CN113238496B - Parallel driving controller control system, method and medium of integrated on-board unit (OBU) - Google Patents
Parallel driving controller control system, method and medium of integrated on-board unit (OBU) Download PDFInfo
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Abstract
The invention discloses a parallel driving controller control system, a method and a medium of an integrated on-board unit (OBU), which relate to the technical field of automobiles, wherein the system comprises a vehicle-end sensing module, a road-end information acquisition module, a vehicle-end interaction processing module and a vehicle remote control module; the vehicle end sensing module is used for acquiring road end environment video information of the vehicle; the road end information acquisition module is used for acquiring road end information sent by the road end communication equipment and corresponding vehicle-mounted information sent by a vehicle-mounted unit of a corresponding vehicle; the vehicle-end interaction processing module comprises a display module and a remote control processing module which are in communication connection with the vehicle-end sensing module and the road-end information acquisition module; the vehicle remote control module comprises a light control module and an operation control module which are in communication connection with the remote control processing module; a parallel driving controller control system of an integrated vehicle-mounted unit OBU is adopted to replace a previous independent parallel driving control system and an OBU system, so that the purchasing cost of parts of the whole vehicle can be reduced, and the production and operation efficiency can be improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a parallel driving controller control system, a method and a medium of an integrated on-board unit (OBU).
Background
Parallel driving is a new generation of cloud networking automatic driving technology, information on a cloud, a road and a vehicle is seamlessly connected by fully utilizing digital and information resources, and an intelligent vehicle, a control platform and a driving simulator are connected in real time by utilizing newly developed international leading-edge key technologies such as parallel vision and perception, parallel learning, parallel planning, parallel control and the like, so that the autonomous driving behavior of the intelligent vehicle becomes measurable and controllable, the quick response of a vehicle system to the environment is improved, the cost of the whole system is reduced, and vehicle-road interaction, multi-vehicle cooperation, parallel control and safe driving are realized; the parallel driving controller is a vehicle-end device for realizing the parallel driving function. The on-board unit OBU is a Vehicle-end device that realizes a V2X (term of intelligent networking Vehicle, internet of vehicles, vehicle-road coordination, etc. in different contexts, it is an expression of a specific application of V2X) function.
In the unmanned vehicle developed and produced at present, a parallel driving controller and an on-board unit (OBU) are two independent devices at a vehicle end and are not combined and applied together, but some hardware components of functions of the parallel driving controller and the OBU have coincidence, so that the purchasing cost of parts of the whole vehicle is increased, and the resource waste of the two devices is caused.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provide a parallel driving controller control system, a method and a medium of an integrated on-board unit (OBU). The parallel driving controller control system of the integrated on-board unit (OBU) is adopted to replace a previous independent parallel driving control system and an OBU system, so that the purchase cost of parts of the whole vehicle can be reduced, and the production and operation efficiency can be improved.
In a first aspect, a parallel driving controller control system of an integrated On Board Unit (OBU) is provided, comprising: the system comprises a vehicle-end sensing module, a road-end information acquisition module, a vehicle-end interaction processing module and a vehicle remote control module; the vehicle-end sensing module is used for acquiring road-end environment video information of the vehicle; the road end information acquisition module is used for acquiring road end information sent by the road end communication equipment and corresponding vehicle-mounted information sent by a vehicle-mounted unit of a corresponding vehicle; the vehicle-end interaction processing module comprises a display module and a remote control processing module which are in communication connection with the vehicle-end sensing module and the road-end information acquisition module; the display module is used for displaying the acquired road end environment video information, the road end information and the corresponding vehicle-mounted information in real time at a cloud end, and the remote control processing module is used for sending remote control information according to the acquired road end environment video information, the road end information and the corresponding vehicle-mounted information; vehicle remote control module include with remote control processing module communication connection's light control module and operation control module, light control module is used for acquireing remote control information carries out light control with carrying out the vehicle, operation control module is used for acquireing remote control information is with carrying out operation control to the vehicle.
In some embodiments, the vehicle-end sensing module includes a plurality of surround-view cameras, a plurality of forward-view cameras, a plurality of in-vehicle cameras, and a plurality of blind-zone cameras, and the plurality of surround-view cameras, the plurality of forward-view cameras, the plurality of in-vehicle cameras, and the plurality of blind-zone cameras respectively send the acquired road-end environment video information to the display module and the remote control processing module through a serializer and format coding processing according to an RTP video transmission standard.
