Lane-level traffic control signal digitization method and system for network-connected vehicle intelligent driving

Abstract

The invention relates to the technical field of vehicle networking vehicle infrastructure cooperation, and particularly discloses a lane-level traffic control signal digitization method and system for network-connected vehicle intelligent driving, and the method comprises the steps: obtaining the traffic signal lamp data of a signal intersection; obtaining vehicle video stream data of the signalized intersection; configuring geometric information of the signalized intersection; analyzing and processing the traffic signal lamp data and the vehicle video stream data of the signalized intersection to detect an entrance lane abnormal occupation event and an exit lane overflow event of the signalized intersection; performing digital processing on the traffic signal lamp data, the geometric information, the entrance lane abnormal occupation event and the exit lane overflow event of the signalized intersection to generate lane digital signals of the signalized intersection; and pushing the lane digital signal of the signalized intersection to the intelligent networked automobile to support intelligent driving passing of the intelligent networked automobile at the signalized intersection. According to the invention, the safe, efficient and comfortable intelligent driving passing of the connected automobile on the road can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-road cooperation in the Internet of Vehicles, and more specifically, to a lane-level traffic control signal digitization method and system for intelligent driving of connected vehicles. Background Art

[0002] Currently, intelligent connected vehicles mainly identify traffic signals through machine vision to make decisions on their own driving behaviors. For example, a method for identifying the status of road traffic signal lights and the time of countdown displays disclosed in the existing patent CN112908006A, based on an in-vehicle camera, annotates a dataset of road traffic signal lights and countdown displays, and trains a neural network to detect the bounding boxes of the devices and the bounding boxes of the numbers, so as to realize the identification of the status of road traffic signal lights. The existing patent CN103886767B discloses a digital traffic signal receiving device and a signal receiving method installed in a motor vehicle. A red light receiving head component and a green light receiving head component are installed in the motor vehicle, and optical filtering is performed through an optical color filter to amplify, demodulate, and convert the received signal into a serial signal, and then it is sent to an in-vehicle multimedia terminal device through a wireless transmission method such as Bluetooth. From the current operation situation, there is a problem that the vehicle has difficulty in accurately "seeing" traffic signals. Currently, the standard formulation, installation, etc. of traffic signal facilities in China are all considered for providing signals to drivers, rather than for vehicle identification requirements; at the same time, the perception ability of the vehicle itself is affected by various factors such as device performance, light changes, rain, snow, fog weather, and object occlusion, resulting in inaccurate identification of traffic lights and posing a greater safety hazard. In addition, when abnormal events such as traffic accidents, breakdowns, and traffic spills occur in the guiding lanes at signal-controlled intersections, the intelligent driving system of intelligent connected vehicles cannot accurately judge the current abnormal situation, resulting in situations where connected vehicles cannot continue to pass through the solid line when there is a traffic accident or breakdown in the guiding lane at the intersection entrance, and the intelligent connected vehicle still continues to pass when there is a traffic spill in the intersection exit lane, causing the internal traffic flow of the intersection to lock up.

[0003] Therefore, solving the digitization capabilities of traffic signals and traffic events in the scenario of signal-controlled intersections from the source is a technical problem that needs to be urgently solved by those skilled in the art. Summary of the Invention

[0004] In order to solve the deficiencies in the prior art, the present invention provides a lane-level traffic control signal digitization method and system for intelligent driving of connected vehicles, which can effectively improve the safe, efficient, and comfortable intelligent driving of connected vehicles on the road.

[0005] As a first aspect of the present invention, a lane-level traffic control signal digitization method for intelligent driving of connected vehicles is provided, including:

[0006] Step S1: Obtain the traffic signal data of the signal intersection, where the traffic signal data includes the traffic signal type, the traffic signal light color state, and the remaining duration of the traffic signal;

[0007] Step S2: Obtain the vehicle video stream data of the signal intersection; where the vehicle video stream data includes the vehicle video stream data of the import lane and the vehicle video stream data of the export lane;

[0008] Step S3: Configure the geometric information of the signal intersection, where the geometric information of the signal intersection includes the lane number of the signal intersection, the import / export lane, the lane heading angle, the lane function, and the geographical location of the stop line;

[0009] Step S4: Analyze and process the traffic signal data and the vehicle video stream data of the signal intersection to detect the abnormal occupation event of the import lane and the overflow event of the export lane at the signal intersection;

[0010] Step S5: Digitally process the traffic signal data, geometric information, abnormal occupation event of the import lane, and overflow event of the export lane of the signal intersection to generate the digital information lane digital signal for traffic command and dispatch at the signal intersection;

[0011] Step S6: Push the digital information lane digital signal for traffic command and dispatch of the signal intersection to the intelligent connected vehicle through the vehicle network roadside communication device to support the intelligent driving of the intelligent connected vehicle at the signal intersection.

