CN111432375A - Vehicle-road cooperation method and vehicle-road cooperation system based on V2X - Google Patents
Vehicle-road cooperation method and vehicle-road cooperation system based on V2X Download PDFInfo
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- 230000005540 biological transmission Effects 0.000 abstract description 9
- 206010039203 Road traffic accident Diseases 0.000 description 5
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- H—ELECTRICITY
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- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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Abstract
The invention provides a vehicle-road cooperation method and a vehicle-road cooperation system based on V2X, wherein the vehicle-road cooperation method comprises the following steps: acquiring first data information of the first vehicle through the second vehicle; acquiring second data information of the first vehicle through a V2X communication module, and fusing the second data information and the first data information to form vehicle information; uploading the vehicle information to a cloud end, and sharing the vehicle information to the rear vehicle in real time by the cloud end; and the rear vehicle completes the driving decision cooperatively according to the vehicle information. According to the vehicle-road cooperation method based on V2X, the first data information collected by the second vehicle and the second data information collected by the V2X communication module can be fused, the information transmission blind area is eliminated, the fused vehicle information can be shared with the rear vehicle, the rear vehicle can cooperatively complete the driving decision according to the fused vehicle information, and the rear vehicle is prevented from being subjected to a link accident.
Description
Technical Field
The invention relates to the technical field of Internet of vehicles and auxiliary driving, in particular to a vehicle-road cooperation method based on V2X and a vehicle-road cooperation system based on V2X.
Background
V2X (meaning vehicle to outside information exchange) is a key technology of future intelligent traffic systems, and enables vehicles to communicate with each other, vehicles with a base station, and base stations to effectively obtain a series of traffic information such as real-time road conditions, road information, pedestrian information and the like, so that driving safety can be improved, congestion can be reduced, traffic efficiency can be improved, vehicle-mounted entertainment information can be provided and the like.
Unlike sensors such as millimeter wave radar, laser radar, and cameras, V2X is considered as a solution for wireless sensor systems, allowing vehicles to share information with each other through communication channels, and it can detect hidden threats, enlarge the range of perception of autonomous driving, and predict what will happen next, thereby further improving safety, efficiency, and comfort of autonomous driving, and is one of the key driving factors.
Along with the continuous development of economy, traffic is more and more convenient, more and more automobiles enter common families, so that the quality of life of people is continuously improved, along with the rapid increase of the holding capacity of the automobiles, more travel modes are changed from walking to driving by automobiles, the rapid increase of the automobiles leads to frequent occurrence of traffic accidents, particularly, when the automobiles are driven on a highway, driving habits, weather, driving distances and the like can become the fuse of the traffic accidents, and if small problems on the highway cannot be well treated, the caused harm can be amplified to the utmost. Therefore, an effective solution must be adopted to improve the traffic safety level and reduce the possibility of accidents during the running of the highway.
At present, for front fault vehicles and traffic accident vehicles, a front collision early warning system is adopted for rear vehicles, the front is monitored through a radar system, the distance, the direction and the relative speed between the vehicle and the front vehicle are judged, and a driver is warned when collision danger exists. However, the prior art solutions have the following disadvantages:
1. Forward collision warning systems do not take braking action to avoid a collision or to control the vehicle.
2. In the prior art, a front vehicle is monitored only through sensors such as a camera and a radar, and a certain visual field blind area exists.
3. The prior art only aims at the monitoring of a front single vehicle, and the front information can not be acquired by a rear vehicle continuously.
4. In the prior art, the speed of uploading collision accident information to a cloud terminal is slow.
Disclosure of Invention
The invention aims to provide a vehicle-road coordination method based on V2X, which is mainly used for solving the problem that a fault or accident vehicle suddenly occurs in the front of a vehicle in the high-speed running process, and avoiding the occurrence of a continuous accident caused by a rear blind area of a rear vehicle due to emergency braking.
A further object of the first aspect of the present invention is to perform fusion processing on the direction information, the position information, and the braking information of the first vehicle collected by the V2X communication module and the first data information, so as to effectively eliminate the information transmission blind area and better promote safe driving.
The second aspect of the present invention is to provide a vehicle-road coordination system based on V2X, where the first data information collected by the second vehicle and the second data information collected by the V2X communication module are fused to eliminate an information transmission blind area, the fused vehicle information can be shared with the rear vehicle, and the rear vehicle can cooperatively complete a driving decision according to the fused vehicle information to avoid a link accident of the rear vehicle.
