.

[0005] Therefore, the accuracy of traffic light information is crucial in the vehicle-road cooperative system. How to accurately and efficiently test the accuracy of traffic lights, and how to monitor and maintain their accuracy in real time, has always been a key focus for the vehicle-road cooperative testing and maintenance team. Traffic lights are characterized by their large number, variations in different light groups, different countdown times, and different directions, making testing and maintenance very challenging.

[0006] In related technologies, at intersections / roadside junctions equipped with traffic lights and roadside systems, personnel manually compare the actual traffic lights with the information in the roadside system to check the accuracy of light colors, directions, countdowns, and other information. Because the testing cannot form a closed loop, it can only be done manually. Therefore, it is inefficient, prone to human error during testing, has high acceptance costs after large-scale deployment, and is difficult to maintain after acceptance. Summary of the Invention

[0007] This application provides a method, device, and storage medium for verifying traffic lights in a vehicle-road cooperative system, so as to verify the correctness of traffic lights and maintain them in real time.

[0008] The embodiments of this application adopt the following technical solutions:

[0009] In a first aspect, embodiments of this application provide a traffic light verification method for a vehicle-road cooperative system, wherein the vehicle-road cooperative system is applied to roadside equipment, and the method includes:

[0010] The vehicle-road cooperative system sends the target traffic light information perceived by the autonomous vehicle to the autonomous vehicle.

[0011] Receive a first matching result between the target traffic light information identified by the autonomous vehicle and the target traffic light information perceived by the vehicle-road cooperative system, which is sent by the autonomous vehicle.

[0012] The vehicle-road cooperative system collects the operating status of vehicles within the target traffic light control area.

[0013] A second matching result is obtained based on the vehicle's operating status and the target traffic light information sensed by the vehicle-road cooperative system;

[0014] Based on the first matching result and the second matching result, the accuracy of the traffic light information in the vehicle-road cooperative system is verified.

[0015] In some embodiments, verifying the accuracy of traffic light information in the vehicle-road cooperative system includes at least one of the following: traffic light color accuracy, traffic light countdown accuracy, traffic light cycle accuracy, end-to-end delay from traffic light to vehicle, end-to-end frequency from traffic light to vehicle, and end-to-end packet loss rate from traffic light to vehicle. Verifying the accuracy of traffic light information in the vehicle-road cooperative system based on the first matching result and the second matching result includes:

[0016] The accuracy of any one or more of the following matching results: traffic light color accuracy, traffic light countdown accuracy, traffic light cycle accuracy, end-to-end delay from traffic light to vehicle, end-to-end frequency from traffic light to vehicle, and end-to-end packet loss rate from traffic light to vehicle.

[0017] In some embodiments, receiving a first matching result between the target traffic light information identified by the autonomous vehicle and the target traffic light information perceived by the vehicle-to-infrastructure cooperative system, sent by the autonomous vehicle, includes:

[0018] The autonomous vehicle receives a communication transmission index from the judgment result of whether each target traffic light information sent by the vehicle-road cooperative system is consistent with the target traffic light information identified by the autonomous vehicle's vision device. The communication transmission index is determined by the autonomous vehicle based on the timestamp and sequence number of each target traffic light information sent by the vehicle-road cooperative system. The communication transmission index includes communication packet loss, communication delay, and communication frequency.

[0019] Simultaneously, receive one or more matching results of the traffic light cycle accuracy, the end-to-end delay from the traffic light to the vehicle, the end-to-end frequency from the traffic light to the vehicle, and the end-to-end packet loss rate from the traffic light to the vehicle.

[0020] In some embodiments, obtaining a second matching result based on the vehicle's operating state and the target traffic light information perceived by the vehicle-road cooperative system includes:

[0021] Obtain the vehicle's operating status within the coverage area of ​​the roadside equipment corresponding to the vehicle-road cooperative system;

[0022] A second matching result is obtained by determining whether the vehicle's operating state (passing or stopping) corresponds to the traffic flow state indicated by the target traffic light information collected by the roadside equipment.

[0023] In some embodiments, determining whether the passage or stop state in the vehicle's operating state corresponds to the traffic flow state indicated by the target traffic light information collected by the roadside equipment includes:

[0024] When the traffic light information collected by the roadside equipment is red, and the vehicle is going straight, it is determined that the color of the target traffic light information is inaccurate or affected by other traffic factors.