[0012] Further, in the analyzing and processing of the traffic signal data and the vehicle video stream data of the signal intersection to detect the abnormal occupation event of the import lane and the overflow event of the export lane at the signal intersection, it further includes:

[0013] Step S41: Conduct a fusion analysis on the traffic signal light color state data and the vehicle video stream data of the import lane of the signal intersection. When the import lane of the signal intersection is in the green light release stage and it is detected based on the vehicle recognition and tracking algorithm that the vehicle trajectory displacement of the import lane does not change within the duration T1, it is determined that an abnormal occupation event has occurred in this import lane, where the abnormal occupation detection duration threshold T1 of the import lane is set based on the signal timing plan of the on-site signal intersection;

[0014] Step S42: Conduct fusion analysis on the traffic signal light color status data and the vehicle video stream data of the exit lane at the signal intersection. When the exit lane at the signal intersection is in the green light release stage and it is determined that the vehicle trajectory displacement in the exit lane has not changed within the duration T2 based on the vehicle recognition and tracking algorithm, it is judged that an intersection overflow event has occurred in this exit lane. Herein, the exit lane overflow detection duration threshold T2 is set based on the signal timing plan of the actual signal intersection.

[0015] Further, in the lane digital signal of the traffic command and dispatch digital information of the signal intersection generated by digitizing the traffic signal data, geometric information, abnormal occupancy events in the import lane, and overflow events in the exit lane of the signal intersection, it further includes:

[0016] Step S51: Analyze the traffic signal data of the signal intersection, and digitize the parsed traffic signal type data and traffic signal light color status data into stop signals and passing signals at the stop line of the signal intersection. Then, digitize the stop signals, passing signals, and the remaining duration of the traffic signal.

[0017] Step S52: Digitize the geometric information of the signal intersection.

[0018] Step S53: Convert the abnormal occupancy event in the import lane of the signal intersection into an import lane closed for passing instruction, and digitize the import lane closed for passing instruction.

[0019] Step S54: Convert the overflow event in the exit lane of the signal intersection into an exit lane suspended for passing instruction, and digitize the exit lane suspended for passing instruction.

[0020] Step S55: Generate the lane digital signal of the traffic command and dispatch digital information of the signal intersection according to the information digitized in Step S51, Step S52, Step S53, and Step S54.

[0021] Step S56: Perform non-aligned compression UPER encoding on the lane digital signal of the traffic command and dispatch digital information of the signal intersection to obtain the encoded lane digital signal of the traffic command and dispatch digital information.

[0022] Further, the method for configuring the lane numbers of the signal intersection starts from 1. For each approach and departure lane, numbering is sequential starting from the center yellow line outwards. The lanes in the four directions of north, east, south, and west are numbered in a clockwise direction, with approach lanes numbered first and then departure lanes. The lane heading angle of the signal intersection is the clockwise included angle between the lane and the due north direction. The lane functions of the signal intersection include straight, left turn, right turn, and U-turn. The geographical location of the stop line of the signal intersection includes the longitude and latitude information of the midpoint of the guiding lane stop line and the longitude and latitude information of the midpoint of the waiting area stop line.

[0023] Further, the types of traffic signal lights include straight-ahead direction indicator lights, left-turn direction indicator lights, right-turn direction indicator lights, motor vehicle signal lights, and U-turn signal lights. The light color states of the traffic signal lights include the three light color states of on, off, and flashing for red, yellow, and green lights respectively.

[0024] As the second aspect of the present invention, a lane-level traffic control signal digitization system for connected vehicle intelligent driving is provided, including:

[0025] A signal light data acquisition module, used to acquire traffic signal light data of the signal intersection. Among them, the traffic signal light data includes the type of traffic signal light, the light color state of the traffic signal light, and the remaining duration of the traffic signal light.

[0026] A video stream data acquisition module, used to acquire vehicle video stream data of the signal intersection. Among them, the vehicle video stream data includes vehicle video stream data of the approach lane and vehicle video stream data of the departure lane.

[0027] An intersection geometric information configuration module, used to configure the geometric information of the signal intersection. Among them, the geometric information of the signal intersection includes the lane numbers of the signal intersection, approach / departure lanes, lane heading angles, lane functions, and the geographical location of the stop line.

[0028] A lane anomaly event detection module, used to analyze and process the traffic signal light data and vehicle video stream data of the signal intersection to detect abnormal occupancy events of the approach lanes and spillover events of the departure lanes at the signal intersection.

[0029] A digitization processing module, used to digitize the traffic signal light data, geometric information, abnormal occupancy events of the approach lanes, and spillover events of the departure lanes at the signal intersection to generate digital traffic command and dispatch information lane digital signals for the signal intersection.

[0030] A lane digital signal output module, used to push the digital traffic command and dispatch information lane digital signals of the signal intersection to the intelligent connected vehicle through the vehicle network roadside communication device to support the intelligent driving passage of the intelligent connected vehicle at the signal intersection.

[0031] Further, the lane-level traffic control signal digitization system for connected vehicle intelligent driving operates within the roadside traffic control edge computing terminal. On one hand, it is directly connected to the traffic signal controller, video detector, electronic police camera, and bayonet capture camera to obtain the traffic signal data and vehicle video stream data of the signal intersection in real time. Through the lane-level traffic control signal digitization system for connected vehicle intelligent driving within the roadside traffic control edge computing terminal, the traffic control-related data is digitized to generate the traffic command and dispatching digitized information lane digital signal of the signal intersection. On the other hand, it is directly connected to the roadside communication device, and through the roadside communication device, the traffic command and dispatching digitized information lane digital signal of the signal intersection is pushed to the intelligent connected vehicle.

