CN111833622A - Automatic driving warning method, equipment and storage medium based on environment perception and mobile edge calculation - Google Patents
Automatic driving warning method, equipment and storage medium based on environment perception and mobile edge calculation Download PDFInfo
- Publication number
- CN111833622A CN111833622A CN202010474057.0A CN202010474057A CN111833622A CN 111833622 A CN111833622 A CN 111833622A CN 202010474057 A CN202010474057 A CN 202010474057A CN 111833622 A CN111833622 A CN 111833622A
- Authority
- CN
- China
- Prior art keywords
- road
- vehicle
- speed
- vehicles
- warning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
- G06F9/5061—Partitioning or combining of resources
- G06F9/5072—Grid computing
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Software Systems (AREA)
- Signal Processing (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Mathematical Physics (AREA)
- Computing Systems (AREA)
- General Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to an automatic driving warning method, equipment and a storage medium based on environment perception and mobile edge calculation, wherein the automatic driving warning method comprises the following steps: s1, arranging a plurality of road side units for networking communication at equal intervals along the side of a road, and controlling each road side unit to be respectively networked with each vehicle in the communication range of the road side unit; and S2, establishing a local MEC server and a core network positioned at the cloud based on the mobile edge computing architecture. Further comprising the following periodically performed steps: s3, acquiring the weather type of the current road section, and determining the safe speed of the vehicle according to the weather type; and S4, comparing the safe speed with the average speed of other vehicles on the current road, directly warning to an external operation center through a core network according to a comparison result, and sending a warning to other vehicles on the current road by the operation center. The method can realize short-term accurate evaluation on the road segment dangerousness and high-timeliness data communication.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to an automatic driving warning method, equipment and a storage medium based on environment perception and mobile edge calculation.
Background
At present, in the automatic driving process of a vehicle, an operation center needs to continuously provide risk warning for the vehicle by utilizing big data statistical analysis, a warning method basically provides road section risk assessment for the vehicle by analyzing historical data of a current driving road of the vehicle, and because the method generally utilizes data before the vehicle is analyzed day by day or even longer, real-time data cannot be combined, and the accuracy of short-term assessment is difficult to ensure.
Disclosure of Invention
The invention provides an automatic driving warning method, equipment and a storage medium based on environment perception and mobile edge calculation, aiming at solving or partially solving the defects in the prior art.
To this end, an automatic driving warning method based on environmental perception and moving edge calculation is provided, and comprises the following steps:
s1, arranging a plurality of road side units for networking communication at equal intervals along the side of a road, and controlling each road side unit to be respectively networked with each vehicle in the communication range of the road side unit;
s2, establishing a local MEC server and a core network at a cloud end based on a mobile edge computing architecture;
and comprising the following periodically performed steps:
s3, acquiring the weather type of the current road section, and determining the safe speed of the vehicle according to the weather type;
and S4, comparing the safe speed with the average speed of other vehicles on the current road, directly warning to an external operation center through a core network according to a comparison result, and sending a warning to other vehicles on the current road by the operation center.
Preferably, the manner of warning the other vehicles on the current road by the operation center in step S4 includes: the operation center sends commands to each road side unit through the core network and the MEC server, and each road side unit broadcasts the commands to each vehicle in the communication range.
Preferably, step S4 further includes: when the vehicle interaction is required to be carried out with the specified vehicle on the road, the operation center only directly communicates the specified vehicle through the core network and the road side unit.
Preferably, step S3 further includes: and in the first period after the weather type is changed, adjusting the interval duration between the following periods according to the weather type.
Preferably, step S3 further includes: the safe vehicle speed is configured for each weather type in advance.
Preferably, step S3 further includes: and controlling the vehicle to run at a safe vehicle speed corresponding to the weather type.
Preferably, step S4 further includes: and counting the speed of each vehicle passing through the vehicle on the road in real time, and averaging the speed of each vehicle passing through the vehicle to obtain an average result as the average speed of other vehicles on the current road.
There is also provided an apparatus, wherein the apparatus comprises:
a controller; and the number of the first and second groups,
a memory arranged to store computer executable instructions which, when executed, cause the controller to implement the method described above.
A computer-readable storage medium is also provided, wherein the computer-readable storage medium stores one or more programs which, when executed by a controller, implement the above-described method.
