CN109903586A - Measure the methods, devices and systems of distance - Google Patents
Measure the methods, devices and systems of distance Download PDFInfo
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- CN109903586A CN109903586A CN201910189922.4A CN201910189922A CN109903586A CN 109903586 A CN109903586 A CN 109903586A CN 201910189922 A CN201910189922 A CN 201910189922A CN 109903586 A CN109903586 A CN 109903586A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The present invention provides a kind of methods, devices and systems for measuring distance, by for management frame transmitted by application layer, judge whether it is the ranging data frame for measuring distance, if, ranging data frame is then sent to by air interface by data switch in physical layer, and then the ranging data acknowledgement frame for being responded to ranging data frame is received by the air interface, calculate the ranging data frame that application layer is sent, and pass through the time interval between the received ranging data acknowledgement frame of air interface, according to the time interval, calculates and obtain range measurements.It only needs communication device provisioned in vehicle that can both realize due to sending and receiving management frame, is used to measure the device of distance without optional equipment, therefore solve the technical issues of higher cost for measuring distance in the prior art.
Description
The application is the divisional application of former patent application (application number 201610008850.5, January 7 2016 applying date), former
Entitled " methods, devices and systems of measurement distance " of application.
Technical field
The present invention relates to electronic technology more particularly to a kind of methods, devices and systems for measuring distance.
Background technique
It is unmanned to be developed rapidly with the continuous development of vehicle technology.During carrying out unmanned, need pair
The distance between vehicle measures, to execute corresponding anticollision process when the distance between vehicle is too small.
Vehicle odometry can use following several method: laser ranging, ultrasonic distance measurement, radar range finding in vehicle travel process
With infrared distance measuring etc..But these types of mode is required to install corresponding equipment additional on vehicle, such as: laser range finder, radar
Or infrored equipment etc., so as to cause the higher cost of measurement distance.
Summary of the invention
The present invention provides a kind of methods, devices and systems for measuring distance, the cost for solving to measure distance in the prior art
Higher technical problem.
In order to achieve the above objectives, the embodiment of the present invention adopts the following technical scheme that
In a first aspect, providing a kind of method for measuring distance, comprising:
For management frame transmitted by application layer, the ranging data frame for measuring distance is judged whether it is；
If the management frame is the ranging data frame, the ranging data frame is sent to by data switch in physical layer
Air interface；
The ranging data acknowledgement frame for being responded to the ranging data frame is received by the air interface；
The ranging data frame that application layer is sent is calculated, and is confirmed by the received ranging data of the air interface
Time interval between frame；
According to the time interval, calculates and obtain range measurements.
In one possible implementation, described for management frame transmitted by application layer, judge whether it is for measure away from
From ranging data frame after, further includes:
If the management frame is not the ranging data frame, successively the management frame is sent out via message queue and data switch
It send to air interface.
In one possible implementation, described that the management frame is successively sent to sky via message queue and data switch
Middle interface, comprising:
The management frame is increased in the message queue of highest priority；
It, will be described by the data switch when poll to the management frame in message queue in the highest priority
Management frame is sent to air interface.
In one possible implementation, described according to the time interval, it calculates and obtains range measurements, comprising:
Time interval t substitution formula s=t × C/2 is calculated, range measurements s is obtained；Wherein, C is the light velocity.
In one possible implementation, the data switch includes the channel MAC and ranging channel of 802.11p；
It is described that the ranging data frame is sent to by air interface by data switch in physical layer, comprising:
The ranging data frame is sent to by air interface by the ranging channel of the data switch in physical layer.
Second aspect provides a kind of device for measuring distance, comprising:
Judgment module, for for management frame transmitted by application layer, judging whether it is the ranging data frame for measuring distance；
First sending module passes through data switch for institute in physical layer if being the ranging data frame for the management frame
It states ranging data frame and is sent to air interface；
Receiving module, it is true for the ranging data by air interface reception for being responded to the ranging data frame
Recognize frame；
Time computing module is received for calculating the ranging data frame of application layer transmission, and by the air interface
The ranging data acknowledgement frame between time interval；
Distance calculation module, for calculating and obtaining range measurements according to the time interval.
In one possible implementation, described device, further includes:
Second sending module, if not being the ranging data frame for the management frame, successively via message queue and data
The management frame is sent to air interface by switch.
