CN113140118B - Distributed single intersection control system, multiple intersection control system, method and medium - Google Patents
Distributed single intersection control system, multiple intersection control system, method and medium Download PDFInfo
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Abstract
The invention discloses a distributed single intersection control system, a multi-intersection control system, a method and a medium, wherein the distributed single intersection control system comprises a vehicle-mounted unit module and a road side unit module, the vehicle-mounted unit module comprises a vehicle sensing control module, a vehicle-mounted storage module and a vehicle-mounted wireless communication module which are in communication connection with the vehicle sensing control module, and a vehicle-mounted edge calculation module which is in communication connection with the vehicle sensing control module, the vehicle-mounted storage module and the vehicle-mounted wireless communication module; the road side unit module comprises a signal lamp sensing control module, a road side storage module and a road side wireless communication module which are in communication connection with the signal lamp sensing control module, and a road side edge calculation module which is in communication connection with the signal lamp sensing control module, the road side storage module and the road side wireless communication module; the vehicle-mounted wireless communication module is in communication connection with the roadside wireless communication module; the limitation of information communication connection caused by communication bottleneck (bandwidth limitation and transmission delay) can be effectively reduced.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a distributed single intersection control system, a multi-intersection control system, a method and a medium.
Background
Vehicle-access edge coordination (MEC), i.e., multiple-access edge computation; the method carries out deep fusion on the traditional telecommunication network and the internet service by migrating the computing, storing and service capabilities to the network edge close to a terminal or a data source, so that the content and the service can realize localized, short-distance and distributed deployment, the network return flow load is reduced, and simultaneously, agile connection, mass transmission, real-time processing, safety and reliability intelligent application are created.
The current vehicle-road cooperation technology generally sends vehicle information to a central server, calculates traffic indexes in a centralized manner, achieves the green wave effect of a plurality of intersections of a trunk road through vehicle speed guidance or phase difference control, improves the traffic efficiency of the trunk road, deploys an edge calculation module as a single server, is not integrated in a vehicle-mounted unit and a road side unit to carry out edge calculation service, and the non-integrated edge calculation server generates bandwidth limitation and transmission delay caused by connection and reduces the edge calculation capacity, so that the defect that the communication bottleneck (bandwidth limitation and transmission delay) and the connection complexity are increased along with the increase of the number of nodes exists in the centralized control of the edge calculation module as a whole.
Disclosure of Invention
The present invention is directed to overcome the above-mentioned drawbacks of the background art, and provides a distributed single-intersection control system, a multiple-intersection control system, a method and a medium, which can effectively reduce the information communication connection limitation caused by the communication bottleneck (bandwidth limitation and transmission delay), reduce the number of connected nodes, and improve the edge computing capability.
In a first aspect, a distributed single intersection control system is provided, which comprises a vehicle-mounted unit module and a road side unit module, wherein the vehicle-mounted unit module comprises a vehicle sensing control module, a vehicle-mounted storage module and a vehicle-mounted wireless communication module which are in communication connection with the vehicle sensing control module, and a vehicle-mounted edge calculation module which is in communication connection with the vehicle sensing control module, the vehicle-mounted storage module and the vehicle-mounted wireless communication module; the road side unit module comprises a signal lamp sensing control module, a road side storage module and a road side wireless communication module which are in communication connection with the signal lamp sensing control module, and a road side edge calculation module which is in communication connection with the signal lamp sensing control module, the road side storage module and the road side wireless communication module; the vehicle-mounted wireless communication module is in communication connection with the roadside wireless communication module.
In some embodiments, the vehicle sensing control module comprises a vehicle operation module, a vehicle positioning module, a vehicle environment module and a vehicle video module, and the vehicle operation module, the vehicle positioning module, the vehicle environment module and the vehicle video module are respectively connected with the vehicle-mounted storage module, the vehicle-mounted wireless communication module and the vehicle-mounted edge calculation module in a communication manner.