In some embodiments, the remote control processing module comprises a 4G/5G module in communication connection with the vehicle-end sensing module and a C-V2X module in communication connection with the road-end information acquisition module; the 4G/5G module is used for being in communication connection with a 4G/5G base station and used for sending the remote control information to the vehicle remote control module through a 4G/5G antenna and the 4G/5G base station according to the obtained road end environment video information; the C-V2X module is used for being in communication connection with a 4G/5G base station, a corresponding vehicle-mounted unit C-V2X module of a corresponding vehicle and a road-side communication device respectively, and is used for sending the remote control information to the vehicle remote control module through a C-V2X antenna, the 4G/5G base station, the corresponding vehicle-mounted unit C-V2X module of the corresponding vehicle and the road-side communication device according to the obtained road-side information and the corresponding vehicle-mounted information.
In some embodiments, the light control module includes a dipped headlight control module, a high beam control module, a stop light control module and a contour light control module, which are respectively in communication connection with the remote control processing module.
In some embodiments, the operation control module comprises a forward control module, a backward control module, an acceleration control module, a deceleration control module, a steering control module and a braking control module which are respectively in communication connection with the remote control processing module.
In some embodiments, the parallel driving controller control system of the integrated on-board unit OBU further comprises a positioning module, and the positioning module is configured to acquire position information of a vehicle through a positioning antenna, and send the acquired position information to the remote control processing module through the positioning antenna.
In some embodiments, the parallel driving controller control system of the integrated on-board unit OBU further comprises a power module for communication connection with a vehicle battery, and the power module is in communication connection with the vehicle-side sensing module, the vehicle-side interaction processing module and the vehicle remote control module, respectively.
In a second aspect, a parallel driving controller control method of an integrated on-board unit OBU is provided, which is applied to the parallel driving controller control system of the integrated on-board unit OBU, and includes the following steps:
the vehicle-end sensing module is used for acquiring road-end environment video information of a vehicle;
the road end information acquisition module is used for receiving information sent by the road end communication equipment, information sent by other vehicle end OBUs and information sent by the Internet;
the interaction processing module comprises a display module and a remote control processing module which are in communication connection with the vehicle-end sensing module and the road-end information acquisition module; the display module is used for displaying the acquired road end environment video information in real time at the cloud end, and the remote control processing module is used for sending remote control information according to the acquired road end environment video information;
vehicle remote control module, include with remote control processing module communication connection's light control module and operation control module, light control module is used for acquireing remote control information is in order to carry out light control to the vehicle, operation control module is used for acquireing remote control information is in order to carry out operation control to the vehicle.
According to the first aspect, in a first possible implementation manner of the first aspect, before the step of obtaining video information of a road-end environment of a vehicle by the vehicle-end sensing module, the method includes the following steps:
and the vehicle starting information control module acquires key switch information and sends the key switch information to the vehicle sensing module.
In a third aspect, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, realizes the parallel steering controller control method of an integrated on-board unit, OBU, as described above.
Compared with the prior art, the invention has the following advantages: the method comprises the steps that firstly, a vehicle-end sensing module is used for obtaining road-end environment video information of a vehicle, a road-end information obtaining module obtains road-end information sent by road-end communication equipment and corresponding vehicle-mounted information sent by a vehicle-mounted unit of a corresponding vehicle, then a vehicle-end interaction processing module is used for processing the obtained road-end environment video information, the road-end information and the corresponding vehicle-mounted information, specifically, a display module displays the obtained road-end environment video information, the road-end information and the corresponding vehicle-mounted information in real time at a cloud end, a remote control processing module sends remote control information according to the obtained road-end environment video information, the road-end information and the corresponding vehicle-mounted information, and the remote control processing module can carry out video coding, image splicing and format conversion processing on the obtained road-end environment video information; finally, the vehicle remote control module is used for controlling the operation of the vehicle according to the acquired remote control information; through combining the OBU with the parallel driving controller together, OBU and parallel driving controller system can all share including car end perception module, way end information acquisition module, mutual processing module of car end and vehicle remote control module, the inside spare part of above-mentioned module of sharing simultaneously, consequently adopt the parallel driving controller control system of an integrated OBU to replace solitary parallel driving control system and OBU system before, can reduce the purchase cost of whole car spare part, reduce the wasting of resources, improve production operating efficiency.