[0032] Further, the electronic police camera is installed upright on the pole of the import lane, and the video direction is the direction of the stop line of the import lane to collect the vehicle video stream data of the oncoming export lane in real time. The video detector and the bayonet capture camera are installed reversely on the pole of the import lane, and the video direction is the direction of the oncoming vehicles in the import lane to collect the vehicle video stream data of the import lane in real time.

[0033] Further, the lane anomaly event detection module includes an import lane anomaly occupancy detection unit and an export lane overflow detection unit. Among them, the import lane anomaly occupancy detection unit is used to perform fusion analysis on the traffic signal data and the vehicle video stream data of the import lane of the signal intersection to detect the import lane anomaly occupancy event of the signal intersection. The export lane overflow detection unit is used to perform fusion analysis on the traffic signal data and the vehicle video stream data of the export lane of the signal intersection to detect the export lane overflow event of the signal intersection.

[0034] Further, the digitization processing module includes a data parsing unit, a digitization processing unit, and a message encoding unit. Among them,

[0035] The data parsing unit is used to parse the traffic signal data of the signal intersection;

[0036] The digital processing unit is used to digitally process the parsed traffic signal type data and traffic signal color state data into stop signals and passing signals at the stop line of the signal intersection, and then digitally process the stop signals, passing signals and remaining duration of the traffic signals; and digitally process the geometric information of the signal intersection; and convert the abnormal occupation event of the import lane of the signal intersection into an import lane closed passing instruction and digitally process the import lane closed passing instruction; and convert the export lane overflow event of the signal intersection into an export lane suspended passing instruction and digitally process the export lane suspended passing instruction; finally, generate the traffic command and dispatching digital information lane digital signal of the signal intersection according to the above digitally processed information.

[0037] The message encoding unit is used to perform non-aligned compression UPER encoding on the traffic command and dispatching digital information lane digital signal of the signal intersection to obtain the encoded traffic command and dispatching digital information lane digital signal.

[0038] The lane-level traffic control signal digitization method and system for connected vehicle intelligent driving provided by the present invention have the following advantages:

[0039] (1) The present invention takes the traffic control edge computing terminal as the core, connects to the traffic control facilities on one side and the vehicle network roadside communication equipment on the other side, and pushes the traffic control-related signals that cannot be shared and applied traditionally to the intelligent connected vehicle in a digital way to support the safe, efficient and comfortable intelligent driving of the intelligent connected vehicle on the road.

[0040] (2) Aiming at the inaccurate recognition problem existing in the current intelligent connected vehicle's recognition of traffic signals through machine vision, the present invention innovatively digitally processes the traditional traffic light data such as traffic signal group types and traffic signal color states into two signals that are easy for machines to understand and execute and are simple and clear: stop and pass, through the traffic control edge computing terminal. At the same time, information such as lane function, stop line position, stop / pass signal, and remaining duration is combined into a lane digital signal and pushed to the intelligent connected vehicle. The intelligent connected vehicle realizes a series of intelligent driving decision-making and passing at intersections, such as starting and stopping of traffic lights at intersections, accelerating and decelerating at traffic light intersections, selecting turning lanes at intersections, selecting variable lanes, and entering the left-turn / straight-ahead waiting area.

[0041] (3) In view of the problem that current intelligent connected vehicles cannot accurately judge abnormal occupancy events such as traffic accidents and breakdowns in the guiding lanes at signal-controlled intersections and cannot continue to pass by changing lanes across the solid line, the present invention innovatively digitalizes the abnormal occupancy events in the entrance lanes, such as traffic accidents and breakdowns, analyzed in real time through a traffic control edge computing terminal, uniformly converts and standardizes them into the form of closed lane right-of-way and then pushes them to the connected vehicles to support the intelligent driving decision-making of the connected vehicles when encountering traffic accidents and breakdowns in the guiding lanes at intersections;

[0042] (4) In view of the problem that current intelligent connected vehicles cannot accurately judge the overflow situation at signal-controlled intersections and the continuous passing leads to the lock-up of the traffic flow in the intersection, the present invention innovatively digitalizes the overflow events in the exit lanes analyzed in real time through a traffic control edge computing terminal, uniformly converts and standardizes them into the form of suspended lane right-of-way and then pushes them to the intelligent connected vehicles to support the intelligent driving decision-making of the intelligent connected vehicles when the intersection overflows. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. They are used together with the following specific embodiments to explain the present invention, but do not constitute a limitation to the present invention.

[0044] Figure 1 It is a flowchart of the lane-level traffic control signal digitization method for intelligent driving of connected vehicles provided by the present invention.

[0045] Figure 2 It is an architecture diagram of the lane-level traffic control signal digitization system for intelligent driving of connected vehicles provided by the present invention.

[0046] Figure 3 It is a structural block diagram of the lane abnormal event detection module provided by the present invention.

[0047] Figure 4 It is a structural block diagram of the digital processing module provided by the present invention.

