CN113949998A - Emergency information processing control method - Google Patents
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- CN113949998A CN113949998A CN202111014769.5A CN202111014769A CN113949998A CN 113949998 A CN113949998 A CN 113949998A CN 202111014769 A CN202111014769 A CN 202111014769A CN 113949998 A CN113949998 A CN 113949998A
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- H—ELECTRICITY
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- H04W4/02—Services making use of location information
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- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract
The invention provides an emergency information processing control method, which is used for a multi-user collaborative interactive navigation and emergency control system. According to the method, the autonomous communication function between the vehicles and the cloud information processing unit and between the vehicles is achieved by constructing the vehicle queue, a surrounding vehicle queue list is established and information sharing and integration are carried out, and the functions of sharing camera images and vehicle states, automatically distributing emergency information, looking up surrounding environment information of front vehicles and the like between anonymous vehicles running on the same road section are achieved. The method is applied to an emergency control system, can automatically transmit danger avoiding information and images around nearby vehicles, solves the user requirements of delayed danger avoiding of continuous collision in foggy days, traffic jam and unknown road conditions in the front, lack of emergency communication in emergency disasters, incapability of sharing pictures in communication interruption areas and the like, is used for finding blind area obstacles and navigation and emergency communication of the vehicles, provides front real-time video and image information for the users during serious traffic jam, and provides reference suggestions for the users.
Description
Technical Field
The invention belongs to the field of automobile navigation, automatic driving emergency risk avoidance and image interaction, and particularly relates to a multi-user collaborative interactive navigation and emergency control technology.
Background
In order to improve the safety of vehicle driving in automatic driving, it is necessary to perform queue management and brake control on vehicles and perform information sharing between vehicles.
The prior art has the following motorcade management, autopilot and unmanned aerial vehicle control related patent information disclosures: for example, CN202010234623.0 discloses a fleet intersection obstacle avoidance control method based on multi-level leader pigeon group theory, CN201810818222.2 discloses a mobile sharing-oriented intelligent internet traffic management system, CN201280069382.2 discloses a method and device for collective navigation, and others, some of them cannot be used for emergency traffic accident risk avoidance, do not have functions of image information sharing, and others lack information communication between vehicles, some are centralized decision making, and are not distributed control, the technologies cannot meet user requirements of delayed danger avoidance, traffic congestion, unknown road conditions in front, lack of emergency communication in sudden disasters, incapability of sharing pictures in communication interruption areas and the like in foggy days, and cannot effectively feed back to rear vehicles by identifying abnormal conditions of roads to remind the rear vehicles of finding obstacles or vehicles in blind areas, so that support is provided for danger avoidance and rescue information transmission in sudden traffic accidents.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an emergency information processing control method applied to a multi-user collaborative interactive navigation and emergency control system, which realizes the functions of sharing camera images and vehicle states, automatically distributing emergency information, looking up surrounding environment information of front vehicles and the like among anonymous vehicles running on the same road section by establishing a surrounding vehicle queue list and carrying out information sharing and integration, is used for a navigation system and an emergency communication system of vehicles for finding blind zone obstacles and vehicles, provides front real-time video and image information for users when the vehicles are seriously blocked and provides reference suggestions for the users.
The technical scheme of the invention is as follows:
an emergency information processing control method is used for a multi-user collaborative interactive navigation and emergency control system, the system comprises a vehicle queue establishing unit, a vehicle-end information processing unit and an information transmission unit, and the emergency information processing steps at a vehicle end are as follows:
(1) the method comprises the steps of connecting with a cloud server through a network to obtain a surrounding vehicle list;
(2) the vehicle queue management system is connected with other vehicles in a vehicle queue through a network, and synchronizes queue information of other vehicles in the queue, the vehicle and the cloud processing unit;
(3) acquiring surrounding environment information through an environment perception sensor, and confirming the running state of the vehicle;
(4) confirming whether the owner authorizes the third party to use the information, if so, entering the step (5), and if not, entering the step (8);
(5) anonymizing and processing vehicle information, video and audio information inside and outside the vehicle according to the authorized range and the law;
(6) judging whether peripheral queue vehicles exist or not, and judging whether a cloud information processing unit requests to acquire information such as images around the vehicles, if so, entering a step (7), and if not, entering a step (8);
(7) providing data through a network, and synchronizing the data through a cloud information processing unit;
(8) requesting information such as images, processed models, data, emergency and emergency instructions to be transmitted to surrounding vehicles;
(9) judging whether data feedback is obtained or not, if so, entering a step (10), and if not, entering a step (11);
(10) synthesizing and perspective road scene real-time videos of surrounding vehicles, and displaying the videos; wherein risk-free vehicles and shelters that do not require driver attention are displayed as semi-transparent outlines;
(11) judging whether conditions such as pedestrians, non-motor vehicles, obstacles, animals, road conditions and the like exist around; if yes, entering the step (12), otherwise, ending;
(12) highlighting the obstacle on the perspective road scene video;
(13) judging whether braking is needed according to the danger level and the distance, and if so, entering a step (14);
(14) lighting a brake lamp to carry out danger avoiding operation;
(15) judging whether the vehicle has collided, if so, entering the step (16), and if not, entering the step (18)
(16) Judging whether the collision video needs to be processed according to laws and regulations, if so, entering the step (17)
(17) Anonymizing, blurring and modeling to process data such as field video and images;
(18) sending warning information to rear queue vehicles and a cloud information processing unit, wherein the warning information comprises information such as positions, lanes and images, and the cloud information processing unit sends the warning information to certain terminals and vehicle-mounted terminals around the obstacle;
(19) judging whether the vehicles in the queue send alarm information, if so, entering a step (20), and if not, ending;
(20) and displaying the alarm information, executing the forced instruction and then ending.