In one possible implementation, second sending module, specifically for the management frame is increased to priority
In highest message queue；In message queue in the highest priority, when poll to the management frame, pass through the number
The management frame is sent to air interface according to switch.
In one possible implementation, the distance calculation module is specifically used for the time interval t substituting into formula s
=t × C/2 is calculated, and range measurements s is obtained；Wherein, C is the light velocity.
In one possible implementation, the data switch includes the channel MAC and ranging channel of 802.11p；
First sending module, specifically in physical layer by the ranging channel of the data switch by the ranging data
Frame is sent to air interface.
The third aspect provides a kind of method for measuring distance, comprising:
Ranging data frame is received by air interface；
For management frame transmitted by application layer, the ranging data for being responded to the ranging data frame is judged whether it is
Acknowledgement frame；
If judging, the management frame is the ranging data acknowledgement frame, passes through data switch for the survey in the physical layer
The air interface is sent to away from data validation frame.
In one possible implementation, the method also includes:
If it is the ranging data acknowledgement frame that physical layer, which judges the management frame not, successively opened via message queue and data
It closes and the management frame is sent to air interface.
In one possible implementation, described that the management frame is successively sent to sky via message queue and data switch
Middle interface, comprising:
The management frame is increased in the message queue of highest priority；
It, will be described by the data switch when poll to the management frame in message queue in the highest priority
Management frame is sent to air interface.
In one possible implementation, the data switch includes the channel MAC and ranging channel of 802.11p；
It is described that the ranging data acknowledgement frame is sent to by the air interface by data switch in physical layer, comprising:
The ranging data acknowledgement frame is sent to by the air interface by the ranging channel of the data switch in physical layer.
Fourth aspect provides a kind of device for measuring distance, comprising:
Data frame receipt module, for receiving ranging data frame by air interface；
Data frame judgment module, for judging whether it is for the ranging data for management frame transmitted by application layer
The ranging data acknowledgement frame that frame is responded；
The first sending module of data frame, if for judging that the management frame is the ranging data acknowledgement frame, in the object
It manages layer and the ranging data acknowledgement frame is sent to by the air interface by data switch.
In one possible implementation, described device further include:
The second sending module of data frame, if judging the management frame not for physical layer is the ranging data acknowledgement frame,
The management frame is successively sent to air interface via message queue and data switch.
In one possible implementation, second sending module of data frame, specifically for increasing to the management frame
In the message queue of highest priority；In message queue in the highest priority, when poll to the management frame, pass through
The management frame is sent to air interface by the data switch.
In one possible implementation, the data switch includes the channel MAC and ranging channel of 802.11p；
First sending module of data frame, specifically in physical layer by the ranging channel of the data switch by the survey
The air interface is sent to away from data validation frame.
5th aspect, provide it is a kind of measure distance system, the device including the measurement distance as described in second aspect, and
The device of measurement distance as described in fourth aspect.
In one possible implementation, the device of two measurement distances is installed in two different vehicles；
The system of the measurement distance, for measuring the distance between described two different vehicles.
The methods, devices and systems of measurement distance provided in an embodiment of the present invention, by for management frame transmitted by application layer,
The ranging data frame for measuring distance is judged whether it is, if then sending ranging data frame by data switch in physical layer
The ranging data acknowledgement frame for being responded to ranging data frame, meter are received to air interface, and then by the air interface
The time interval between the ranging data frame and received ranging data acknowledgement frame that application layer is sent is calculated, according between the time
Every calculating obtains range measurements.Due to directly passing through number when management frame is ranging data frame or ranging data acknowledgement frame
It is sent according to switch, avoids and management frame is added in message queue, to save the mistake competed in message queue
Journey, so that application layer sends ranging data frame, and the time interval received between ranging data acknowledgement frame can accurately reflect
Range measurements.Only need communication device provisioned in vehicle that can both realize simultaneously as sending management frame, without additional
Be ready for use on measurement distance device, therefore solve in the prior art measure distance higher cost the technical issues of.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention, and can
It is implemented in accordance with the contents of the specification, and in order to make above and other objects of the present invention, feature and advantage brighter
Show understandable, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are for ordinary skill
Personnel will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to limit of the invention
System.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is a kind of flow diagram of the method for measurement distance that the embodiment of the present invention one provides；
Fig. 2 is the schematic diagram for measuring the method for distance；
Fig. 3 is a kind of structural schematic diagram of device 30 for measuring distance provided by Embodiment 2 of the present invention；
Fig. 4 is the structural schematic diagram of the device 30 of another measurement distance provided by Embodiment 2 of the present invention；
Fig. 5 is a kind of flow diagram of the method for measurement distance that the embodiment of the present invention three provides；
Fig. 6 is a kind of structural schematic diagram of the device 60 for measurement distance that the embodiment of the present invention four provides；
Fig. 7 is the structural schematic diagram of the device 60 for another measurement distance that the embodiment of the present invention four provides；
Fig. 8 is a kind of structural schematic diagram of the system for measurement distance that the embodiment of the present invention five provides；
Fig. 9 is a kind of application scenarios schematic diagram that the embodiment of the present invention five provides.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing showing for the disclosure in attached drawing
Example property embodiment, it being understood, however, that may be realized in various forms the disclosure without that should be limited by embodiments set forth here
System.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be complete by the scope of the present disclosure
Be communicated to those skilled in the art.