Drawings
FIG. 1 is a block diagram of a parallel steering controller control system of an integrated on-board unit OBU of the present invention;
FIG. 2 is a block diagram of a vehicle-end sensing module according to an embodiment of the present invention;
FIG. 3 is a block diagram of a vehicle-end interaction processing module according to an embodiment of the present invention;
FIG. 4 is a block diagram of the structure of a vehicle remote control module of the embodiment of the invention;
fig. 5 is a flow chart of a parallel driving controller control method of an integrated on-board unit according to the present invention.
Reference numerals:
100. a vehicle end sensing module; 110. a panoramic camera; 120. a forward-looking camera device; 130. an in-vehicle camera device; 140. a blind area camera device; 200. a vehicle-end interaction processing module; 210. a display module; 220. a remote control processing module; 221. 4G/5G module; 222. a C-V2X module; 300. a vehicle remote control module; 310. a light control module; 311. a dipped headlight control module; 312. a high beam control module; 313. a brake light control module; 314. a contour lamp control module; 320. operating the control module; 321. a forward control module; 322. a fallback control module; 323. an acceleration control module; 324. a deceleration control module; 325. a steering control module; 326. a brake control module; 400. a road end information acquisition module; 500. a power supply module; 600. and a positioning 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 parallel driving controller control system integrated with an on board unit OBU, including a vehicle-end sensing module 100, a road-end information obtaining module 400, a vehicle-end interaction processing module 200, and a vehicle remote control module 300; the vehicle-end sensing module 100 is used for acquiring road-end environment video information of a vehicle; the road-end information acquiring module 400 is configured to acquire road-end information sent by a road-end communication device and corresponding vehicle-mounted information sent by a vehicle-mounted unit of a corresponding vehicle; the vehicle-end interaction processing module 200 comprises a display module 210 and a remote control processing module 220 which are in communication connection with the vehicle-end sensing module 100 and the road-end information acquisition module 400; the display module 210 is configured to display the acquired road end environment video information, the road end information, and the corresponding vehicle-mounted information in real time at a cloud end, and the remote control processing module 220 is configured to send remote control information according to the acquired road end environment video information, the road end information, and the corresponding vehicle-mounted information; the vehicle remote control module 300 includes a light control module 310 and an operation control module 320 communicatively connected to the remote control processing module 220, the light control module 310 is configured to acquire the remote control information to perform light control on the vehicle, and the operation control module 320 is configured to acquire the remote control information to perform operation control on the vehicle.
Specifically, in this embodiment, the vehicle-side sensing module 100 is first used to obtain road-side environment video information of a vehicle, the road-side information obtaining module 400 is used to obtain road-side information sent by a road-side communication device and corresponding vehicle-mounted information sent by a vehicle-mounted unit of a corresponding vehicle, and then the vehicle-side interaction processing module 200 is used to process the obtained road-side environment video information, the road-side information and the corresponding vehicle-mounted information, specifically, the display module 210 displays the obtained road-side environment video information, the road-side information and the corresponding vehicle-mounted information at the cloud end in real time, the remote control processing module 220 sends remote control information according to the obtained road-side environment video information, the road-side information and the corresponding vehicle-mounted information, and the remote control processing module 220 can perform video coding, image splicing and format conversion processing on the obtained road-side environment video information; finally, the vehicle remote control module 300 controls the operation of the vehicle according to the acquired remote control information; through combining vehicle-mounted unit OBU and parallel driving controller together, vehicle-mounted unit OBU and parallel driving controller system can all share including car end perception module 100, way end information acquisition module 400, mutual processing module 200 of car end and vehicle remote control module 300, the inside spare part of above-mentioned module of sharing simultaneously, consequently adopt the parallel driving controller control system of an integrated vehicle-mounted unit OBU to replace solitary parallel driving control system and OBU system before, can reduce the purchase cost of whole car spare part, reduce the wasting of resources, improve production operating efficiency.
