Road side event early warning method and system based on vehicle-road cloud integration

Abstract

The invention provides a roadside event early warning method and system based on vehicle-road cloud integration, and the method comprises the steps: judging whether an event needs to be synchronized among a vehicle, a roadside equipment station corresponding to the event and a cloud platform or not according to the received event information when the event reported by roadside equipment is received; and if the event needs to be synchronized among the vehicle, the roadside equipment station corresponding to the event and the cloud platform, the influence range of the event is evaluated, corresponding early warning information is generated, and the influence range of the event and the generated corresponding early warning information are sent to the corresponding roadside equipment station and the vehicle. Through cloud platform analysis and data synchronization, the limitation of an existing vehicle-road cooperation system is overcome, and the safety and reliability of the system are effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle-road collaborative technology, and in particular to a method and system for early warning of roadside events based on vehicle-road-cloud integration. Background Art

[0002] In the current vehicle-road collaboration (V2I) scenario, the roadside unit (RSU) can detect and identify traffic events (such as traffic accidents, road construction, abnormal vehicles, etc.) or traffic sign information in real time by sensing the traffic conditions within its coverage area. When a vehicle enters the monitoring area of ​​the roadside unit, the device can transmit these event information or traffic sign information to the vehicle's onboard unit (OBU) or the driver's mobile application (App) through a communication protocol, providing the driver with real-time traffic information and guidance, thereby improving driving safety and efficiency.

[0003] However, the existing vehicle-road cooperative system has some limitations, which are mainly reflected in the following aspects: 1. Limited event coverage: The monitoring range of each roadside device is limited, and the traffic event information it can detect and send is limited to the coverage area of ​​the device itself. This means that if a traffic event occurs outside the monitoring range of the device, the device cannot obtain or send relevant information. 2. Lack of coordination between devices: At present, roadside devices usually work independently and lack an effective coordination mechanism. When a traffic accident occurs at an intersection or an abnormal vehicle appears, the event information is only available to devices near the location of the occurrence. If the event may affect the driving of vehicles at adjacent intersections, the devices at other intersections cannot obtain and send relevant warning information in time, thereby reducing the response efficiency of the overall system. 3. Limited warning range: Due to the lack of information communication between devices, the warning range of the event is limited, and other affected vehicles may not be notified in advance. This will lead to potential dangers continuing to occur in adjacent areas after a traffic accident occurs. Summary of the invention

[0004] The purpose of the present invention is to propose a warning method and system for roadside events based on vehicle-road-cloud integration, so as to solve the technical problem of how to improve the analysis and response capabilities of traffic events.

[0005] On the one hand, a roadside event warning method based on vehicle-road-cloud integration is provided, comprising:

[0006] When receiving an event reported by a roadside device, determine whether the event needs to be synchronized between the vehicle, the roadside device site corresponding to the event, and the cloud platform based on the received event information;

[0007] If the event needs to be synchronized between the vehicle, the roadside equipment site corresponding to the event, and the cloud platform, the impact scope of the event is evaluated and the corresponding warning information is generated, and the impact scope of the event and the corresponding warning information are sent to the corresponding roadside equipment site and vehicle.

[0008] Preferably, it also includes obtaining the vehicle's status information and obstacles on the road where the vehicle is located through multiple preset sensing devices; wherein the sensing devices include at least radar and cameras; the status information includes at least the vehicle's speed, position, motion status and appearance characteristics.

[0009] Preferably, it also includes that the roadside equipment determines the event type, occurrence time and coordinate information based on the acquired vehicle status information and obstacles on the road where the vehicle is located, and outputs the event type, occurrence time and coordinate information as corresponding event information.

[0010] Preferably, judging whether it is necessary to synchronize the event among the vehicle, the roadside equipment station corresponding to the event and the cloud platform according to the received event information includes:

[0011] If the event type includes any of traffic accidents, traffic jams, vehicle stops, vehicles driving in the wrong direction, and emergency vehicle priority, it is determined that the event needs to be synchronized between the vehicle, the roadside equipment site corresponding to the event, and the cloud platform.