[0025] When the roadside equipment collects traffic light information and the light is green, the vehicle stops, and it is determined that the color or countdown of the target traffic light information is inaccurate.

[0026] The matching result is calculated based on the statistical results of the light colors and / or countdowns of various target traffic light information.

[0027] In some embodiments, the roadside equipment is deployed at an intersection or road, and the method further includes:

[0028] The area where the traffic lights are located is determined based on the preset coverage area of ​​the roadside equipment;

[0029] The target traffic light is determined based on the area where the traffic light is located and the preset lane information of the current intersection or road.

[0030] In some embodiments, when there are multiple target traffic lights, before sending the target traffic light information perceived by the vehicle-to-infrastructure cooperative system to the autonomous vehicle, the method further includes:

[0031] Determine the sensing area of ​​the roadside equipment; based on the sensing area of ​​the roadside equipment and the preset lane information, determine whether there is an autonomous vehicle in the preset lane;

[0032] If so, then identify the autonomous vehicle that can receive the target traffic light information perceived by the vehicle-road cooperative system.

[0033] Secondly, embodiments of this application also provide a traffic light verification device for a vehicle-road cooperative system, wherein the vehicle-road cooperative system is applied to roadside equipment, and the device includes:

[0034] The broadcast module is used to send the target traffic light information perceived by the vehicle-road cooperative system to the autonomous vehicle;

[0035] The first matching module is used to receive the first matching result of the target traffic light information identified by the autonomous vehicle and the target traffic light information perceived by the vehicle-road cooperative system, which is sent by the autonomous vehicle.

[0036] The data acquisition module is used to acquire the operating status of vehicles within the target traffic light control area perceived by the vehicle-road cooperative system.

[0037] The second matching module is used to obtain a second matching result based on the vehicle's operating status and the target traffic light information sensed by the vehicle-road cooperative system.

[0038] The verification module is used to verify the accuracy of the traffic light information in the vehicle-road cooperative system based on the first matching result and the second matching result.

[0039] Thirdly, embodiments of this application also provide an electronic device, including: a processor; and a memory arranged to store computer-executable instructions, which, when executed, cause the processor to perform the above-described method.

[0040] Fourthly, embodiments of this application also provide a computer-readable storage medium that stores one or more programs, which, when executed by an electronic device including multiple applications, cause the electronic device to perform the above-described method.

[0041] The at least one technical solution adopted in this application embodiment can achieve the following beneficial effects: The vehicle-road cooperative system sends target traffic light information perceived by the system to the autonomous vehicle, and receives a first matching result between the target traffic light information identified by the autonomous vehicle and the target traffic light information perceived by the system. Furthermore, the system collects the operating status of vehicles within the area controlled by the target traffic light perceived by the system, and then uses a second matching result between the vehicle's operating status and the target traffic light information perceived by the system. Finally, the accuracy of the traffic light information in the system is verified based on the matching result. This method not only considers the situation of autonomous vehicles but also automatically collects and matches target traffic light information perceived by the system for other vehicles (social vehicles). The above method is efficient, low-cost, and highly accurate, and can achieve 24-hour real-time testing and verification capabilities. Attached Figure Description

[0042] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0043] Figure 1 This is a schematic diagram of the traffic light verification method of the vehicle-road cooperative system in the embodiments of this application;

[0044] Figure 2 This is a schematic diagram of the traffic light verification device structure of the vehicle-road cooperative system in this application embodiment;

[0045] Figure 3 This is a schematic diagram illustrating the vehicle verification principle in an embodiment of this application;

[0046] Figure 4 This is a schematic diagram illustrating the verification principle of an autonomous vehicle in an embodiment of this application;

[0047] Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0049] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0050] This application provides a method for verifying traffic lights in a vehicle-road cooperative system, such as... Figure 1 The diagram shows a flowchart of a traffic light verification method for a vehicle-road cooperative system according to an embodiment of this application. The method includes at least the following steps S110 to S150:

[0051] The vehicle-road cooperative system is applied to roadside equipment and can be installed on the server of the roadside equipment. Typically, a server is deployed for each roadside equipment, and the vehicle-road cooperative system is deployed on each server.