In some embodiments, the vehicle-mounted wireless communication module comprises a first vehicle-mounted communication V2X module and a first 5G communication module, the first vehicle-mounted communication V2X module and the first 5G communication module are each communicatively connected with the vehicle sensing control module and the vehicle-mounted edge calculation module, respectively; the roadside wireless communication module comprises a second vehicle-mounted communication V2X module and a second 5G communication module, and the second vehicle-mounted communication V2X module and the second 5G communication module are respectively in communication connection with the signal lamp sensing control module and the roadside edge calculation module; the first vehicle-mounted communication V2X module is in communication connection with the second vehicle-mounted communication V2X module, and the first 5G communication module is in communication connection with the second 5G communication module.
In some embodiments, the vehicle-mounted edge calculation module comprises a vehicle-mounted model predictive controller in communication with the vehicle-mounted storage module, the vehicle sensing control module, and the vehicle-mounted wireless communication module; the roadside edge calculation module comprises a roadside model prediction controller which is in communication connection with the roadside storage module, the signal lamp sensing control module and the roadside wireless communication module.
In a second aspect, a distributed multi-intersection control system is provided, which includes the above distributed single-intersection control system, and a plurality of distributed single-intersection control systems are in communication connection with each other.
In a third aspect, a distributed single intersection control method is provided, which is applied to the distributed single intersection control system, and includes the following steps:
the method comprises the steps that a vehicle-mounted unit control module obtains a pre-judged driving route and a pre-judged vehicle speed of a vehicle at a single intersection and sends the pre-judged driving route and the pre-judged vehicle speed to a road side unit module;
and the control road side unit module acquires a pre-judging traffic light control instruction of a signal light at the single intersection according to the obtained pre-judging running route and the pre-judging speed of the vehicle at the single intersection, and sends the pre-judging traffic light control instruction to the vehicle-mounted unit module.
According to the third aspect, in a first possible implementation manner of the third aspect, the step of controlling the on-board unit module to acquire the predicted driving route and the predicted vehicle speed of the vehicle at the intersection and send the predicted driving route and the predicted vehicle speed to the road side unit module includes the following steps:
the control vehicle sensing control module acquires real-time sensing data of a vehicle and sends the real-time sensing data to the vehicle-mounted storage module, the vehicle-mounted wireless communication module and the vehicle-mounted edge calculation module; the control street lamp sensing control module acquires real-time sensing data of a signal lamp and sends the real-time sensing data to the roadside wireless communication module;
controlling a vehicle-mounted storage module to store the real-time perception data of the vehicle according to the obtained real-time perception data of the vehicle, obtaining historical perception data of the vehicle, and sending the historical perception data to a vehicle-mounted edge calculation module;
controlling a vehicle-mounted edge calculation module to acquire a pre-judged driving route and a pre-judged vehicle speed of a vehicle at a single intersection according to the acquired real-time perception data of the vehicle, the historical perception data of the vehicle and the real-time perception data of the signal lamp, and sending the pre-judged driving route and the pre-judged vehicle speed to a vehicle-mounted wireless communication module;
and controlling the vehicle-mounted wireless communication module to send the real-time sensing data of the vehicle, the pre-judged driving route and the pre-judged vehicle speed of the vehicle at the single intersection to the road side unit module.
According to the first possible implementation manner of the third aspect, in a second possible implementation manner of the third aspect, the step of controlling the vehicle sensing control module to acquire real-time sensing data of the vehicle includes the following steps:
controlling a vehicle operation module to acquire operation data of a vehicle, wherein the operation data comprises vehicle speed and steering;
controlling a vehicle positioning module to acquire position data of a vehicle;
controlling a vehicle environment module to acquire road end environment relative distance data and road end environment relative speed data of a vehicle;
and controlling a vehicle video module to acquire road end environment video data of the vehicle.
According to the second possible implementation manner of the third aspect, in a third possible implementation manner of the third aspect, the step of controlling the roadside unit module to obtain the pre-judged traffic light control instruction of the signal light at the single intersection according to the obtained pre-judged driving route and the pre-judged vehicle speed of the vehicle at the single intersection, and sending the pre-judged traffic light control instruction to the on-board unit module includes the following steps:
the method comprises the steps that a signal lamp sensing control module is controlled to acquire real-time sensing data of a signal lamp and send the real-time sensing data to a roadside storage module, a roadside wireless communication module and a roadside edge calculation module;
the control roadside storage module stores the real-time sensing data of the signal lamp according to the obtained real-time sensing data of the signal lamp, obtains historical sensing data of the signal lamp and sends the historical sensing data to the roadside edge calculation module;
the control roadside edge calculation module acquires a pre-judging traffic light control instruction of the signal light at the single intersection according to the acquired real-time sensing data of the signal light, the historical sensing data of the signal light and the pre-judging driving route and the pre-judging vehicle speed of the vehicle at the single intersection, and sends the pre-judging traffic light control instruction to the roadside wireless communication module;
and the control roadside wireless communication module sends the acquired real-time sensing data of the signal lamp and a pre-judged traffic light control instruction of the signal lamp at the single intersection to the vehicle-mounted unit module.