Further, according to the emergency information processing control method provided by the invention, the vehicle queue establishing unit is configured at the vehicle end and used for receiving the position information periodically sent by the vehicle in real time and establishing a queue of other vehicles around each vehicle through the vehicle positioning information, the navigation plan and the short-distance V2X communication system.
Further, the vehicle-side information processing unit is configured on each vehicle, and adopts distributed processing, so that each vehicle establishes a current vehicle surrounding environment model according to environment information detected by an environment sensing sensor of the vehicle or information such as a vehicle surrounding environment model, data, an alarm, an emergency instruction and the like generated after processing according to images received by other vehicles and images transmitted by other vehicles, compares the current vehicle surrounding environment model with known data, performs positioning, navigation, prediction and decision making, transmits information required by other control units, and sends a control instruction.
Further, according to the emergency information processing control method provided by the invention, the vehicle-end information processing unit is also used for receiving and integrating information such as videos transmitted by surrounding vehicles in real time, establishing a 3D model around the vehicle, attaching real-time video images, and realizing a perspective navigation interface on a navigation map so as to see through the surrounding vehicles and find the states of the vehicles and obstacles in front, rear, left and right blind areas.
Further, according to the emergency information processing control method provided by the invention, the information transmission unit is used for carrying out low-delay communication between the vehicle and other surrounding vehicles through a private Bluetooth, WiFi or 5G data transmission protocol, transmitting information processed by the vehicle-side information processing unit, and carrying out information transmission between the vehicle and the cloud platform through the mobile internet; and carrying out information caching and transporting operation when the network is not connected, and carrying out information sharing operation when the network is normally connected.
Further, according to the emergency information processing control method provided by the invention, when a vehicle collides, the collided vehicle transmits information such as the collision time and the collision place to surrounding vehicles and/or a cloud server through the vehicle-side information transmission unit; when a vehicle breaks down, the fault vehicle transmits fault information such as a vehicle position, a driving path, a vehicle surrounding picture and the like to surrounding vehicles and/or a cloud server through a vehicle-end information transmission unit.
It can be seen from the above technical solutions that the present invention is an emergency information processing control method applied to a multi-user collaborative interactive navigation and emergency control system, and the design of the multi-user collaborative interactive navigation and emergency control system is mainly considered from the following aspects:
some vehicles on the road have an automatic driving function, and can sense the surrounding road environment, but the road condition information outside the sensing range or in the blind area blocked by the surrounding vehicles needs to be provided by other vehicles. And vehicles on the road without the automatic driving function can also obtain traffic road information uploaded by the automatic driving vehicles around through the cloud end to obtain prompts and driving suggestions under partial emergency situations.
The signal transmission between the automatic driving vehicle and the vehicle without the automatic driving function or the road user can transmit information by connecting the 4G and 5G with a cloud information processing unit or a navigation software server, and directly establishing point-to-point communication with surrounding vehicles through 5G, WiFi and Bluetooth.
The communication between the autonomous vehicles and the intelligent transportation infrastructure establishes network connection through V2X technology or a cloud information processing unit.
The application scenarios of the invention are as follows:
the vehicle that drives at a high speed probably receives the place ahead vehicle shelter can not discover some barriers, and when the place ahead vehicle was promptly avoided, the place behind vehicle reaction can lead to the accident in time, needs to share vehicle image vision between the vehicle, widens the place behind vehicle vision to avoid the accident to take place.
