CN-122024491-A - Projection type road marking method and system based on dynamic traffic environment perception

CN122024491ACN 122024491 ACN122024491 ACN 122024491ACN-122024491-A

Abstract

The technical field of intelligent transportation and automobile electronics, in particular to a projection road marking method and system based on dynamic traffic environment perception, comprising the steps of collecting and fusing real-time traffic flow, meteorological conditions and event data to form an environment state data set; calculating a traffic state index to evaluate the current road traffic state, triggering a preset road marking rule based on the traffic state index to generate a marking scheme, constructing a dynamic space mapping mechanism based on a two-dimensional coordinate system, mapping marking elements into coordinate data, performing geometric distortion correction and smooth transition processing on the coordinate data to obtain final marking graph data, and dynamically calculating brightness parameters of a finally projected road marking graph by combining with a real-time environment state to finish dynamic marking projection. The invention constructs a perception-decision-projection integrated network, and performs collaborative research and judgment based on the traffic situation of the whole road section, thereby realizing the evolution from 'isolated projection' to 'whole network collaborative intelligence'.

Inventors

REN CHUANXIANG
ZHANG HUAJUN
YIN CHANGCHANG
Mou Jingying
CHEN HENGRUI
SONG YINGJIE
LUO SHUANGSHUANG

Assignees

山东科技大学

Dates

Publication Date: 20260512
Application Date: 20260409

Claims (10)

