Driving assistance system in red light notification scenario based on v2v perception fusion

Abstract

The application relates to the technical field of driving assistance, in particular to a driving assistance system based on V2V perception fusion in a traffic light notification scene, which comprises a roadside end and a vehicle; the roadside end comprises a roadside communication device; the vehicle comprises an information board located at the tail of the vehicle and a vehicle-mounted communication device for realizing V2X real-time communication and information interaction with the roadside communication device; the vehicle judges whether to enter a notification area, if not, no action is taken, if yes, whether a signal of a road test signal light is received is judged, if not, the information board has no traffic light information display; if yes, whether to enter a notification area at a predetermined distance from an intersection is judged, if not, the information board displays warning information, if yes, the information board displays traffic light state information and countdown information; the application obtains road condition information of a god's eye view through a road end perception device, traffic environment information in a driving environment is perceived in advance, judgment and reaction are made in advance, information is transmitted to a rear vehicle, and the probability of accidents caused when a signal light is blocked is reduced.

Description

Technical Field

[0001] This invention relates to the field of driver assistance technology, specifically to a driver assistance system based on V2V perception fusion for traffic light notification scenarios. Background Technology

[0002] In the field of intelligent connected vehicles, the integration of vehicle, road, and smart city networks is a current cross-industry development trend. The development and maturity of cloud platform technologies that combine "intelligence", "connectivity" and "big data" are the technological foundation and guarantee for realizing "intelligent vehicle+".

[0003] Intelligent driving technology is one of the core technology areas of intelligent connected vehicles. Among these, environmental perception and control decision-making are the core technological bottlenecks of intelligent driving systems. Currently, in the field of intelligent driving technology, the system's environmental perception capability is far from mature, representing a bottleneck within a bottleneck and a key constraint on achieving intelligent driving. Single-vehicle perception (onboard sensors) and vehicle-to-everything (V2X) communication each have their limitations; only by combining the two can breakthroughs and leaps in intelligent perception technology be achieved. This represents the most feasible system solution, technical route, and direction for intelligent driving at present. In other words, realizing the environmental perception capability that empowers intelligent driving requires the integration of onboard sensors and V2X information technology, thereby greatly enhancing the vehicle's perception capabilities and ultimately significantly improving the functionality, performance, and safety reliability of intelligent driving. Simultaneously, the widespread application of V2X can significantly reduce the cost of single-vehicle intelligent perception.

[0004] Developing intelligent connected vehicles based on vehicle-to-everything (V2X) technology to achieve intelligent driving technology and solve the problems of extremely complex and ever-changing scenarios is a long road and a long process. Although achieving fully autonomous driving is the development direction of intelligent connected vehicle technology, this is a long-term goal, and widespread commercial application still has a long way to go. Market demand is the decisive factor driving technological progress and implementation. Recently, the industry has begun to reach a consensus that using V2X technology to solve problems such as driving safety in key dangerous scenarios, traffic congestion, and improving traffic efficiency is the most important market demand and the biggest pain point in safe driving in transportation. This is a problem that needs to be gradually solved over the next few decades. In other words, solving driving safety problems in key dangerous scenarios is the most critical goal at present, and promoting the industrialization of the technology is also essential.

[0005] Safe driving is the primary and essential need for car owners. Traffic light intersections are frequent accident sites, and the reasons for this are numerous. One type of accident occurs when a driver's view of the traffic lights is obstructed by large vehicles, preventing them from taking timely action. This leads to vehicles crossing red lights, colliding with other vehicles due to delayed braking. Currently, there is no effective solution to this problem.

[0006] To achieve intelligent driving, there are many core technological bottlenecks, among which environmental perception technology and vehicle control strategies are the core of the core and also the limiting factors for the implementation of intelligent driving systems. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a driving assistance system based on V2V perception fusion in traffic light notification scenarios that can obtain traffic light information and inform following vehicles when traffic lights are obscured, thereby reducing the occurrence of accidents or warning following vehicles.

[0008] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0009] A driver assistance system based on V2V perception fusion for traffic light notification scenarios, including a roadside unit and a vehicle;

[0010] The roadside end includes roadside communication equipment;

[0011] The vehicle includes an information sign located at the rear of the vehicle and an onboard communication device that enables V2X real-time communication and information exchange with roadside communication equipment. The vehicle determines whether it has entered the notification area; if not, it does not take any action. If it has, it determines whether it has received a signal from the roadside traffic light; if not, the information sign does not display traffic light information. If it has, it determines whether it has entered the notification area at a predetermined distance from the intersection; if not, the information sign displays a warning message. If it has, the information sign displays traffic light status information and countdown information.