In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, implements the distributed single-intersection control method described above.
Compared with the prior art, the invention has the following advantages: the vehicle-mounted edge computing module is directly integrated in the vehicle-mounted unit module, and the roadside edge computing module is directly integrated in the roadside unit module, so that the edge computing module is used as a single server relative to the edge computing module, and the edge computing modules are distributed, so that the information communication connection limitation caused by communication bottleneck (bandwidth limitation and transmission delay) can be effectively reduced, the number of connected nodes can be reduced, and the edge computing capability can be improved; meanwhile, traffic light control instructions of the signal lights can be effectively pre-judged, a proper running route and running speed are provided for vehicles at the current cross single intersection, the passing efficiency of the current cross single intersection is improved, and the traffic flow speed is improved.
Drawings
FIG. 1 is a block diagram of a distributed single-intersection control system according to the present invention;
FIG. 2 is a block diagram of a vehicle sensing control module according to an embodiment of the present invention;
fig. 3 is a block diagram of a structure of a vehicle-mounted wireless communication module according to an embodiment of the present invention;
FIG. 4 is a block diagram of a roadside wireless communication module according to an embodiment of the invention;
fig. 5 is a flowchart illustrating a distributed single intersection control method according to an embodiment of the present invention.
Reference numerals:
100. an on-board unit module; 110. a vehicle sensing control module; 111. a vehicle operation module; 112. a vehicle positioning module; 113. a vehicle environment module; 114. a vehicle video module; 120. a vehicle-mounted storage module; 130. a vehicle-mounted wireless communication module; 131. a first on-board communication V2X module; 132. a first 5G communication module; 140. a vehicle-mounted edge calculation module; 200. a roadside unit module; 210. the signal lamp sensing control module; 220. a roadside storage module; 230. a roadside wireless communication module; 231. a second on-board communication V2X module; 232. a second 5G communication module; 240. roadside edge calculation module.
Detailed Description
Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with the specific embodiments, it will be understood that they are not intended to limit the invention to the embodiments described. On the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein may be implemented by any functional block or functional arrangement, and that any functional block or functional arrangement may be implemented as a physical entity or a logical entity, or a combination of both.
In order that those skilled in the art will better understand the present invention, the following detailed description of the invention is provided in conjunction with the accompanying drawings and the detailed description of the invention.
Note that: the example to be described next is only a specific example, and does not limit the embodiments of the present invention necessarily to the following specific steps, values, conditions, data, orders, and the like. Those skilled in the art can, upon reading this specification, utilize the concepts of the present invention to construct more embodiments than those specifically described herein.
Referring to fig. 1, an embodiment of the present invention provides a distributed single intersection control system, including a vehicle-mounted unit module 100 and a road side unit module 200; the vehicle-mounted unit module 100 comprises a vehicle sensing control module 110, a vehicle-mounted storage module 120 and a vehicle-mounted wireless communication module 130 which are in communication connection with the vehicle sensing control module 110, and a vehicle-mounted edge calculation module 140 which is in communication connection with the vehicle sensing control module 110, the vehicle-mounted storage module 120 and the vehicle-mounted wireless communication module 130; the roadside unit module 200 comprises a signal lamp sensing control module 210, a roadside storage module 220 and a roadside wireless communication module 230 which are in communication connection with the signal lamp sensing control module 210, and a roadside edge calculation module 240 which is in communication connection with the signal lamp sensing control module 210, the roadside storage module 220 and the roadside wireless communication module 230; the vehicle-mounted wireless communication module 130 is in communication connection with the roadside wireless communication module 230.