In particular, the invention provides a vehicle path coordination method based on V2X, which is used for information interaction between rear vehicles and a first vehicle, wherein the first vehicle is a fault vehicle or an accident vehicle, the rear vehicles are positioned behind the first vehicle, and the vehicles adjacent to the first vehicle in the rear vehicles are second vehicles, and the vehicle path coordination method comprises the following steps:
Acquiring first data information of the first vehicle through the second vehicle;
Acquiring second data information of the first vehicle through a V2X communication module, and fusing the second data information and the first data information to form vehicle information;
Uploading the vehicle information to a cloud end, and sharing the vehicle information to the rear vehicle in real time through the cloud end;
The rear vehicle completes driving decision cooperatively according to the vehicle information to realize emergency braking;
The first data information is image information and distance information of the first vehicle, and the second data information is braking information of the first vehicle.
Further, the first data information is collected by one or more of a vehicle camera of the first vehicle, a millimeter wave radar, or a laser radar.
Further, the image information is collected through the vehicle camera, and the distance information is collected through the millimeter wave radar and the laser radar.
Further, the second data information also includes direction information and position information of the first vehicle collected through the V2X communication module.
Further, the vehicle information is uploaded to a cloud end through a 5G network, and the vehicle information is shared by the cloud end to the rear vehicle through the 5G network in real time.
Further, the rear vehicle completes the vehicle information in a cooperative mode to report the collision early warning risk.
The invention also provides a vehicle-road coordination system based on V2X, which is used for realizing the vehicle-road coordination method based on V2X in the embodiment, and the vehicle-road coordination system comprises:
The data acquisition module is arranged on the second vehicle and used for acquiring first data information of the first vehicle;
The V2X communication module is arranged on the first vehicle, and the V2X communication module is used for collecting second data information of the first vehicle;
The data fusion processing module is connected with the V2X communication module and is used for carrying out fusion processing on the first data information and the second data information to form vehicle information;
The remote information processing module is connected with the data fusion processing module and used for uploading the vehicle information to a cloud end and sharing the vehicle information to the rear vehicle;
And the emergency braking module is connected with the remote information processing module and realizes emergency braking according to the vehicle information.
According to the vehicle-road cooperation method based on V2X, the first data information collected by the second vehicle and the second data information collected by the V2X communication module can be fused, the information transmission blind area is eliminated, the fused vehicle information can be shared with the rear vehicle, the rear vehicle can cooperatively complete the driving decision according to the fused vehicle information, and the rear vehicle is prevented from being subjected to a link accident.
Further, according to the vehicle-road cooperation method based on V2X, the motorcade cooperative emergency braking is performed according to the image information and the distance information acquired by the vehicle camera of the first vehicle, the millimeter wave radar and the laser radar, and the direction information, the position information and the braking information of the first vehicle acquired by the V2X communication module, so that the traffic safety is improved, and the traffic efficiency is more efficient.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a flow chart of a vehicle-road coordination method based on V2X according to an embodiment of the invention;
Fig. 2 is a schematic diagram of a V2X-based vehicle-road coordination system according to an embodiment of the present invention.
Reference numerals:
A data acquisition module 10;
A V2X communication module 20;
A data fusion processing module 30;
A cloud 40;
A telematics module 50;
An emergency braking module 60.
Detailed Description
The V2X-based vehicle-road coordination method of the present invention can be used for information interaction between a rear vehicle and a first vehicle, in this application, the first vehicle can be shown as a faulty vehicle or an accident vehicle, the rear vehicle is located behind the first vehicle, and a vehicle adjacent to the first vehicle in the rear vehicles can be shown as a second vehicle, while the rear vehicles can be sequentially labeled as a third vehicle, a fourth vehicle, and so on. The vehicle-road cooperation method mainly comprises the following steps:
S1, acquiring first data information of the first vehicle through the second vehicle;
S2, collecting second data information of the first vehicle through the V2X communication module, and fusing the second data information and the first data information to form vehicle information;
S3, uploading the vehicle information to a cloud end, and sharing the vehicle information to a rear vehicle in real time through the cloud end;
And S4, cooperatively finishing a driving decision by the rear vehicle according to the vehicle information so as to realize emergency braking.
The first data information is image information and distance information of the first vehicle, and the second data information is braking information of the first vehicle.