[0012] Preferably, the predetermined distance is 100m.

[0013] Preferably, the roadside end further includes a roadside sensor, which acquires information about vehicles on the main road, information about other vehicles, and traffic information in the obstructed area.

[0014] Preferably, the roadside unit further includes an edge computing unit (MEC), which processes the information acquired by the roadside sensors using a perception fusion algorithm and a high-precision map, and feeds the results back to the roadside communication device.

[0015] Preferably, the roadside end further includes a smart sign, which includes speed limit information and entrance / exit information;

[0016] The intelligent sign will transmit speed limit information and entrance / exit information to the roadside communication equipment.

[0017] Preferably, the roadside communication equipment includes GNSS, V2I communication, and 5G communication.

[0018] Preferably, the vehicle further includes onboard sensors, an onboard perception fusion module, a planning and decision-making module, and a drive-by-wire chassis;

[0019] The vehicle-mounted communication device transmits the received information to the vehicle-mounted perception fusion module and the planning and decision-making module respectively. The vehicle-mounted perception fusion module also receives information from vehicle-mounted sensors. The vehicle-mounted perception fusion module performs multi-source heterogeneous information fusion, target tracking and prediction, and sends it to the planning and decision-making module. The planning and decision-making module performs path planning and behavior decision-making, and brakes and steers through the drive-by-wire chassis according to the path planning and behavior decision.

[0020] Preferably, the information acquired by the vehicle-mounted sensor includes vehicles in adjacent lanes, vehicles ahead, road signs, and directional signs;

[0021] The vehicle-mounted communication equipment includes V2V, V2I communication and 5G communication.

[0022] Preferably, the vehicle further includes a positioning and navigation module, which includes time synchronization, heading angle, GNSS position and vehicle speed information, and transmits the information to the vehicle-mounted perception fusion module.

[0023] Preferably, the driving assistance system in the traffic light notification scenario based on V2V perception fusion also includes other vehicles, which include vehicle status information, lane change information, forward perception information, emergency braking information, and other vehicle communication module. The other vehicles transmit information to the vehicle communication device through the other vehicle communication module.

[0024] The beneficial effects of this invention are as follows: This invention obtains road condition information from a "God's-eye view" through roadside sensing devices, transmits traffic light information to the vehicle via V2X technology, and fuses the vehicle's own sensing information with the information obtained from V2X to perceive traffic environment information in advance. By predicting the driving behavior of vehicles ahead on the main road, it can make judgments and reactions in advance, thereby minimizing the occurrence of traffic accidents. By acquiring the signals of roadside traffic lights and displaying them in the notification area, it can transmit information to following vehicles through the information sign at the rear of the vehicle, reducing the probability of accidents when traffic lights are obstructed. Attached Figure Description

[0025] Figure 1 This is a schematic diagram illustrating the judgment of a driver assistance system in a traffic light notification scenario based on V2V perception fusion, according to a specific embodiment of the present invention.

[0026] Figure 2 This is a structural diagram of a driving assistance system based on V2V perception fusion in a traffic light notification scenario, which is a specific embodiment of the present invention. Detailed Implementation

[0027] To explain in detail the technical content, objectives, and effects of the present invention, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0028] Please refer to Figure 1 as well as Figure 2 A driver assistance system based on V2V perception fusion for traffic light notification scenarios, including a roadside unit and a vehicle;

[0029] The roadside end includes roadside communication equipment;

[0030] The vehicle includes an information sign located at the rear of the vehicle and an onboard communication device that enables V2X real-time communication and information exchange with roadside communication equipment. The vehicle determines whether it has entered the notification area; if not, it does not take any action. If it has, it determines whether it has received a signal from the roadside traffic light; if not, the information sign does not display traffic light information. If it has, it determines whether it has entered the notification area at a predetermined distance from the intersection; if not, the information sign displays a warning message. If it has, the information sign displays traffic light status information and countdown information.