[0012] Preferably, the assessing the impact scope of the event and generating corresponding warning information includes:

[0013] Preliminarily classify the events according to the event types, and call corresponding preset evaluation rules to evaluate the severity of the events according to the classification results; wherein the severity of the events includes at least a plurality of different levels of evaluation grades;

[0014] Determine the specific lane where the incident occurred based on pre-stored map data, and determine the road section affected by the incident and the stations on the affected road section;

[0015] Corresponding warning information is generated based on the severity of the event, the road section affected by the event, and the stations on the affected road section.

[0016] Preferably, the step of sending the impact scope of the event and the corresponding warning information to the corresponding roadside equipment stations and vehicles includes:

[0017] If the corresponding roadside equipment station is on a one-way section, determine whether there are other roadside equipment stations on the section; if there are other roadside equipment stations on the section, the cloud platform sends warning information to the roadside equipment stations on the section;

[0018] If the corresponding roadside equipment station is at an intersection, the cloud platform will send the warning information to all roadside equipment stations at the intersection;

[0019] When the roadside equipment station receives the warning information, it notifies the passing vehicles and reminds the drivers to take appropriate measures.

[0020] Preferably, it also includes, when the downstream monitoring point of the roadside equipment station that receives the warning information detects the event again, judging whether the event is still ongoing based on the event information, re-evaluating the impact scope of the event and regenerating the corresponding warning information, and sending the re-evaluated impact scope of the event and the regenerated warning information to the next affected roadside equipment station located thereafter.

[0021] Preferably, the step of evaluating the impact scope of the event and regenerating corresponding warning information and sending it to corresponding roadside equipment stations and vehicles further includes:

[0022] Determine the vehicles that are in or about to enter the impact area of ​​the event based on the latitude and longitude data reported by the pre-registered vehicles;

[0023] The cloud platform sends event information to vehicles that are in or about to enter the impact range of the event.

[0024] On the other hand, a warning system for roadside events based on vehicle-road-cloud integration is also provided to implement the warning method for roadside events based on vehicle-road-cloud integration, including:

[0025] The cloud platform is used to determine whether it is necessary to synchronize the event between the vehicle, the roadside equipment station corresponding to the event, and the cloud platform based on the received event information when receiving the event reported by the roadside equipment;

[0026] It is also used to evaluate the impact of the event and generate corresponding warning information if it is necessary to synchronize the event between the vehicle, the roadside equipment site corresponding to the event, and the cloud platform, and send the impact of the event and the corresponding warning information to the corresponding roadside equipment site and vehicle.

[0027] Preferably, it also includes roadside equipment, which is used to obtain the vehicle's status information and obstacles on the road where the vehicle is located through a plurality of preset sensing devices; wherein the sensing devices include at least radar and cameras; the status information includes at least the vehicle's speed, position, motion status and appearance characteristics; and determine the event type, occurrence time and coordinate information based on the acquired vehicle status information and obstacles on the road where the vehicle is located, and output the event type, occurrence time and coordinate information as corresponding event information.

[0028] In summary, the implementation of the embodiments of the present invention has the following beneficial effects:

[0029] The present invention provides an early warning method and system for roadside events based on vehicle-road-cloud integration. The cloud platform can centrally analyze traffic events uploaded by various roadside devices, and when events that may affect multiple areas are identified, the information is promptly synchronized to all relevant devices, thereby expanding the coverage of the warning. Through the centralized control of the cloud platform, different roadside devices can work together to issue warnings to nearby vehicles in a timely manner, enhancing the overall response capabilities of the system. Expanding the dissemination range of event information enables vehicles to obtain potential danger information earlier, providing drivers with ample reaction time, reducing the probability of accidents, and improving driving safety. Cloud platform analysis and data synchronization overcome the limitations of existing vehicle-road collaborative systems and effectively improve the safety and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, without paying creative labor, other drawings obtained based on these drawings still belong to the scope of the present invention.

[0031] Figure 1 It is a schematic diagram of the main process of a roadside event warning method based on vehicle-road-cloud integration in an embodiment of the present invention.