1. The projection type road marking method based on dynamic traffic environment perception is characterized by comprising the following steps of: S1, acquiring and fusing real-time traffic flow, meteorological conditions and event data to form an initial environmental state data set; S2, inputting the data set in the S1 into a traffic state evaluation model, calculating a traffic state index, and comprehensively evaluating the real-time traffic state of the current road; s3, triggering corresponding logic conditions of a preset road marking generation rule base based on the traffic state index, and generating a marking scheme by combining a traffic template base; S4, constructing a dynamic space mapping mechanism based on a two-dimensional coordinate system, and mapping the marking elements in the marking scheme into coordinates of the marking on a projector image plane; S5, performing geometric distortion correction on the coordinates obtained in the S4 to obtain accurate marking figure data; s6, carrying out smooth transition treatment on the marked line graph corrected in the S5 to obtain final marked line graph data; and S7, dynamically calculating and determining brightness parameters of the finally projected marking graph according to the real-time environment state data, and completing dynamic marking projection.
2. The method for projected road marking based on dynamic traffic environment perception according to claim 1, the traffic state index calculation formula is as follows: , where Q represents the current actual traffic flow, The maximum traffic capacity of the road design is represented, V is the current average vehicle speed, For free flow velocity, weather Factor is a Weather influencing Factor, INCIDENT LEVEL is an event severity level, and alpha, beta, gamma and delta represent weight coefficients of various factors.
3. The method of claim 1, wherein step S4 is specifically implemented as follows: s41, extracting key geometric parameters in a logic marking scheme, wherein the key geometric parameters comprise marking types and target areas, and the target global coordinate areas are as follows: , ; S42, extracting coverage parameters of all projection modules, wherein the coverage of the ith module is as follows , ; S43, if the coverage area of the projection module comprises a target area, determining that the module is responsible for projecting the marked line; s44, after the projection modules are determined, converting global coordinates of the marking lines into local coordinates of each projection module; S45 is based on the distance D between adjacent lamp posts and the length of the overlapping area And integrating the local coordinates of each module into a unified global coordinate system in sequence in an associated manner to form a collaborative projection network covering the whole road section.
4. The method of claim 3, wherein the global coordinates and the local coordinates of each projection module are converted as follows: a) Calculating projection coverage parameters: The total length of coverage of the single projection module is , Radius of coverage , Wherein D is the distance between adjacent light poles, For a desired fixed overlap region length; b) Based on the projection coverage parameters, a two-dimensional local coordinate system is established for each projection module: Taking a projection point of the ith projection module on a road plane as an origin Wherein the X axis is parallel to the direction of the lane line, the forward direction is the vehicle advancing direction, and the coverage range is The Y-axis is perpendicular to the lane line and points to the road center or the opposite lane in the forward direction, and the range is set according to the road width; c) Establishing a two-dimensional global road coordinate system, wherein the origin is the origin of the first projection module, and the directions of the X axis and the Y axis are consistent with the local coordinate system, so that the coordinates of the local coordinate system origin of the ith projection module in the global coordinate system are ; D) Local coordinate to global coordinate conversion: , Wherein, the As the local coordinates of the object to be processed, Is global coordinates.
5. The method of claim 3, wherein in step S5, the geometric distortion correction is implemented by using a homography matrix-based fact digital predistortion correction technique, specifically as follows: The mapping relation between the image plane and the road plane established by the projector precision calibration is as follows: , Wherein, the Is the coordinates of the target point on the road plane, representing the position of the ideal reticle, Is the corresponding point coordinate on the projector image plane, s is a non-zero scale factor used for normalization of homogeneous coordinates, and H is a homography matrix of 3×3; For each point on the reticle pattern Calculating its predistortion coordinates on the projector image plane The formula is: , Wherein, the Normalized to obtain homography matrix H inverse matrix The normalization formula is: , Wherein, the 。
6. The method of claim 5, wherein in step S6, the smooth transition algorithm is specifically as follows: in a preset transition time window T, real-time difference value calculation based on a slow function is carried out on the visual attribute and the geometric vertex of the marking, and the current value of any attribute A needing transition is calculated The calculation formula at time t is: , Wherein, the As an initial value of the attribute, The target value of the attribute, T is the time which passes from the transition, T is more than or equal to 0 and less than or equal to T, and the slow-moving function adopts Three slow functions.
7. The method of claim 6, wherein in step S7, the projection brightness parameter is calculated as follows: , Wherein, the For the final calculated projection brightness, As a result of the basic brightness, For the illumination of the ambient light level, For the illumination compensation coefficient(s), For the road surface reflection compensation value, And the road surface reflection compensation coefficient.
8. The method of claim 2, wherein the rule base is defined in terms of logic conditions to trigger the corresponding marking scheme under specific traffic conditions, event classes and weather conditions.
9. The method of claim 8, wherein explicit priority arbitration logic is further provided to ensure the safety and effectiveness of the traffic marking scheme, and the priority arbitration logic is event level > weather condition > traffic congestion.
10. A system for implementing the dynamic traffic environment awareness based projected road marking method of any of claims 1-9, comprising a road control subsystem and a vehicle-mounted interaction subsystem; The roadside control subsystem includes: The central processing module is internally provided with a marking decision engine and a coordinate system management unit, generates an optimal marking scheme intelligently and in real time according to a preset traffic rule and an optimization algorithm by fusing real-time traffic state, meteorological conditions and emergency information, builds and manages a two-dimensional local coordinate system and a global coordinate system, realizes accurate mapping from a logic marking scheme to a physical projection coordinate, and outputs an accurate control instruction for driving the projection module; The high-brightness projection module converts the decision instruction of the central processing module into a high-definition and high-precision road surface visual marking line, and inputs the installation position and the angle parameter of the projection module into the road side control subsystem as basic parameters of coordinate system construction and geometric correction; The communication module is used for carrying out real-time bidirectional data exchange with the vehicle-mounted interaction subsystem, accurately issuing a dynamic marking instruction and constructing a low-delay and high-reliability cooperative communication network; The storage module is used for storing a system program, historical traffic data, a marking scheme library, event logs and vehicle interaction data and providing continuous data support for decision analysis; the power module provides stable and uninterrupted power supply for all road side equipment, integrates perfect lightning protection and overload protection functions, and ensures continuous and reliable operation of the system in various severe environments; The vehicle-mounted interaction subsystem comprises: The central processing module analyzes and fuses the real-time marking instruction from the communication module and the high-precision vehicle position information of the positioning module, generates matched AR visual elements and voice scripts, and drives the display module and the voice prompt module to synchronously output; The communication module is used for receiving dynamic marking figures and personalized guide instructions issued by the road side in real time and establishing a low-delay and high-reliability bidirectional data link with the road side control subsystem; The positioning module is used for acquiring the position information of the vehicle in real time, ensuring that the position of the vehicle is accurately matched with the dynamic marking information issued by the road side system in space, and providing reliable information for vehicle-mounted guidance; The display module is integrated with the depth of the vehicle screen, clearly renders the marked line of the current road section, and intuitively prompts the recommended lane to the driver; And the voice prompt module is used for providing real-time and natural voice guidance for the driver according to the received marking instruction.

