Perceptual data sharing method based on vehicle infrastructure cooperation

Abstract

The invention provides a perception data sharing method based on vehicle-road cooperation, and the method comprises the following steps: S1, obtaining a road condition information intention requested to share and perceive of a current vehicle, and transmitting the road condition information intention requested to share and perceive to at least one target vehicle or RSU roadside equipment driving around the current vehicle, the target vehicle and the RSU roadside equipment broadcast road condition information through an SSM message set; s2, acquiring road condition information around the target vehicle, and sending the road condition information to the current vehicle; whether the obstacle exists in front of the target vehicle or not is determined by obtaining the road condition information intention of the current vehicle requested to share the sensed road condition information, if yes, the current vehicle reminds a driver to pay attention to the obstacle in front, and the driver reasonably adjusts the driving behavior according to the received prompt information. The scene functions of vehicle-to-vehicle sensing data sharing and vehicle-to-road sensing data sharing are achieved, safe and efficient passing between vehicles and people and between vehicles and roads is achieved, traffic accidents are reduced, and road safety is improved.

Description

Technical Field

[0001] The present invention relates to the field of wireless communication technology for vehicle networks, and more specifically, to a method for sharing perception data based on vehicle-road collaboration. Background Art

[0002] With the rapid development of society and the improvement of people's living standards, there are more and more vehicles on the road, and many traffic accidents occur. At present, autonomous driving also needs to obtain more information to make vehicles safer on the road, and v2x provides these functions, allowing vehicles to obtain more information, making cars on the road safer and smarter. cv2x is an advanced wireless communication technology that enables the communication equipment of vehicles, traffic lights, traffic signs, cyclists and pedestrians to be interconnected, and share information such as current status, location and action intentions. V2X mainly studies the relationship between cars and cars, cars and roads, cars and people...cars and everything.

[0003] However, in the scenarios of vehicle-to-vehicle perception data sharing and vehicle-to-road perception data sharing, the scenario implementation process and decision-making algorithm are vaguely described and cannot be implemented. Vehicles cannot make reasonable avoidance, making it impossible for vehicles to achieve safe and efficient driving. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a method for sharing perception data based on vehicle-road collaboration to improve safe and efficient driving between vehicles in view of the shortcomings of the above-mentioned technical solutions.

[0005] The present invention provides a method for sharing perception data based on vehicle-road collaboration, the method comprising the following steps:

[0006] The method comprises the following steps:

[0007] S1, obtaining the intention of the current vehicle to request sharing of perceived road condition information, and sending the intention of requesting sharing of perceived road condition information to at least one target vehicle or RSU roadside equipment traveling around the current vehicle, and the target vehicle and the RSU roadside equipment broadcast road condition information through an SSM message set;

[0008] S2, obtaining the road condition information around the target vehicle, and sending the road condition information to the current vehicle;

[0009] S3, the current vehicle determines whether there is an obstacle in front of the target vehicle based on the received road condition information. If so, the current vehicle reminds the driver of the current vehicle to pay attention to the obstacle in front, and the driver makes reasonable driving behavior adjustments based on the received prompt information.

[0010] In the method for sharing perception data based on vehicle-road collaboration described in the present invention; in the step S1, the road condition information includes traffic participant type information, longitude and latitude information, navigation angle information, area range information, speed information and forward traffic event information.

[0011] In the method for sharing perception data based on vehicle-road collaboration described in the present invention; in the step S3, reasonable driving behavior adjustment includes deceleration, parking or avoidance.

[0012] In the method for sharing perception data based on vehicle-road collaboration described in the present invention; when the current vehicle is driving behind a target vehicle, the target vehicle blocks the line of sight of the current vehicle, and the current vehicle requests the target vehicle to share the perceived road condition information ahead, or the target vehicle actively broadcasts the traffic situation ahead to the current vehicle after detecting pedestrians, NVs or obstacles ahead.

[0013] In the method for sharing perception data based on vehicle-road collaboration described in the present invention; when the target vehicle receives a request from the current vehicle to share the perceived road condition information ahead, it uses its own sensors, cameras and radars to detect the conditions of surrounding traffic participants, and then compares the information confidence of the camera and radar and uses information items with a confidence of 95% to combine into SSM information and send it to the current vehicle.