The methods, devices and systems of measurement distance provided in an embodiment of the present invention are described in detail with reference to the accompanying drawing.
Embodiment one
Fig. 1 is a kind of flow diagram of the method for measurement distance that the embodiment of the present invention one provides, in a kind of possible application
In scene, the method in the present embodiment can be executed by the first vehicle, which executes the method in the present embodiment can be with
The distance between second vehicle is measured, as shown in Figure 1, comprising:
Step 101, for management frame transmitted by application layer, judge whether it is the ranging data frame for measuring distance.
Specifically, application layer generates one and sends out to the second vehicle when the first vehicle needs to measure the distance between second vehicle
The management frame sent, the management frame are the ranging data frame for carrying ranging mark.Wherein, which is based on 802.11p
Agreement.
It should be noted that IEEE 802.11p agreement, wireless access (the Wireless Access in also known as under vehicle environmental
The Vehicular Environment, WAVE) it is the communication protocol expanded by 802.11 standard of IEEE, it is mainly used for
Vehicle electronics wireless communication, has control channel (Control Channel, CCH) and synchronizing channel (synchronization
Channel, SCH) two different channels.CCH can be used to transmit WAVE short message (WAVEShortMessage, WSM), SCH
It can be used to transmit WSM and network interconnection agreement (Internet Protocol, IP) data.
If step 102, management frame are ranging data frame, ranging data frame is sent in the air by data switch in physical layer
Interface.
Specifically, the data switch is 802.11p data switch, at least there is 802.11p media access control (Media
Access Control, MAC) channel and ranging channel.If judging, the management frame is ranging data frame, is passed through in physical layer
Ranging data frame is sent to air interface by the ranging channel of data switch.The air interface is preconfigured is based on
What 802.11p agreement was used to be communicated between the first vehicle and the second vehicle.
Step 103 receives the ranging data acknowledgement frame for being responded to ranging data frame by air interface.
Specifically, after the first vehicle sends ranging data frame to the second vehicle by air interface, the physical layer of the second vehicle
After receiving ranging data frame by the air interface, the pipe based on 802.11p agreement is generated by the application layer of the second vehicle
Frame is managed, which is the ranging data acknowledgement frame for carrying ranging mark, if the physical layer in the second vehicle judges the pipe
Managing frame is the ranging data acknowledgement frame for being responded to ranging data frame, then passes through data switch for ranging data acknowledgement frame
It is sent to air interface.To the first vehicle physical layer by air interface reception for being responded to ranging data frame
Ranging data acknowledgement frame, and then the application layer of the first vehicle gets the ranging data acknowledgement frame by physical layer.
Step 104, calculate application layer send ranging data frame, and by the received ranging data acknowledgement frame of air interface it
Between time interval.
Specifically, the first vehicle sends the time point of ranging data frame according to application layer and application layer passes through physical layer acquisition
To the time point of ranging data acknowledgement frame, the time interval between the two time points is calculated.
Step 105, according to time interval, calculate and obtain range measurements.
Specifically, time interval t substitution formula s=t × C/2 is calculated, range measurements s is obtained, wherein C is light
Speed.
Further, after step 101, if further including management frame is not ranging data frame, successively via message queue sum number
The management frame is sent to air interface according to switch.