When the accident of the front vehicle cannot be identified and the accident of the front vehicle is broken down or the chain collision cannot be avoided in time in the foggy weather, the rear vehicle needs to be reminded of emergency braking in time so as to avoid the chain collision.
When traffic jam occurs on roads in the period of Wuyi, national day and spring festival, the rear vehicle is not clear of the reason of the traffic jam in the front, the passing time required for recovering the smoothness cannot be evaluated in time, the traffic jam is caused by missing the opportunity for adjusting the driving route, and the video or the image of the traffic jam in the front needs to be shared in time, so that the decision of a driver is supported.
When emergency such as acute diseases occur in a traffic jam area, a driver is not familiar with other drivers around, the information transmission speed is low, and the driver needs to ask for help from the vehicles with traffic jams around in time.
When dangerous chemical vehicles leak or burn due to a traffic accident and rear vehicles are not clear of the field condition, the escape opportunity is delayed, the images of the accident site in front need to be shared in time, and warning is provided for emergency avoidance of the rear vehicles.
When accidents such as vehicle rollover, anchoring and the like occur in an area without network signals, a vehicle rescue request cannot be sent, vehicles which may run cannot find accident vehicles and miss rescue opportunities, information such as vehicle tracks, states before the accident, recording of a period of time after the accident and conversation recording of a driver and a voice assistant need to be actively shared in time, the information is cached and transported to the area with the network by means of vehicles running around to be uploaded to a cloud rescue platform, and guidance is provided for timely rescue.
The invention has the following technical effects:
the invention is applied to a multi-user cooperative interactive navigation and emergency control system, and is matched with other functional units of the system, and a vehicle queue is constructed to realize the autonomous communication function between vehicles and a cloud information processing unit and between vehicles, and a surrounding vehicle queue list is established and information sharing and integration are carried out, so that the functions of sharing camera images and vehicle states, automatically distributing emergency information, looking up surrounding environment information of vehicles ahead and the like among anonymous vehicles running on the same road section are realized. The invention can be used for a navigation system and an emergency communication system for finding blind area obstacles and vehicles of vehicles, provides front real-time video and image information for users when the vehicles are in serious traffic jam, provides reference suggestions for the users, and improves the capability of surrounding vehicle drivers for finding safety risks and avoiding accidents.
Drawings
Fig. 1 is a schematic diagram of a hardware configuration of an emergency control system according to the present invention.
FIG. 2 is a schematic diagram of emergency hedge in the event of a collision;
in the figure, S101, S105, S107, S106, S108, S109 and S1010 are all one vehicle in the queue; s102 is the number of the vehicle, the number of other vehicles around the vehicle is given by the single vehicle, the sign related to the driving direction of the single vehicle is arranged on the number of other vehicles around the single vehicle, "+" represents the front in the same direction, and "-" represents the back in the same direction. S104 is a collision accident occurrence position.
Fig. 3 is a logic diagram of emergency information processing and transmission according to the present invention.
Fig. 4 is a logic block diagram of a cloud information processing unit of the emergency control system according to the present invention.
Fig. 5 is a logic block diagram of emergency communication of the emergency control system according to the present invention.
Detailed Description
The invention is further illustrated below with reference to the accompanying drawings:
the invention is used for a multi-user cooperative interactive navigation and emergency control system, an automatic driving automobile related to the system is provided with various environment sensing sensors, such as a laser radar, a millimeter wave radar, an ultrasonic radar, a camera and the like, and navigation equipment, signals of the sensors are transmitted to each controller through a CAN bus and a vehicle-mounted Ethernet bus, a driving domain controller fuses information provided by each sensor to make decisions, and the functions of steering, braking, power and the like of the automobile are controlled, so that the automatic driving of various scenes is realized.
Specifically, referring to fig. 1, hardware required for full-function operation of the multi-user collaborative interactive navigation and emergency control system includes at least one driving controller with redundant functions, at least two laser radars, six millimeter wave high-definition 4D image radars, four panoramic cameras, six panoramic cameras, a high-precision navigation controller, a near-to-middle-distance combined front-view camera, and a vehicle-mounted communication terminal. Partial functions of the system can transmit important information to surrounding vehicle-mounted terminals or mobile terminals using networking navigation programs through the cloud information processing unit, so that the capabilities of surrounding vehicle drivers of finding safety risks and avoiding accidents are improved.
In one specific embodiment, the multi-user collaborative interactive navigation and emergency control system comprises the following functional units:
and the vehicle queue establishing unit is used for receiving the position information periodically sent by the vehicles in real time and establishing a queue of other vehicles around for each vehicle through the vehicle positioning information, the navigation plan and the short-distance V2X communication system.