Specifically, in the vehicle-road cooperation method of the present invention, first, the first data information of the first vehicle may be collected by the second vehicle. That is, when a preceding vehicle (first vehicle) has a malfunction or a traffic accident, a second vehicle located closest behind the first vehicle may acquire first data information of the first vehicle. The second vehicle is provided with a data acquisition module 10, and the data acquisition module 10 is used for acquiring first data information of the first vehicle. The data acquisition module 10 may employ one or more of a vehicle camera, a millimeter wave radar, a laser radar, or other sensors. The first data information acquired by the data acquisition module 10 mainly includes image information acquired by a vehicle camera, distance information or high-precision positioning information acquired by a millimeter wave radar and a laser radar. The first data information collected by the second vehicle can be used as original data, so that the original data can be used as an input source for rear vehicle driving decision.
Then, the V2X communication module 20 is installed on the first vehicle (the front faulty vehicle or the accident vehicle), the V2X communication module 20 can collect second data information of the first vehicle, the second data information mainly includes direction information, position information, brake information, and the like of the first vehicle, and the data fusion processing module 30 can fuse the collected first data information and the second data information to obtain vehicle information. The information transmission blind area can be effectively eliminated through the vehicle information after the fusion processing, so that a driver can make a driving decision better, and the occurrence rate of the interlinked accidents is reduced.
According to the vehicle-road cooperation method based on the V2X, the vehicle team cooperative emergency braking is performed according to the image information and the distance information acquired by the vehicle camera, the millimeter wave radar and the laser radar of the first vehicle and the direction information, the position information and the braking information of the first vehicle acquired by the V2X communication module 20, so that the traffic safety is improved, and the traffic efficiency is more efficient.
The telematics module 50(T-BOX) may upload vehicle information to the cloud 40 and share it in real time to the rear vehicles. The vehicle information is uploaded to the cloud 40 through the 5G network, and is shared by the cloud 40 to the rear vehicle through the 5G network in real time, so that the uploading and sharing speed of the vehicle information is increased. And finally, the rear vehicle completes a driving decision cooperatively according to the vehicle information, specifically, the driving decision cooperatively completed by the rear vehicle according to the vehicle information comprises emergency braking, so that the rear vehicle is ensured to stop in sequence, collision is avoided, traffic safety is improved, and traffic efficiency is higher.
The vehicle-road cooperative system based on V2X is mainly used for expressway driving scenes, when a traffic accident or vehicle fault happens to a front vehicle, the front fault vehicle or the accident vehicle (a first vehicle) and a second vehicle can instantly upload vehicle information (time, position information, speed, acceleration and the like) to the cloud 40 through the V2X communication module 20 and can be shared with the rear vehicle, and through higher, faster and more accurate information transmission, the rear vehicle can make driving decisions in advance in sequence, so that the accident of expressway links is avoided, the traffic safety is improved, and the possibility of the accident is reduced.
The invention also provides a vehicle-road cooperation system based on V2X, which is used for realizing the vehicle-road cooperation method based on V2X in the embodiment, and the vehicle-road cooperation system mainly comprises a data acquisition module 10, a V2X communication module 20, a data fusion processing module 30, a remote information processing module 50 and an emergency braking module 60. The data acquisition module 10 is installed on a second vehicle, and first data information of the first vehicle can be acquired by using the data acquisition module 10 on the second vehicle. The data collection module 10 may be a camera, a millimeter wave radar, a laser radar, etc. mounted on the second vehicle, and the first data information may be image information, distance information, etc. collected by the camera, the millimeter wave radar, the laser radar, etc. The V2X communication module 20 is installed on the first vehicle, and the V2X communication module 20 is used for collecting second data information of the first vehicle, for example, the front braking information, the speed information, the vehicle direction information, the position information and the like of the accident vehicle or the fault vehicle can be collected through the V2X communication module 20.
The data fusion processing module 30 is connected to the V2X communication module 20, and the data fusion processing module 30 is configured to perform fusion processing on the first data information and the second data information to form vehicle information. The first data information and the second data information are fused into the vehicle information, so that the information transmission blind area is effectively eliminated, and the problem that the blind area exists when the front road condition and the traffic information are judged by a single sensor in the prior art is solved.
The connection according to the present application may be not only a physical or mechanical connection but also an electrical connection, a signal connection, or the like.