[0032] Figure 2 It is a logical schematic diagram of a roadside event warning method based on vehicle-road-cloud integration in an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings.

[0034] like Figure 1 and Figure 2 FIG. 1 is a schematic diagram of an embodiment of a method for early warning of roadside events based on vehicle-road-cloud integration provided by the present invention. In this embodiment, the method includes the following steps:

[0035] Step S1, when receiving an event reported by a roadside device, determine whether it is necessary to synchronize the event between the vehicle, the roadside device site corresponding to the event, and the cloud platform based on the received event information; understandably, when receiving an event reported by a roadside device, the system will determine whether synchronization is required based on different types of events. For example, for weather-related events such as heavy rain, strong winds, and heavy fog, as well as for events with a short duration and limited impact, such as vehicles not maintaining a safe distance or motor vehicles running red lights, it is not very meaningful to synchronize to the equipment at nearby sites; and for events that seriously affect traffic safety and efficiency, such as traffic accidents, traffic jams, vehicle stoppages, vehicles driving in the opposite direction, and emergency vehicles with priority passage, they will be regarded as key processing objects and the next step of impact scope assessment will be carried out.

[0036] In one embodiment, the state information of the vehicle and the obstacles on the road where the vehicle is located are obtained through a plurality of preset sensing devices; wherein the sensing devices include at least a radar and a camera; the state information includes at least the speed, position, motion state and appearance characteristics of the vehicle. The roadside device determines the event type, occurrence time and coordinate information based on the acquired state information of the vehicle and the obstacles on the road where the vehicle is located, and outputs the event type, occurrence time and coordinate information as the corresponding event information. It is understandable that the identification and reporting of events mainly rely on millimeter wave radars, cameras and edge computing devices mainly based on roadside devices. Millimeter wave radar: used to detect the speed, position and motion state of the vehicle. Millimeter wave radar can provide high-precision distance and speed information, and is particularly suitable for detecting vehicle position changes and speed anomalies. Camera: captures video streams and identifies traffic events through image processing technology. The camera can capture the appearance characteristics of the vehicle and various obstacles on the road. The roadside device is equipped with an edge computing device for real-time processing and fusion of data from millimeter wave radars and cameras. Roadside equipment can identify a variety of event types. For example, through the image data captured by the camera, combined with the speed and position information of the millimeter-wave radar, the edge computing device can identify collisions, rear-end collisions and other accidents. When the camera detects vehicle deformation or scattered debris, and the millimeter-wave radar detects sudden deceleration or stop, the system can determine it as a traffic accident. Once an event is identified, the edge computing device will generate event information including the event type, occurrence time, and precise latitude and longitude coordinates. Subsequently, the information is sent to the cloud platform via the MQTT protocol. In order to improve the reliability and concurrent processing capabilities of the system, the MQTT cluster configuration is adopted, and multiple receiving terminals are set up in the cloud to subscribe to related topics to ensure that messages can be transmitted efficiently and stably.

[0037] Step S2: If the event needs to be synchronized between the vehicle, the roadside equipment station corresponding to the event, and the cloud platform, the impact range of the event is evaluated and the corresponding warning information is generated, and the impact range of the event and the corresponding warning information are sent to the corresponding roadside equipment station and vehicle. It can be understood that the cloud platform receives the event information reported by the roadside equipment, including the event type (such as traffic accidents, emergency vehicle priority, etc.), the time of occurrence and the precise longitude and latitude coordinates; the event type, longitude and latitude and potential impact range are comprehensively analyzed to determine the impact area of ​​the event.

[0038] In one embodiment, judging whether it is necessary to synchronize the event among the vehicle, the roadside equipment station corresponding to the event, and the cloud platform based on the received event information includes: if the event type includes any one of a traffic accident, a traffic jam, a stopped vehicle, a vehicle driving in the wrong direction, and a priority passage for emergency vehicles, then judging that it is necessary to synchronize the event among the vehicle, the roadside equipment station corresponding to the event, and the cloud platform.