Description

Projection type road marking method and system based on dynamic traffic environment perception Technical Field The invention belongs to the technical field of intelligent traffic and automobile electronics, and particularly relates to a projection type road marking method and system based on dynamic traffic environment perception. Background The road marking is used as a key infrastructure for guiding traffic flow and guaranteeing driving safety, and the function of the road marking is important. For a long time, traditional marking lines mainly rely on materials such as paint, hot melt and the like for static coating, so that a fixed road mark is formed. Along with the rapid development of intelligent traffic and automatic driving technology, the limitation of the traditional fixed marking in the aspects of adaptability, visibility and maintainability is increasingly outstanding, and the complex and changeable modern traffic demands are difficult to meet. In particular, the prior art suffers from the following significant drawbacks: (1) Lack of dynamic response capability. The traditional marking adopts a fixed coating mode, is solidified in shape and single in static state, cannot be dynamically adjusted according to real-time conditions such as traffic flow, weather, events and the like, and lacks self-adaption and dynamic response capabilities. (2) The visibility and durability are insufficient. The traditional marking has poor visual effect under complex optical environments such as backlight, night or ponding road surface, is easy to wear and age, and has poor durability and long-term stability. (3) Single function and interaction are absent. Traditional graticules only provide visual indications of solidification and non-interaction, and cannot communicate real-time information with traffic participants such as internet-connected vehicles, pedestrians and the like. In view of the foregoing, there is a need in the art for a novel road marking technology capable of systematically overcoming the defects of conventional markings, and having dynamic sensing, intelligent decision making, high brightness projection and multi-terminal interaction capabilities, so as to improve road traffic safety, traffic efficiency and intelligent level. Disclosure of Invention The invention can overcome the defects, and provides a projection type road marking system and method based on dynamic traffic environment perception, which solve the problems of lack of dynamic response capability, insufficient visibility and durability, single function, interaction deficiency and the like of the existing road marking. In order to achieve the above purpose, the invention provides a projection road marking method based on dynamic traffic environment perception, which comprises the following steps: S1, acquiring and fusing real-time traffic flow, meteorological conditions and event data to form an initial environmental state data set; S2, inputting the data set in the S1 into a traffic state evaluation model, calculating a traffic state index, and comprehensively evaluating the real-time traffic state of the current road; s3, triggering corresponding logic conditions of a preset road marking generation rule base based on the traffic state index, and generating a marking scheme by combining a traffic template base; S4, constructing a dynamic space mapping mechanism based on a two-dimensional coordinate system, and mapping the marking elements in the marking scheme into coordinates of the marking on a projector image plane; S5, performing geometric distortion correction on the coordinates obtained in the S4 to obtain accurate marking figure data; s6, carrying out smooth transition treatment on the marked line graph corrected in the S5 to obtain final marked line graph data; and S7, dynamically calculating and determining brightness parameters of the finally projected marking graph according to the real-time environment state data, and completing dynamic marking projection. Further, the traffic state index calculation formula is as follows: , where Q represents the current actual traffic flow, The maximum traffic capacity of the road design is represented, V is the current average vehicle speed,For free flow velocity, weather Factor is a Weather influencing Factor, INCIDENT LEVEL is an event severity level, and alpha, beta, gamma and delta represent weight coefficients of various factors. Further, step S4 is specifically implemented as follows: s41, extracting key geometric parameters in a logic marking scheme, wherein the key geometric parameters comprise marking types and target areas, and the target global coordinate areas are as follows: ,; S42, extracting coverage parameters of all projection modules, wherein the coverage of the ith module is as follows ,; S43, if the coverage area of the projection module comprises a target area, determining that the module is responsible for projecting the marked line; s44, after the projection mo