[0052] Step S110: Send the target traffic light information perceived by the vehicle-road cooperative system to the autonomous vehicle.

[0053] As needed for traffic light verification, roadside equipment at target intersections or road sections can be selected for testing and verification. Preferably, the vehicle-road cooperative system can be managed uniformly. Each vehicle-road cooperative system provides perception information including at least the target traffic light, depending on the specific scenario.

[0054] Once the target traffic light information is detected, the vehicle-road cooperative system sends the target traffic light information to the autonomous vehicle.

[0055] It's important to note that the message is broadcast to vehicles within a pre-defined coverage area. At this point, it's not necessary to specify which autonomous vehicle will receive it; rather, it's intended for autonomous vehicles within that area (the traffic light-controlled area).

[0056] In some embodiments, the target traffic light information perceived by the vehicle-road cooperative system is transmitted via air interface communication PC5.

[0057] Step S120: Receive the first matching result of the target traffic light information identified by the autonomous vehicle and the target traffic light information perceived by the vehicle-road cooperative system, which is sent by the autonomous vehicle.

[0058] The system receives a first matching result between the target traffic light information identified by the autonomous vehicle and the target traffic light information perceived by the vehicle-to-infrastructure (V2I) system. It is important to note that only the matching result is received; no actual matching operation is performed by the autonomous vehicle itself.

[0059] The roadside equipment needs to analyze and judge some communication indicators, such as the accuracy of traffic light colors, the accuracy of timing, and packet loss rate, based on the first matching result.

[0060] Step S130: Collect the operating status of vehicles within the target traffic light control area perceived by the vehicle-road cooperative system;

[0061] This step can be performed simultaneously with step S110, that is, to collect the operating status of vehicles within the target traffic light control area perceived by the vehicle-road cooperative system. It can be understood that the operating status of vehicles (usually whether they stop or proceed according to traffic light instructions) can be collected using cameras on roadside equipment.

[0062] It is important to note that the vehicle does not need to have a communication interface. Instead, the vehicle's operating status needs to be collected by roadside equipment, which can detect the vehicle traffic status within the area controlled by the traffic light corresponding to the vehicle-road cooperative system.

[0063] Step S140: Obtain a second matching result based on the vehicle's operating status and the target traffic light information sensed by the vehicle-road cooperative system;

[0064] This step can be performed on a local server. The second matching result is obtained based on the vehicle's operating status and the target traffic light information perceived by the vehicle-road cooperative system. This mainly verifies whether the traffic status of (social vehicles) when the red light or green light (turns yellow) is consistent with the target traffic light information perceived by the vehicle-road cooperative system.

[0065] Step S150: Verify the accuracy of traffic light information in the vehicle-road cooperative system based on the first matching result and the second matching result.

[0066] Based on the first matching result and the second matching result, the accuracy of traffic light information in the vehicle-road cooperative system is verified, including but not limited to the color of the traffic lights, the time of the traffic lights' arrival, the end-to-end transmission accuracy of the traffic lights, and the packet loss rate during the communication process, so as to achieve quantitative evaluation.

[0067] Compared to related technologies, the method in this application offers higher productivity, enabling 24 / 7 real-time testing and maintenance of roadside traffic light data. It also boasts higher accuracy, eliminating errors caused by human error, and higher efficiency, as all calculations are performed by the server, significantly improving efficiency compared to manual testing. Furthermore, it reduces human intervention by 80%, requiring only a single server to complete the verification of a target roadside device's vehicle-to-infrastructure (V2I) system.

[0068] In one embodiment of this application, verifying the accuracy of traffic light information in the vehicle-road cooperative system includes at least one of the following: verifying the accuracy of traffic light information in the vehicle-road cooperative system includes at least one of the following: traffic light color accuracy, traffic light countdown accuracy, traffic light cycle accuracy, end-to-end delay from traffic light to vehicle, end-to-end frequency from traffic light to vehicle, and end-to-end packet loss rate from traffic light to vehicle. The verification of the accuracy of traffic light information in the vehicle-road cooperative system based on the first matching result and the second matching result includes the accuracy of any one or more of the following matching results: traffic light color accuracy, traffic light countdown accuracy, traffic light cycle accuracy, end-to-end delay from traffic light to vehicle, end-to-end frequency from traffic light to vehicle, and end-to-end packet loss rate from traffic light to vehicle.