[0048] Figure 5 It is a schematic diagram of the intersection application of the lane-level traffic control signal digitization method and system for intelligent driving of connected vehicles provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0049] To further elaborate on the technical means and effects adopted by the present invention to achieve the intended invention purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation manners, structures, features and effects of the lane-level traffic control signal digitization method and system for connected vehicle intelligent driving proposed according to the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the protection scope of the present invention.

[0050] In this embodiment, a lane-level traffic control signal digitization method for connected vehicle intelligent driving is provided. As Figure 1 shown, the lane-level traffic control signal digitization method for connected vehicle intelligent driving includes:

[0051] Step S1: Obtain the traffic signal data of the signal intersection, where the traffic signal data includes the traffic signal type, the traffic signal light color state, and the remaining duration of the traffic signal;

[0052] Preferably, the traffic signal type includes a straight-ahead direction indicator signal light, a left-turn direction indicator signal light, a right-turn direction indicator signal light, a motor vehicle signal light, and a U-turn signal light; the traffic signal light color state includes three light color states of on, off, and flashing for the red light, yellow light, and green light respectively.

[0053] Step S2: Obtain the vehicle video stream data of the signal intersection; where the vehicle video stream data includes the vehicle video stream data of the import lane and the vehicle video stream data of the export lane;

[0054] Step S3: Configure the geometric information of the signal intersection, where the geometric information of the signal intersection includes the lane number of the signal intersection, the import / export lane, the lane heading angle, the lane function, and the geographical location of the stop line;

[0055] Preferably, the method for configuring the lane number of the signal intersection starts from 1, and the import and export lanes are sequentially numbered from the center yellow line outwards. The lanes in the four directions of north, east, south, and west are numbered in a clockwise direction, with the import lanes first and then the export lanes; the lane heading angle of the signal intersection is the clockwise angle between the lane and the due north direction; the lane function of the signal intersection includes straight-ahead, left-turn, right-turn, and U-turn; the geographical location of the stop line of the signal intersection includes the longitude and latitude information of the midpoint of the guiding lane stop line and the longitude and latitude information of the midpoint of the waiting area stop line.

[0056] Step S4: Analyze and process the traffic signal data and vehicle video stream data of the signal intersection to detect abnormal occupancy events in the import lanes and overflow events in the export lanes of the signal intersection;

[0057] Preferably, the analysis and processing of the traffic signal light data and vehicle video stream data of the signal intersection to detect abnormal occupation events of the approach lanes and spillover events of the departure lanes of the signal intersection further includes:

[0058] Step S41: Perform fusion analysis on the traffic signal light color state data and approach lane vehicle video stream data of the signal intersection. When the approach lane of the signal intersection is in the green light release phase, and it is detected based on the vehicle recognition and tracking algorithm that the vehicle trajectory displacement of the approach lane does not change within the duration T1, it is determined that an abnormal occupation event has occurred in this approach lane. Among them, the abnormal occupation detection duration threshold T1 of the approach lane is set based on the signal timing plan of the on-site signal intersection;

[0059] Step S42: Perform fusion analysis on the traffic signal light color state data and departure lane vehicle video stream data of the signal intersection. When the departure lane of the signal intersection is in the green light release phase, and it is detected based on the vehicle recognition and tracking algorithm that the vehicle trajectory displacement of the departure lane does not change within the duration T2, it is determined that a spillover event at the intersection has occurred in this departure lane. Among them, the spillover detection duration threshold T2 of the departure lane is set based on the signal timing plan of the on-site signal intersection.

[0060] Step S5: Digitally process the traffic signal light data, geometric information, abnormal occupation events of the approach lanes, and spillover events of the departure lanes of the signal intersection to generate digital information lane digital signals for traffic command and dispatch of the signal intersection;

[0061] As Figure 5 shown, assume that the intelligent connected vehicle travels to a signal-controlled intersection, which is an intersection. Each approach lane contains 3 lanes, namely left turn, straight, and right turn, and each departure lane has 2 lanes. The signal light group type of the intersection is a combination of left turn direction indication signal lights and motor vehicle signal lights. The signal release phases are north-south straight, north-south left turn, east-west straight, and east-west left turn. The signal timing plan when the intelligent connected vehicle travels to this intersection is north-south straight phase 30s, north-south left turn phase 20s, east-west straight phase 30s, and east-west left turn phase 20s.

[0062] Preferably, in the digital processing of the traffic signal light data, geometric information, abnormal occupation events of the approach lanes, and spillover events of the departure lanes of the signal intersection to generate digital information lane digital signals for traffic command and dispatch of the signal intersection, it further includes:

[0063] Step S51: Analyze the traffic signal data of the signal intersection, and digitally process the parsed traffic signal type data and traffic signal color status data into stop signals and passing signals at the stop line of the signal intersection. Then, digitally process the stop signals, passing signals, and remaining traffic signal duration.