[0014] In the method for sharing perception data based on vehicle-road collaboration described in the present invention; after the current vehicle receives the perception sharing data of the target vehicle, it obtains the longitude and latitude information of the traffic participant and the longitude and latitude information of the current vehicle, and calculates the distance between the traffic participant and the current vehicle according to the longitude and latitude information of the traffic participant and the longitude and latitude information of the current vehicle, the longitude and latitude of the current vehicle is (LatA, LngA), the longitude and latitude of the traffic participant is (LatB, LngB), R represents the radius of the earth 6378.137km, then the latitude difference between points AB is: delLat = |LatA-LatB|;

[0015] The longitude difference between points AB: deltaLng=|lngA–lngB|

[0016] The distance calculation formula is as follows:

[0017]

[0018] In the method for sharing perception data based on vehicle-road collaboration described in the present invention; if the distance L between the traffic participant and the current vehicle is AB >100m, it is considered that there is no collision risk between the current vehicle and the traffic participant, and the traffic participant will not be processed; if the distance between the traffic participant and the current vehicle is L ABIf the distance < 100m, it is considered that there may be a collision risk between the current vehicle and the traffic participant. Then, the current vehicle reminds the driver of the current vehicle to pay attention to the obstacle ahead, and the driver makes reasonable driving behavior adjustments according to the received prompt information.

[0019] In the method of sharing perception data based on vehicle-road cooperation according to the present invention; the longitude and latitude information of the current vehicle is compared with the MAP map information broadcast by the RSU roadside device to identify the specific position of the current vehicle. Then, the lane to which the current vehicle belongs is identified by the heading angle of the current vehicle and the heading angle of the road. A rectangular coordinate system is established with the reference point R in the MAP map as the coordinate origin, where R represents the reference point of the MAP map, D represents the current vehicle, and the distance between the two points of the current vehicle and the road is represented as L AB ; and calculate the angle α between the line connecting the two points of the current vehicle and the road and the due north direction.

[0020] Where α = 90 - βhv, and calculate the horizontal relative distance x0 = L of point D of the current vehicle AB*cosα and the vertical relative distance y0 = L AB*sinα ; obtain the coordinates of point D of the current vehicle as (x0, y0). Then, obtain the longitude and latitude of the two points on the road from the MAP map as coordinates E(x1, y1), F(x2, y2);

[0021] If x1 < x0 < x2, it is considered that the current vehicle is on the road. At this time, calculate the distance from the current vehicle to the center line of the lane. Among them, the straight-line formula of FE is:

[0022]

[0023]

[0024] And calculate the distance from the current vehicle D to the straight line EF according to the formula for the distance from a point to a straight line:

[0025]

[0026] If dist ≤ 3.5m, it is considered that the road matching is successful.

[0027] In the method of sharing perception data based on vehicle-road cooperation according to the present invention; calculate the azimuth relationship between the traffic participant and the vehicle according to the longitude and latitude information and the heading angle information of the current vehicle and the traffic participant. After comparing the heading angle information and the azimuth information of the traffic participant with the heading angle information and the azimuth information of the current vehicle, corresponding prompts are made at different heading angles and azimuths. A rectangular coordinate system is established with the geometric center of the current vehicle as the coordinate origin and the direction of the heading angle of the current vehicle as the positive half-axis of the x-axis. A represents the current vehicle, B represents other traffic participants, N represents the due north direction, L ABExpressed as the distance between points A and B, and calculate the angle α between the line connecting points A and B and the north direction:

[0028]

[0029] Among them, the longitude and latitude coordinates of point A are (lng1, lat1), and the longitude and latitude coordinates of point B are (lng2, lat2). The angle between the line connecting the current vehicle and other traffic participants and the x-axis is obtained. Angle:

[0030]

[0031] Among them, the longitude and latitude coordinates of point A are (lng1, lat1), the longitude and latitude coordinates of point B are (lng2, lat2), and βhv is the heading angle of the current vehicle.