[0069] In practice, based on the driving behavior of vehicles (social vehicles) stopping and moving near traffic lights (the same traffic light information perceived by the vehicle-road cooperative system), further analysis is conducted to obtain the accuracy of traffic light colors and the accuracy of traffic light countdowns.

[0070] Based on the visual traffic light information of autonomous vehicles, further analysis yields the traffic light cycle accuracy, traffic light to vehicle end-to-end latency, traffic light to vehicle end-to-end frequency, and traffic light to vehicle end-to-end packet loss rate.

[0071] Furthermore, verifying the accuracy of traffic light information in the vehicle-road cooperative system includes verifying the accuracy of various matching results, such as traffic light color accuracy, traffic light countdown accuracy, traffic light cycle accuracy, end-to-end delay from traffic light to vehicle, end-to-end frequency from traffic light to vehicle, and end-to-end packet loss rate from traffic light to vehicle.

[0072] It should be noted that the accuracy of traffic light colors, the accuracy of traffic light countdown, the accuracy of traffic light cycles, the end-to-end delay from traffic lights to vehicles, and the end-to-end frequency from traffic lights to vehicles are optional and can be increased or decreased according to actual conditions. Simultaneously testing or verifying the accuracy of traffic light cycles, the end-to-end delay from traffic lights to vehicles, and the end-to-end frequency from traffic lights to vehicles can employ techniques known to those skilled in the art, and are not specifically limited in this application.

[0073] In one embodiment of this application, receiving a first matching result between the target traffic light information identified by the autonomous vehicle and the target traffic light information perceived by the vehicle-road cooperative system, sent by the autonomous vehicle, includes:

[0074] The autonomous vehicle receives a communication transmission index from the judgment result of whether each target traffic light information sent by the vehicle-road cooperative system is consistent with the target traffic light information identified by the autonomous vehicle's vision device. The communication transmission index is determined by the autonomous vehicle based on the timestamp and sequence number of each target traffic light information sent by the vehicle-road cooperative system. The communication transmission index includes communication packet loss, communication delay, and communication frequency.

[0075] Simultaneously, receive one or more matching results of the traffic light cycle accuracy, the end-to-end delay from the traffic light to the vehicle, the end-to-end frequency from the traffic light to the vehicle, and the end-to-end packet loss rate from the traffic light to the vehicle.

[0076] For example, based on the judgment result that the target traffic light information sent by the vehicle-road cooperative system received by the autonomous vehicle corresponds to the target traffic light information identified by the vision device of the autonomous vehicle, it is further calculated whether the packet loss, communication delay and communication frequency in the communication transmission indicators meet the preset transmission requirements.

[0077] like Figure 4As shown, in specific implementation, vehicles can assist in verifying the color and countdown information of traffic lights. However, more detailed information such as communication frequency, latency, and packet loss cannot be verified using this method. Therefore, autonomous vehicles are needed. These autonomous vehicles receive traffic light information sent by the vehicle-to-infrastructure (V2I) system from roadside equipment. By using the timestamps and sequence numbers in the traffic light information, packet loss, latency, and frequency information can be calculated. The autonomous vehicle also perceives traffic light information through its own vision devices. The color information can be verified by comparing the traffic light information seen by the autonomous vehicle with the traffic light information received by the autonomous vehicle from the V2I system.

[0078] For example, when verifying that the traffic light information seen by the autonomous vehicle is consistent with the traffic light information sent by the vehicle-road cooperative system received by the autonomous vehicle, the end-to-end latency and end-to-end frequency of the traffic light to the vehicle will be calculated to obtain indicators such as high transmission efficiency.

[0079] For example, when verifying that the traffic light information seen by the autonomous vehicle is inconsistent with the traffic light information sent by the vehicle-road cooperative system received by the autonomous vehicle, the end-to-end frequency of the traffic light to the vehicle and the end-to-end packet loss rate of the traffic light to the vehicle will be calculated to obtain a high bit error rate and other indicators.

