A vehicle-road-cloud integrated roadside event early warning method and system

Abstract

The application provides a kind of based on vehicle-road cloud integration's roadside event early warning method and system, including, when receiving the event reported by roadside device, according to the event information received, judge whether the event needs to be synchronized between vehicle, event corresponding roadside device site and cloud platform;If the event needs to be synchronized between vehicle, event corresponding roadside device site and cloud platform, then evaluate the influence range of the event and generate corresponding early warning information, the influence range of the event and corresponding early warning information is sent to corresponding roadside device site and vehicle.The cloud platform analysis and data synchronization of the application overcome the limitations of existing vehicle-road coordination system, effectively improve the safety and reliability of the system.

Description

Technical Field

[0001] This invention relates to the field of vehicle-road cooperative technology, and in particular to an early warning method and system for roadside events based on vehicle-road-cloud integration. Background Technology

[0002] In current vehicle-to-infrastructure (V2I) scenarios, roadside units (RSUs) can detect and identify traffic events (such as accidents, road construction, and abnormal vehicles) or traffic sign information in real time by sensing traffic conditions within their coverage area. When a vehicle enters the monitoring area of ​​the roadside unit, the unit can transmit this event information or traffic sign information to the vehicle's onboard unit (OBU) or the driver's mobile application (App) via communication protocols, providing the driver with real-time traffic information and guidance, thereby improving driving safety and efficiency.

[0003] However, existing vehicle-road cooperative systems have some limitations, mainly in the following aspects: 1. Limited event coverage: Each roadside device has a limited monitoring range, and the traffic event information it can detect and distribute is limited to its own coverage area. This means that if a traffic event occurs outside the monitoring range of a device, the device cannot obtain or distribute relevant information. 2. Lack of coordination between devices: Currently, roadside devices usually operate independently, lacking an effective coordination mechanism. When a traffic accident or abnormal vehicle occurs at an intersection, the event information is only available to devices near the location of the accident. If the event may affect the driving of vehicles at adjacent intersections, devices at other intersections cannot obtain and distribute relevant warning information in a timely manner, thus reducing the overall system's response efficiency. 3. Limited warning range: Due to the lack of information sharing between devices, the warning range of an event is limited, and it may not be possible to notify other affected vehicles in advance. This can lead to potential dangers continuing to occur in adjacent areas after a traffic accident. Summary of the Invention

[0004] The purpose of this invention is to propose an early warning method and system for roadside events based on vehicle-road-cloud integration, and 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 early warning method based on vehicle-road-cloud integration is provided, including:

[0006] When an event is received from a roadside device, the system determines whether the event needs to be synchronized between the vehicle, the corresponding roadside device site, and the cloud platform based on the received event information.

[0007] If it is necessary to synchronize the event among vehicles, roadside equipment stations corresponding to the event, and the cloud platform, then assess the scope of the event's impact and generate corresponding early warning information, and send the scope of the event's impact and the generated early warning information to the corresponding roadside equipment stations and vehicles.

[0008] Preferably, the method further includes acquiring 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 cameras; and the status information includes at least the vehicle's speed, position, motion state, and appearance features.

[0009] Preferably, the method further includes the roadside equipment determining 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 outputting the event type, occurrence time, and coordinate information as corresponding event information.

[0010] Preferably, the step of determining whether to synchronize the event among the vehicle, the corresponding roadside equipment station, and the cloud platform based on the received event information includes:

[0011] If the event type includes any of the following: traffic accident, traffic congestion, vehicle stoppage, vehicle driving in the wrong direction, or emergency vehicle priority passage, then it is determined that the event needs to be synchronized between the vehicle, the corresponding roadside equipment station, and the cloud platform.

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

[0013] Events are initially categorized based on their type, and the severity of the events is assessed using pre-defined evaluation rules based on the categorization results; wherein the severity of the events includes at least multiple different evaluation levels.

[0014] The specific lane where the incident occurred is determined based on the pre-stored map data, as well as the road segment affected by the incident and the stations located on the affected road segment.

[0015] Based on the severity of the incident, the road sections affected, and the stations located on the affected road sections, corresponding early warning information is generated.

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

[0017] If the corresponding roadside equipment station is located on a one-way road segment, it is determined whether there are other roadside equipment stations on that road segment; if there are other roadside equipment stations on that road segment, the cloud platform will send the warning information to the roadside equipment stations on that road segment.

