Roadside detection system, roadside unit and roadside communication method thereof

• US 10,096,244 B2
• Filed: 01/09/2017
• Issued: 10/09/2018
• Est. Priority Date: 09/06/2016
• Status: Active Grant

• Current Assignee: Industrial Technology Research Institute
• Original Assignee: Industrial Technology Research Institute
• Inventors: Ho, Kai-Yun, Jeng, An-Kai
• Primary Examiner(s): File, Erin M
• Application Number:
  US15/401,353
• Publication Number:
  US 20180068562A1
• Time in Patent Office: 638 Days
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/91 for traffic control G01S13/93 takes precedence
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2205/002 for traffic control, mobile tracking, guidance, surveillance or anti-collision
• CPC Class Codes: G01S 5/0054 of actual mobile position, i.e. position calculation on base station
• CPC Class Codes: G01S 5/0284 Relative positioning
• CPC Class Codes: G08G 1/04 using optical or ultrasonic detectors
• CPC Class Codes: G08G 1/052 with provision for determining speed or overspeed speed measuring in general G01P
• CPC Class Codes: G08G 1/056 with provision for distinguishing direction of travel
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: H04W 4/20 Services signaling; Auxiliary data signalling, i.e. transmitting data via a non-traffic channel

Abstract

A roadside detection system, a roadside unit and a roadside communication method are provided. The roadside unit receives a positioning signal from a satellite positioning system and obtains roadside latitude and longitude coordinates and an initialization parameter coordinate. The roadside unit receives object information of the object. The roadside unit obtains object latitude and longitude coordinates, an object speed, an object acceleration, an object length, and an object heading/direction based on the roadside latitude and longitude coordinates, the initialization parameter coordinate, and the object information. The roadside unit converts the object latitude and longitude coordinates, the object speed, the object acceleration, the object length, and the object heading/direction into a V2V Basic Safety Message format.

Claims

1. A roadside detection system, comprising:

at least one sensor configured to detect at least one object within a detection range and transmit object information of the object, wherein the object information includes information of the object detected by the sensor at at least two time points; and

a roadside unit configured to receive a positioning signal from a satellite positioning system and obtain roadside latitude and longitude coordinates and an initialization parameter coordinate of the roadside unit,

wherein the roadside unit receives the object information of the object from the sensor, and obtains object latitude and longitude coordinates, an object speed, an object acceleration, an object length and an object heading/direction of the object according to the roadside latitude and longitude coordinates, the initialization parameter coordinate and the object information, and

wherein the roadside unit converts the object latitude and longitude coordinates, the object speed, the object acceleration, the object length and the object heading/direction of the object into a Vehicle-to-Vehicle Basic Safety Message format.

2. The roadside detection system of claim 1, wherein the roadside unit includes a processing circuitry, a wireless communication circuit, a positioning signal receiver circuit and a vehicle-to-vehicle format conversion module, and the processing circuitry converts, via the vehicle-to-vehicle format conversion module, the object latitude and longitude coordinates, the object speed, the object acceleration, the object length and the object heading/direction of the object into the Vehicle-to-Vehicle Basic Safety Message format.

3. The roadside detection system of claim 1, wherein the sensor includes at least one radar or at least one camera, and employs radar detection technology or image identification technology to detect the object within the detection range and obtain the object information.

4. The roadside detection system of claim 1, wherein the object information includes a relative position and a relative speed of the object and the roadside unit and the object length of the object.

5. The roadside detection system of claim 4, wherein the roadside unit is configured to calculate distances of the roadside unit away from zero degree longitude and zero degree latitude, respectively, according to the roadside latitude and longitude coordinates and the initialization parameter coordinate, and calculate distances of the initialization parameter coordinate away from the zero degree longitude and the zero degree latitude, respectively, according to the roadside latitude and longitude coordinates and the initialization parameter coordinate,

wherein the roadside unit obtains distances of the object away from the zero degree longitude and the zero degree latitude, respectively, according to the relative position of the object, and

wherein the roadside unit obtains the object latitude and longitude coordinates according to the roadside latitude and longitude coordinates, the initialization parameter coordinate and the distances of the object away from the zero degree longitude and the zero degree latitude.

6. The roadside detection system of claim 5, wherein the roadside unit obtains the distances of the object away from the zero degree longitude and the zero degree latitude at a first time point and a second time point of the at least two time points, respectively, and obtains the object heading/direction of the object according to the distances of the object away from the zero degree longitude and the zero degree latitude.

7. The roadside detection system of claim 4, wherein the roadside unit obtains the object speed and the object acceleration of the object according to the relative speed of the object at a first time point and a second time point of the at least two time points, respectively.

8. The roadside detection system of claim 1, wherein the roadside unit broadcasts the Vehicle-to-Vehicle Basic Safety Message in a Roadside-to-Vehicle communication mode.