Specifically, in the present embodiment, an On Board Unit (OBU), a Road Side Unit (RSU), and data and information communication between an On board Unit module and a Road Side Unit module are performed;
in the distributed single-intersection control system, a vehicle sensing control module 110 is used for acquiring real-time sensing data of a vehicle and sending the real-time sensing data to a vehicle-mounted storage module 120, a vehicle-mounted wireless communication module 130 and a vehicle-mounted edge calculation module 140; the vehicle-mounted storage module 120 is configured to store the real-time sensing data of the vehicle according to the obtained real-time sensing data of the vehicle, obtain historical sensing data of the vehicle, and send the historical sensing data to the vehicle-mounted edge calculation module 140; the vehicle-mounted edge calculation module 140 obtains a pre-judged driving route and a pre-judged vehicle speed of the vehicle at a single intersection according to the obtained real-time perception data of the vehicle, the historical perception data of the vehicle and the real-time perception data of the signal lamp, and sends the pre-judged driving route and the pre-judged vehicle speed to the vehicle-mounted wireless communication module 130; the vehicle-mounted wireless communication module 130 sends the real-time sensing data of the vehicle, the pre-judged driving route and the pre-judged vehicle speed of the vehicle at the single intersection to the road side unit module 200.
The signal lamp sensing control module 210 acquires real-time sensing data of a signal lamp and sends the real-time sensing data to the roadside storage module 220, the roadside wireless communication module 230 and the roadside edge calculation module 240; the roadside storage module 220 stores the real-time sensing data of the signal lamp according to the obtained real-time sensing data of the signal lamp, obtains historical sensing data of the signal lamp, and sends the historical sensing data to the roadside edge calculation module 240; the roadside edge calculation module 240 obtains a pre-judged traffic light control instruction of the signal light at the single intersection according to the obtained real-time perception data of the signal light, the historical perception data of the signal light and the pre-judged driving route and the pre-judged vehicle speed of the vehicle at the single intersection, and sends the pre-judged traffic light control instruction to the roadside wireless communication module 230; the roadside wireless communication module 230 sends the traffic light control command to the on-board unit module 100 according to the obtained real-time sensing data of the traffic light and the pre-judged traffic light control command of the traffic light at the single intersection.
Through the distributed single intersection control system, the vehicle-mounted edge calculation module 140 is directly integrated in the vehicle-mounted unit module 100, meanwhile, the roadside edge calculation module 240 is directly integrated in the roadside unit module 200, and the edge calculation module is used as a separate server relative to the edge calculation module, so that the information communication connection limitation caused by communication bottleneck (bandwidth limitation and transmission delay) can be effectively reduced, the number of connection nodes can be reduced, and the edge calculation capacity can be improved; meanwhile, traffic light control instructions of the signal lights can be effectively pre-judged, a proper running route and running speed are provided for vehicles at the current cross single intersection, the passing efficiency of the current cross single intersection is improved, and the traffic flow speed is improved.
Referring to fig. 2, in the embodiment of the present invention, the vehicle sensing control module 110 includes a vehicle operation module 111, a vehicle positioning module 112, a vehicle environment module 113, and a vehicle video module 114, wherein the vehicle operation module 111, the vehicle positioning module 112, the vehicle environment module 113, and the vehicle video module 114 are respectively connected to the vehicle-mounted storage module 120, the vehicle-mounted wireless communication module 130, and the vehicle-mounted edge calculation module 140 in a communication manner.
Specifically, in the present embodiment, the vehicle operation module 111 acquires operation data of the vehicle, which includes a vehicle speed, a steering direction; the vehicle positioning module 112 obtains position data of the vehicle; the vehicle environment module 113 acquires road end environment relative distance data and road end environment relative speed data of the vehicle; the vehicle video module 114 acquires road-end environment video data of the vehicle; various data of the vehicle can be acquired in a maximum range and more accurately by the acquisition of the vehicle operation module 111, the vehicle positioning module 112, the vehicle environment module 113 and the vehicle video module 114, and meanwhile, the acquired vehicle data are sent to the vehicle-mounted storage module 120, the vehicle-mounted wireless communication module 130 and the vehicle-mounted edge calculation module 140, so that a basis is provided for acquiring a pre-determined driving route and a pre-determined vehicle speed of the vehicle at a single intersection.