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

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

[0020] Preferably, the method further includes, when a downstream monitoring point of a roadside equipment station that received the warning information detects the event again, determining whether the event is still ongoing based on the event information, reassessing the scope of the event's impact and regenerating the corresponding warning information, and sending the reassessed scope of the event's impact and the regenerated warning information to the next affected roadside equipment station.

[0021] Preferably, the step of assessing the impact range of the event and regenerating the corresponding early warning information to send to the corresponding roadside equipment stations and vehicles also includes,

[0022] Based on the latitude and longitude data reported by the pre-registered vehicles, identify the vehicles that are in or about to enter the area affected by the event.

[0023] The cloud platform will send event information to vehicles that are in or about to enter the area affected by the event.

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

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

[0026] It is also used to assess the impact of an event and generate corresponding early warning information if it is necessary to synchronize the event among vehicles, roadside equipment stations corresponding to the event, and cloud platforms, and to send the impact of the event and the corresponding early warning information to the corresponding roadside equipment stations and vehicles.

[0027] Preferably, it further includes a roadside device for acquiring 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 cameras; the status information includes at least the vehicle's speed, position, motion state, and appearance features; and 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.

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

[0029] This invention provides a roadside event early warning method and system based on vehicle-road-cloud integration. The cloud platform can centrally analyze traffic events uploaded by various roadside devices and, when an event potentially affecting multiple areas is identified, promptly synchronize the information to all relevant devices, thereby expanding the warning coverage. Through centralized control of the cloud platform, different roadside devices can work collaboratively, promptly issuing warnings to nearby vehicles and enhancing the overall system response capability. Expanding the dissemination range of event information allows vehicles to obtain potential hazard 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 cooperative systems, effectively improving the system's safety and reliability. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, obtaining other drawings based on these drawings without creative effort still falls within the scope of the present invention.

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

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

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

[0034] like Figure 1 and Figure 2 The diagram shown is an embodiment of an early warning method for 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 an event reported by a roadside device is received, the system determines whether it is necessary to synchronize the event between the vehicle, the corresponding roadside device station, and the cloud platform based on the received event information. Understandably, upon receiving an event reported by a roadside device, the system will determine whether synchronization is necessary based on the type of event. For example, for weather-related events such as heavy rain, strong winds, and dense fog, as well as for short-duration events with limited impact, such as vehicles not maintaining a safe distance or running a red light, synchronizing to nearby stations is not very meaningful. However, for events that seriously affect traffic safety and efficiency, such as traffic accidents, traffic congestion, vehicle stoppages, vehicles driving in the wrong direction, and emergency vehicles having priority passage, these will be considered priority targets for further impact assessment.

[0036] In one embodiment, vehicle status information and obstacles on the road where the vehicle is located are acquired through multiple preset sensing devices. These sensing devices include at least radar and cameras. The status information includes at least the vehicle's speed, position, motion state, and appearance features. The roadside equipment determines the event type, occurrence time, and coordinate information based on the acquired vehicle status information and obstacles on the road, and outputs the event type, occurrence time, and coordinate information as corresponding event information. Understandably, event identification and reporting primarily rely on millimeter-wave radar, cameras, and edge computing devices, mainly roadside equipment. Millimeter-wave radar: used to detect vehicle speed, position, and motion state. Millimeter-wave radar can provide high-precision distance and speed information, and is particularly suitable for detecting changes in vehicle position and speed anomalies. Cameras: capture video streams and identify traffic events through image processing technology. Cameras can capture the appearance features of vehicles and various obstacles on the road. The roadside equipment is equipped with edge computing devices for real-time processing and fusion of data from millimeter-wave radar and cameras. Roadside equipment can identify various event types. For example, by combining image data captured by cameras with speed and location information from millimeter-wave radar, edge computing devices can identify accidents such as collisions and rear-end collisions. When a camera detects vehicle deformation or debris scattering, and millimeter-wave radar detects sudden deceleration or stopping, the system can determine it to be a traffic accident. Once an event is identified, the edge computing device generates event information including the event type, occurrence time, and precise latitude and longitude coordinates. This information is then sent to the cloud platform via the MQTT protocol. To improve system reliability and concurrent processing capabilities, an MQTT cluster configuration is used, and multiple receivers are set up in the cloud to subscribe to relevant topics, ensuring efficient and stable message transmission.