Has the advantages that:
according to the invention, the automatic driving vehicle running on the spot on the road is adopted to perform roadside initiative warning based on the current weather and the actual speed of the road, then the high-speed ordered communication of data is performed by combining with a mobile edge computing framework, and the data is comprehensively fed back to other vehicles on the current road through an operation center, so that the purposes of short-term accurate evaluation of road segment dangerousness and high-time-efficiency communication of data are achieved.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings.
In the drawings:
FIG. 1 illustrates a mobile edge computing architecture for vehicle communications in accordance with the present invention;
FIG. 2 illustrates a flow chart of an implementation of the automated driving alert method of the present invention;
FIG. 3 is a schematic structural diagram of an electronic device according to the present invention;
fig. 4 is a schematic structural diagram of a computer-readable storage medium according to the present invention.
Detailed Description
The vehicle referred to in this embodiment is an automatic driving electric vehicle, and an automatic driving system composed of a conventional laser sensor (Ibeo), a vision sensor (binocular vision camera), a position sensor (GPS), a front and rear radar, and a main control computer (Nuvo-5095GC industrial personal computer) is provided thereon, and can implement conventional sensing detection and driving control required for automatic driving.
The automatic driving warning method of the present embodiment is implemented based on the architecture shown in fig. 1, as shown in fig. 2, and includes the following pre-set steps:
s1, arranging a plurality of road side units for networking communication at equal intervals along the side of a road, and controlling each road side unit to be respectively networked with each vehicle in the communication range of the road side unit;
specifically, the road side unit refers to a network communication device based on a mobile communication technology, when the network communication device is arranged, a plurality of road side units are arranged at equal intervals beside a road along a driving direction, communication ranges of the road side units are arranged to be adjacent and not overlapped, then the road side units are controlled to periodically broadcast networking paging requests within the communication ranges of the road side units in a short period, and a communication link is established after a vehicle receives the requests, so that networking of the road side units and the vehicles within the communication ranges of the road side units is realized, and a local area communication network is formed by each road side unit and the networking vehicles thereof.
S2, establishing a local MEC server and a core network at a cloud end based on a mobile edge computing architecture;
specifically, local MEC servers which are independently equipped for each area according to a mobile edge computing architecture are used for controlling road side units in the area to be in network communication with MEC servers in the area, then a cloud core network is set up according to the mobile edge computing architecture to control the MEC servers to be in communication with the core network, and the core network is in communication with a traffic control center serving as an operation center.
The automatic driving warning method of the embodiment further includes the following warning steps that are periodically executed:
s3, acquiring the weather type of the current road section, and determining the safe speed of the vehicle according to the weather type;
specifically, the vehicle is controlled to request the weather type of the current road section from the operation center through the road side unit, wherein the weather type comprises various types such as sunny days, rainy days, windy days and snowy days.
And for each weather type, a safe vehicle speed is configured in advance, when the vehicle is driven, the corresponding safe vehicle speed is determined as the current safe vehicle speed through a lookup table according to the current weather type, and the vehicle is controlled to run at the current safe vehicle speed.
And S4, comparing the safe speed with the average speed of other vehicles on the current road, directly warning to an external operation center through a core network according to a comparison result, and sending a warning to other vehicles on the current road by the operation center.
Specifically, the vehicle is controlled to count the vehicle speeds of the vehicles passing through the vehicle on the road in real time during driving, and the vehicle speeds of the vehicles passing through the vehicle are averaged to obtain an average result as the average speed of other vehicles on the current road.
When the average speed of other vehicles on the current road is higher than the current safe speed, the other vehicles are suspected of having risk hidden danger, and the vehicle is controlled to directly warn the operation center through the core network without passing through the MEC server, so that the transmission time of warning information is shortened, and the sending speed is accelerated.
After receiving the warning, the operation center warns the vehicles in the road through manual analysis and processing when the vehicles are considered necessary, so that the risk assessment warning of the road section is realized.
The operation center can be set to directly forward the warning to other vehicles on the current road after receiving the warning so as to realize the accelerated feedback.
According to the method, a conventional historical data analysis and evaluation-based mode is changed, roadside initiative warning is carried out by an automatic driving vehicle running on the spot on the road based on the current weather and the actual speed of the road, data high-speed ordered communication is carried out by combining a mobile edge computing framework, and overall feedback is carried out by an operation center to other vehicles on the current road, so that the purposes of short-term accurate evaluation of road segment dangerousness and data high-timeliness communication are achieved.