[0032] In the method for sharing perception data based on vehicle-road collaboration described in the present invention, the speed information of the traffic participant and the speed direction of the current vehicle are used to calculate whether the traffic participant and the current vehicle have an intersection. The speed direction of the current vehicle is taken as the X-axis to establish a coordinate system. If the speed direction of the current vehicle is θ, the speed direction of other traffic participants is the heading angle difference with the true north direction is

[0033] θ = βhv - βrv;

[0034] The velocity of other traffic participants on the x-axis is Vb=V2cosθ; and the collision time TTC between the traffic participants and the current vehicle is calculated:

[0035]

[0036] If T is a negative number, it is considered that there is no intersection. If T is an integer, it is considered that there is an intersection. βhv is the heading angle of the current vehicle, βrv is the heading angle of other traffic participants, Vb is the speed of other traffic participants in the x direction, V1 is the speed of the current vehicle, and V2 is the speed of other traffic participants.

[0037] If TTC is less than 10s, a slow alarm sound will be used to remind the driver of the risk of collision. If TTC is less than 7s, a medium-frequency alarm will be used to remind the driver of the risk of collision, and the corresponding traffic participants on the display screen will be marked in red. If TTC is less than 5s, an emergency alarm sound will be used to remind the driver of the risk of collision, and a prompt will pop up on the display screen.

[0038] The method for sharing perception data based on vehicle-road collaboration of the present invention obtains the current vehicle's intention to request sharing of perceived road condition information, determines whether there is an obstacle in front of the target vehicle, and if so, the current vehicle reminds the driver to pay attention to the obstacle ahead, and the driver makes reasonable driving behavior adjustments based on the received prompt information, thereby realizing the vehicle-to-vehicle perception data sharing and vehicle-road perception data sharing scenario functions, allowing vehicles and people, vehicles and roads to pass safely and efficiently, reducing traffic accidents and improving road safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram describing a scenario of vehicle perception data sharing between vehicles in the prior art in the method for sharing perception data based on vehicle-road collaboration of the present invention;

[0040] Figure 2 It is a schematic diagram describing a scenario of sharing pedestrian perception data between vehicles in the prior art in the method for sharing perception data based on vehicle-road collaboration of the present invention;

[0041] Figure 3 It is a schematic diagram describing a scenario of sharing perception data of abnormal conditions between vehicles and roads in the prior art in the method of sharing perception data based on vehicle-road collaboration of the present invention;

[0042] Figure 4 It is a schematic diagram describing a scenario of vehicle perception data sharing between vehicles and roads in the prior art in the perception data sharing method based on vehicle-road collaboration of the present invention;

[0043] Figure 5 It is a schematic diagram of describing a scenario of sharing perception data of pedestrians between vehicles and roads in the prior art in the method of sharing perception data based on vehicle-road collaboration of the present invention;

[0044] Figure 6 It is a schematic diagram describing a scenario of sharing perception data of abnormal road conditions between vehicles and roads in the prior art in the method of sharing perception data based on vehicle-road collaboration of the present invention;

[0045] Figure 7 It is a flowchart of an embodiment of a method for sharing perception data based on vehicle-road collaboration of the present invention;

[0046] Figure 8 It is a schematic diagram describing a scenario of sharing perception data between vehicles for pedestrians in the perception data sharing method based on vehicle-road collaboration of the present invention;

[0047] Fig. 9 It is a schematic diagram describing a scenario of sharing pedestrian perception data between vehicles and roads in the method of sharing perception data based on vehicle-road collaboration of the present invention. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0049] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0050] The following are the relevant terms and definitions of the present invention:

[0051] RSU road side unit: A hardware unit installed on the roadside that can realize V2X communication and support V2X applications.

[0052] V2X: vehicle to everything, communication between the vehicle-mounted unit and other devices, including but not limited to communication between vehicle-mounted units (V2V), communication between the vehicle-mounted unit and the roadside unit (V2I), communication between the vehicle-mounted unit and pedestrian devices (V2P), and communication between the vehicle-mounted unit and the network (V2N).

[0053] Target vehicle EV-1: host vehicle, the target vehicle equipped with an on-board unit and running the application.

[0054] Current vehicle EV-2: remote vehicle, a background vehicle that can broadcast V2X messages regularly in cooperation with the target vehicle.

[0055] Time to collision TTC: time to collision, at time t, the time required for the current object to collide with the target obstacle.

