Roadside detection system, roadside unit and roadside communication method thereof

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.

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.