Further, in step S4, in order to avoid the downlink data transmission from occupying the high-speed link from the rsu to the core network, the manner of sending the warning to other vehicles on the current road by the operation center is set as: the operation center sends commands to each road side unit through the core network and the MEC server, and each road side unit broadcasts the commands to each vehicle in the communication range.
When the operation center needs to interact with the designated vehicles on the road, for example, when the operation center staff needs to carry out information investigation and confirmation with the vehicle owner, the high-speed link from the road side unit to the core network can be utilized, and the designated vehicles are directly communicated only through the core network and the road side unit, so that the high-speed communication is realized.
Further, if the detection periods are unified under various weather conditions, the setting of the detection periods needs to be looked at with the highest frequency, and based on big data analysis, the driving cautious degree of the vehicle owner is different under different weather conditions, the vehicle speed is different, based on the characteristics, the detection period of each weather configuration suitable for the weather can be set, the detection periods of different weather conditions are different, therefore, the detection period of some weather conditions can be properly widened, the detection frequency is reduced, the overall saving of computing resources and the reduction of system computation load are realized, and the specific realization can be that a preposed step is set in the step S1, namely, in the first period after the weather type is changed, the interval duration between the previous periods is adjusted according to the weather type.
It should be noted that:
the method of the present embodiment may be implemented by a method that is converted into program steps and apparatuses that can be stored in a computer storage medium and invoked and executed by a controller.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
For example, fig. 3 shows a schematic structural diagram of an electronic device according to an embodiment of the invention. The electronic device conventionally comprises a processor 31 and a memory 32 arranged to store computer-executable instructions (program code). The memory 32 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory 32 has a storage space 33 storing program code 34 for performing any of the method steps in the embodiments. For example, the storage space 33 for the program code may comprise respective program codes 34 for implementing respective steps in the above method. The program code can be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is typically a computer readable storage medium such as described in fig. 4. The computer readable storage medium may have memory segments, memory spaces, etc. arranged similarly to the memory 32 in the electronic device of fig. 3. The program code may be compressed, for example, in a suitable form. In general, the memory unit stores program code 41 for performing the steps of the method according to the invention, i.e. program code readable by a processor such as 31, which when run by an electronic device causes the electronic device to perform the individual steps of the method described above.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (9)
1. The automatic driving warning method based on environment perception and moving edge calculation is characterized by comprising the following steps:
s1, arranging a plurality of road side units for networking communication at equal intervals along the side of a road, and controlling each road side unit to be respectively networked with each vehicle in the communication range of the road side unit;
s2, establishing a local MEC server and a core network at a cloud end based on a mobile edge computing architecture;
and comprising the following periodically performed steps:
s3, acquiring the weather type of the current road section, and determining the safe speed of the vehicle according to the weather type;
and S4, comparing the safe speed with the average speed of other vehicles on the current road, directly warning to an external operation center through a core network according to a comparison result, and sending a warning to other vehicles on the current road by the operation center.
2. The method according to claim 1, wherein the manner of warning other vehicles on the current road by the operation center in step S4 includes: the operation center sends commands to each road side unit through the core network and the MEC server, and each road side unit broadcasts the commands to each vehicle in the communication range.
3. The method of claim 2, wherein step S4 further comprises: when the vehicle interaction is required to be carried out with the specified vehicle on the road, the operation center only directly communicates the specified vehicle through the core network and the road side unit.
4. The method according to claim 1, wherein step S3 further comprises: and in the first period after the weather type is changed, adjusting the interval duration between the following periods according to the weather type.
5. The method according to claim 1, wherein step S3 further comprises: the safe vehicle speed is configured for each weather type in advance.
6. The method of claim 5, wherein step S3 further comprises: and controlling the vehicle to run at a safe vehicle speed corresponding to the weather type.
7. The method according to claim 1, wherein step S4 further comprises:
and counting the speed of each vehicle passing through the vehicle on the road in real time, and averaging the speed of each vehicle passing through the vehicle to obtain an average result as the average speed of other vehicles on the current road.