Specifically, management frame is increased in the message queue of highest priority, when the message queue in the highest priority
In, when poll to management frame, management frame is sent to by air interface by the data switch.
In order to clearly illustrate that the present embodiment, the present embodiment additionally provide the schematic diagram of the method for measurement distance, Fig. 2 is measurement distance
Method schematic diagram, as shown in Fig. 2, the AC=4 of management frame judging unit and highest priority, i.e. access level (Access
Category) it is connected for 4 message queues, while is also connected with 802.11p data switch, thus when management frame judging unit determines
Management frame directly passes through 802.11p data switch when being ranging data frame and is sent to air interface, and determining management frame is not survey
Ranging data frame is successively then sent to air interface via AC=4 message queue and 802.11p data switch when away from data frame.
Wherein, AC=4 message queue has corresponding configuration parameter, which includes: Arbitration Inter Frame Space
(arbitration inter-frame space, AIFS), competition window (contention window, CW) and send opportunity
It limits (transmissionopportunity, TXOP).
In Fig. 2, AC represents the priority of each channel, and AC value is from 1 to 4, wherein 4 highest priority.For each excellent
For first grade, the data meeting inbound message queue of equal priority is lined up, and message queue follows the principle of first in first out.All
Message queue participates in channel selection and Media Competition after carrying out internal competition.Due to when management frame be ranging data frame when,
It is directly sent by 802.11p data switch, avoids and management frame is added in message queue, disappearing to save
The process competed in breath queue so that application layer sends ranging data frame, and receives the time between ranging data acknowledgement frame
Interval can accurately reflect range measurements.
In the present embodiment, by judging whether it is the ranging data for measuring distance for management frame transmitted by application layer
Frame if ranging data frame is then sent to air interface by data switch in physical layer, and then is connect by the air interface
The ranging data acknowledgement frame for being responded to ranging data frame is received, the ranging data frame that application layer is sent, Yi Jijie are calculated
Time interval between the ranging data acknowledgement frame of receipts calculates according to the time interval and obtains range measurements.Due to when pipe
When reason frame is ranging data frame, is directly sent by data switch, avoid and management frame is added in message queue, from
And the process competed in message queue is saved, so that application layer sends ranging data frame, and receive ranging data confirmation
Time interval between frame can accurately reflect range measurements.It only needs to be matched in vehicle simultaneously as sending management frame
Standby communication device can both be realized, be used to measure the device of distance without optional equipment, therefore solve and measure in the prior art
The technical issues of higher cost of distance.
Embodiment two
Fig. 3 is a kind of structural schematic diagram of device 30 for measuring distance provided by Embodiment 2 of the present invention, possible is answered a kind of
With in scene, the device 30 of measurement distance provided by the present embodiment can be installed in the first vehicle, for measuring the first vehicle
And the distance between the second vehicle, as shown in figure 3, the device 30 of measurement distance includes: judgment module 31, the first sending module
32, receiving module 33, time computing module 34 and distance calculation module 35.
Judgment module 31, for judging whether it is the ranging data for measuring distance for management frame transmitted by application layer
Frame.
First sending module 32 is incited somebody to action in physical layer by data switch if being the ranging data frame for the management frame
The ranging data frame is sent to air interface.
Wherein, data switch includes the channel MAC and ranging channel of 802.11p.
Specifically, the first sending module 32 is specifically used for the ranging in physical layer through the ranging channel of the data switch
Data frame is sent to air interface.
Receiving module 33, for receiving the ranging data for being responded to the ranging data frame by the air interface
Acknowledgement frame.
Time computing module 34 connects for calculating the ranging data frame of application layer transmission, and by the air interface
The time interval between the ranging data acknowledgement frame received.
Distance calculation module 35, for calculating and obtaining range measurements according to the time interval.
Specifically, distance calculation module 35 is specifically used for counting time interval t substitution formula s=t × C/2
It calculates, obtains range measurements s, wherein C is the light velocity.
The present embodiment additionally provides the device of another measurement distance, and Fig. 4 is another measurement provided by Embodiment 2 of the present invention
The structural schematic diagram of the device 30 of distance, as shown in figure 4, into one on the basis of measuring device 30 of distance provided by Fig. 3
Step includes: the second sending module 36.
Second sending module 36, if not being the ranging data frame for the management frame, successively via message queue sum number
The management frame is sent to air interface according to switch.