The vehicle queue establishing unit can independently operate at a vehicle end and a cloud end, and is synchronous with each other in real time, and the cloud end assists in maintenance. And at the vehicle end, processing the road field queue information in real time, inquiring the list when the cloud end is used for issuing early warning information, wherein part of cloud end information sources come from a cloud platform of a third party and can be used as vehicle end information supplement.
And the vehicle-end information processing unit is configured on each vehicle, adopts distributed processing, and is used for each vehicle to receive information such as models (data, alarms, emergency instructions and the like) generated after processing according to the information collected by the environment perception sensor of the vehicle or images transmitted by other vehicles.
The information transmission unit is used for carrying out low-delay communication between the vehicle and other vehicles around hundreds of meters through a private Bluetooth, WiFi or 5G data transmission protocol, transmitting the information processed by the vehicle-end information processing unit, and carrying out information transmission between the vehicle and the cloud platform through the mobile internet; and carrying out information caching and transporting operation when the network is not connected, and carrying out information sharing operation when the network is normally connected.
And the information caching and transporting unit is used for repeatedly transmitting information between the vehicle with the collision or the fault and the cloud server in an information caching and relay communication mode when the network around the vehicle with the collision or the fault is not connected.
The cloud information processing unit is configured in the cloud server, is used for receiving the vehicle information and processes the vehicle information, and comprises: when vehicle collision information is received, pushing an early warning instruction to an in-vehicle APP such as a rear vehicle navigation map; after vehicle fault information is received, audio and video around a fault vehicle or an accident vehicle are remotely checked through a network, driving parameters and paths before vehicle accidents are analyzed, a rescue scheme is determined, and current rescue progress, inquiry content, the rescue scheme and the like are pushed to nearby vehicles with networks.
For emergency hedge in the event of collision, referring to fig. 2, vehicles V0 in the fleet are numbered V0 in the vehicle queue; a surrounding vehicle, a vehicle number V + n, n =1, 2, 3 … …, ahead in the vehicle traveling direction; vehicle number V-n, n =1, 2, 3 … … behind the vehicle. When the vehicle itself collides, the information of the time, the place and the like of the collision is transmitted to surrounding vehicles through a network, so that the vehicle can perform the control of reminding, decelerating, braking, queuing, passing and the like.
Referring to fig. 3, when the emergency information processing is performed at the vehicle end, the method provided by the present invention is adopted, and the following steps are performed:
1. the method comprises the steps of connecting with a cloud server through a network to obtain a surrounding vehicle list;
2. the vehicle queue management system is connected with other vehicles in a vehicle queue through a network, and synchronizes queue information of other vehicles in the queue, the vehicle and the cloud processing unit;
3. acquiring surrounding environment information through an environment perception sensor, and confirming the running state of the vehicle;
4. confirming whether the owner authorizes the third party to use the information, if so, entering the step (5), and if not, entering the step (8);
5. anonymizing and processing vehicle information, video and audio information inside and outside the vehicle according to the authorized range and the law;
6. judging whether peripheral queue vehicles exist or not, and judging whether a cloud information processing unit requests to acquire information such as images around the vehicles, if so, entering a step (7), and if not, entering a step (8);
7. providing data through a network, and synchronizing the data through a cloud information processing unit;
8. requesting information such as images, processed models, data, emergency and emergency instructions to be transmitted to surrounding vehicles;
9. judging whether data feedback is obtained or not, if so, entering a step (10), and if not, entering a step (11);
10. synthesizing and perspective road scene real-time videos of surrounding vehicles, and displaying the videos; wherein risk-free vehicles and shelters that do not require driver attention are displayed as semi-transparent outlines;
11. judging whether conditions such as pedestrians, non-motor vehicles, obstacles, animals, road conditions and the like exist around; if yes, entering the step (12), otherwise, ending;
12. highlighting the obstacle on the perspective road scene video;
13. judging whether braking is needed according to the danger level and the distance, and if so, entering a step (14);
14. lighting a brake lamp to carry out danger avoiding operation such as forced braking deceleration, lane changing and the like;
15. judging whether the vehicle has collided, if so, entering the step (16), and if not, entering the step (18)
16. Judging whether the collision video needs to be processed according to laws and regulations, and if so, entering a step (17);
17. anonymizing, blurring and modeling to process data such as field video and images;
18. sending warning information to rear queue vehicles and a cloud information processing unit, wherein the warning information comprises information such as positions, lanes and images, and the cloud information processing unit sends the warning information to certain terminals and vehicle-mounted terminals around the obstacle;
19. judging whether the vehicles in the queue send alarm information, if so, entering a step (20), and if not, ending;
20. and displaying the alarm information, executing the forced instruction and then ending.