8. Storage medium storing a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 7.
9. An apparatus, wherein the apparatus comprises:
a controller; and the number of the first and second groups,
a memory arranged to store computer executable instructions that, when executed, cause the controller to implement the method of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010474057.0A CN111833622A (en) | 2020-05-29 | 2020-05-29 | Automatic driving warning method, equipment and storage medium based on environment perception and mobile edge calculation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010474057.0A CN111833622A (en) | 2020-05-29 | 2020-05-29 | Automatic driving warning method, equipment and storage medium based on environment perception and mobile edge calculation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111833622A true CN111833622A (en) | 2020-10-27 |
Family
ID=72914031
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010474057.0A Pending CN111833622A (en) | 2020-05-29 | 2020-05-29 | Automatic driving warning method, equipment and storage medium based on environment perception and mobile edge calculation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111833622A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113823092A (en) * | 2021-09-28 | 2021-12-21 | 深圳优地科技有限公司 | Robot operation control method, apparatus and computer-readable storage medium |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103164962A (en) * | 2013-01-23 | 2013-06-19 | 山东交通学院 | Mountain road sharp turn section real-time vehicle speed early warning method |
| US20130187771A1 (en) * | 2012-01-23 | 2013-07-25 | Ariel Inventions, Llc | System and method for display of vehicular separation distance |
| US20160189540A1 (en) * | 2014-12-29 | 2016-06-30 | Here Global B.V. | Dynamic Speed Limit |
| CN107742432A (en) * | 2017-10-23 | 2018-02-27 | 天津职业技术师范大学 | Highway operating speed active forewarning system and control method based on bus or train route collaboration |
| CN108109433A (en) * | 2017-12-15 | 2018-06-01 | 长安大学 | Carriage trucks mass center evaluation method and the bend early warning system based on wireless storage communication |
| CN108769183A (en) * | 2018-05-24 | 2018-11-06 | 上海衍涉光电技术有限公司 | Weather data exchange method, weather data server and system |
| CN108860138A (en) * | 2018-04-28 | 2018-11-23 | 交通运输部公路科学研究所 | A kind of bend speed autocontrol method based on LTE-V |
| CN108932870A (en) * | 2018-07-16 | 2018-12-04 | 安徽江淮汽车集团股份有限公司 | A kind of vehicle early warning method and device |
| CN109383289A (en) * | 2018-10-19 | 2019-02-26 | 湖北亿咖通科技有限公司 | Automobile speed limit control method, device, electronic equipment and readable storage medium storing program for executing |
| US20190111923A1 (en) * | 2017-10-13 | 2019-04-18 | International Business Machines Corporation | Determining a safe driving speed for a vehicle |
| CN109711757A (en) * | 2019-01-24 | 2019-05-03 | 青海大学 | The acquisition method and device of soil moisture data |
| CN110349422A (en) * | 2019-08-19 | 2019-10-18 | 深圳成谷科技有限公司 | A kind of method, device and equipment of road weather warning |
| CN110505602A (en) * | 2018-05-17 | 2019-11-26 | 大唐移动通信设备有限公司 | A kind of data processing method of car networking, server and car networking system |
| CN110570674A (en) * | 2019-09-06 | 2019-12-13 | 杭州博信智联科技有限公司 | Vehicle-road cooperative data interaction method and system, electronic equipment and readable storage medium |
| CN110675628A (en) * | 2019-09-30 | 2020-01-10 | 公安部交通管理科学研究所 | Roadside intelligent networking information interaction edge device |
| CN111127883A (en) * | 2019-12-17 | 2020-05-08 | 长安大学 | Method and system for measuring and calculating safe driving speed of intelligent vehicle by considering road surface state |
-
2020
- 2020-05-29 CN CN202010474057.0A patent/CN111833622A/en active Pending
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130187771A1 (en) * | 2012-01-23 | 2013-07-25 | Ariel Inventions, Llc | System and method for display of vehicular separation distance |
| CN103164962A (en) * | 2013-01-23 | 2013-06-19 | 山东交通学院 | Mountain road sharp turn section real-time vehicle speed early warning method |
| US20160189540A1 (en) * | 2014-12-29 | 2016-06-30 | Here Global B.V. | Dynamic Speed Limit |
| US20190111923A1 (en) * | 2017-10-13 | 2019-04-18 | International Business Machines Corporation | Determining a safe driving speed for a vehicle |
| CN107742432A (en) * | 2017-10-23 | 2018-02-27 | 天津职业技术师范大学 | Highway operating speed active forewarning system and control method based on bus or train route collaboration |
| CN108109433A (en) * | 2017-12-15 | 2018-06-01 | 长安大学 | Carriage trucks mass center evaluation method and the bend early warning system based on wireless storage communication |