The telematics module 50(T-BOX) is connected to the data fusion processing module 30, and the telematics module 50 is configured to upload vehicle information to the cloud 40 and share the vehicle information to a rear vehicle. In the invention, vehicle information can be uploaded to the cloud 40 through 5G network transmission, and rear vehicles can get video information of a fault vehicle at the first time, so that the vehicle and drivers can be helped to make decisions better. The emergency braking module 60 is connected with the remote information processing module 50, and the emergency braking module 60 realizes emergency braking according to vehicle information, so that rear vehicles can be stopped by emergency braking in sequence, and the occurrence of a chain accident is avoided.
In summary, the vehicle-road cooperation system based on V2X of the present invention can perform fusion processing on the first data information collected by the second vehicle and the second data information collected by the V2X communication module 20, so as to eliminate the information transmission blind area, the vehicle information after fusion processing can be shared with the rear vehicle, and the rear vehicle can cooperatively complete driving decision according to the fused vehicle information, thereby avoiding the occurrence of a link accident in the rear vehicle.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (7)
1. A V2X-based vehicle-road coordination method for information interaction between a rear vehicle and a first vehicle, the first vehicle being a faulty vehicle or an accident vehicle, the rear vehicle being located behind the first vehicle, and a vehicle adjacent to the first vehicle among the rear vehicles being a second vehicle, the vehicle-road coordination method comprising the steps of:
Acquiring first data information of the first vehicle through the second vehicle;
Acquiring second data information of the first vehicle through a V2X communication module, and fusing the second data information and the first data information to form vehicle information;
Uploading the vehicle information to a cloud end, and sharing the vehicle information to the rear vehicle in real time through the cloud end;
The rear vehicle completes driving decision cooperatively according to the vehicle information to realize emergency braking;
The first data information is image information and distance information of the first vehicle, and the second data information is braking information of the first vehicle.
2. The V2X-based vehicle-road coordination method according to claim 1, wherein the first data information is collected by one or more of a vehicle camera of the first vehicle, a millimeter wave radar, or a laser radar.
3. The V2X-based vehicle-road coordination method according to claim 2, wherein the image information is collected by the vehicle camera, and the distance information is collected by the millimeter wave radar and the laser radar.
4. The V2X-based vehicle-road coordination method according to claim 1, wherein the second data information further includes directional information and location information of the first vehicle collected through the V2X communication module.
5. The V2X-based vehicle-road coordination method according to claim 1, wherein the vehicle information is uploaded to a cloud end through a 5G network, and is shared by the cloud end to the rear vehicle through the 5G network in real time.
6. The V2X-based vehicle-road coordination method according to claim 1, wherein the rear vehicles coordinate according to the vehicle information to report collision early warning risk.
7. A vehicle-road coordination system based on V2X, for implementing the vehicle-road coordination method based on V2X of any one of claims 1-6, characterized in that the vehicle-road coordination system comprises:
The data acquisition module is arranged on the second vehicle and used for acquiring first data information of the first vehicle;
The V2X communication module is arranged on the first vehicle, and the V2X communication module is used for collecting second data information of the first vehicle;
The data fusion processing module is connected with the V2X communication module and is used for carrying out fusion processing on the first data information and the second data information to form vehicle information;
The remote information processing module is connected with the data fusion processing module and used for uploading the vehicle information to a cloud end and sharing the vehicle information to the rear vehicle;
And the emergency braking module is connected with the remote information processing module and realizes emergency braking according to the vehicle information.
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| CN113038423A (en) * | 2021-05-27 | 2021-06-25 | 北京踏歌智行科技有限公司 | Intelligent strip mine multimode communication system selection method based on road cloud cooperation |
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Address after: 430070 A404, building 3, 28 chuanjiangchi 2nd Road, Wuhan Economic and Technological Development Zone, Wuhan City, Hubei Province Applicant after: Wuhan lutes Automobile Co.,Ltd. Address before: 430090 Building 2, No. 100, Weihu Road, Shamao street, Hannan District, Wuhan City, Hubei Province Applicant before: Wuhan Geely Automobile Research and Development Co.,Ltd. |
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Effective date of registration: 20210512 Address after: 430090 Building 2, No. 100, Weihu Road, Shamao street, Hannan District, Wuhan City, Hubei Province Applicant after: Wuhan Geely Automobile Research and Development Co.,Ltd. Address before: 918 Binhai 4th Road, Hangzhou Bay New District, Ningbo City, Zhejiang Province Applicant before: GEELY AUTOMOBILE RESEARCH INSTITUTE (NINGBO) Co.,Ltd. Applicant before: ZHEJIANG GEELY HOLDING GROUP Co.,Ltd. |
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Application publication date: 20200717 |