[0064] It should be noted that the data such as traffic signal type, traffic signal color status, and remaining traffic signal duration are digitally processed. Considering the convenience for intelligent connected vehicles to directly call digital instructions, the traditional traffic signal type and color data are digitally processed into two clear signals, stop and passing, at the lane-level stop line, which is more suitable for machine decision-making and execution. Therefore, the red light color of the signal light group corresponding to each lane is processed into a stop signal, and the green and yellow light colors are processed into passing signals. The digital processing of stop signals, passing signals, and remaining phase time is as follows:

[0065] StopLineSignal_stop = 1, -- Stop

[0066] StopLineSignal_pass = 2, -- Passing

[0067] 'remainingTime': {value range: [(0, 255)]}.

[0068] Step S52: Digitally process the geometric information of the signal intersection; among them,

[0069] (1) Digitally process the lane number as follows:

[0070] 'laneId': {value range: [(1, 255)]};

[0071] (2) Divide the lanes into entrance / exit lanes and digitally process them as follows:

[0072] LaneType_Entrance = 0, -- Entrance

[0073] LaneType_Exit = 1 -- Exit

[0074] (3) Take the lane heading angle as the clockwise angle between the driving direction of the vehicle in the lane and the due north direction, with a resolution of 0.0125°, and the range is 0 to 359.9875°. Digitally process the lane heading angle as follows:

[0075] 'Heading': {value range: [(0, 28799)]}

[0076] (4) The lane functions include going straight, turning left, turning right, and making a U-turn. At the same time, it supports real-time acquisition of the turning function of the variable lane. The lane functions are digitally processed as follows:

[0077] 'AllowedTurns': {'named-bits': [('straightAllowed', '0'),

[0078] ('leftAllowed', '1'), ('rightAllowed', '2'), ('uTurnAllowed', '3')],'size':

[12] , 'type': 'BIT STRING'} -- Defined by bit, each bit value 1: allowed, 0: prohibited

[0079] (5) The geographical location of the stop line includes the longitude and latitude information of the midpoint of the stop line of the guiding lane and the longitude and latitude information of the midpoint of the stop line of the waiting area. The geographical location of the stop line is digitally processed as follows:

[0080] 'Latitude': {value range: [(-900000000, 900000001)]}, -- Latitude

[0081] 'Longitude': {value range: [(-1799999999, 1800000001)]}, -- Longitude

[0082] StopLineType_approachLane = 1, -- Stop line of the guiding lane

[0083] StopLineType_waitingArea = 2, -- Stop line of the waiting area.

[0084] Step S53: Uniformly convert and standardize the abnormal occupation event of the approach lane of the signal intersection into an approach lane closure and passage instruction suitable for machine decision-making and execution, and digitally process the approach lane closure and passage instruction; among them, the lane closure and passage instruction is digitally processed as follows:

[0085] LaneServiceStatus_Close = 0, -- Closed.

[0086] Step S54: Uniformly convert and standardize the exit lane overflow event of the signal intersection into an exit lane suspension and passage instruction suitable for machine decision-making and execution, and digitally process the exit lane suspension and passage instruction; among them, the lane suspension and passage instruction is digitally processed as follows:

[0087] LaneServiceStatus_Pause = 1, -- Paused.

[0088] Step S55: Generate the digital signal for the traffic command and dispatch digital information lane of the signal intersection according to the digitized information in Step S51, Step S52, Step S53, and Step S54.

[0089] Step S56: Perform non-aligned compression UPER encoding on the digital signal for the traffic command and dispatch digital information lane of the signal intersection to obtain the encoded digital signal for the traffic command and dispatch digital information lane.

[0090] In the embodiment of the present invention, (1) taking the north-bound straight lane of the intersection as an example, when the green light of the north-south straight phase at the intersection starts, the generated lane digital signal is:

[0091] 'dtslanes':[{'laneId':2,'entranceOrExit':0,'Heading':0,'Turns':(b'\x00\x01',12),'stopLines':[{'centerPoint':{'lat':314972930,'long':1203134440},'type':1,'stopLineSignal':2,'remainingTime':30}],}]

[0092] The UPER encoded message is: b'00800000004090d60805660063ce10'

[0093] The information expressed by the digital signal is: lane number 2, entrance lane, driving course angle 0, going straight, longitude and latitude information of the midpoint of the stop line (314972930, 1203134440), guiding lane stop line, passing, remaining time 30s.

[0094] (2) Taking the north-bound straight lane of the intersection as an example, when the green light of the north-south straight phase at the intersection starts and an abnormal event is detected in the north-bound straight lane, the generated lane digital signal is:

[0095] 'dtslanes':[{'laneId':2,'entranceOrExit':0,'Heading':0,'Turns':(b'\x00\x01',12),'LaneServiceStatus':0,}]

[0096] The UPER encoded message is: b'008000000040'

[0097] The information expressed by the digital signal is: lane number 2, entrance lane, driving heading angle 0, going straight, lane closed for passage.

[0098] (3) Taking the north exit lane of this intersection as an example, when an overflow event is detected in this exit lane, the generated lane digital signal is:

[0099] 'dtslanes':[{'laneId':13,'entranceOrExit':1,'Heading':0,'LaneServiceStatus':1,}]

[0100] The SUPER encoded message is: b'06200020'

[0101] The information expressed by the digital signal is: lane number 13, exit lane, driving heading angle 0, going straight, lane suspended for passage.