| CN108860138A (en) * | 2018-04-28 | 2018-11-23 | 交通运输部公路科学研究所 | A kind of bend speed autocontrol method based on LTE-V |
| CN110505602A (en) * | 2018-05-17 | 2019-11-26 | 大唐移动通信设备有限公司 | A kind of data processing method of car networking, server and car networking system |
| CN108769183A (en) * | 2018-05-24 | 2018-11-06 | 上海衍涉光电技术有限公司 | Weather data exchange method, weather data server and system |
| CN108932870A (en) * | 2018-07-16 | 2018-12-04 | 安徽江淮汽车集团股份有限公司 | A kind of vehicle early warning method and device |
| CN109383289A (en) * | 2018-10-19 | 2019-02-26 | 湖北亿咖通科技有限公司 | Automobile speed limit control method, device, electronic equipment and readable storage medium storing program for executing |
| CN109711757A (en) * | 2019-01-24 | 2019-05-03 | 青海大学 | The acquisition method and device of soil moisture data |
| CN110349422A (en) * | 2019-08-19 | 2019-10-18 | 深圳成谷科技有限公司 | A kind of method, device and equipment of road weather warning |
| CN110570674A (en) * | 2019-09-06 | 2019-12-13 | 杭州博信智联科技有限公司 | Vehicle-road cooperative data interaction method and system, electronic equipment and readable storage medium |
| CN110675628A (en) * | 2019-09-30 | 2020-01-10 | 公安部交通管理科学研究所 | Roadside intelligent networking information interaction edge device |
| CN111127883A (en) * | 2019-12-17 | 2020-05-08 | 长安大学 | Method and system for measuring and calculating safe driving speed of intelligent vehicle by considering road surface state |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113823092A (en) * | 2021-09-28 | 2021-12-21 | 深圳优地科技有限公司 | Robot operation control method, apparatus and computer-readable storage medium |
| CN113823092B (en) * | 2021-09-28 | 2022-11-18 | 深圳优地科技有限公司 | Robot operation control method, apparatus and computer-readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20140363051A1 (en) | Methods and systems for selecting target vehicles for occupancy detection | |
| CN111612378A (en) | Potential collision risk prediction method and device and computer equipment | |
| DE102018112151A1 (en) | METHOD AND DEVICE FOR CLASSIFYING LIDARDATES FOR OBJECT DETECTION | |
| CN111615067A (en) | Automatic driving moving edge calculation method, equipment and storage medium based on road side unit | |
| CN117372979A (en) | Road inspection method, device, electronic equipment and storage medium | |
| CN112785874A (en) | Information processing apparatus, system and method, and non-transitory recording medium | |
| CN111833622A (en) | Automatic driving warning method, equipment and storage medium based on environment perception and mobile edge calculation | |
| CN111483464A (en) | Dynamic automatic driving lane changing method, equipment and storage medium based on road side unit | |
| CN117078020B (en) | Logistics transportation data management system based on unmanned aerial vehicle | |
| CN113611120A (en) | Vehicle position information prediction method, device and equipment | |
| CN111586636B (en) | Automatic driving vehicle rapid communication method, equipment and storage medium based on mixed traffic flow state | |
| CN112946623B (en) | Speed measuring method and device based on 77G millimeter wave radar installed on vehicle | |
| CN111532282B (en) | Automatic driving coordination method, device and storage medium based on external environment and vehicle condition | |
| US12039862B2 (en) | System and process for mitigating road network congestion | |
| CN116597688A (en) | Tunnel scene early warning method and device, electronic equipment and storage medium | |
| CN114170832B (en) | Bus monitoring method, device, server, system and storage medium | |
| CN112785875B (en) | Information processing apparatus, information processing system and method, and recording medium | |
| CN111612140B (en) | Automatic driving safety judging method, equipment and storage medium based on road side unit | |
| CN112526477B (en) | Method and device for processing information | |
| CN111599169A (en) | Road side unit inspection method, equipment and computer readable storage medium | |
| CN115063980B (en) | Self-adaptive vehicle abnormal running detection method and device and terminal equipment | |
| US20240240966A1 (en) | Information providing device and information providing method | |
| CN111591301A (en) | Intelligent prompting driving mode conversion method, equipment and storage medium for automatic driving automobile | |
| CN111836232A (en) | Intelligent networking automatic driving vehicle auxiliary sensing method, equipment and storage medium based on V2X | |
| CN118155401A (en) | Road congestion position identification method, equipment and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201027 |