[0056] Basic Safety Message (BSM): Basic Safety Message is the most widely used V2X application layer message, used to exchange safety status data between vehicles. By broadcasting this message, the vehicle informs the surrounding vehicles of its real-time status, thereby supporting a series of collaborative safety applications.

[0057] SSM: Sensor Sharing Message, refers to the information about other traffic participants (including but not limited to vehicles, pedestrians, cyclists and other targets) or abnormal road conditions detected by the vehicle EV and roadside equipment RSU through their own sensing devices (cameras, radars and other sensors).

[0058] like Figure 1-3 The following is a description of the prior art vehicle-to-vehicle perception data sharing scenario related to the present invention: When vehicles EV-1 and EV-2 are traveling in the same lane and in the same direction, EV-1 is in front and EV-2 is following behind EV-1, and EV-2's line of sight may be blocked by EV-1; at this time, a vehicle NV is traveling in the opposite direction in the adjacent lane of EV-1 and EV-2, or a pedestrian P approaches near the road, or there is an obstacle in front of EV-1, EV-1 and EV-2 need to have wireless communication capabilities, and EV-1 has perception capabilities (equipped with on-board sensors such as cameras). or radar, etc.), when the vehicle NV, pedestrian P and obstacle do not have V2X communication capabilities; EV-1 detects the presence of a vehicle NV, pedestrian P or obstacle in front through its own on-board sensors; EV-2 requests perception information of the road ahead from EV-1, or EV-1 actively shares perception information with EV-2; EV-1 sends the perception data information of the vehicle NV, pedestrian P or obstacle to the vehicle EV-2 through wireless communication; the vehicle EV-2 makes reasonable driving behavior adjustments in a timely manner based on the received perception data information of the vehicle NV, pedestrian P or obstacle. However, the description of the scene implementation process and decision-making algorithm is vague and cannot be implemented, and the vehicle cannot make reasonable avoidance, which makes it impossible for vehicles to drive safely and efficiently.

[0059] like Figure 4-6The following is a description of the prior art vehicle-road perception data sharing scenario related to the present invention: When the vehicle EV and NV-1 are traveling in the same lane and in the same direction, NV-1 is in front and EV is traveling behind NV-1, the EV's line of sight may be blocked by NV-1. When RSU roadside equipment is installed near the road, there is a vehicle NV-2 in the adjacent lane traveling in the opposite direction, or a pedestrian P is approaching near the road, or there is an obstacle in front of NV; EV and RSU need to have wireless communication capabilities, and RSU has perception capabilities (equipped with sensors such as cameras or radars, etc.), and the vehicle NV-2, pedestrian P and obstacles do not have V2X communication capabilities; RSU roadside unit detects the presence of vehicle NV-2 or pedestrian P or obstacles in front through sensors; EV requests perception information of the road ahead from RSU, or RSU actively shares perception information with EV. The perception data information of vehicle NV-2 or pedestrian P is sent to EV through wireless communication; EV makes reasonable driving behavior adjustments in a timely manner based on the received perception data information of vehicle NV-2 or pedestrian P or obstacles. However, in the scenarios of vehicle-to-vehicle perception data sharing and vehicle-to-road perception data sharing, the scenario implementation process and decision-making algorithm descriptions are vague and cannot be implemented, and the vehicle cannot make reasonable avoidance decisions.

[0060] like Figure 7 FIG. 1 is a flow chart of an embodiment of a method for sharing perception data based on vehicle-road collaboration of the present invention. A method for sharing perception data based on vehicle-road collaboration is provided, comprising the following steps:

[0061] In step S1, the intention of the current vehicle to request sharing of perceived road condition information is obtained, and the intention of the current vehicle to request sharing of perceived road condition information is sent to at least one target vehicle or RSU roadside equipment traveling around the current vehicle, and the target vehicle and the RSU roadside equipment broadcast road condition information through an SSM message set;

[0062] In step S2, the road condition information around the target vehicle is obtained and sent to the current vehicle;

[0063] In step S3, the current vehicle determines whether there is an obstacle in front of the target vehicle based on the received road condition information. If so, the current vehicle reminds the driver of the current vehicle to pay attention to the obstacle in front, and the driver makes reasonable driving behavior adjustments based on the received prompt information.