[0037] Step S2: If synchronization of the event among vehicles, corresponding roadside equipment stations, and the cloud platform is required, the impact range of the event is assessed, and corresponding early warning information is generated. This impact range and the generated early warning information are then sent to the corresponding roadside equipment stations and vehicles. Understandably, the cloud platform receives event information reported by the roadside equipment, including the event type (such as traffic accidents, emergency vehicle priority passage, etc.), the time of occurrence, and precise latitude and longitude coordinates. By comprehensively analyzing the event type, latitude and longitude, and potential impact range, the affected area of ​​the event is determined.

[0038] In one embodiment, determining whether the event needs to be synchronized between the vehicle, the roadside equipment station corresponding to the event, and the cloud platform based on the received event information includes determining that if the event type includes any one of traffic accident, traffic congestion, vehicle stoppage, vehicle driving in the wrong direction, or emergency vehicle priority passage, then it is determined that the event needs to be synchronized between the vehicle, the roadside equipment station corresponding to the event, and the cloud platform.

[0039] In one embodiment, assessing the impact range of the event and generating corresponding early warning information includes: initially classifying the event according to its type, and then using pre-defined assessment rules to evaluate the severity of the event based on the classification results; wherein the severity of the event includes at least multiple different assessment levels; determining the specific lane where the event occurred based on pre-stored map data, and identifying the road segments affected by the event and the stations located on the affected road segments; and generating corresponding early warning information based on the severity of the event, the road segments affected by the event, and the stations located on the affected road segments. Understandably, the cloud platform initially classifies the event according to its type and uses pre-defined rules to evaluate its severity. For example, a traffic accident might be assessed as high severity, while minor road construction might be assessed as low severity. The pre-defined rules can be set and adjusted according to specific needs, and the assessment of actual severity is also performed using pre-defined assessment standards, which is a common method in the field and will not be elaborated further here.

[0040] The cloud platform, in conjunction with GIS technology, uses map data stored in its database (including lane information, lane coordinates, and direction) to determine the specific lane where the event occurred. For moving events (such as emergency vehicles), the platform calculates the direction and speed of movement through continuous location updates. For moving events, the platform uses the direction and lane to determine the road segments affected by the subsequent event. For non-moving events such as traffic accidents, the platform determines the affected road segments based on the lane the event is in. The database is then queried to obtain the affected road segments and the stations located on those segments. The platform then uses this station information to determine the push notification strategy.

[0041] Based on the identified event type and potentially affected road sections, the cloud platform will next query device site information in its database to synchronize event notifications. There are two methods for event synchronization: 1. Pushing notifications to devices at affected sites, which then push them to nearby vehicles via PC5. 2. Directly pushing notifications to potentially affected vehicles using data from registered vehicles on the platform.

[0042] In one embodiment, the step of sending the impact range of the event and generating corresponding early warning information to the corresponding roadside equipment stations and vehicles includes: if the corresponding roadside equipment station is located on a one-way road segment, determining whether there are other roadside equipment stations on that road segment; if other roadside equipment stations exist on that road segment, the cloud platform sends the early warning information to the roadside equipment stations on that road segment; if the corresponding roadside equipment station is located at an intersection, the cloud platform sends the early warning information to all roadside equipment stations at that intersection; when the roadside equipment stations receive the early warning information, they notify passing vehicles and remind drivers to take appropriate measures. Understandably, synchronization to the stations includes: for one-way road segments, if there are other roadside equipment stations on that road segment, the vehicle-road-cloud integrated cloud control platform will directly send the event information to these stations. For intersections, the event information will be notified to the station located at the intersection (due to the complexity of intersections, it is impossible to further predict the subsequent road segments affected by the event); the roadside equipment at the station will immediately notify passing vehicles upon receiving the message, reminding drivers to take appropriate measures.

[0043] In this embodiment, when a downstream monitoring point of a roadside equipment station that received the early warning information detects the event again, it determines whether the event is still ongoing based on the event information, reassesses the impact range of the event, regenerates the corresponding early warning information, and sends the reassessed impact range and regenerated early warning information to the next affected roadside equipment station. Understandably, setting up downstream monitoring point verification: when the event is actually detected by a downstream monitoring point, this not only verifies the reliability of event synchronization but also helps to refine the logic and improve the accuracy of subsequent notifications. After a downstream monitoring point detects the event again, it can restart the process to determine whether the event is still ongoing. For stations at intersections, it can continue to assess the scope and affected road segments of the event before notifying the next affected station.