[0102] Step S6: Push the lane digital signal of the traffic command and dispatch digital information of the signal intersection to the intelligent connected vehicle through the vehicle network roadside communication device to support the intelligent driving of the intelligent connected vehicle at the signal intersection.

[0103] As another embodiment of the present invention, as Figure 2 shown, a lane-level traffic control signal digitization system for intelligent driving of connected vehicles is provided. The lane-level traffic control signal digitization system for intelligent driving of connected vehicles runs in a traffic control edge computing terminal. The lane-level traffic control signal digitization system for intelligent driving of connected vehicles includes:

[0104] A signal light data acquisition module for acquiring the traffic signal light data of the signal intersection. Among them, the traffic signal light data includes the traffic signal light type, the traffic signal light color state, and the remaining duration of the traffic signal light;

[0105] A video stream data acquisition module for acquiring the vehicle video stream data of the signal intersection; among them, the vehicle video stream data includes the vehicle video stream data of the entrance lane and the vehicle video stream data of the exit lane;

[0106] The intersection geometry information configuration module is used to configure the geometry information of the signal intersection. Among them, the geometry information of the signal intersection includes the lane numbers of the signal intersection, the inbound / outbound lanes, the lane heading angles, the lane functions, and the geographical locations of the stop lines; among them, the lane number configuration method starts from 1, and each inbound and outbound lane is sequentially numbered from the center yellow line outwards. The lanes in the four directions of north, east, south, and west are numbered in a clockwise direction, with the inbound lanes first and then the outbound lanes; the lane heading angle is the clockwise included angle between the lane and the due north direction; the lane functions include straight, left turn, right turn, and U-turn; the geographical locations of the stop lines include the longitude and latitude information of the midpoint of the stop line of the guiding lane and the longitude and latitude information of the midpoint of the stop line of the waiting area.

[0107] The lane abnormal event detection module is used to analyze and process the traffic signal light data and vehicle video stream data of the signal intersection to detect the abnormal occupation event of the inbound lane and the overflow event of the outbound lane at the signal intersection;

[0108] The digital processing module is used to digitally process the traffic signal light data, geometry information, abnormal occupation event of the inbound lane, and overflow event of the outbound lane of the signal intersection to generate the lane digital signal of the traffic command and dispatching digital information of the signal intersection;

[0109] The lane digital signal output module is used to push the lane digital signal of the traffic command and dispatching digital information of the signal intersection to the intelligent connected vehicle through the roadside communication device of the vehicle network to support the intelligent driving of the intelligent connected vehicle at the signal intersection.

[0110] Preferably, the lane-level traffic control signal digitalization system for intelligent driving of connected vehicles runs in the roadside traffic control edge computing terminal. On one side, it is directly connected to the traffic signal controller, video detector, electronic police camera, and bayonet capture camera to obtain the traffic signal light data and vehicle video stream data of the signal intersection in real time. In the roadside traffic control edge computing terminal, the traffic control-related data is digitally processed through the lane-level traffic control signal digitalization system for intelligent driving of connected vehicles to generate the lane digital signal of the traffic command and dispatching digital information of the signal intersection; on the other side, it is directly connected to the roadside communication device, and the lane digital signal of the traffic command and dispatching digital information of the signal intersection is pushed to the intelligent connected vehicle through the roadside communication device.

[0111] Preferably, the electronic police camera is installed upright on the pole of the inbound lane, and the video direction is the direction of the stop line of the inbound lane to collect the vehicle video stream data of the oncoming outbound lane in real time; the video detector and the bayonet capture camera are installed reversely on the pole of the inbound lane, and the video direction is the direction of the incoming vehicles in the inbound lane to collect the vehicle video stream data of the inbound lane in real time.

[0112] Preferably, as Figure 3 shown, the lane anomaly event detection module includes an import lane abnormal occupancy detection unit and an export lane overflow detection unit. Among them, the import lane abnormal occupancy detection unit is used to perform fusion analysis on the traffic signal light data and the import lane vehicle video stream data of the signal intersection to detect the import lane abnormal occupancy event of the signal intersection; the export lane overflow detection unit is used to perform fusion analysis on the traffic signal light data and the export lane vehicle video stream data of the signal intersection to detect the export lane overflow event of the signal intersection.

[0113] Preferably, as Figure 4 shown, the digital processing module includes a data parsing unit, a digital processing unit, and a message encoding unit. Among them,

[0114] the data parsing unit is used to parse the traffic signal light data of the signal intersection;

[0115] the digital processing unit is used to digitally process the parsed traffic signal light type data and traffic signal light color state data into a stop signal and a passing signal at the stop line of the signal intersection, and then digitally process the stop signal, the passing signal, and the remaining duration of the traffic signal light; and digitally process the geometric information of the signal intersection; and convert the import lane abnormal occupancy event of the signal intersection into an import lane closed passing instruction and digitally process the import lane closed passing instruction; and convert the export lane overflow event of the signal intersection into an export lane suspended passing instruction and digitally process the export lane suspended passing instruction; finally, generate the traffic command and dispatch digital information lane digital signal of the signal intersection according to the above digitally processed information.

[0116] the message encoding unit is used to perform non-aligned compression UPER encoding on the traffic command and dispatch digital information lane digital signal of the signal intersection to obtain the encoded traffic command and dispatch digital information lane digital signal.