[0064] In one embodiment, in step S1, the road condition information includes traffic participant type information, latitude and longitude information, navigation angle information, area range information, speed information and forward traffic event information.

[0065] In one embodiment, the reasonable driving behavior adjustment in step S3 includes deceleration, parking or avoidance.

[0066] In one embodiment, when the current vehicle is driving behind a target vehicle, the target vehicle blocks the current vehicle's line of sight, and the current vehicle requests the target vehicle to share the perceived road condition information ahead, or the target vehicle actively broadcasts the traffic conditions ahead to the current vehicle after detecting pedestrians, NVs, or obstacles ahead.

[0067] In one embodiment, when the target vehicle receives a request from the current vehicle to share the perceived road condition information ahead, it uses its own sensors, cameras, and radars to detect the conditions of surrounding traffic participants, and then compares the information confidence of the camera and radar and combines the information items with a confidence level of 95% into SSM information and sends it to the current vehicle.

[0068] In one embodiment, after receiving the perception sharing data of the target vehicle, the current vehicle obtains the latitude and longitude information of the traffic participant and the latitude and longitude information of the current vehicle, and calculates the distance between the traffic participant and the current vehicle according to the latitude and longitude information of the traffic participant and the latitude and longitude information of the current vehicle. The latitude and longitude of the current vehicle is (LatA, LngA), and the latitude and longitude of the traffic participant is (LatB, LngB). R represents the radius of the earth, 6378.137 km, and the latitude difference between points AB is: delLat = |LatA-LatB|;

[0069] The longitude difference between points AB: deltaLng=|lngA–lngB|

[0070] The distance calculation formula between points AB is as follows:

[0071]

[0072] In one embodiment, if the distance L between the traffic participant and the current vehicle is AB >100m, it is considered that there is no collision risk between the current vehicle and the traffic participant, and the traffic participant will not be processed; if the distance between the traffic participant and the current vehicle is L AB <100m, it is considered that there may be a risk of collision between the current vehicle and the traffic participant, and the current vehicle reminds the current vehicle driver to pay attention to the obstacle ahead, and the driver makes reasonable driving behavior adjustments based on the received prompt information.

[0073] In one embodiment, the latitude and longitude information of the current vehicle is compared with the MAP map information broadcasted by the RSU roadside equipment to identify the specific location of the current vehicle, and then the lane to which the current vehicle belongs is identified by the heading angle of the current vehicle and the heading angle of the road. A rectangular coordinate system is established with the reference point R in the MAP map as the coordinate origin, where R represents the reference point of the MAP map, D represents the current vehicle, and the distance between the current vehicle and the line connecting the two points on the road is represented by L. AB; and calculate the included angle α between the line connecting the current vehicle and two points on the road and the due north direction,

[0074] where α = βhv - α, and calculate the horizontal relative distance x0 of point D of the current vehicle = L AB*cosα and the vertical relative distance y0 = L AB*sinα ; obtain the coordinates of point D of the current vehicle as (x0, y0), and then obtain the longitude and latitude of two points on the road from the MAP map as coordinates E(x1, y1), F(x2, y2);

[0075] If x1 < x0 < x2, it is considered that the current vehicle is on the road. At this time, calculate the distance from the current vehicle to the center line of the lane. Among them, the straight-line formula of FE is:

[0076]

[0077] Let

[0078] and calculate the distance from the current vehicle D to the straight line EF according to the distance formula from a point to a straight line:

[0079]

[0080] If dist ≤ 3.5m, it is considered that the road matching is successful.

[0081] In an embodiment, calculate the azimuth relationship between the traffic participant and the vehicle itself according to the longitude and latitude information and the heading angle information of the current vehicle and the traffic participant. After comparing the heading angle information and the azimuth information of the traffic participant with the heading angle information and the azimuth information of the current vehicle, make corresponding prompts at different heading angles and azimuths. Take the geometric center of the current vehicle as the coordinate origin, and the direction of the heading angle of the current vehicle as the positive half-axis of the x-axis to establish a rectangular coordinate system. A represents the current vehicle, B represents other traffic participants, N represents the due north direction, and L AB represents the distance between points A and B, and calculate the included angle α between the line connecting points A and B and the due north direction:

[0082]

[0083] Among them, the longitude and latitude coordinates of point A are (lng1, lat1), the longitude and latitude coordinates of point B are (lng2, lat2), and obtain the included angle between the line connecting the current vehicle and other traffic participants and the x-axis

[0084]

[0085] Among them, the longitude and latitude coordinates of point A are (lng1, lat1), the longitude and latitude coordinates of point B are (lng2, lat2), and βhv is the heading angle of the current vehicle.