Referring to fig. 3 and 4, in the embodiment of the present invention, the vehicle-mounted wireless communication module 130 includes a first vehicle-mounted communication V2X module 131 and a first 5G communication module 132, and the first vehicle-mounted communication V2X module 131 and the first 5G communication module 132 are respectively connected to the vehicle sensing control module 110 and the vehicle-mounted edge calculation module 140 in a communication manner; the roadside wireless communication module 230 comprises a second vehicle-mounted communication V2X module 231 and a second 5G communication module 232, wherein the second vehicle-mounted communication V2X module 231 and the second 5G communication module 232 are respectively in communication connection with the signal lamp sensing control module 210 and the roadside edge calculation module 240; the first vehicle communication V2X module 131 is communicatively connected with the second vehicle communication V2X module 231, and the first 5G communication module 132 is communicatively connected with the second 5G communication module 232.
Specifically, in the present embodiment, the Vehicle-mounted communication technology (V2X, Vehicle-to-event) includes V2I Vehicle-infrastructure communication, V2V Vehicle-to-Vehicle communication, V2P human-to-Vehicle communication, V2D Vehicle-to-equipment communication and V2G Vehicle-to-grid communication, and two major communication standards exist in the field of V2X, namely, DSRC (Vehicle-mounted dedicated short range communication) and LTE-V (long term evolution technology-Vehicle communication); therefore, the vehicle-mounted wireless communication module 130 and the roadside wireless communication module 230 can perform communication transmission of information and data through DSRC, LTE-V or 5G.
Optionally, the vehicle-mounted edge calculation module 140 includes a vehicle-mounted model prediction controller in communication connection with the vehicle-mounted storage module 120, the vehicle sensing control module 110, and the vehicle-mounted wireless communication module 130; the roadside edge calculation module 240 includes a roadside model prediction controller communicatively connected to the roadside storage module 220, the signal lamp sensing control module 210 and the roadside wireless communication module 230.
The method is characterized in that a vehicle-mounted Model prediction controller is used as a core component of a vehicle-mounted storage module, a roadside Model prediction controller is used as a core component of a roadside edge calculation module, Model Predictive Control (MPC) is a method for realizing and repeating optimal Control in a rolling time domain scheme, and is closed-loop Control integrating real-time feedback, and the MPC controller can calculate data according to acquired vehicle sensing data, signal lamp sensing data and the like so as to pre-judge a driving route, a driving speed and a traffic light Control instruction.
The embodiment of the invention also provides a distributed multi-intersection control system, which comprises the distributed single-intersection control system, wherein a plurality of distributed single-intersection control systems are in communication connection with each other; through the communication connection between every two distributed single intersection control systems, the MPC controller can carry out iterative computation for multiple times according to the vehicle sensing data, the signal lamp sensing data, the single intersection pre-judged driving route and driving speed and the single intersection traffic light control instruction obtained through exchange, and further obtain the multi-intersection vehicle driving route and driving speed and the multi-intersection traffic light control instruction.
Referring to fig. 5, an embodiment of the present invention further provides a distributed single intersection control method, which is applied to the distributed single intersection control system, and includes the following steps:
s100, controlling the vehicle-mounted unit module to acquire a pre-judged driving route and a pre-judged vehicle speed of a vehicle at a single intersection and sending the pre-judged driving route and the pre-judged vehicle speed to the road side unit module;
and S200, the control road side unit module acquires a pre-judging traffic light control instruction of a signal light at the single intersection according to the obtained pre-judging running route and the pre-judging vehicle speed of the vehicle at the single intersection, and sends the pre-judging traffic light control instruction to the vehicle-mounted unit module.
By the distributed single intersection control method, traffic light control instructions of the signal lights can be effectively pre-judged, a proper running route and running speed are provided for vehicles at the current cross single intersection, the passing efficiency of the current cross single intersection is improved, and the traffic flow speed is increased.