Referring to fig. 2, in the embodiment of the present invention, the vehicle-end sensing module 100 includes a plurality of looking-around cameras 110, a plurality of forward-looking cameras 120, a plurality of in-vehicle cameras 130, and a plurality of blind-zone cameras 140, and the plurality of looking-around cameras 110, the plurality of forward-looking cameras 120, the plurality of in-vehicle cameras 130, and the plurality of blind-zone cameras 140 respectively send the acquired road-end environment video information to the display module 210 and the remote control processing module 220 through a serializer, format coding processing, and according to an RTP video transmission standard.
Specifically, in this embodiment, by setting the plurality of looking-around cameras 110, the plurality of looking-ahead cameras 120, the plurality of in-vehicle cameras 130, and the plurality of blind area cameras 140, the road-side environment video acquisition of vehicles of different models and different vehicle speeds can be satisfied, the diversified requirements of the vehicles can be satisfied, and meanwhile, the acquired road-side environment video information can be sent to the display module 210 and the remote control processing module 220, and the display module 210 and the remote control processing module 220 perform subsequent operation processing on the acquired road-side environment video information. Meanwhile, video acquisition generally forms image data based on RGB pixels, and compression coding is performed according to the characteristics of video before video data transmission, and common standard coding formats include H264 and H265; RTP (Real-time Transport Protocol) is a Transport layer Protocol for multimedia data streams over the Internet.
Referring to fig. 3, the remote control processing module 220 includes a 4G/5G module 221 communicatively connected to the vehicle-end sensing module 100, and a C-V2X module 222 communicatively connected to the road-end information acquiring module 400; the 4G/5G module 221 is configured to be in communication connection with a 4G/5G base station, and is configured to send the remote control information to the vehicle remote control module 300 through a 4G/5G antenna and a 4G/5G base station according to the obtained video information of the road-end environment; the C-V2X module 222 is configured to be in communication connection with a 4G/5G base station, a C-V2X module of a corresponding vehicle-mounted unit of a corresponding vehicle, and a road-side communication device, respectively, and is configured to send the remote control information to the vehicle remote control module 300 through a C-V2X antenna, the 4G/5G base station, the C-V2X module of the corresponding vehicle-mounted unit of the corresponding vehicle, and the road-side communication device according to the obtained road-side information and the corresponding vehicle-mounted information.
Specifically, in this embodiment, C-V2X (Cellular Vehicle-to-event) is a new protocol that supports communication between networked vehicles and other "networked" road users and infrastructure. The 4G/5G module 221 is included in a single parallel driving controller system and the vehicle-mounted unit OBU, the C-V2X module 222 exists in the vehicle-mounted unit OBU system, the 4G/5G module 221 and the C-V2X module 222 are applied to the parallel driving controller control system of the integrated vehicle-mounted unit OBU, the 4G/5G module 221 sends the remote control information to the 4G/5G base station through the 4G/5G antenna according to the obtained road end environment video information, and the 4G/5G base station is used for sending the remote control information to the vehicle remote control module 300 through the 4G/5G antenna according to the obtained remote control information. Meanwhile, according to the obtained road end information and the corresponding vehicle-mounted information, the remote control information is sent to the vehicle remote control module 300 through a C-V2X antenna, a 4G/5G base station, a corresponding vehicle-mounted unit C-V2X module of a corresponding vehicle and road end communication equipment; the information interaction between the C-V2X module 222 and the 4G/5G base station is similar to the information interaction between the 4G/5G module 221 and the 4G/5G base station, the C-V2X module 222 performs information interaction with the corresponding on-board unit C-V2X module 222 and the road-side communication device of the corresponding vehicle, the road-side information and the corresponding on-board information obtained by the C-V2X antenna and the corresponding on-board unit C-V2X module 222 and the road-side communication device of the corresponding vehicle perform information interaction processing, at this time, remote control information is obtained, the remote control information is sent to the vehicle remote control module 300 by the C-V2X module 222, and the vehicle remote control module 300 performs further operations such as deceleration, braking, light processing, and the like.
Referring to fig. 4, the light control module 310 includes a dipped headlight control module 311, a high beam control module 312, a stop headlight control module 313 and an outline marker light control module 314, which are respectively connected to the remote control processing module 220 in a communication manner; through passing headlight control module 311, high beam control module 312, stop light control module 313 and clearance light control module 314, can be according to the acquisition remote control information carries out light control with passing headlight, high beam, stop light, clearance light etc. to the vehicle.