In a further embodiment, when the vehicle is in collision danger avoidance, the vehicles establish a vehicle queue based on the positioning information of the navigation system, when one vehicle is in collision, voice prompt information is immediately pushed to surrounding users through communication modes such as a server of a navigation map provider, 4G/5G, Bluetooth and WiFi, the vehicle behind the vehicle is prompted to brake immediately, and a brake lamp is quickly flickered to prompt the vehicle behind the vehicle.
In a further embodiment, during information caching transportation, the fault vehicle transmits current vehicle state and position information to vehicles passing by the periphery, the vehicles around transmit the received information to the vehicle running faster or the vehicle ahead because the vehicles do not have a network until the vehicle with the cached information runs to a position with the network, and the information is uploaded to the cloud server and submitted to the customer service staff. After receiving the fault information, the customer service staff can push information cache to nearby vehicles through a background according to the current rescue progress and inquiry content, search for the faulty vehicle when the fault vehicle reaches the position nearby the specified position, transmit the cache data to the faulty vehicle, inquire personnel in the vehicle through a voice system on the vehicle, try to transmit the answer to the customer service staff through the relay communication mode after obtaining the answer.
In a further embodiment, when a vehicle collides, the vehicle with the collision transmits information such as the time and the place of the collision to surrounding vehicles and a cloud information processing unit through a vehicle-mounted communication terminal, and the cloud information processing unit pushes an early warning instruction to an in-vehicle APP such as a navigation map of a rear vehicle; the early warning instruction comprises: for a short-distance vehicle, the vehicle is controlled to implement an instruction of forced deceleration or emergency braking so as to prompt a user and avoid secondary damage caused by continuous vehicle collision; and controlling an instruction of immediately lighting a brake lamp close to a vehicle behind the road, and guiding a user to decelerate and avoid the obstacle through images and sounds of a head-up display system or an instrument display screen.
In a further embodiment, when a traffic lane is narrowed due to the conditions of vehicle collision or temporary road closure construction and the like, if limited lane is allowed to pass under the road conditions, a rear vehicle is informed through a queue system not to overtake/change the lane on the road section, the lane with the accident is avoided, and the vehicle is sequentially queued according to the number of the lanes which can pass through the accident section in the driving process at a certain distance from the accident section to pass through the accident section at a constant speed, so that the passing efficiency is improved.
In a further embodiment, the system establishes a fast sharing network of the vehicle queue through bluetooth, WiFi, 5G or a mobile network based on a driving direction provided by RTK, GNSS positioning, an inertial navigation sensor and navigation software, wherein the network is formed by serially connecting bluetooth, WiFi, 5G or mobile terminal private networks of a plurality of users and distributing data through a cloud information processing unit, and can also distribute data through a third party cloud information processing unit such as WeChat and Gagde maps. The user can set up in on-vehicle amusement information terminal incall to turn on/off and share his tachograph, 360 panorama current image, millimeter wave radar, laser radar, when having the request all around through private wiFi, 5G agreement or high in the clouds information processing unit transmission data, updates a picture through the compression every second, and supports sharing between a plurality of wiFi or 5G terminals, supports no network area to collect buffering information distribution or relay and forward.
Referring to fig. 4, this embodiment shows the steps performed by the cloud information processing unit in the cloud server:
1. and synchronizing the vehicle, the cloud end, the positions of the surrounding vehicles and the queue information.
2. And (4) judging whether the vehicle has collided or not, if not, entering the step (9), and if so, entering the step (3).
3. And requesting to transmit images, processed and generated models, data and other information to the fault vehicle and other surrounding vehicles.
4. And (5) judging whether data feedback is obtained or not, if so, entering the step (5), and if not, entering the step (1).
5. And synthesizing the road scene real-time panoramic video and the model of the accident scene, displaying the video and the model on a display screen, and recording recent data and archiving the data.
6. And (4) judging whether the fault vehicle is a dangerous chemical vehicle, if so, entering the step (7), and if not, entering the step (9).
7. And informing surrounding vehicles in the vehicle queue to evacuate, and informing vehicles in the surrounding possibly affected distance to avoid danger in real time.
8. And sending the failure information of the dangerous chemical vehicle to a third-party navigation cloud information processing unit through WeChat, a Gaode map and the like.
9. And (4) judging whether the rescue control personnel request data such as site audio, if so, entering the step (10), and if not, entering the step (11).
10. And outputting data such as audio and driving records to rescuers.
11. And (4) judging whether the surrounding vehicles request the scene video of the accident vehicle, if so, entering the step (12), and if not, entering the step (15).