[0080] The above method can test some high-precision indicators, with high accuracy, low cost, and minimal human intervention.

[0081] In one embodiment of this application, obtaining a second matching result based on the vehicle's operating status and the target traffic light information sensed by the vehicle-road cooperative system includes: acquiring the vehicle's operating status within the coverage area of ​​the roadside equipment corresponding to the vehicle-road cooperative system; and obtaining a second matching result by determining whether the vehicle's operating status of passing or stopping corresponds to the traffic flow status indicated by the target traffic light information collected by the roadside equipment.

[0082] In practice, it is first necessary to obtain the vehicle's operating status within the coverage area of ​​the roadside equipment corresponding to the vehicle-road cooperative system. Then, it is further determined whether the passing or stopping status of the vehicle's operating status is consistent with the traffic status indicated by the target traffic light information (red, green, yellow) collected by the roadside equipment. Finally, the matching result is used as the second matching result.

[0083] In one embodiment of this application, determining whether the vehicle's operating state of passage or stop corresponds to the traffic state indicated by the target traffic light information collected by the roadside equipment includes: when the traffic light information collected by the roadside equipment is red and the vehicle is going straight, then determining that the color of the target traffic light information is inaccurate or affected by other traffic factors; when the traffic light information collected by the roadside equipment is green and the vehicle is stopped, then determining that the color or countdown of the target traffic light information is inaccurate; and calculating the matching result based on the statistical results of the color and / or countdown of various target traffic light information.

[0084] In specific implementation, such as Figure 3 As shown, for vehicles, the traffic status indicated by the target traffic light information is collected through the roadside equipment and compared with the traffic light information sensed by the vehicle-road cooperative system; or for vehicles, it is determined whether the passing or stopping state in the vehicle's operating state is consistent with the traffic status indicated by the target traffic light information, that is, whether it is consistent with the traffic light information sensed by the vehicle-road cooperative system.

[0085] Furthermore, when the traffic light information collected by the roadside equipment is red, the vehicle is going straight. Based on prior knowledge, it is determined that the color of the target traffic light information is inaccurate or affected by other traffic factors.

[0086] Furthermore, when the roadside equipment collects traffic light information and the light is green, the vehicle stops. Based on prior knowledge, it is determined that the color or countdown of the target traffic light information is inaccurate.

[0087] Finally, the matching result is calculated based on the statistical results of inaccurate or accurate light colors and countdowns of various target traffic light information (mainly judging traffic light colors and traffic light countdowns).

[0088] The above method has low testing and maintenance costs, can run 24 hours a day, and requires no manual intervention.

[0089] In one embodiment of this application, the roadside equipment is deployed at an intersection or road, and the method further includes: determining the area where the traffic light is located based on the preset coverage range of the roadside equipment; and determining the target traffic light based on the area where the traffic light is located and the preset lane information of the current intersection or road.

[0090] In practice, when it is necessary to verify the traffic light information corresponding to a specific lane, it is also necessary to determine the area where the traffic light is located based on the preset coverage range of the roadside equipment. Then, based on the area where the traffic light is located and the preset lane information of the current intersection or road, the target traffic light is determined. That is, the target traffic light corresponding to the current lane is determined, so that verification can be performed on the traffic light corresponding to the current lane.

[0091] Using the above methods, roadside equipment can be deployed at intersections or roads to identify the target traffic lights that need to be verified, thereby improving the efficiency of verification.

[0092] In one embodiment of this application, when there are multiple target traffic lights, before sending the target traffic light information perceived by the vehicle-road cooperative system to the autonomous vehicle, the method further includes: determining the perception area of ​​the roadside equipment; determining whether there is an autonomous vehicle in the preset lane based on the perception area of ​​the roadside equipment and preset lane information; if there is, determining an autonomous vehicle that can receive the target traffic light information perceived by the vehicle-road cooperative system.

[0093] In specific implementation, when there are multiple target traffic lights, the perception area of ​​the roadside equipment is determined. Then, based on the perception area of ​​the roadside equipment and preset lane information, it is determined whether there is an autonomous driving vehicle in the preset lane. If so, an autonomous driving vehicle capable of receiving the target traffic light information perceived by the vehicle-road cooperative system is identified. It is understood that the preset lane information can be determined based on a high-precision map or roadside equipment.