[0039] In one embodiment, the evaluation of the impact scope of the event and the generation of corresponding warning information include: preliminarily classifying the event according to the event type, and calling the corresponding preset evaluation rules to evaluate the severity of the event according to the classification result; wherein the severity of the event includes at least a plurality of different levels of evaluation grades; determining the specific lane where the event occurred according to the pre-stored map data, and determining the road section affected by the event and the stations on the affected road section; generating corresponding warning information according to the severity of the event, the road section affected by the event and the stations on the affected road section. It is understandable that according to the event type, the cloud platform preliminarily classifies the event and uses the preset rules to evaluate the severity of the event. For example, a traffic accident may be evaluated as high severity, while a minor road construction may be evaluated as low severity; the preset rules can be set and adjusted according to specific needs, and the evaluation of practical severity is also evaluated by the preset evaluation criteria, which is a commonly used method in this field and will not be repeated here.

[0040] The cloud platform combines GIS technology and uses the map data stored in the database (including lane information, latitude and longitude of lane range, direction, etc.) to determine the specific lane where the event occurred. For mobile events (such as emergency vehicles), the moving direction and speed are calculated through continuous position updates; for mobile events, the cloud platform obtains the road section affected by the next event through its direction and lane; for non-mobile events such as traffic accidents, the affected road section is obtained based on the lane it is in. The database is queried to obtain the affected road section and the stations on the affected road section, and the push strategy is determined based on the station information later.

[0041] Based on the determined event type and the road sections that may be affected, the cloud platform will then query the device site information in the database through this information to push the event synchronously. There are two ways to push events synchronously: 1. Push to the device at the affected site, and the device pushes to nearby cars through PC5. 2. Push directly to cars that may be affected by the event through the platform's registered vehicle data.

[0042] In one embodiment, the scope of influence of the event and the generation of the corresponding warning information to the corresponding roadside equipment site and vehicle include: if the corresponding roadside equipment site is in a one-way section, then determine whether there are other roadside equipment sites on the section; when there are other roadside equipment sites on the section, the cloud platform sends the warning information to the roadside equipment site on the section; if the corresponding roadside equipment site is at an intersection, the cloud platform sends the warning information to all roadside equipment sites at the intersection; when the roadside equipment site receives the warning information, it notifies the passing vehicle and reminds the driver to take corresponding measures. It can be understood that synchronization to the site includes: for a one-way section, if there are other roadside equipment sites on the section, the vehicle-road-cloud integrated cloud control basic platform will directly send the event information to these sites. For intersections, the event information will be notified to the site where the intersection is located (due to the complexity of the intersection, it is impossible to further predict the subsequent impact of the event); after receiving the message, the roadside equipment at the site will immediately notify the passing vehicle and remind the driver to take corresponding measures.

[0043] In this embodiment, when the downstream monitoring point of the roadside equipment site that receives the warning information detects the event again, it determines whether the event is still ongoing based on the event information, re-evaluates the impact scope of the event and regenerates the corresponding warning information, and sends the re-evaluated impact scope of the event and the regenerated warning information to the next affected roadside equipment site located thereafter. It is understandable that downstream monitoring point verification is set: when the event is actually detected by the downstream monitoring point, this can not only verify the reliability of event synchronization, but also help improve the logic and improve the accuracy of subsequent notifications. After the downstream monitoring point detects the event again, it can restart the process to determine whether the event is still ongoing, and for the site at the intersection, it can continue to evaluate the scope of the event and the affected road section, and then notify the next affected site.

[0044] In one embodiment, the assessment of the impact range of the event and the regeneration of the corresponding warning information to the corresponding roadside equipment site and vehicle also include: determining the vehicle that is in or about to enter the impact range of the event according to the latitude and longitude data reported by the pre-registered vehicle; the cloud platform sends the event information to the vehicle that is in or about to enter the impact range of the event. Understandably, cloud-to-vehicle synchronization includes: the cloud platform has a vehicle management function, and the vehicle registered to the platform can periodically send its latitude and longitude data to the cloud through the MQTT protocol. After obtaining the event information, the cloud platform can not only synchronize the event information to the nearby roadside equipment, but also directly push it to the registered vehicles located in the affected area. The specific method is as follows: the cloud platform determines which vehicles are located or about to enter the affected area according to the latitude and longitude data reported by the registered vehicle. For these vehicles, the cloud platform sends the event information directly to the on-board unit (OBU) or the driver's mobile application (App) through the MQTT protocol, providing real-time traffic information and guidance, and reminding the driver to take corresponding measures. The cloud platform continuously monitors the location changes of the vehicle and the development of the event, dynamically adjusts the warning information, and ensures that the driver always obtains the latest and most accurate information.