Specifically, the second sending module 36 is specifically used for increasing to the management frame in the message queue of highest priority；When
In the message queue of the highest priority, when poll to the management frame, by the data switch by the management frame
It is sent to air interface.
In the present embodiment, by judging whether it is the ranging data for measuring distance for management frame transmitted by application layer
Frame if ranging data frame is then sent to air interface by data switch in physical layer, and then is connect by the air interface
The ranging data acknowledgement frame for being responded to ranging data frame is received, the ranging data frame that application layer is sent, Yi Jijie are calculated
Time interval between the ranging data acknowledgement frame of receipts calculates according to the time interval and obtains range measurements.Due to when pipe
When reason frame is ranging data frame, is directly sent by data switch, avoid and management frame is added in message queue, from
And the process competed in message queue is saved, so that application layer sends ranging data frame, and receive ranging data confirmation
Time interval between frame can accurately reflect range measurements.It only needs to be matched in vehicle simultaneously as sending management frame
Standby communication device can both be realized, be used to measure the device of distance without optional equipment, therefore solve and measure in the prior art
The technical issues of higher cost of distance.
Embodiment three
Fig. 5 is a kind of flow diagram of the method for measurement distance that the embodiment of the present invention three provides, in a kind of possible application
In scene, the method that the first vehicle can execute measurement distance provided by embodiment one, method in the present embodiment can be by
Second vehicle executes, which, which executes the method in the present embodiment, can make the first vehicle measure the second vehicle and first
The distance between vehicle, as shown in Figure 5, comprising:
Step 501 receives ranging data frame by air interface.
Specifically, the air interface be it is preconfigured based on 802.11p agreement be used between the first vehicle and the second vehicle into
Row communication.
Step 502, for management frame transmitted by application layer, judge whether it is for being responded to the ranging data frame
Ranging data acknowledgement frame.
If step 503 judges that the management frame is the ranging data acknowledgement frame, pass through data switch in the physical layer
The ranging data acknowledgement frame is sent to the air interface.
Wherein, data switch can be 802.11p data switch, at least with the channel MAC and ranging channel of 802.11p.
Specifically, the ranging data acknowledgement frame is sent to the sky by the ranging channel of the data switch in physical layer
Middle interface.
Further, after step 502, further includes:
If it is the ranging data acknowledgement frame that physical layer, which judges the management frame not, successively opened via message queue and data
It closes and the management frame is sent to air interface.
Specifically, the management frame is increased in the message queue of highest priority；When the message in the highest priority
In queue, when poll to the management frame, the management frame is sent to by air interface by the data switch.
In the present embodiment, by judging whether it is the ranging data for measuring distance for management frame transmitted by application layer
Frame if ranging data frame is then sent to air interface by data switch in physical layer, and then is connect by the air interface
The ranging data acknowledgement frame for being responded to ranging data frame is received, the ranging data frame that application layer is sent, Yi Jijie are calculated
Time interval between the ranging data acknowledgement frame of receipts calculates according to the time interval and obtains range measurements.Due to when pipe
When reason frame is ranging data acknowledgement frame, is directly sent by data switch, avoid and management frame is added to message queue
In, to save the process competed in message queue, so that application layer sends ranging data frame, and receive ranging data
Time interval between acknowledgement frame can accurately reflect range measurements.It is only needed in vehicle simultaneously as sending management frame
Provisioned communication device can both be realized, be used to measure the device of distance without optional equipment, therefore solve in the prior art
The technical issues of measuring the higher cost of distance.
Example IV
Fig. 6 is a kind of structural schematic diagram for the device 60 of measurement distance that the embodiment of the present invention four provides, and possible is answered a kind of
With in scene, the device 30 of measurement distance provided by embodiment two can be installed in the first vehicle, and the present embodiment is provided
The device 60 of measurement distance can be installed in the second vehicle so that the device 30 of the measurement distance in the first vehicle is surveyed
Amount obtains the distance between the first vehicle and the second vehicle, as shown in fig. 6, the device 60 of measurement distance provided by the present embodiment
It include: data frame receipt module 61, data frame judgment module 62 and the first sending module of data frame 63.
Data frame receipt module 61, for receiving ranging data frame by air interface.
Specifically, the air interface be it is preconfigured based on 802.11p agreement be used between the first vehicle and the second vehicle into
Row communication.