[0094] The above method can be used to broadcast the target traffic light information perceived by the vehicle-road cooperative system to autonomous vehicles within a designated area, thereby improving the efficiency of verification.

[0095] This application also provides a traffic light verification device 200 for a vehicle-road cooperative system, such as... Figure 2 The diagram shows a schematic of the structure of a traffic light verification device for a vehicle-road cooperative system in this embodiment of the present application. The vehicle-road cooperative system is applied to roadside equipment. The traffic light verification device 200 of the vehicle-road cooperative system includes at least: a broadcast module 210, a first matching module 220, a data acquisition module 230, a second matching module 240, and a verification module, wherein:

[0096] The vehicle-road cooperative system is applied to roadside equipment and can be installed on the server of the roadside equipment. Typically, a server is deployed for each roadside equipment, and the vehicle-road cooperative system is deployed on each server.

[0097] In one embodiment of this application, the broadcast module 210 is specifically used to: send the target traffic light information perceived by the vehicle-road cooperative system to the autonomous vehicle.

[0098] As needed for traffic light verification, roadside equipment at target intersections or road sections can be selected for testing and verification. Preferably, the vehicle-road cooperative system can be managed uniformly. Each vehicle-road cooperative system provides perception information including at least the target traffic light, depending on the specific scenario.

[0099] Once the target traffic light information is detected, the vehicle-road cooperative system sends the target traffic light information to the autonomous vehicle.

[0100] It's important to note that the message is broadcast to vehicles within a pre-defined coverage area. At this point, it's not necessary to specify which autonomous vehicle will receive it; rather, it's intended for autonomous vehicles within that area (the traffic light-controlled area).

[0101] In some embodiments, the target traffic light information perceived by the vehicle-road cooperative system is transmitted via air interface communication PC5.

[0102] In one embodiment of this application, the first matching module 220 is specifically used to: receive a first matching result of the target traffic light information identified by the autonomous vehicle and the target traffic light information perceived by the vehicle-road cooperative system.

[0103] The system receives a first matching result between the target traffic light information identified by the autonomous vehicle and the target traffic light information perceived by the vehicle-to-infrastructure (V2I) system. It is important to note that only the matching result is received; no actual matching operation is performed by the autonomous vehicle itself.

[0104] The roadside equipment needs to analyze and judge some communication indicators, such as the accuracy of traffic light colors, the accuracy of timing, and packet loss rate, based on the first matching result.

[0105] In one embodiment of this application, the acquisition module 230 is specifically used to: acquire the operating status of vehicles within the area controlled by the target traffic light perceived by the vehicle-road cooperative system;

[0106] This step can be performed simultaneously with the broadcast module 210, that is, to collect the operating status of vehicles within the target traffic light control area perceived by the vehicle-road cooperative system. It can be understood that the operating status of vehicles (usually whether they stop or proceed according to traffic light instructions) can be collected using cameras on roadside equipment.

[0107] It is important to note that the vehicle does not need to have a communication interface. Instead, the vehicle's operating status needs to be collected by roadside equipment, which can detect the vehicle traffic status within the area controlled by the traffic light corresponding to the vehicle-road cooperative system.

[0108] In one embodiment of this application, the second matching module 240 is specifically used to: obtain a second matching result based on the vehicle's operating status and the target traffic light information perceived by the vehicle-road cooperative system;

[0109] This step can be performed on a local server. The second matching result is obtained based on the vehicle's operating status and the target traffic light information perceived by the vehicle-road cooperative system. This mainly verifies whether the traffic status of (social vehicles) when the red light or green light (turns yellow) is consistent with the target traffic light information perceived by the vehicle-road cooperative system.

[0110] In one embodiment of this application, the verification module is specifically used to: verify the accuracy of traffic light information in the vehicle-road cooperative system based on the first matching result and the second matching result.

[0111] Based on the first matching result and the second matching result, the accuracy of traffic light information in the vehicle-road cooperative system is verified, including but not limited to the color of the traffic lights, the time of the traffic lights' arrival, the end-to-end transmission accuracy of the traffic lights, and the packet loss rate during the communication process, so as to achieve quantitative evaluation.