[0086] In one embodiment, the speed information of the traffic participant and the speed direction of the current vehicle are used to calculate whether the traffic participant and the current vehicle have an intersection. The speed direction of the current vehicle is taken as the X-axis to establish a coordinate system. If the speed direction of the current vehicle is θ, the speed direction of other traffic participants is the heading angle difference with the true north direction is

[0087] θ = βhv - βrv;

[0088] The velocity of other traffic participants on the x-axis is Vb=V2 cosθ; and the collision time TTC between the traffic participants and the current vehicle is calculated:

[0089]

[0090] If T is a negative number, it is considered that there is no intersection. If T is an integer, it is considered that there is an intersection. βh is the heading angle of the current vehicle, βrv is the heading angle of other traffic participants, Vb is the speed of other traffic participants in the x direction, V1 is the speed of the current vehicle, and V2 is the speed of other traffic participants.

[0091] If TTC is less than 10s, a slow alarm sound will be used to remind the driver of the risk of collision. If TTC is less than 7s, a medium-frequency alarm will be used to remind the driver of the risk of collision, and the corresponding traffic participants on the display screen will be marked in red. If TTC is less than 5s, an emergency alarm sound will be used to remind the driver of the risk of collision, and a prompt will pop up on the display screen.

[0092] like Figure 8 As shown, the types of traffic participants are cars, trucks, special vehicles, motorcycles, pedestrians, etc. When the target vehicle EV-1 equipped with V2X communication equipment and the current vehicle EV-2 are driving normally on the road, the current vehicle EV-2 and the target vehicle EV-1 are following each other in the same lane, and the target vehicle EV-1 blocks the sight of the current vehicle EV-2; at this time, there is another pedestrian P who wants to cross the road, and the target vehicle EV-1 may make an emergency avoidance or emergency braking action, but the current vehicle EV-2 does not know what is happening in front and has no time to make an emergency avoidance or braking action. If the target vehicle EV-1 broadcasts the pedestrian information sensed by its own sensors such as cameras and radars through the SSM message set, the current vehicle EV-2 will know in advance that there is a pedestrian P ahead after receiving the SSM information of the target vehicle EV-1. The current vehicle EV-2 will remind the driver to pay attention to the pedestrian ahead by displaying the situation of surrounding traffic participants on the display screen, slow sound warning, medium frequency sound alarm, emergency sound alarm, pop-up display on the display screen, etc. After the driver obtains the prompt information of the current vehicle EV-2, he can slow down, avoid or stop in time, thus avoiding traffic accidents and secondary injuries, and also improving driving safety or traffic efficiency.

[0093] like Fig. 9 As shown in the figure, the current vehicle EV-2 equipped with V2X communication equipment is driving in the same lane behind NV-1 which is not equipped with V2X equipment, and NV-1 blocks the sight of the current vehicle EV-2; RSU roadside equipment with V2X communication function is installed on the roadside; pedestrian P suddenly rushes out from the roadside, NV-1 may make emergency avoidance or emergency braking, but the current vehicle EV-2 does not know what happened in front and has no time to make emergency avoidance or braking; if the RSU roadside equipment broadcasts the pedestrian confidence sensed by its own sensors such as cameras and radars through the SSM message set, the current vehicle EV-2 knows in advance that there are pedestrians in front after receiving the SSM information of the RSU roadside equipment, and the current vehicle EV-2 reminds the driver to pay attention to the pedestrians in front by displaying the situation of the surrounding traffic participants on the display screen, slow sound warning, medium frequency sound alarm, emergency sound alarm, display screen pop-up display, etc. After the driver obtains the prompt information of the front vehicle EV-2, he can make timely actions such as deceleration, avoidance or parking, thereby avoiding traffic accidents and secondary injuries, and also improving driving safety or traffic efficiency.