Data frame judgment module 62, for for management frame transmitted by application layer, judging whether it is for the ranging number
The ranging data acknowledgement frame responded according to frame.
The first sending module of data frame 63, if for judging that the management frame is the ranging data acknowledgement frame, described
The ranging data acknowledgement frame is sent to the air interface by data switch by physical layer.
Wherein, data switch includes the channel MAC and ranging channel of 802.11p.
Specifically, the first sending module of data frame 63, specifically for being incited somebody to action in physical layer by the ranging channel of the data switch
The ranging data acknowledgement frame is sent to the air interface.
The present embodiment additionally provides the device of another measurement distance, and Fig. 7 is another measurement that the embodiment of the present invention four provides
The structural schematic diagram of the device 60 of distance, as shown in fig. 7, into one on the basis of measuring device 60 of distance provided by Fig. 6
Step includes: the second sending module of data frame 64.
The second sending module of data frame 64, if judging the management frame not for physical layer is the ranging data acknowledgement frame,
The management frame is successively then sent to air interface via message queue and data switch.
Specifically, the second sending module of data frame 64, specifically for the management frame to be increased to the message team of highest priority
In column；It, will be described by the data switch when poll to the management frame in message queue in the highest priority
Management frame is sent to air interface.
In the present embodiment, by judging whether it is the ranging data for measuring distance for management frame transmitted by application layer
Frame if ranging data frame is then sent to air interface by data switch in physical layer, and then is connect by the air interface
The ranging data acknowledgement frame for being responded to ranging data frame is received, the ranging data frame that application layer is sent, Yi Jijie are calculated
Time interval between the ranging data acknowledgement frame of receipts calculates according to the time interval and obtains range measurements.Due to when pipe
When reason frame is ranging data acknowledgement frame, is directly sent by data switch, avoid and management frame is added to message queue
In, to save the process competed in message queue, so that application layer sends ranging data frame, and receive ranging data
Time interval between acknowledgement frame can accurately reflect range measurements.It is only needed in vehicle simultaneously as sending management frame
Provisioned communication device can both be realized, be used to measure the device of distance without optional equipment, therefore solve in the prior art
The technical issues of measuring the higher cost of distance.
Embodiment five
Fig. 8 is a kind of structural schematic diagram of the system for measurement distance that the embodiment of the present invention five provides, as shown in Figure 8, comprising: is surveyed
Span from device 30 and measurement with a distance from device 60.
It measures the device 30 of distance and measures each functional module of the device 60 of distance referring to the phase of embodiment two and example IV
Description is closed, this is repeated no more in the present embodiment.
In a kind of possible application scenarios, the device of two measurement distances, the i.e. dress of the device 30 of measurement distance and measurement distance
60 are set, is installed in two different vehicles, Fig. 9 is a kind of application scenarios schematic diagram that the embodiment of the present invention five provides, such as Fig. 9 institute
Show, the device 30 for measuring distance is installed on the first vehicle 81, and the device 60 for measuring distance is installed on the second vehicle 82.
The system for measuring distance, for measuring the distance between the first vehicle 81 and the second vehicle 82.
Wherein, the first vehicle 81 is equipped with the device 30 of measurement distance provided by embodiment two.First vehicle 81 and the second vehicle
Pass through air interface between 82 to be connected with each other.The air interface is based on 802.11p agreement.
First vehicle 81, for judging whether it is the ranging data for measuring distance for management frame transmitted by application layer
Frame；If the management frame is the ranging data frame, the ranging data frame is sent to by data switch in physical layer
Air interface；The ranging data acknowledgement frame for being responded to the ranging data frame is received by the air interface；Meter
The ranging data frame that application layer is sent is calculated, and passes through the time interval between the received ranging data acknowledgement frame of air interface；
According to the time interval, calculates and obtain range measurements.
Second vehicle 82, for receiving ranging data frame by air interface；For management frame transmitted by application layer, judgement is
The no ranging data acknowledgement frame for for being responded to the ranging data frame；If judging, the management frame is the ranging
The ranging data acknowledgement frame is then sent to the air interface by data switch in the physical layer by data validation frame.