[0112] It is understood that the traffic light verification device of the above-mentioned vehicle-road cooperative system can realize each step of the traffic light verification method of the vehicle-road cooperative system provided in the foregoing embodiments. The relevant explanations on the transaction reconciliation method are applicable to the traffic light verification device of the vehicle-road cooperative system, and will not be repeated here.

[0113] Figure 5 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Please refer to it. Figure 5 At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and memory. The memory may include main memory, such as high-speed random-access memory (RAM), or non-volatile memory, such as at least one disk drive. Of course, the electronic device may also include other hardware required for other business operations.

[0114] The processor, network interface, and memory can be interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0115] Memory is used to store programs. Specifically, programs may include program code, which includes computer operation instructions. Memory may include main memory and non-volatile memory, and provides instructions and data to the processor.

[0116] The processor reads the corresponding computer program from non-volatile memory into main memory and then runs it, forming the traffic light verification device of the vehicle-road cooperative system at the logical level. The processor executes the program stored in memory and specifically performs the following operations:

[0117] The vehicle-road cooperative system sends the target traffic light information perceived by the autonomous vehicle to the autonomous vehicle.

[0118] Receive the first matching result of the target traffic light information identified by the autonomous vehicle and the target traffic light information perceived by the vehicle-road cooperative system, which is sent by the autonomous vehicle.

[0119] The vehicle-road cooperative system collects the operating status of vehicles within the target traffic light control area.

[0120] A second matching result is obtained based on the vehicle's operating status and the target traffic light information sensed by the vehicle-road cooperative system;

[0121] Based on the first matching result and the second matching result, the accuracy of the traffic light information in the vehicle-road cooperative system is verified.

[0122] The above is as stated in this application. Figure 1The method executed by the traffic light verification device of the vehicle-road cooperative system disclosed in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0123] The electronic device can also perform Figure 1 The method for executing the traffic light verification device of the vehicle-road cooperative system, and the implementation of the traffic light verification device of the vehicle-road cooperative system in... Figure 1 The functions of the embodiments shown are not described in detail here.

[0124] This application also proposes a computer-readable storage medium that stores one or more programs, the programs including instructions that, when executed by an electronic device including multiple applications, enable the electronic device to perform... Figure 1 The method executed by the traffic light verification device of the vehicle-road cooperative system in the illustrated embodiment is specifically used to perform the following:

[0125] The vehicle-road cooperative system sends the target traffic light information perceived by the autonomous vehicle to the autonomous vehicle.

[0126] Receive the first matching result of the target traffic light information identified by the autonomous vehicle and the target traffic light information perceived by the vehicle-road cooperative system, which is sent by the autonomous vehicle.

[0127] The vehicle-road cooperative system collects the operating status of vehicles within the target traffic light control area.

[0128] A second matching result is obtained based on the vehicle's operating status and the target traffic light information sensed by the vehicle-road cooperative system;

[0129] Based on the first matching result and the second matching result, the accuracy of the traffic light information in the vehicle-road cooperative system is verified.

[0130] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0131] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0132] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0133] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0134] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0135] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0136] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0137] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0138] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0139] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for verifying traffic lights in a vehicle-road cooperative system, wherein, The vehicle-road cooperative system is applied to roadside equipment, and the method includes: Send the target traffic light information perceived by the vehicle-road cooperative system to the autonomous vehicle; Receive a first matching result between the target traffic light information identified by the autonomous vehicle and the target traffic light information perceived by the vehicle-road cooperative system, which is sent by the autonomous vehicle. The vehicle-road cooperative system collects the operating status of vehicles within the target traffic light control area. A second matching result is obtained based on the vehicle's operating status and the target traffic light information sensed by the vehicle-road cooperative system; Based on the first matching result and the second matching result, the accuracy of the traffic light information in the vehicle-road cooperative system is verified.