Optionally, the step of "S100, controlling the on-board unit module to obtain a pre-determined driving route and a pre-determined vehicle speed of the vehicle at the single intersection, and sending the pre-determined driving route and the pre-determined vehicle speed to the road side unit module" includes the following steps:
s110, controlling a vehicle sensing control module to acquire real-time sensing data of a vehicle and sending the real-time sensing data to a vehicle-mounted storage module, a vehicle-mounted wireless communication module and a vehicle-mounted edge calculation module; the control street lamp sensing control module acquires real-time sensing data of a signal lamp and sends the real-time sensing data to the roadside wireless communication module;
s120, controlling a vehicle-mounted storage module to store the real-time perception data of the vehicle according to the obtained real-time perception data of the vehicle, obtaining historical perception data of the vehicle, and sending the historical perception data to a vehicle-mounted edge calculation module;
s130, controlling a vehicle-mounted edge calculation module to acquire a pre-judged driving route and a pre-judged vehicle speed of the vehicle at a single intersection according to the acquired real-time perception data of the vehicle, the acquired historical perception data of the vehicle and the acquired real-time perception data of the signal lamp, and sending the pre-judged driving route and the pre-judged vehicle speed to a vehicle-mounted wireless communication module;
and S140, controlling the vehicle-mounted wireless communication module to send the real-time sensing data of the vehicle, the pre-judged running route and the pre-judged vehicle speed of the vehicle at the single intersection to the road side unit module.
Specifically, in this embodiment, the pre-determined driving route and the pre-determined vehicle speed of the vehicle at the single intersection can be pre-determined through the interactive communication among the vehicle sensing control module, the vehicle-mounted storage module, the vehicle-mounted wireless communication module and the vehicle-mounted edge calculation module, so that the communication efficiency at the intersection can be improved, and the vehicle can reasonably pass through the intersection.
Optionally, the step of "S110, controlling the vehicle sensing control module to acquire real-time sensing data of the vehicle" includes the following steps:
s111, controlling a vehicle operation module to acquire operation data of a vehicle, wherein the operation data comprises a vehicle speed and a steering direction;
s112, controlling a vehicle positioning module to acquire position data of the vehicle;
s113, controlling a vehicle environment module to acquire road end environment relative distance data and road end environment relative speed data of the vehicle;
and S114, controlling the vehicle video module to acquire the road end environment video data of the vehicle.
Specifically, in the embodiment, various data of the vehicle are acquired through the vehicle operation module, the vehicle positioning module, the vehicle environment module and the vehicle video module, the data of the vehicle can be acquired in the largest range and more accurately, and meanwhile, the acquired vehicle data are sent to the vehicle storage module, the vehicle-mounted wireless communication module and the vehicle-mounted edge calculation module, so that a basis is provided for acquiring a pre-judged driving route and a pre-judged vehicle speed of the vehicle at a single intersection.
Optionally, the step of "S200, controlling the roadside unit module to obtain a pre-determined traffic light control instruction of a signal light at a single intersection according to the obtained pre-determined driving route and the pre-determined vehicle speed of the vehicle at the single intersection, and sending the pre-determined traffic light control instruction to the vehicle-mounted unit module" includes the following steps:
s210, controlling a signal lamp sensing control module to acquire real-time sensing data of a signal lamp and sending the real-time sensing data to a roadside storage module, a roadside wireless communication module and a roadside edge calculation module;
s220, controlling the roadside storage module to store the real-time sensing data of the signal lamp according to the obtained real-time sensing data of the signal lamp, obtaining historical sensing data of the signal lamp, and sending the historical sensing data to the roadside edge calculation module;
s230, controlling the roadside edge calculation module to acquire a pre-judging traffic light control instruction of the signal light at the single intersection according to the acquired real-time sensing data of the signal light, the historical sensing data of the signal light and the pre-judging driving route and the pre-judging vehicle speed of the vehicle at the single intersection, and sending the pre-judging traffic light control instruction to the roadside wireless communication module;
and S240, the control roadside wireless communication module sends the acquired real-time sensing data of the signal lamp and the pre-judged traffic light control instruction of the signal lamp at the single intersection to the vehicle-mounted unit module.
Specifically, in this embodiment, by obtaining a traffic light control instruction of a single intersection, the light color of the signal lights at the intersection can be controlled, so that the passing efficiency at the current intersection is improved to the maximum, and the traffic speed is increased.
The embodiment of the invention also provides a computer readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the distributed single intersection control method is realized.
Based on the same inventive concept, the embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements all or part of the method steps of the above method.