In the present embodiment, by judging whether it is the ranging data for measuring distance for management frame transmitted by application layer
Frame if ranging data frame is then sent to air interface by data switch in physical layer, and then is connect by the air interface
The ranging data acknowledgement frame for being responded to ranging data frame is received, application layer is calculated and sends ranging data frame, and receive
Time interval between ranging data acknowledgement frame calculates according to the time interval and obtains range measurements.Due to working as management frame
When for ranging data frame and ranging data acknowledgement frame, is directly sent by data switch, avoid and management frame is added
Into message queue, so that the process competed in message queue is saved, so that application layer sends ranging data frame, Yi Jijie
The time interval received between ranging data acknowledgement frame can accurately reflect range measurements.Simultaneously as sending management frame only
It needs communication device provisioned in vehicle that can both realize, is used to measure the device of distance without optional equipment, therefore solve
The technical issues of measuring the higher cost of distance in the prior art.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can pass through journey
Sequence instructs relevant hardware to complete.Program above-mentioned can be stored in a computer readable storage medium.The program exists
When execution, execution includes the steps that above-mentioned each method embodiment；And storage medium above-mentioned includes: ROM, RAM, magnetic disk or light
The various media that can store program code such as disk.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；Although ginseng
According to foregoing embodiments, invention is explained in detail, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments, or some or all of the technical features are carried out etc.
With replacement；And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
Range.
Claims (10)
1. a kind of method for measuring distance characterized by comprising
Ranging data frame is received by air interface；
For management frame transmitted by application layer, the ranging data for being responded to the ranging data frame is judged whether it is
Acknowledgement frame；
If judging, the management frame is the ranging data acknowledgement frame, passes through data switch for the survey in the physical layer
The air interface is sent to away from data validation frame.
2. the method for measurement distance according to claim 1, which is characterized in that the method also includes:
If it is the ranging data acknowledgement frame that physical layer, which judges the management frame not, successively opened via message queue and data
It closes and the management frame is sent to air interface.
3. the method for measurement distance according to claim 2, which is characterized in that described successively via message queue and data
The management frame is sent to air interface by switch, comprising:
The management frame is increased in the message queue of highest priority；
It, will be described by the data switch when poll to the management frame in message queue in the highest priority
Management frame is sent to air interface.
4. the method for measurement distance according to claim 1-3, which is characterized in that the data switch includes
The channel MAC and ranging channel of 802.11p；
It is described that the ranging data acknowledgement frame is sent to by the air interface by data switch in physical layer, comprising:
The ranging data acknowledgement frame is sent to by the air interface by the ranging channel of the data switch in physical layer.
5. a kind of device for measuring distance characterized by comprising
Data frame receipt module, for receiving ranging data frame by air interface；
Data frame judgment module, for judging whether it is for the ranging data for management frame transmitted by application layer
The ranging data acknowledgement frame that frame is responded；
The first sending module of data frame, if for judging that the management frame is the ranging data acknowledgement frame, in the object
It manages layer and the ranging data acknowledgement frame is sent to by the air interface by data switch.
6. the device of measurement distance according to claim 5, which is characterized in that described device further include:
The second sending module of data frame, if judging the management frame not for physical layer is the ranging data acknowledgement frame,
The management frame is successively sent to air interface via message queue and data switch.
7. the device of measurement distance according to claim 6, which is characterized in that
Second sending module of data frame, specifically for increasing to the management frame in the message queue of highest priority；
In message queue in the highest priority, when poll to the management frame, by the data switch by the management
Frame is sent to air interface.
8. according to the devices of the described in any item measurement distances of claim 5-7, which is characterized in that the data switch includes
The channel MAC and ranging channel of 802.11p；
First sending module of data frame, specifically in physical layer by the ranging channel of the data switch by the survey
The air interface is sent to away from data validation frame.
9. a kind of system for measuring distance, which is characterized in that the dress including the described in any item measurement distances of such as claim 5-8
It sets.
10. the system of measurement distance according to claim 9, which is characterized in that the device of two measurement distances is installed on two
In platform different vehicle；
The system of the measurement distance, for measuring the distance between described two different vehicles.
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| CN201910189922.4A CN109903586A (en) | 2016-01-07 | 2016-01-07 | Measure the methods, devices and systems of distance |
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| CN201910189922.4A CN109903586A (en) | 2016-01-07 | 2016-01-07 | Measure the methods, devices and systems of distance |
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| CN105844961A (en) | 2016-08-10 |
| CN105844961B (en) | 2019-03-22 |
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