[0031] As described above, this invention obtains road condition information from a "God's-eye view" through roadside sensing devices, transmits traffic light information to the vehicle via V2X technology, and fuses the vehicle's own sensing information with the information obtained through V2X to perceive traffic environment information in advance. By predicting the driving behavior of vehicles ahead on the main road, it can make judgments and reactions in advance to minimize the occurrence of traffic accidents. By acquiring the signals of roadside traffic lights and displaying them in the notification area, it can transmit information to following vehicles through the information sign at the rear of the vehicle, reducing the probability of accidents when traffic lights are obstructed.

[0032] Furthermore, the predetermined distance is 100m.

[0033] Furthermore, the roadside end also includes a roadside sensor, which acquires information about vehicles on the main road, information about other vehicles, and traffic information in obscured areas.

[0034] Furthermore, the roadside unit also includes an edge computing unit (MEC), which processes the information acquired by the roadside sensors using a perception fusion algorithm and a high-precision map, and feeds the results back to the roadside communication equipment.

[0035] Furthermore, the roadside end also includes intelligent signs, which include speed limit information and entrance / exit information;

[0036] The intelligent sign will transmit speed limit information and entrance / exit information to the roadside communication equipment.

[0037] Furthermore, the roadside communication equipment includes GNSS, V2I communication, and 5G communication.

[0038] Furthermore, the vehicle also includes onboard sensors, an onboard perception fusion module, a planning and decision-making module, and a drive-by-wire chassis;

[0039] The vehicle-mounted communication device transmits the received information to the vehicle-mounted perception fusion module and the planning and decision-making module respectively. The vehicle-mounted perception fusion module also receives information from vehicle-mounted sensors. The vehicle-mounted perception fusion module performs multi-source heterogeneous information fusion, target tracking and prediction, and sends it to the planning and decision-making module. The planning and decision-making module performs path planning and behavior decision-making, and brakes and steers through the drive-by-wire chassis according to the path planning and behavior decision.

[0040] Furthermore, the information acquired by the vehicle-mounted sensors includes vehicles in adjacent lanes, vehicles ahead, road signs, and directional signs;

[0041] The vehicle-mounted communication equipment includes V2V, V2I communication and 5G communication.

[0042] Furthermore, the vehicle also includes a positioning and navigation module, which includes time synchronization, heading angle, GNSS position and vehicle speed information, and transmits the information to the vehicle perception fusion module.

[0043] Furthermore, the driving assistance system for traffic light notification scenarios based on V2V perception fusion also includes other vehicles. The other vehicles include vehicle status information, lane change information, forward perception information, emergency braking information, and a communication module for other vehicles. The other vehicles transmit information to the on-board communication device through the communication module for other vehicles.

[0044] Example 1

[0045] A driver assistance system based on V2V perception fusion for traffic light notification scenarios, including a roadside unit and a vehicle;

[0046] In addition to traditional automotive components, the vehicle is equipped with sensing devices, such as visual cameras and millimeter-wave radar, to identify targets (vehicles) and calculate their position, distance, speed, and deceleration. It is also equipped with an OBU (On-Board Unit) for real-time V2X communication and information exchange with roadside equipment. Furthermore, it features a data processing device—a domain controller—to receive and process information data (including but not limited to vehicle CAN data, position information, steering wheel angle, speed, and braking status information) and output vehicle control data (steering wheel angle, braking pressure, etc.) based on control logic.

[0047] The roadside is equipped with sensing devices, such as visual cameras and millimeter-wave radar, to identify targets (vehicles, pedestrians) and calculate their position, distance, speed, and deceleration. It is also equipped with RSU (Roadside Unit) devices for real-time V2X communication and information exchange with the vehicle's OBU (On-Board Unit). Furthermore, it is equipped with data processing devices—edge computing—to receive sensing information, process data, and output target structure data based on sensing fusion technology.

[0048] When the system determines that it is in a traffic light information notification scenario, it will further determine whether it has received traffic light status and timing information sent to the vehicle by the RSU, and whether it has entered the notification area 100m from the intersection (this area is a designated area, and the actual road section will be marked during real vehicle testing). If the vehicle is currently in this area, the traffic light information (current lane) will be displayed on the electronic display at the rear of the vehicle. If it has not entered the notification area, the message "Please slow down when approaching the intersection" will be printed on the information display.