[0094] The position relationship between the participants and the current vehicle EV-2 is left front, front, right front, right, right rear, rear, left rear and left, where the front is Right front is On the right is Right rear is The rear is ,

[0095] Left rear is On the left is If the position relationship between the two is left, left front, front, right front, or right, the traffic participant will be displayed on the display screen, and the situation of the surrounding traffic participants will be displayed on the display screen, with slow sound warnings, medium-frequency sound alarms, emergency sound alarms, and display screen pop-up displays, etc.

[0096] This application designs the implementation process and decision-making algorithm in the vehicle-to-vehicle perception data sharing and vehicle-to-road perception data sharing scenarios, so that vehicles can improve traffic efficiency and road safety.

[0097] When information such as road traffic events (such as traffic accidents), abnormal vehicle behavior (speeding, leaving the lane, driving in the wrong direction, irregular driving and abnormal stillness), road obstacles (such as fallen rocks, scattered objects, dead branches, etc.) and road conditions (such as water accumulation, ice, etc.) is detected and processed, it will be sent to other surrounding vehicles through V2X. Other vehicles receiving this information can perceive traffic participants or abnormal road conditions that are not within their field of view in advance, assist themselves in making correct driving decisions, reduce traffic accidents and secondary injuries, and improve driving safety or traffic efficiency.

[0098] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0099] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0100] Therefore, the above is only a preferred specific implementation manner of the present invention, and the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. The protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for sharing perception data based on vehicle-road collaboration, characterized in that: The method includes the following steps: S1. Obtain the intention of the current vehicle to request sharing of perceived road condition information, and send the intention of the current vehicle to request sharing of perceived road condition information to at least one target vehicle or RSU roadside device driving around the current vehicle. The target vehicle and the RSU roadside device broadcast road condition information through the SSM message set. S2. Obtain the road condition information around the target vehicle, and send the road condition information to the current vehicle. S3. The current vehicle determines whether there is an obstacle in front of the target vehicle according to the received road condition information. If so, the current vehicle reminds the driver of the current vehicle to pay attention to the obstacle in front, and the driver makes reasonable driving behavior adjustments according to the received prompt information.

2. The method for sharing perception data based on vehicle-road collaboration according to claim 1, characterized in that: In step S1, the road condition information includes traffic participant type information, longitude and latitude information, navigation angle information, area range information where it is located, speed information, and information on traffic events ahead.

3. The method for sharing perception data based on vehicle-road collaboration according to claim 2, characterized in that: In step S3, reasonable driving behavior adjustments include decelerating, stopping, or avoiding.

4. The method for sharing perception data based on vehicle-road collaboration according to claim 3, characterized in that: When the current vehicle is driving behind the target vehicle and the target vehicle blocks the line of sight of the current vehicle, the current vehicle requests the target vehicle to share the perceived road condition information ahead, or the target vehicle actively broadcasts the traffic conditions ahead to the current vehicle after detecting a pedestrian, NV, or obstacle ahead.

5. The method for sharing perception data based on vehicle-road collaboration according to claim 4, characterized in that: When the target vehicle receives the request from the current vehicle to share the perceived road condition information ahead, it uses its own sensors, cameras, and radars to detect the surrounding traffic participants, and then combines the information items with a confidence level of 95% after comparing the confidence levels of the camera and radar information to form SSM information and send it to the current vehicle.

6. The method for sharing perception data based on vehicle-road collaboration according to claim 5, characterized in that: After the current vehicle receives the perceived sharing data of the target vehicle, it obtains the longitude and latitude information of the traffic participant and the longitude and latitude information of the current vehicle, and calculates the distance between the traffic participant and the current vehicle according to the longitude and latitude information of the traffic participant and the longitude and latitude information of the current vehicle. The longitude and latitude of the current vehicle are (LatA, LngA), and the longitude and latitude of the traffic participant are (LatB, LngB). R represents the radius of the earth, 6378.137 km. Then the latitude difference between points A and B: delLat = |LatA - LatB|; The longitude difference between points A and B: deltaLng = |lngA – lngB| The distance calculation formula is as follows:

7. The method for sharing perception data based on vehicle-road collaboration according to claim 6, characterized in that: If the distance L between the traffic participant and the current vehicle AB >100m, it is considered that there is no collision risk between the current vehicle and the traffic participant, and the traffic participant will not be processed; if the distance between the traffic participant and the current vehicle is L AB <100m, it is considered that there may be a risk of collision between the current vehicle and the traffic participant, and the current vehicle reminds the current vehicle driver to pay attention to the obstacle ahead, and the driver makes reasonable driving behavior adjustments based on the received prompt information.