12. And judging whether the video needs to be processed according to laws and regulations, if so, entering a step (13), and if not, entering a step (14).
13. And anonymity, blurring and modeling process data such as live video and images.
14. And outputting the audio-video information to the vehicle requesting the image.
15. And (4) judging that a vehicle approaches behind the historical driving path of the fault vehicle, if so, entering a step (16), and if not, entering a step (17).
16. And evaluating the passable width, and prompting the vehicles behind the vehicle queue to avoid the lane where the fault vehicle is located.
17. And transmitting information such as the position and the lane of the fault vehicle to a third-party navigation cloud information processing unit.
18. And the third-party cloud information processing unit uniformly prompts all road users to queue in a passable lane and drive at a constant speed, so that the behaviors of reducing the overall passing efficiency, such as blocking, lane changing and the like in an accident road section are avoided.
Referring to fig. 5, this embodiment shows the steps of sending and receiving emergency information in an emergency communication manner at the vehicle end, the vehicle end information processing unit and the information caching transportation unit:
1. and acquiring surrounding environment information through an environment perception sensor, and confirming the running state of the vehicle.
2. And (5) judging whether the vehicle has collided, if so, entering the next step, and if not, entering the step (5).
3. And (4) judging whether network connection exists or not, if so, entering the next step, and if not, entering the step (7).
4. And sending a rescue request signal through an eCall or a mobile network, and then emptying the buffer.
5. And judging whether other vehicle rescue data are cached, if so, entering the next step, and if not, ending.
6. And (4) judging whether the cache data is in the set time (24 hours), if so, returning to the step (3), and if not, emptying the cache.
7. And (4) judging whether the user inputs a new message, if so, entering the next step, and if not, entering the step (9).
8. And updating the own vehicle user message.
9. And judging whether the peripheral vehicle queue can be accessed wirelessly, if so, entering the next step, and if not, entering the sleep mode.
10. And transmitting fault information such as the cache message of the user of the vehicle, the position, the driving path, the picture of the surrounding vehicle and the like to the cache of the surrounding vehicle.
11. And inquiring whether the surrounding vehicles have the message sent to the vehicle by the cloud, if so, entering the next step, and if not, entering the dormancy.
12. Request message transmission, play message to user, and then go to sleep.
13. After waiting for a while, step (3) is entered again.
As can be seen from the above embodiments, the system may implement some or all of the following functions:
vehicle queue: the vehicles regularly send the position information to the cloud server, the vehicles establish queues of other vehicles around for each vehicle through vehicle positioning information, navigation planning and a close-range V2X communication system, and then a propagation path is provided for sharing information.
Information transmission: the vehicle-mounted low-delay communication system has the advantages that private Bluetooth, WiFi and 5G data transmission protocols are used, low-delay communication between the vehicle and other vehicles around hundreds of meters is achieved, and the low-delay communication system is used for transmitting images, real-time videos, short videos and audios collected by a vehicle camera and information such as vehicle position, acceleration, speed, track, path planning, posture, size and braking distance; the information transmission between the vehicle and the cloud information processing unit is realized through the mobile internet.
Distributed processing: information collected by a camera, a millimeter wave radar and a laser radar of the vehicle or information such as a generated model, data, an alarm, an emergency instruction and the like is transmitted to a rear vehicle after images transmitted by other vehicles are processed, so that the operation resources of vehicle processing information in the whole system are saved.
Perspective and blind area obstacle finding: by integrating information such as videos transmitted by surrounding vehicles in real time, a 3D model around the vehicles is established, and real-time video images are attached, so that the function of seeing through surrounding vehicles to find the states of the vehicles and obstacles in all blind areas, namely front, rear, left and right blind areas can be realized, and traffic accidents caused by the blind areas in the visual field can be avoided. The whole vehicle can realize a perspective navigation friendly interface on a navigation map. When the emergency warning lamp is turned on by the front vehicle, the brake lamp is automatically turned on and flashes by the vehicle at a certain distance behind the front vehicle to remind the rear vehicle of paying attention to the road condition ahead, and if the front vehicle brakes and decelerates, the brake lamp of the rear vehicle flashes rapidly at a speed of 3-10 times per second to remind the rear vehicle to brake.
Avoiding chain collision: when the collision happens, the warning is sent to surrounding vehicles and the cloud information processing unit immediately, the cloud information processing unit sends out an early warning instruction for APP pushing in the vehicle such as a rear vehicle navigation map, the brake lamp is turned on immediately to guide the user to decelerate and avoid obstacles, and for close-distance vehicles, forced deceleration or emergency braking is implemented and the user is prompted, so that secondary damage caused by continuous collision is avoided.