2. The method of claim 1, wherein, Verifying the accuracy of traffic light information in the vehicle-road cooperative system includes at least one of the following: traffic light color accuracy, traffic light countdown accuracy, traffic light cycle accuracy, end-to-end delay from traffic light to vehicle, end-to-end frequency from traffic light to vehicle, and end-to-end packet loss rate from traffic light to vehicle. Verifying the accuracy of traffic light information in the vehicle-road cooperative system based on the first matching result and the second matching result includes: The accuracy of any one or more of the following matching results: traffic light color accuracy, traffic light countdown accuracy, traffic light cycle accuracy, end-to-end delay from traffic light to vehicle, end-to-end frequency from traffic light to vehicle, and end-to-end packet loss rate from traffic light to vehicle.

3. The method of claim 2, wherein, The first matching result of receiving the target traffic light information identified by the autonomous vehicle and the target traffic light information perceived by the vehicle-road cooperative system sent by the autonomous vehicle includes: The autonomous vehicle receives a communication transmission index from the judgment result of whether each target traffic light information sent by the vehicle-road cooperative system is consistent with the target traffic light information identified by the autonomous vehicle's vision device. The communication transmission index is determined by the autonomous vehicle based on the timestamp and sequence number of each target traffic light information sent by the vehicle-road cooperative system. The communication transmission index includes communication packet loss, communication delay, and communication frequency. Simultaneously, it receives one or more matching results of the traffic light cycle accuracy, the end-to-end delay from the traffic light to the vehicle, the end-to-end frequency from the traffic light to the vehicle, and the end-to-end packet loss rate from the traffic light to the vehicle.

4. The method as described in claim 2, wherein, The step of obtaining a second matching result based on the vehicle's operating status and the target traffic light information perceived by the vehicle-road cooperative system includes: Obtain the vehicle's operating status within the coverage area of ​​the roadside equipment corresponding to the vehicle-road cooperative system; A second matching result is obtained by determining whether the vehicle's operating state (passing or stopping) corresponds to the traffic flow state indicated by the target traffic light information collected by the roadside equipment.

5. The method of claim 4, wherein, The step of determining whether the vehicle's operating state (passage or stop) corresponds to the traffic flow state indicated by the target traffic light information collected by the roadside equipment includes: When the traffic light information collected by the roadside equipment is red, and the vehicle is going straight, it is determined that the color of the target traffic light information is inaccurate or affected by other traffic factors. When the traffic light information collected by the roadside equipment is green, and the vehicle is stopped, it is determined that the color or countdown of the target traffic light information is inaccurate. The matching result is calculated based on the statistical results of the light colors and / or countdowns of various target traffic light information.

6. The method of claim 1, wherein, The roadside equipment is deployed at intersections or roads, and the method further includes: The area where the traffic lights are located is determined based on the preset coverage area of ​​the roadside equipment; The target traffic light is determined based on the area where the traffic light is located and the preset lane information of the current intersection or road.

7. The method of claim 6, wherein, When there are multiple target traffic lights, before sending the target traffic light information perceived by the vehicle-to-infrastructure cooperative system to the autonomous vehicle, the method further includes: Determine the sensing area of ​​the roadside equipment; Based on the sensing area of ​​the roadside equipment and the preset lane information, it is determined whether there is an autonomous vehicle in the preset lane; If so, then identify the autonomous vehicle that can receive the target traffic light information perceived by the vehicle-road cooperative system. 8.A red light verification device of a vehicle infrastructure integration system, wherein, The vehicle-road cooperative system is applied to roadside equipment, and the device includes: The broadcast module is used to send the target traffic light information perceived by the vehicle-road cooperative system to autonomous vehicles; The first matching module is used to receive the first matching result of the target traffic light information identified by the autonomous vehicle and the target traffic light information perceived by the vehicle-road cooperative system, which is sent by the autonomous vehicle. The data acquisition module is used to acquire the operating status of vehicles within the target traffic light control area perceived by the vehicle-road cooperative system. The second matching module is used to obtain a second matching result based on the vehicle's operating status and the target traffic light information sensed by the vehicle-road cooperative system. The verification module is used to verify the accuracy of the traffic light information in the vehicle-road cooperative system based on the first matching result and the second matching result.

9. An electronic device, comprising: processor; as well as A memory configured to store computer-executable instructions, which, when executed, cause the processor to perform the method of any one of claims 1 to 7.

10. A computer-readable storage medium storing one or more programs, which, when executed by an electronic device including a plurality of applications, cause the electronic device to perform the method of any one of claims 1 to 7.

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