[0049] Vehicles, through their onboard unit (OBU) and via V2X (V2V) communication, interface with roadside equipment to collaboratively perceive traffic light status information, which is then fused with the vehicle's own onboard perception information. On one hand, the vehicle perceives the driving status and distance of target vehicles through its own perception system, while simultaneously obtaining traffic light information from roadside equipment. Before the vehicle perceives target vehicle information through its onboard perception equipment, the system can predict target vehicle information from a bird's-eye view, making advance perceptions and judgments of the environment, making early decisions, and taking necessary measures such as issuing warnings, actively slowing down, or emergency braking. The ultimate goal is to prevent collisions between the vehicle and target vehicles in emergency situations. To achieve these system technical goals, the following technical aspects need to be addressed: real-time V2V communication, V2X-based perception fusion, target vehicle (TV) behavior prediction and judgment, and SV control decision algorithms.

[0050] In summary, the driving assistance system based on V2V perception fusion for traffic light notification scenarios provided by this invention uses V2V (or V2I) technology to achieve the fusion of vehicle-mounted perception and roadside perception (including other vehicles) information, thereby obtaining more accurate and reliable all-weather motion status information of the target vehicle.

[0051] Control decision-making functions, taking into account comfort, safety and collision avoidance, are suitable for ADAS and autonomous driving system applications;

[0052] The vehicle speed control strategy is dynamically calculated and optimized in real time based on the vehicle's motion trajectory;

[0053] By utilizing perception information and applying braking pre-control strategies, the system's response speed can be improved, braking delay reduced, and collision avoidance performance enhanced.

[0054] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention's specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A driving assistance system in a red light notification scenario based on V2V perception fusion, characterized in that, The system comprises a roadside end and a vehicle; The roadside end comprises a roadside communication device; The vehicle comprises a signboard at the tail and a vehicle-mounted communication device for V2X real-time communication and information interaction with the roadside communication device; The vehicle determines whether to enter the notification area, if not, no action is taken, if yes, it determines whether to receive the signal of the road test signal light, if not, the signboard displays no red light information; If yes, it determines whether to enter the notification area at a predetermined distance from the intersection, if not, the signboard displays warning information, if yes, the signboard displays red light status information and countdown information; The roadside end further comprises a road test sensor, which obtains information of vehicles on the main road, other vehicle information and sheltered area traffic information; The roadside end further comprises an edge computing unit MEC, which processes the information obtained by the road test sensor through a perception fusion algorithm and a high-precision map, and feeds back the results to the roadside communication device; The vehicle further comprises a vehicle-mounted sensor, a vehicle-mounted perception fusion module, a planning and decision-making module and a drive-by-wire chassis; The vehicle-mounted communication device transmits the received information to the vehicle-mounted perception fusion module and the planning and decision-making module respectively, the vehicle-mounted perception fusion module also receives information from the vehicle-mounted sensor, the vehicle-mounted perception fusion module performs multi-source heterogeneous information fusion, target tracking and prediction and sends them to the planning and decision-making module, the planning and decision-making module performs path planning and behavior decision-making, and according to the path planning and behavior decision-making, it performs braking and steering through the drive-by-wire chassis. 2.The driving assistance system in a red light announcement scenario based on V2V perception fusion of claim 1, wherein, The predetermined distance is 100m. 3.The driving assistance system in a red light announcement scenario based on V2V perception fusion of claim 1, wherein, The roadside end further comprises an intelligent indicator, which comprises speed limit information and access information; The intelligent indicator transmits the speed limit information and access information to the roadside communication device.

4. The driving assistance system in the red light announcement scenario based on V2V perception fusion according to claim 1, characterized in that, The roadside communication device comprises GNSS, V2I communication and 5G communication.

5. The driving assistance system in the red light announcement scenario based on V2V perception fusion according to claim 1, characterized in that, The vehicle-mounted sensor obtains information including adjacent lane vehicles, front vehicles, road signs and indicators; The vehicle-mounted communication device comprises V2V, V2I communication and 5G communication.

6. The driving assistance system in the red light announcement scenario based on V2V perception fusion according to claim 5, characterized in that, The vehicle further comprises a positioning and navigation module, which comprises timing, heading angle, GNSS position and vehicle speed information, and transmits the information to the vehicle-mounted perception fusion module.

7. The driving assistance system in the red light announcement scenario based on V2V perception fusion according to claim 6, characterized in that, The driving assistance system in the red light notification scenario based on V2V perception fusion further comprises a vehicle, which comprises vehicle state information, lane information, front perception information, emergency brake information and a vehicle communication module, and transmits the information to the vehicle-mounted communication device through the vehicle communication module.

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