Optionally, the operation control module 320 includes a forward control module 321, a backward control module 322, an acceleration control module 323, a deceleration control module 324, a steering control module 325 and a braking control module 326, which are respectively in communication connection with the remote control processing module 220; through the forward control module 321, the backward control module 322, the acceleration control module 323, the deceleration control module 324, the steering control module 325 and the brake control module 326, the vehicle can be controlled to move forward, backward, accelerate, decelerate, steer, brake, etc. according to the acquired remote control information.
Optionally, in order to more accurately acquire road-end environment video information, road-end information, and corresponding vehicle-mounted information of the vehicle, so that the position information of the vehicle is more accurate, and meanwhile, the remote control processing module 220 can more accurately process and send the acquired information; integrated on-board unit OBU's parallel driver controller control system still includes orientation module 600, orientation module 600 is used for obtaining the positional information of vehicle through the location antenna to will obtain through the location antenna positional information send to remote control processing module 220.
Optionally, the parallel driving controller control system of the integrated on-board unit OBU further includes a power module 500 for communication connection with a vehicle battery, and the power module 500 is respectively in communication connection with the vehicle-end sensing module 100, the vehicle-end interaction processing module 200, and the vehicle remote control module 300. The electric energy of the storage battery acquired by the power module 500 can provide electric energy for the vehicle-end sensing module 100, the vehicle-end interaction processing module 200 and the vehicle remote control module 300 respectively, so as to keep the normal operation of the system.
The parallel driving controller control system of the integrated on-board unit OBU provided by the embodiment of the invention comprises a vehicle-end sensing module 100, a road-end information acquisition module 400, a vehicle-end interaction processing module 200 and a vehicle remote control module 300; the vehicle-end sensing module 100 is used for acquiring road-end environment video information of a vehicle; the vehicle-end interaction processing module 200 comprises a display module 210 and a remote control processing module 220 which are in communication connection with the vehicle-end sensing module 100, wherein the display module 210 is used for displaying the acquired road-end environment video information in real time at a cloud end, and the remote control processing module 220 is used for sending remote control information according to the acquired road-end environment video information; the vehicle remote control module 300 includes a light control module 310 and an operation control module 320 which are in communication connection with the remote control processing module 220, the light control module 310 is used for acquiring the remote control information to perform light control on the vehicle, and the operation control module 320 is used for acquiring the remote control information to perform operation control on the vehicle. The vehicle-end sensing module 100 comprises a plurality of around-looking camera devices 110, a plurality of front-looking camera devices 120, a plurality of in-vehicle camera devices 130 and a plurality of blind-zone camera devices 140, wherein the plurality of around-looking camera devices 110, the plurality of front-looking camera devices 120, the plurality of in-vehicle camera devices 130 and the plurality of blind-zone camera devices 140 respectively send the acquired road-end environment video information to the display module and the remote control processing module to the display module 210 and the remote control processing module 220 through a serializer and format coding processing according to an RTP video transmission standard; the remote control processing module 220 includes a 4G/5G module 221 communicatively connected to the vehicle-end sensing module 100, and a C-V2X module 222 communicatively connected to the road-end information acquiring module 400. The light control module 310 includes a dipped headlight control module 311, a high beam control module 312, a stop light control module 313 and an outline marker control module 314, which are respectively connected to the remote control processing module 220 in a communication manner. The operation control module 320 includes a forward control module 321, a reverse control module 322, an acceleration control module 323, a deceleration control module 324, a steering control module 325, and a braking control module 326, which are respectively communicatively connected to the remote control processing module 220. Meanwhile, the parallel driving controller control system of the integrated on-board unit further comprises a positioning module 600 and a power module 500 for communication connection with a vehicle storage battery. Through combining vehicle-mounted unit OBU and parallel driving controller together, vehicle-mounted unit OBU system and parallel driving controller system can all share vehicle end perception module, way end information acquisition module, vehicle end mutual processing module and vehicle remote control module, and the inside spare part of above-mentioned module of sharing simultaneously, consequently can reduce the purchase cost of whole car spare part, reduces the wasting of resources, improves production operating efficiency.