[0044] In one embodiment, assessing the impact range of the event and regenerating corresponding early warning information to send to the corresponding roadside equipment stations and vehicles further includes determining vehicles that are in or about to enter the impact range of the event based on the latitude and longitude data reported by pre-registered vehicles; the cloud platform then sends the event information to these vehicles. Understandably, cloud-to-vehicle synchronization includes: the cloud platform has vehicle management functions, and vehicles registered to the platform can periodically send their latitude and longitude data to the cloud via the MQTT protocol. After obtaining event information, the cloud platform can not only synchronize the event information to nearby roadside equipment but also directly push it to registered vehicles located within the affected area. Specifically, the cloud platform determines which vehicles are in or about to enter the affected area based on the latitude and longitude data reported by the registered vehicles. For these vehicles, the cloud platform directly sends the event information to the on-board unit (OBU) or the driver's mobile application (App) via the MQTT protocol, providing real-time traffic information and guidance, and reminding the driver to take appropriate measures. The cloud platform continuously monitors vehicle location changes and the development of the event, dynamically adjusting the early warning information to ensure that drivers always receive the latest and most accurate information.

[0045] This embodiment expands the early warning range. Traditional roadside equipment can only monitor and notify traffic events within its coverage area. However, this embodiment, through centralized analysis and information synchronization via a cloud platform, can notify all relevant roadside equipment in the affected area in advance. This means that even vehicles outside the event location can receive timely warnings, allowing more time to react and avoid potential dangers. It also enhances 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 individual events but also enables traffic management and scheduling on a larger scale, improving the operational efficiency of the entire traffic network. Furthermore, it improves driving safety. Early access to potential hazard information allows drivers to take preventative measures, such as slowing down, changing lanes, or taking detours, effectively reducing the incidence of traffic accidents. In addition, for special situations such as priority passage for emergency vehicles, this technology can ensure that other vehicles quickly give way, guaranteeing the smooth progress of emergency rescue.

[0046] A specific embodiment of the present invention also provides an early warning system for roadside events based on vehicle-road-cloud integration, used to implement the aforementioned early warning method for roadside events based on vehicle-road-cloud integration, including:

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

[0048] It is also used to assess the impact of an event and generate corresponding early warning information if it is necessary to synchronize the event among vehicles, roadside equipment stations corresponding to the event, and cloud platforms, and to send the impact of the event and the corresponding early warning information to the corresponding roadside equipment stations and vehicles.

[0049] In this embodiment, a roadside device is also included, used to acquire vehicle 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 state and appearance features; and the event type, occurrence time and coordinate information are determined based on the acquired vehicle status information and obstacles on the road where the vehicle is located, 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 embodiments corresponds to the method described in the above embodiments. Therefore, the parts of the system described in the above embodiments that are not described in detail can be obtained by referring to the content of the method described in the above embodiments, and will not be repeated here.

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

[0052] This invention provides a roadside event early warning method and system based on vehicle-road-cloud integration. The cloud platform can centrally analyze traffic events uploaded by various roadside devices and, when an event potentially affecting multiple areas is identified, promptly synchronize the information to all relevant devices, thereby expanding the warning coverage. Through centralized control of the cloud platform, different roadside devices can work collaboratively, promptly issuing warnings to nearby vehicles and enhancing the overall system response capability. Expanding the dissemination range of event information allows vehicles to obtain potential hazard 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 cooperative systems, effectively improving the system's safety and reliability.