8. The method for sharing perception data based on vehicle-road collaboration according to claim 7, characterized in that: Compare the latitude and longitude information of the current vehicle with the MAP map information broadcast by the RSU roadside equipment to identify the specific location of the current vehicle, and then identify the lane to which the current vehicle belongs through the heading angle of the current vehicle and the heading angle of the road. Establish a rectangular coordinate system with the reference point R in the MAP map as the coordinate origin, where R represents the reference point of the MAP map, D represents the current vehicle, and the distance between the current vehicle and the line connecting the two points on the road is represented by L. AB ; and calculate the angle α between the current vehicle and the line connecting the two points on the road and the true north direction, Among them, α=90-βhv, calculate the horizontal relative distance of the current vehicle point D x0=L AB*cosα Relative distance to the vertical direction y0 = L AB*sinα ; The coordinates of the current vehicle point D are obtained as (x0, y0), and then the longitude and latitude of two points on the road are obtained from the MAP map as coordinates to obtain E(x1, y1) and F(x2, y2); If x1 < x0 < x2, it is considered that the current vehicle is on the road. At this time, calculate the distance from the current vehicle to the center line of the lane. The linear formula of FE is: set up B=1, And calculate the distance from the current vehicle D to the straight line EF according to the distance formula from a point to a straight line: If dist ≤ 3.5 m, it is considered that the road matching is successful.

9. The method for sharing perception data based on vehicle-road collaboration according to claim 8, characterized in that: The azimuth relationship between the traffic participant and the vehicle is calculated based on the latitude and longitude information and heading angle information of the current vehicle and the traffic participant, and after comparing the heading angle information and heading angle information of the traffic participant with the heading angle information and heading angle information of the current vehicle, corresponding prompts are given at different heading angles and headings. A rectangular coordinate system is established with the geometric center of the current vehicle as the coordinate origin and the direction of the heading angle of the current vehicle as the positive semi-axis of the x-axis. A represents the current vehicle, B represents other traffic participants, N represents the due north direction, and L represents the due north direction. AB Expressed as the distance between points A and B, and calculate the angle α between the line connecting points A and B and the north direction: Among them, the longitude and latitude coordinates of point A are (lng1, lat1), and the longitude and latitude coordinates of point B are (lng2, lat2). The angle between the line connecting the current vehicle and other traffic participants and the x-axis is obtained. Angle: Among them, the longitude and latitude coordinates of point A are (lng1, lat1), the longitude and latitude coordinates of point B are (lng2, lat2), and βhv is the heading angle of the current vehicle.

10. The method for sharing perception data based on vehicle-road collaboration according to claim 9, characterized in that: The speed information of the traffic participants and the speed direction of the current vehicle are used to calculate whether the traffic participants and the current vehicle have an intersection. The speed direction of the current vehicle is taken as the X-axis to establish a coordinate system. If the speed direction of the current vehicle is θ, the speed direction of other traffic participants is the heading angle difference with the true north direction is θ = βhv - βrv; The velocity of other traffic participants on the x-axis is Vb=V2cosθ; and the collision time TTC between the traffic participants and the current vehicle is calculated: If T is a negative number, it is considered that there is no intersection. If T is an integer, it is considered that there is an intersection. βh is the heading angle of the current vehicle, βrv is the heading angle of other traffic participants, Vb is the speed of other traffic participants in the x direction, V1 is the speed of the current vehicle, and V2 is the speed of other traffic participants. If TTC is less than 10s, a slow alarm sound will be used to remind the driver of the risk of collision. If TTC is less than 7s, a medium-frequency alarm will be used to remind the driver of the risk of collision, and the corresponding traffic participants on the display screen will be marked in red. If TTC is less than 5s, an emergency alarm sound will be used to remind the driver of the risk of collision, and a prompt will pop up on the display screen.

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