[0045] In this embodiment, the scope of early warning is expanded. Traditional roadside equipment can only monitor and notify traffic incidents within its coverage area. However, this embodiment can notify all relevant roadside equipment in the affected area of ​​the event information in advance through centralized analysis and information synchronization of the cloud platform. This means that even vehicles outside the location of the incident can receive early warnings in a timely manner, so that they have more time to react and avoid potential dangers. Enhance system synergy. Through the coordination of the cloud platform, effective information sharing and collaborative work are achieved between different roadside equipment. This not only improves the response speed to a single event, but also enables traffic management and scheduling over a larger range, improving the operating efficiency of the entire traffic network. Improve driving safety. Obtaining potential danger information in advance enables drivers to take preventive measures such as slowing down, changing lanes or detouring, thereby effectively reducing the incidence of traffic accidents. In addition, for special situations such as emergency vehicles having priority passage, this technology can ensure that other vehicles quickly give way to the passage to ensure the smooth progress of emergency rescue.

[0046] A specific embodiment of the present invention further provides a warning system for roadside events based on vehicle-road-cloud integration, which is used to implement the warning method for roadside events based on vehicle-road-cloud integration, including:

[0047] The cloud platform is used to determine whether it is necessary to synchronize the event between the vehicle, the roadside equipment station corresponding to the event, and the cloud platform based on the received event information when receiving the event reported by the roadside equipment;

[0048] It is also used to evaluate the impact of the event and generate corresponding warning information if it is necessary to synchronize the event between the vehicle, the roadside equipment site corresponding to the event, and the cloud platform, and send the impact of the event and the corresponding warning information to the corresponding roadside equipment site and vehicle.

[0049] In this embodiment, it also includes roadside equipment, which is used to obtain the vehicle's status information and obstacles on the road where the vehicle is located through a plurality of preset sensing devices; wherein the sensing devices include at least radars and cameras; the status information includes at least the vehicle's speed, position, motion status and appearance characteristics; and based on the acquired vehicle status information and obstacles on the road where the vehicle is located, the event type, occurrence time and coordinate information are determined, and the event type, occurrence time and coordinate information are output as corresponding event information.

[0050] It should be noted that the system described in the above embodiment corresponds to the method described in the above embodiment. Therefore, the undetailed parts of the system described in the above embodiment can be obtained by referring to the contents of the method described in the above embodiment, and will not be repeated here.

[0051] In summary, the implementation of the embodiments of the present invention has the following beneficial effects:

[0052] The present invention provides an early warning method and system for roadside events based on vehicle-road-cloud integration. The cloud platform can centrally analyze traffic events uploaded by various roadside devices, and when events that may affect multiple areas are identified, the information is promptly synchronized to all relevant devices, thereby expanding the coverage of the warning. Through the centralized control of the cloud platform, different roadside devices can work together to issue warnings to nearby vehicles in a timely manner, enhancing the overall response capabilities of the system. Expanding the dissemination range of event information enables vehicles to obtain potential danger information earlier, providing drivers with ample reaction time, reducing the probability of accidents, and improving driving safety. Cloud platform analysis and data synchronization overcome the limitations of existing vehicle-road collaborative systems and effectively improve the safety and reliability of the system.

[0053] The above disclosure is only the preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A roadside event warning method based on vehicle-road-cloud integration, characterized in that: include: When receiving an event reported by a roadside device, determine whether the event needs to be synchronized between the vehicle, the roadside device site corresponding to the event, and the cloud platform based on the received event information; If the event needs to be synchronized between the vehicle, the roadside equipment site corresponding to the event, and the cloud platform, the impact scope of the event is evaluated and the corresponding warning information is generated, and the impact scope of the event and the corresponding warning information are sent to the corresponding roadside equipment site and vehicle.