[0117] The lane-level traffic control signal digitization method for connected vehicle intelligent driving provided by the present invention can directly push the traffic light signals and traffic anomaly events at the intersection to the vehicle in a digital manner, solve the problems that current intelligent connected vehicles have inaccurate traffic signal recognition through machine vision, cannot perceive abnormal events such as traffic accidents, breakdowns, and traffic overflows, and effectively improve the safe, efficient, and comfortable intelligent driving passage of connected vehicles on the road.

[0118] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention. Although the present invention has been disclosed above with the preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to equivalent embodiments by using the disclosed technical content within the scope of the technical solution of the present invention. However, as long as it does not depart from the content of the technical solution of the present invention, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A lane-level traffic control signal digitization method for connected vehicle intelligent driving, characterized in that Including: Step S1: Obtain the traffic signal data of the signal intersection, where the traffic signal data includes the traffic signal type, the traffic signal light color state, and the remaining duration of the traffic signal; Step S2: Obtain the vehicle video stream data of the signal intersection; where the vehicle video stream data includes the vehicle video stream data of the import lane and the vehicle video stream data of the export lane; Step S3: Configure the geometric information of the signal intersection, where the geometric information of the signal intersection includes the lane number of the signal intersection, the import / export lane, the lane heading angle, the lane function, and the geographical location of the stop line; Step S4: Analyze and process the traffic signal data and the vehicle video stream data of the signal intersection to detect the abnormal occupation event of the import lane and the overflow event of the export lane of the signal intersection; Step S5: Digitally process the traffic signal data, geometric information, abnormal occupation event of the import lane, and overflow event of the export lane of the signal intersection to generate the digital information lane digital signal for traffic command and dispatch of the signal intersection; Step S6: Push the digital information lane digital signal for traffic command and dispatch of the signal intersection to the intelligent connected vehicle through the vehicle networking roadside communication device to support the intelligent driving passage of the intelligent connected vehicle at the signal intersection.

2. The lane-level traffic control signal digitization method for connected vehicle intelligent driving according to claim 1, wherein In the analysis and processing of the traffic signal data and the vehicle video stream data of the signal intersection to detect the abnormal occupation event of the import lane and the overflow event of the export lane of the signal intersection, it further includes: Step S41: Perform fusion analysis on the traffic signal light color state data and the vehicle video stream data of the import lane of the signal intersection. When the import lane of the signal intersection is in the green light release stage, if it is detected based on the vehicle recognition and tracking algorithm that the vehicle trajectory displacement of the import lane has not changed within the duration T1, it is determined that an abnormal occupation event has occurred in the import lane, where the abnormal occupation detection duration threshold T1 of the import lane is set based on the signal timing plan of the actual signal intersection; Step S42: Perform fusion analysis on the traffic signal light color state data and the vehicle video stream data of the export lane of the signal intersection. When the export lane of the signal intersection is in the green light release stage, if it is detected based on the vehicle recognition and tracking algorithm that the vehicle trajectory displacement of the export lane has not changed within the duration T2, it is determined that an intersection overflow event has occurred in the export lane, where the overflow detection duration threshold T2 of the export lane is set based on the signal timing plan of the actual signal intersection.

3. The lane-level traffic control signal digitization method for connected vehicle intelligent driving according to claim 1, wherein In the digital processing of the traffic signal data, geometric information, abnormal occupation event of the import lane, and overflow event of the export lane of the signal intersection to generate the digital information lane digital signal for traffic command and dispatch of the signal intersection, it further includes: Step S51: Analyze the traffic signal data of the signal intersection, and digitally process the parsed traffic signal type data and traffic signal light color state data into the stop signal and the passing signal at the stop line of the signal intersection, and then digitally process the stop signal, the passing signal, and the remaining duration of the traffic signal; Step S52: Digitally process the geometric information of the signal intersection; Step S53: Convert the abnormal occupancy event of the import lane of the signal intersection into an import lane closure traffic instruction, and digitally process the import lane closure traffic instruction; Step S54: Convert the spillover event of the export lane of the signal intersection into an export lane suspension traffic instruction, and digitally process the export lane suspension traffic instruction; Step S55: Generate the lane digital signal of the traffic command and dispatch digital information of the signal intersection according to the digitally processed information in Step S51, Step S52, Step S53, and Step S54; Step S56: Perform non-aligned compression UPER encoding on the lane digital signal of the traffic command and dispatch digital information of the signal intersection to obtain the encoded lane digital signal of the traffic command and dispatch digital information.

4. The lane-level traffic control signal digitization method for connected vehicle intelligent driving according to claim 1, characterized in that The configuration method of the lane numbers of the signal intersection starts from 1. Each import and export lane is sequentially numbered from the center yellow line outwards. The lanes in the four directions of north, east, south, and west are numbered in a clockwise direction, with the import lanes first and then the export lanes; The lane heading angle of the signal intersection is the clockwise angle between the lane and the due north direction; the lane functions of the signal intersection include straight, left turn, right turn, and U-turn; the geographical location of the stop line of the signal intersection includes the longitude and latitude information of the midpoint of the guiding lane stop line and the longitude and latitude information of the midpoint of the waiting area stop line.