The present invention can implement all or part of the processes of the above methods, and can also be implemented by using a computer program to instruct related hardware, where the computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave information, telecommunications information, and software distribution media, etc. It should be noted that the computer readable medium may include any suitable number of elements, which may be modified in accordance with the requirements of legislation and patent practice in a jurisdiction, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium may not include electrical carrier wave information and telecommunications information.
Based on the same inventive concept, an embodiment of the present application further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program running on the processor, and the processor executes the computer program to implement all or part of the method steps in the method.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the computer device and the various interfaces and lines connecting the various parts of the overall computer device.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the computer device by executing or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (e.g., a sound playing function, an image playing function, etc.); the storage data area may store data (e.g., audio data, video data, etc.) created according to the use of the cellular phone. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, server, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), servers and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A distributed single-intersection control system, comprising:
the vehicle-mounted unit module comprises a vehicle sensing control module, a vehicle-mounted storage module and a vehicle-mounted wireless communication module which are in communication connection with the vehicle sensing control module, and a vehicle-mounted edge calculation module which is in communication connection with the vehicle sensing control module, the vehicle-mounted storage module and the vehicle-mounted wireless communication module; and the number of the first and second groups,
the road side unit module comprises a signal lamp sensing control module, a road side storage module and a road side wireless communication module which are in communication connection with the signal lamp sensing control module, and a road side edge calculation module which is in communication connection with the signal lamp sensing control module, the road side storage module and the road side wireless communication module;
the vehicle-mounted wireless communication module is in communication connection with the roadside wireless communication module;
the vehicle sensing control module is used for acquiring real-time sensing data of a vehicle and sending the real-time sensing data to the vehicle-mounted storage module, the vehicle-mounted wireless communication module and the vehicle-mounted edge calculation module;
the signal lamp sensing control module is used for acquiring real-time sensing data of signal lamps and sending the real-time sensing data to the roadside storage module, the roadside wireless communication module and the roadside edge calculation module;
the vehicle-mounted storage module is used for storing the real-time perception data of the vehicle according to the obtained real-time perception data of the vehicle, obtaining historical perception data of the vehicle and sending the historical perception data to the vehicle-mounted edge calculation module;
the vehicle-mounted edge calculation module is used for acquiring a pre-judged driving route and a pre-judged vehicle speed of the vehicle at a single intersection according to the acquired real-time perception data of the vehicle, the historical perception data of the vehicle and the real-time perception data of the signal lamp, and sending the pre-judged driving route and the pre-judged vehicle speed to the vehicle-mounted wireless communication module;
the vehicle-mounted wireless communication module is used for sending the real-time sensing data of the vehicle, the pre-judged driving route and the pre-judged vehicle speed of the vehicle at the single intersection to the road side unit module.
2. The distributed single-intersection control system of claim 1, wherein the vehicle sensing control module comprises a vehicle operation module, a vehicle positioning module, a vehicle environment module and a vehicle video module, and the vehicle operation module, the vehicle positioning module, the vehicle environment module and the vehicle video module are all in communication connection with the vehicle-mounted storage module, the vehicle-mounted wireless communication module and the vehicle-mounted edge computing module, respectively.
3. The distributed single-intersection control system of claim 1, wherein the onboard wireless communication modules comprise a first onboard communication V2X module and a first 5G communication module, each of the first onboard communication V2X module and the first 5G communication module being communicatively connected to the vehicle sensing control module, the onboard edge computing module, respectively;
the roadside wireless communication module comprises a second vehicle-mounted communication V2X module and a second 5G communication module, and the second vehicle-mounted communication V2X module and the second 5G communication module are respectively in communication connection with the signal lamp sensing control module and the roadside edge calculation module;
the first vehicle-mounted communication V2X module is in communication connection with the second vehicle-mounted communication V2X module, and the first 5G communication module is in communication connection with the second 5G communication module.
4. The distributed single-intersection control system of claim 1, wherein the vehicle-mounted edge computing module comprises a vehicle-mounted model predictive controller in communicative connection with the vehicle-mounted storage module, the vehicle sensing control module, and the vehicle-mounted wireless communication module;
the roadside edge calculation module comprises a roadside model prediction controller which is in communication connection with the roadside storage module, the signal lamp sensing control module and the roadside wireless communication module.