Referring to fig. 5, an embodiment of the present invention further provides a parallel driving controller control method of an integrated on-board unit OBU, which is applied to the parallel driving controller control system of the integrated on-board unit OBU, and includes the following steps:
s100, controlling a vehicle-end sensing module to acquire road-end environment video information of a vehicle;
s200, controlling a road end information acquisition module to acquire road end information sent by road end communication equipment and corresponding vehicle-mounted information sent by a vehicle-mounted unit of a corresponding vehicle;
s300, controlling a display module of a vehicle-end interaction processing module to display the acquired road-end environment video information, the road-end information and the corresponding vehicle-mounted information in real time at a cloud end, and controlling a remote control processing module of the vehicle-end interaction processing module to send remote control information according to the acquired road-end environment video information, the road-end information and the corresponding vehicle-mounted information;
s400, controlling a light control module of the vehicle remote control module to perform light control on the vehicle according to the acquired remote control information, and controlling an operation control module of the vehicle remote control module to perform operation control on the vehicle according to the acquired remote control information.
Specifically, in this embodiment, a vehicle-side sensing module is first used to acquire road-side environment video information of a vehicle, a road-side information acquisition module is used to acquire road-side information sent by a road-side communication device and corresponding vehicle-mounted information sent by a vehicle-mounted unit of a corresponding vehicle, and then a vehicle-side interaction processing module is used to process the acquired road-side environment video information, road-side information, and corresponding vehicle-mounted information, specifically, a display module displays the acquired road-side environment video information, road-side information, and corresponding vehicle-mounted information in real time at a cloud end, a remote control processing module sends remote control information according to the acquired road-side environment video information, road-side information, and corresponding vehicle-mounted information, and the remote control processing module can perform video coding, image splicing, and format conversion processing on the acquired road-side environment video information; finally, the vehicle remote control module is used for controlling the operation of the vehicle according to the acquired remote control information; through combining vehicle-mounted unit OBU and parallel driving controller together, vehicle-mounted unit OBU and parallel driving controller system all can share including car end perception module, way end information acquisition module, car end mutual processing module and vehicle remote control module, share the inside spare part of above-mentioned module simultaneously, consequently can reduce the purchase cost of whole car spare part, reduce the wasting of resources, improve production operating efficiency.
Optionally, before the step of obtaining the road-end environment video information of the vehicle by the vehicle-end sensing module, the method includes the following steps: and controlling a vehicle starting information module to acquire key switch information and sending the key switch information to a vehicle sensing module.
It should be noted that the embodiment of the parallel driving controller control method of the integrated on-board unit OBU corresponds to the embodiment of the parallel driving controller control system of the integrated on-board unit OBU one to one, and the functions of each module are described in detail in the corresponding method embodiments, and thus are not described in detail again.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the above-mentioned parallel driving controller control method for an integrated on-board unit OBU.
Based on the same inventive concept, 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, U.S. disk, removable hard disk, magnetic diskette, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave information, telecommunications information, software distribution medium, and the like. 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 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 and 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 (9)
1. A parallel driving controller control system of an integrated On Board Unit (OBU), comprising:
the vehicle-end sensing module is used for acquiring road-end environment video information of the vehicle;
the road end information acquisition module is used for acquiring road end information sent by the road end communication equipment and corresponding vehicle-mounted information sent by a vehicle-mounted unit of a corresponding vehicle;
the vehicle-end interaction processing module comprises a display module and a remote control processing module which are in communication connection with the vehicle-end sensing module and the road-end information acquisition module; the display module is used for displaying the acquired road end environment video information, the road end information and the corresponding vehicle-mounted information in real time at a cloud end, and the remote control processing module is used for sending remote control information according to the acquired road end environment video information, the road end information and the corresponding vehicle-mounted information;
the vehicle remote control module comprises a light control module and an operation control module which are in communication connection with the remote control processing module, the light control module is used for acquiring the remote control information to control the light of the vehicle, and the operation control module is used for acquiring the remote control information to control the operation of the vehicle;
the remote control processing module comprises a 4G/5G module in communication connection with the vehicle-end sensing module and a C-V2X module in communication connection with the road-end information acquisition module;
the 4G/5G module is used for being in communication connection with a 4G/5G base station and used for sending the remote control information to the vehicle remote control module through a 4G/5G antenna and the 4G/5G base station according to the obtained road end environment video information;
the C-V2X module is used for being in communication connection with a 4G/5G base station, a corresponding vehicle-mounted unit C-V2X module of a corresponding vehicle and a road-end communication device respectively, and is used for sending the remote control information to the vehicle remote control module through a C-V2X antenna, the 4G/5G base station, the corresponding vehicle-mounted unit C-V2X module of the corresponding vehicle and the road-end communication device according to the obtained road-end information and the corresponding vehicle-mounted information.