5. The lane-level traffic control signal digitization method for connected vehicle intelligent driving according to claim 1, characterized in that The types of traffic signal lights include straight direction indicator lights, left turn direction indicator lights, right turn direction indicator lights, motor vehicle signal lights, and U-turn signal lights; the light color states of the traffic signal lights include three light color states of on, off, and flashing for red, yellow, and green lights respectively.

6. A lane-level traffic control signal digitization system for connected vehicle intelligent driving, which is used to implement the lane-level traffic control signal digitization method for connected vehicle intelligent driving described in any one of claims 1-5, characterized in that, The lane-level traffic control signal digital system for connected vehicle intelligent driving includes: A signal light data acquisition module, used to acquire the traffic signal light data of the signal intersection, where the traffic signal light data includes the type of traffic signal light, the light color state of the traffic signal light, and the remaining duration of the traffic signal light; A video stream data acquisition module, used to acquire the vehicle video stream data of the signal intersection; where the vehicle video stream data includes the import lane vehicle video stream data and the export lane vehicle video stream data; An intersection geometric information configuration module, used to configure the geometric information of the signal intersection, where the geometric information of the signal intersection includes the lane numbers of the signal intersection, import / export lanes, lane heading angles, lane functions, and the geographical location of the stop line; A lane abnormal event detection module, used to analyze and process the traffic signal light data and vehicle video stream data of the signal intersection to detect the abnormal occupancy event of the import lane and the spillover event of the export lane of the signal intersection; A digital processing module, used to digitally process the traffic signal light data, geometric information, abnormal occupancy event of the import lane, and spillover event of the export lane of the signal intersection to generate the lane digital signal of the traffic command and dispatch digital information of the signal intersection; The lane digital signal output module is used to push the lane digital signal of the traffic command and dispatching digital information of the signal intersection to the intelligent connected vehicle through the roadside communication device of the vehicle network, so as to support the intelligent driving of the intelligent connected vehicle at the signal intersection.

7. The lane-level traffic control signal digitization system for networked vehicle intelligent driving according to claim 6, characterized in that The lane-level traffic control signal digitization system for connected vehicle intelligent driving runs in the roadside traffic control edge computing terminal. On one hand, it is directly connected to the traffic signal controller, video detector, electronic police camera and bayonet capture camera to obtain the traffic signal light data and vehicle video stream data of the signal intersection in real time. In the roadside traffic control edge computing terminal, the traffic control related data is digitally processed through the lane-level traffic control signal digitization system for connected vehicle intelligent driving to generate the lane digital signal of the traffic command and dispatching digital information of the signal intersection. On the other hand, it is directly connected to the roadside communication device, and the lane digital signal of the traffic command and dispatching digital information of the signal intersection is pushed to the intelligent connected vehicle through the roadside communication device.

8. The lane-level traffic control signal digitization system for connected vehicle intelligent driving according to claim 7, wherein The electronic police camera is installed forward on the pole of the entrance lane, and the video direction is the direction of the stop line of the entrance lane to collect the vehicle video stream data of the oncoming exit lane in real time. The video detector and the bayonet capture camera are installed backward on the pole of the entrance lane, and the video direction is the direction of the oncoming vehicle in the entrance lane to collect the vehicle video stream data of the entrance lane in real time.

9. The lane-level traffic control signal digitization system for networked vehicle intelligent driving according to claim 6, wherein The lane abnormal event detection module includes an entrance lane abnormal occupancy detection unit and an exit lane overflow detection unit. Among them, the entrance lane abnormal occupancy detection unit is used to fuse and analyze the traffic signal light data and the vehicle video stream data of the entrance lane of the signal intersection to detect the abnormal occupancy event of the entrance lane of the signal intersection. The exit lane overflow detection unit is used to fuse and analyze the traffic signal light data and the vehicle video stream data of the exit lane of the signal intersection to detect the exit lane overflow event of the signal intersection.

10. The lane-level traffic control signal digitization system for connected vehicle intelligent driving according to claim 6, characterized in that, The digital processing module includes a data parsing unit, a digital processing unit and a message encoding unit, where The data parsing unit is used to parse the traffic signal light data of the signal intersection. The digital processing unit is used to digitally process the parsed traffic signal light type data and traffic signal light color state data into a stop signal and a passing signal at the stop line of the signal intersection, and then digitally process the stop signal, passing signal and remaining duration of the traffic signal light; and digitally process the geometric information of the signal intersection; and convert the abnormal occupancy event of the entrance lane of the signal intersection into an entrance lane closed passing instruction and digitally process the entrance lane closed passing instruction; and convert the exit lane overflow event of the signal intersection into an exit lane suspended passing instruction and digitally process the exit lane suspended passing instruction; finally, generate the lane digital signal of the traffic command and dispatching digital information of the signal intersection according to the above digitally processed information. The message encoding unit is used to perform non-aligned compression and ULER encoding on the digital signal of the traffic command and dispatching digital information lane of the signal intersection, so as to obtain the encoded digital signal of the traffic command and dispatching digital information lane.

Images