[0053] The above description discloses only preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. Therefore, equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. A method for early warning of a roadside event based on vehicle-road-cloud integration, characterized in that, The application comprises the following steps: When the cloud platform receives the event reported by the roadside device, it is determined whether the event needs to be synchronized among the vehicle, the roadside device site corresponding to the event, and the cloud platform according to the received event information; If the event needs to be synchronized among the vehicle, the roadside device site corresponding to the event, and the cloud platform, the influence range of the event is evaluated and corresponding warning information is generated, and the influence range of the event and the generated corresponding warning information are sent to the corresponding roadside device site and the vehicle; The roadside device determines the event type, occurrence time and coordinate information according to the obtained 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 corresponding event information; The determination whether the event needs to be synchronized among the vehicle, the roadside device site corresponding to the event, and the cloud platform according to the received event information comprises: If the event type includes any one of traffic accident, traffic congestion, vehicle stop, vehicle reverse, and emergency vehicle priority, it is determined that the event needs to be synchronized among the vehicle, the roadside device site corresponding to the event, and the cloud platform; The evaluation of the influence range of the event and the generation of corresponding warning information comprise: The event is preliminarily classified according to the event type, and the severity of the event is evaluated according to the classification result by calling the corresponding preset evaluation rule; wherein the severity of the event at least includes a plurality of different levels of evaluation grades; The specific lane where the event occurs is determined according to the pre-stored map data, and the road section affected by the event and the roadside device site on the affected road section are determined; The corresponding warning information is generated according to the severity of the event, the road section affected by the event, and the roadside device site on the affected road section.

2. The method of claim 1, wherein, Further comprising: The state information of the vehicle and the obstacles on the road where the vehicle is located are obtained through a plurality of preset perception devices; wherein the perception devices at least include radar and camera; and the state information at least includes the speed, position, motion state and appearance features of the vehicle.

3. The method of claim 2, wherein, The sending of the influence range of the event and the generated corresponding warning information to the corresponding roadside device site and the vehicle comprises: If the corresponding roadside device site is located on a one-way road section, it is determined whether there is another roadside device site on the road section; When there is another roadside device site on the road section, the cloud platform sends the warning information to the roadside device site on the road section; If the corresponding roadside device site is located at an intersection, the cloud platform sends the warning information to all roadside device sites at the intersection; When the roadside device site receives the warning information, it notifies the passing vehicle and reminds the driver to take corresponding measures.

4. The method of claim 3, wherein, Further comprising: When the downstream monitoring point of the roadside device site receiving the warning information detects the event again, it is determined whether the event is still continuing according to the event information, the influence range of the event is re-evaluated and corresponding warning information is re-generated, and the re-evaluated influence range of the event and the re-generated warning information are sent to the next affected roadside device site located downstream.

5. The method of claim 3, wherein, The sending of the re-evaluated influence range of the event and the re-generated corresponding warning information to the corresponding roadside device site and the vehicle further comprises: According to the longitude and latitude data reported by the pre-registered vehicle, the vehicle in or about to enter the influence range of the event is determined; The cloud platform sends the event information to the vehicle in or about to enter the influence range of the event.

6. A vehicle-road cloud integrated roadside event early warning system for implementing the method of any one of claims 1-5, characterized in that, Comprise, The cloud platform is used for judging whether the event needs to be synchronized among the vehicle, the road side device site corresponding to the event and the cloud platform according to the received event information when receiving the event reported by the road side device; And if the event needs to be synchronized among the vehicle, the road side device site corresponding to the event and the cloud platform, the influence range of the event is evaluated and the corresponding warning information is generated, and the influence range of the event and the corresponding warning information are sent to the corresponding road side device site and vehicle; Wherein, the type, occurrence time and coordinate information of the event are determined according to the state information of the vehicle and the obstacles on the road where the vehicle is located, and the type, occurrence time and coordinate information of the event are output as the corresponding event information; The judgment whether the event needs to be synchronized among the vehicle, the road side device site corresponding to the event and the cloud platform according to the received event information comprises, If the type of the event includes any one of traffic accident, traffic congestion, vehicle stop, vehicle reverse and emergency vehicle priority, it is determined that the event needs to be synchronized among the vehicle, the road side device site corresponding to the event and the cloud platform; The evaluation of the influence range of the event and the generation of the corresponding warning information comprises, The event is preliminarily classified according to the type of the event, and the severity of the event is evaluated according to the classification result and the corresponding preset evaluation rule; wherein, the severity of the event at least includes a plurality of different levels of evaluation grade; The specific lane where the event occurs is determined according to the pre-stored map data, and the road section affected by the event and the road side device site on the affected road section are determined; The corresponding warning information is generated according to the severity of the event, the road section affected by the event and the road side device site on the affected road section.

7. The system of claim 6, wherein, Also include, The road side device is used for acquiring the state information of the vehicle and the obstacles on the road where the vehicle is located through a plurality of preset sensing devices; wherein, the sensing device at least includes radar, camera; the state information at least includes the speed, position, motion state and appearance feature of the vehicle.

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