2. The OBU-integrated parallel driving controller control system according to claim 1, wherein the vehicle-side sensing module comprises a plurality of surround-view cameras, a plurality of forward-view cameras, a plurality of in-vehicle cameras and a plurality of blind-zone cameras, and the plurality of surround-view cameras, the plurality of forward-view cameras, the plurality of in-vehicle cameras and the plurality of blind-zone cameras respectively transmit the acquired roadside environment video information to the display module and the remote control processing module via a serializer, format coding processing and according to an RTP video transmission standard.
3. The OBU-integrated parallel driving controller control system according to claim 1, wherein the light control module comprises a dipped beam control module, a high beam control module, a brake light control module and a contour light control module, which are respectively communicatively connected to the remote control processing module.
4. The on-board unit (OBU) parallel steering controller control system of claim 1, wherein the operation control module comprises a forward control module, a backward control module, an acceleration control module, a deceleration control module, a steering control module and a braking control module, which are respectively in communication connection with the remote control processing module.
5. The parallel-steering controller control system of an integrated on-board unit (OBU) according to any one of claims 1 to 4, further comprising a positioning module for acquiring position information of a vehicle via a positioning antenna and transmitting the acquired position information to the remote control processing module via the positioning antenna.
6. The parallel steering controller control system of an integrated on-board unit (OBU) according to any one of claims 1 to 4, further comprising a power module for communication with a vehicle battery, the power module being in communication with the vehicle-end sensing module, the vehicle-end interaction processing module and the vehicle remote control module respectively.
7. A parallel driving controller control method of an integrated on-board unit (OBU) is applied to the parallel driving controller control system of the integrated on-board unit (OBU) as claimed in claim 6, and is characterized by comprising the following steps:
controlling a vehicle end sensing module to acquire road end environment video information of a vehicle;
the control road end information acquisition module acquires road end information sent by road end communication equipment and corresponding vehicle-mounted information sent by a vehicle-mounted unit of a corresponding vehicle;
controlling a display module of a vehicle-end interaction processing module to display the acquired road-end environment video information, the road-end information and the corresponding vehicle-mounted information in real time at a cloud end, and controlling a remote control processing module of the vehicle-end interaction processing module to send remote control information according to the acquired road-end environment video information, the road-end information and the corresponding vehicle-mounted information;
controlling a light control module of a vehicle remote control module to perform light control on the vehicle according to the acquired remote control information, and controlling an operation control module of the vehicle remote control module to perform operation control on the vehicle according to the acquired remote control information;
the remote control processing module comprises a 4G/5G module in communication connection with the vehicle-end sensing module and a C-V2X module in communication connection with the road-end information acquisition module;
the 4G/5G module is used for being in communication connection with a 4G/5G base station and used for sending the remote control information to the vehicle remote control module through a 4G/5G antenna and the 4G/5G base station according to the obtained road end environment video information;
the C-V2X module is used for being in communication connection with a 4G/5G base station, a corresponding vehicle-mounted unit C-V2X module of a corresponding vehicle and a road-end communication device respectively, and is used for sending the remote control information to the vehicle remote control module through a C-V2X antenna, the 4G/5G base station, the corresponding vehicle-mounted unit C-V2X module of the corresponding vehicle and the road-end communication device according to the obtained road-end information and the corresponding vehicle-mounted information.
8. The control method of the parallel driving controller of the integrated on-board unit (OBU) according to claim 7, wherein before the step of obtaining the video information of the road-end environment of the vehicle, the vehicle-end sensing module comprises the following steps:
and the vehicle starting information control module acquires key switch information and sends the key switch information to the vehicle sensing module.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a parallel driving controller control method of an integrated on-board unit, OBU, according to any of claims 7 to 8.
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