5. A distributed multi-intersection control system, comprising a plurality of distributed single-intersection control systems according to any one of claims 1 to 4, wherein the plurality of distributed single-intersection control systems are in communication connection with each other.
6. A distributed single intersection control method applied to the distributed single intersection control system according to any one of claims 1 to 4, comprising the steps of:
the method comprises the steps that a vehicle-mounted unit control module obtains a pre-judged driving route and a pre-judged vehicle speed of a vehicle at a single intersection and sends the pre-judged driving route and the pre-judged vehicle speed to a road side unit module;
and the control road side unit module acquires a pre-judging traffic light control instruction of a signal light at the single intersection according to the obtained pre-judging running route and the pre-judging speed of the vehicle at the single intersection, and sends the pre-judging traffic light control instruction to the vehicle-mounted unit module.
7. The distributed single intersection control method according to claim 6, wherein the step of controlling the vehicle-mounted unit module to acquire the predicted driving route and the predicted vehicle speed of the vehicle at the single intersection and send the predicted driving route and the predicted vehicle speed to the road side unit module comprises the following steps:
the control vehicle sensing control module acquires real-time sensing data of a vehicle and sends the real-time sensing data to the vehicle-mounted storage module, the vehicle-mounted wireless communication module and the vehicle-mounted edge calculation module; the control street lamp sensing control module acquires real-time sensing data of a signal lamp and sends the real-time sensing data to the roadside wireless communication module;
controlling a vehicle-mounted storage module to store the real-time perception data of the vehicle according to the obtained real-time perception data of the vehicle, obtaining historical perception data of the vehicle, and sending the historical perception data to a vehicle-mounted edge calculation module;
controlling a vehicle-mounted edge calculation module to acquire a pre-judged driving route and a pre-judged vehicle speed of a vehicle at a single intersection according to the acquired real-time perception data of the vehicle, the historical perception data of the vehicle and the real-time perception data of the signal lamp, and sending the pre-judged driving route and the pre-judged vehicle speed to a vehicle-mounted wireless communication module;
and controlling the vehicle-mounted wireless communication module to send the real-time sensing data of the vehicle, the pre-judged driving route and the pre-judged vehicle speed of the vehicle at the single intersection to the road side unit module.
8. The distributed single intersection control method as claimed in claim 7, wherein the step of controlling the vehicle sensing control module to acquire real-time sensing data of the vehicle comprises the steps of:
controlling a vehicle operation module to acquire operation data of a vehicle, wherein the operation data comprises vehicle speed and steering;
controlling a vehicle positioning module to acquire position data of a vehicle;
controlling a vehicle environment module to acquire road end environment relative distance data and road end environment relative speed data of a vehicle;
and controlling a vehicle video module to acquire road end environment video data of the vehicle.
9. The distributed single intersection control method according to claim 7, wherein the step of controlling the roadside unit module to obtain the pre-judged traffic light control instruction of the signal light at the single intersection according to the obtained pre-judged driving route and the pre-judged vehicle speed of the vehicle at the single intersection and send the pre-judged traffic light control instruction to the vehicle-mounted unit module comprises the following steps:
the method comprises the steps that a signal lamp sensing control module is controlled to acquire real-time sensing data of a signal lamp and send the real-time sensing data to a roadside storage module, a roadside wireless communication module and a roadside edge calculation module;
the control roadside storage module stores the real-time sensing data of the signal lamp according to the obtained real-time sensing data of the signal lamp, obtains historical sensing data of the signal lamp and sends the historical sensing data to the roadside edge calculation module;
the control roadside edge calculation module acquires a pre-judging traffic light control instruction of the signal light at the single intersection according to the acquired real-time sensing data of the signal light, the historical sensing data of the signal light and the pre-judging driving route and the pre-judging vehicle speed of the vehicle at the single intersection, and sends the pre-judging traffic light control instruction to the roadside wireless communication module;
and the control roadside wireless communication module sends the acquired real-time sensing data of the signal lamp and a pre-judged traffic light control instruction of the signal lamp at the single intersection to the vehicle-mounted unit module.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements a distributed single-intersection control method according to any one of claims 6 to 9.
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