Directly hitting a rescue site: the cloud rescue platform remotely checks the fault vehicle or the audio and video around the fault vehicle through a network after the accident occurs, analyzes the driving parameters and the path of the vehicle before the accident and determines a rescue scheme.
The passing efficiency is improved: in a passable accident vehicle road section, the cloud information processing unit and the vehicles evaluate the passable width according to the images and the radar, the passable lanes are automatically queued, and the vehicles are queued at a constant speed to run at a distance of 0.5 to a plurality of kilometers when entering the accident road section, so that the behaviors of reducing the overall passing efficiency, such as blocking, lane changing and the like in the accident road section are avoided. The empty lane that is taken by the trouble vehicle can avoid the secondary to hit the car injury, provides more possibilities for the rescue.
Remote vision: and in holidays and traveling peak periods, vehicle images and places around traffic accidents on a navigation route or a route predicted based on driving habits of the user are automatically pushed by the user, and a basis is provided for a vehicle driver to evaluate the passing time required for recovering the smoothness, so that the driver can decide whether to adjust the driving route.
Emergency treatment: in emergency situations such as acute diseases and the like in traffic jam areas, a driver can send out voice help-seeking information to vehicles in surrounding vehicle queues to explain the requirements of materials, personnel and equipment.
Emergency risk avoidance: the dangerous chemical substance vehicles detect leakage and combustion, or the surrounding vehicles intelligently recognize that the dangerous chemical substance vehicles leak or combust, the surrounding vehicles are immediately informed to evacuate, the vehicles in the surrounding possibly influenced distance are informed to avoid danger in real time, and vehicles which are close to a dangerous point and cannot drive for a period of time are recommended to abandon the vehicle for escape.
Emergency information transmission: when the vehicle collides or overturns and no network exists, the voice assistant actively inquires whether the driver starts the emergency rescue information transmission or not and wants to send out a distress signal. If the user agrees, collecting the information of the vehicle body code, the accident time, the running track before the vehicle accident, the vehicle position information, the recording of a period of time after the accident occurs, the conversation recording of the driver and a voice assistant and the like, packaging the data, using the vehicle body code and the date plus time as the event name, sending the data to the passing vehicle when the passing vehicle passes through the detected surrounding vehicle, uploading the information to a cloud server when the passing vehicle runs to a network coverage area, contacting rescue workers by the cloud server, packaging the recorded data of the problems of rescue arrangement, the injured state and the like needing to be known to the driver, sending the recorded data to the surrounding signal coverage area possibly running to other vehicles nearby the failed vehicle, transmitting the data to the failed vehicle when the other vehicles pass through, transmitting the answer of the driver to the signal coverage area by the voice assistant after the operation of asking and the like, and uploading the answer to the cloud end, thereby realizing the transmission of signals. The rescue information transmission function can also be implanted into public platforms such as a Goodpasture map and the like, and the vehicle queue supporting the protocol in the area without network coverage transmits rescue information to surrounding vehicles in a relay mode until the vehicles are connected to the cloud platform.
And (3) automatically triggering information sharing: when a traffic jam or an accident is detected or a user turns on the warning lamp, surrounding vehicles are automatically reminded of paying attention to emergencies such as safety, chemicals, traffic collision and the like, and corresponding pictures are added. Without human intervention! Quick and safe!
Information intercommunication: information between the mobile phone APP and the vehicle-mounted information terminal is communicated in real time through the WiFi, the 5G, the cloud information processing unit and the USB interface, vehicle-related information can be displayed on the mobile phone by means of the mobile phone navigation binding to a vehicle, the mobile phone navigation function is enhanced, and the function of displaying front videos and images on the mobile phone is achieved.
Authorization: the user is informed which functions need to use which information, the user determines which information can be viewed by other drivers, which information can be provided to other vehicles for safe driving, which information can be transmitted to the cloud information processing unit, and which information can be shared with the vehicles in the queue.
And (3) information security audit: the images are uploaded to the cloud information processing unit, are audited and processed and then are issued, and are audited by the local AI when no network exists, so that discomfort caused by the accident scene pictures is avoided. Pictures and videos which are processed and audited by the cloud information processing unit or the local AI can be freely shared.