2. The method according to claim 1, characterized in that Also includes, The vehicle status information and obstacles on the road where the vehicle is located are obtained through multiple preset sensing devices; wherein the sensing devices include at least radar and camera; the status information includes at least the vehicle's speed, position, motion status and appearance characteristics.

3. The method according to claim 2, characterized in that Also includes, The roadside equipment determines the event type, occurrence time and coordinate information based on the acquired vehicle status information and obstacles on the road where the vehicle is located, and outputs the event type, occurrence time and coordinate information as corresponding event information.

4. The method according to claim 3, characterized in that The determining whether the event needs to be synchronized between the vehicle, the roadside equipment station corresponding to the event and the cloud platform according to the received event information includes: If the event type includes any of traffic accidents, traffic jams, vehicle stops, vehicles driving in the wrong direction, and emergency vehicle priority, it is determined that the event needs to be synchronized between the vehicle, the roadside equipment site corresponding to the event, and the cloud platform.

5. The method according to claim 4, characterized in that The assessment of the impact scope of the event and the generation of corresponding warning information include: Preliminarily classify the events according to the event types, and call corresponding preset evaluation rules to evaluate the severity of the events according to the classification results; wherein the severity of the events includes at least a plurality of different levels of evaluation grades; Determine the specific lane where the incident occurred based on pre-stored map data, and determine the road section affected by the incident and the stations on the affected road section; Corresponding warning information is generated based on the severity of the event, the road section affected by the event, and the stations on the affected road section.

6. The method according to claim 5, characterized in that The sending of the impact scope of the event and the corresponding warning information generated to the corresponding roadside equipment stations and vehicles includes: If the corresponding roadside equipment station is on a one-way section, determine whether there are other roadside equipment stations on the section; If there are other roadside equipment stations on the road section, the cloud platform will send warning information to the roadside equipment stations on the road section; If the corresponding roadside equipment station is at an intersection, the cloud platform will send the warning information to all roadside equipment stations at the intersection; When the roadside equipment station receives the warning information, it notifies the passing vehicles and reminds the drivers to take appropriate measures.

7. The method according to claim 6, characterized in that Also includes, When the downstream monitoring point of the roadside equipment station that receives the warning information detects the event again, it determines whether the event is still ongoing based on the event information, re-evaluates the impact scope of the event and regenerates the corresponding warning information, and sends the re-evaluated impact scope of the event and the re-generated warning information to the next affected roadside equipment station located thereafter.

8. The method according to claim 6, characterized in that The step of evaluating the impact scope of the event and regenerating corresponding warning information and sending it to corresponding roadside equipment stations and vehicles also includes: Determine the vehicles that are in or about to enter the impact area of ​​the event based on the latitude and longitude data reported by the pre-registered vehicles; The cloud platform sends event information to vehicles that are in or about to enter the impact range of the event.

9. A roadside event warning system based on vehicle-road-cloud integration, used to implement the method according to any one of claims 1 to 8, characterized in that: include, The cloud platform is used to determine whether it is necessary to synchronize the event between the vehicle, the roadside equipment station corresponding to the event, and the cloud platform based on the received event information when receiving the event reported by the roadside equipment; It is also used to evaluate the impact of the event and generate corresponding warning information if it is necessary to synchronize the event between the vehicle, the roadside equipment site corresponding to the event, and the cloud platform, and send the impact of the event and the corresponding warning information to the corresponding roadside equipment site and vehicle.

10. The system according to claim 9, characterized in that Also includes, Roadside equipment is used to obtain the vehicle status information and obstacles on the road where the vehicle is located through multiple preset sensing devices; wherein the sensing devices include at least radar and camera; the status information includes at least the vehicle's speed, position, motion status and appearance characteristics; and determine the event type, occurrence time and coordinate information based on the acquired vehicle status information and obstacles on the road where the vehicle is located, and output the event type, occurrence time and coordinate information as corresponding event information.

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