9. A roadside unit, comprising:

a positioning signal receiver circuit configured to receive a positioning signal from a satellite positioning system to obtain roadside latitude and longitude coordinates and an initialization parameter coordinate of the roadside unit;

a storage circuit including a vehicle-to-vehicle format conversion module; and

a processing circuitry coupled to the positioning signal receiver circuit and the storage circuit,

wherein the processing circuitry receives object information of at least one object from at least one sensor, wherein the object information includes information of the object detected by the sensor at at least two time points,

wherein the processing circuitry obtains object latitude and longitude coordinates, an object speed, an object acceleration, an object length and an object heading/direction of the object according to the roadside latitude and longitude coordinates, the initialization parameter coordinate and the object information, and

wherein the processing circuitry converts the object latitude and longitude coordinates, the object speed, the object acceleration, the object length and the object heading/direction of the object into a Vehicle-to-Vehicle Basic Safety Message format via the vehicle-to-vehicle format conversion module.

10. The roadside unit of claim 9, wherein the object information includes a relative position and a relative speed of the object and the roadside unit and the object length.

11. The roadside unit of claim 10, which is configured to calculate distances of the roadside unit away from zero degree longitude and zero degree latitude, respectively, according to the roadside latitude and longitude coordinates and the initialization parameter coordinate, and calculate distances of the initialization parameter coordinate away from the zero degree longitude and the zero degree latitude, respectively, according to the roadside latitude and longitude coordinates and the initialization parameter coordinate,

wherein the roadside unit obtains distances of the object away from the zero degree longitude and the zero degree latitude, respectively, according to the relative position of the object, and

wherein the roadside unit obtains the object latitude and longitude coordinates according to the roadside latitude and longitude coordinates, the initialization parameter coordinate and the distances of the object away from the zero degree longitude and the zero degree latitude.

12. The roadside unit of claim 11, which is configured to obtain the distances of the object away from the zero degree longitude and the zero degree latitude at a first time point and a second time point of the at least two time points, respectively, and obtain the object heading/direction of the object according to the distances of the object away from the zero degree longitude and the zero degree latitude.

13. The roadside unit of claim 10, which is configured to obtain the object speed and the object acceleration of the object according to the relative speed of the object at a first time point and a second time point of the at least two time points, respectively.

14. The roadside unit of claim 9, further comprising a wireless communication circuit configured to broadcast the Vehicle-to-Vehicle Basic Safety Message in a Roadside-to-Vehicle communication mode.

15. The roadside unit of claim 14, wherein the wireless communication circuit is coupled to the processing circuitry and configured to receive the object information of the at least one object from the at least one sensor.

16. A roadside communication method for a roadside unit, the roadside communication method comprising:

receiving a positioning signal from a satellite positioning system to obtain roadside latitude and longitude coordinates and an initialization parameter coordinate of the roadside unit;

receiving, from at least one sensor, object information of at least one object, wherein the object information comprises information of the object detected by the sensor at at least two time points;

calculating object latitude and longitude coordinates, an object speed, an object acceleration, an object length and an object heading/direction of the object according to the roadside latitude and longitude coordinates, the initialization parameter coordinate and the object information;

converting the object latitude and longitude coordinates, the object speed, the object acceleration, the object length and the object heading/direction of the object into a Vehicle-to-Vehicle Basic Safety Message format; and

broadcasting the Vehicle-to-Vehicle Basic Safety Message in a Roadside-to-Vehicle communication mode.

17. The roadside communication method of claim 16, wherein the object information includes a relative position and a relative speed of the object and the roadside unit and the object length.

18. The roadside communication method of claim 17, further comprising calculating distances of the roadside unit away from zero degree longitude and zero degree latitude, respectively, according to the roadside latitude and longitude coordinates and the initialization parameter coordinate, and calculating distances of the initialization parameter coordinate away from the zero degree longitude and the zero degree latitude, respectively, according to the roadside latitude and longitude coordinates and the initialization parameter coordinate,

wherein the roadside unit obtains distances of the object away from the zero degree longitude and the zero degree latitude, respectively, according to the relative position of the object, and

wherein the roadside unit obtains the object latitude and longitude coordinates according to the roadside latitude and longitude coordinates, the initialization parameter coordinate and the distances of the object away from the zero degree longitude and the zero degree latitude.

19. The roadside communication method of claim 18, further comprising obtaining the distances of the object away from the zero degree longitude and the zero degree latitude at a first time point and a second time point of the at least two time points, respectively, and obtaining the object heading/direction of the object according to the distances of the object away from the zero degree longitude and the zero degree latitude.

20. The roadside communication method of claim 17, further comprising obtaining the object speed and the object acceleration of the object according to the relative speed of the object at a first time point and a second time point of the at least two time points, respectively.