Claims (6)
1. An emergency information processing control method is used for a multi-user collaborative interactive navigation and emergency control system, the system comprises a vehicle queue establishing unit, a vehicle-end information processing unit and an information transmission unit, and the emergency information processing method is characterized in that at a vehicle end, the emergency information processing steps are as follows:
(1) the method comprises the steps of connecting with a cloud server through a network to obtain a surrounding vehicle list;
(2) the vehicle queue management system is connected with other vehicles in a vehicle queue through a network, and synchronizes queue information of other vehicles in the queue, the vehicle and the cloud processing unit;
(3) acquiring surrounding environment information through an environment perception sensor, and confirming the running state of the vehicle;
(4) confirming whether the owner authorizes the third party to use the information, if so, entering the step (5), and if not, entering the step (8);
(5) anonymizing and processing vehicle information, video and audio information inside and outside the vehicle according to the authorized range and the law;
(6) judging whether peripheral queue vehicles exist or not, and judging whether a cloud information processing unit requests to acquire information such as images around the vehicles, if so, entering a step (7), and if not, entering a step (8);
(7) providing data through a network, and synchronizing the data through a cloud information processing unit;
(8) requesting information such as images, processed models, data, emergency and emergency instructions to be transmitted to surrounding vehicles;
(9) judging whether data feedback is obtained or not, if so, entering a step (10), and if not, entering a step (11);
(10) synthesizing and perspective road scene real-time videos of surrounding vehicles, and displaying the videos; wherein risk-free vehicles and shelters that do not require driver attention are displayed as semi-transparent outlines;
(11) judging whether conditions such as pedestrians, non-motor vehicles, obstacles, animals, road conditions and the like exist around; if yes, entering the step (12), otherwise, ending;
(12) highlighting the obstacle on the perspective road scene video;
(13) judging whether braking is needed according to the danger level and the distance, and if so, entering a step (14);
(14) lighting a brake lamp to carry out danger avoiding operation;
(15) judging whether the vehicle has collided, if so, entering the step (16), and if not, entering the step (18)
(16) Judging whether the collision video needs to be processed according to laws and regulations, if so, entering the step (17)
(17) Anonymizing, blurring and modeling to process data such as field video and images;
(18) sending warning information to rear queue vehicles and a cloud information processing unit, wherein the warning information comprises information such as positions, lanes and images, and the cloud information processing unit sends the warning information to certain terminals and vehicle-mounted terminals around the obstacle;
(19) judging whether the vehicles in the queue send alarm information, if so, entering a step (20), and if not, ending;
(20) and displaying the alarm information, executing the forced instruction and ending.
2. The emergency information processing and controlling method according to claim 1, wherein the vehicle queue establishing unit is configured at a vehicle end and configured to receive the position information periodically transmitted by the vehicle in real time and establish a queue of other vehicles around for each vehicle through vehicle positioning information, navigation planning and a short-distance V2X communication system.
3. The emergency information processing control method according to claim 1, wherein the vehicle-side information processing unit is configured on each vehicle, and distributed processing is adopted for each vehicle to establish a current vehicle surrounding environment model according to environment information detected by an environment sensing sensor of the vehicle or information such as an image received from other vehicles and a vehicle surrounding environment model, data, an alarm, an emergency instruction and the like generated after processing, compare the current vehicle surrounding environment model with known data, perform positioning, navigation, prediction and decision making, transmit information required by other control units, and send a control instruction.
4. The emergency information processing control method according to claim 1, wherein the vehicle-side information processing unit is further configured to receive and integrate information such as videos transmitted by surrounding vehicles in real time, establish a 3D model around the vehicle, attach real-time video images, and implement a perspective navigation interface on a navigation map to see through surrounding vehicles so as to find states of vehicles and obstacles in blind areas of front, rear, left, and right sides.
5. The emergency information processing control method according to claim 1, wherein the information transfer unit is configured to perform low-latency communication between the vehicle and other surrounding vehicles through a private bluetooth, WiFi, or 5G data transmission protocol, transmit information processed by the vehicle-side information processing unit, and perform information transfer between the vehicle and the cloud platform through a mobile internet; and carrying out information caching and transporting operation when the network is not connected, and carrying out information sharing operation when the network is normally connected.
6. The emergency information processing control method according to claim 1, wherein the information transmission unit transmits information about the time and place of the collision to surrounding vehicles and/or a cloud server through the vehicle-side information transmission unit when the vehicle collides; when a vehicle breaks down, the fault vehicle transmits fault information such as a vehicle position, a driving path, a vehicle surrounding picture and the like to surrounding vehicles and/or a cloud server through a vehicle-end information transmission unit.
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| CN113763737B (en) | 2023-09-22 |
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| CN113763737A (en) | 2021-12-07 |
| CN113763694A (en) | 2021-12-07 |
| CN113949998B (en) | 2023-04-14 |
| CN113763694B (en) | 2023-04-25 |
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