CN114845239A - Tunnel formation communication method and device and electronic equipment - Google Patents

Tunnel formation communication method and device and electronic equipment Download PDF

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Publication number
CN114845239A
CN114845239A CN202210467229.0A CN202210467229A CN114845239A CN 114845239 A CN114845239 A CN 114845239A CN 202210467229 A CN202210467229 A CN 202210467229A CN 114845239 A CN114845239 A CN 114845239A
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China
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formation
vehicle
communication
tunnel
information
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张广伟
伊桐
王里
孙雁宇
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Beijing Zhuxian Technology Co Ltd
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Beijing Zhuxian Technology Co Ltd
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Priority to CN202210467229.0A priority Critical patent/CN114845239A/en
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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
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
    • 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]
    • 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]
    • H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
    • 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]
    • H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • 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
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Traffic Control Systems (AREA)

Abstract

The embodiment of the application provides a communication method and device for tunnel formation and electronic equipment, wherein a tunnel is provided with a second communication unit which is communicated with a first communication unit of each vehicle in the formation, and the method is applied to the second communication unit and comprises the following steps: if the vehicles in the formation enter the tunnel, acquiring communication information of the vehicles which have entered the tunnel in the formation, wherein the communication information comprises vehicle identification, vehicle speed, inter-vehicle distance and position information; after the communication information of the vehicles following the tail of the formation in the formation is obtained, the communication information of the vehicles in the formation is sent to the first communication units of the vehicles in the formation according to a preset period, so that the vehicles in the formation travel cooperatively based on the communication information. The communication information of the vehicles in the synchronous formation of the second communication unit in the tunnel is utilized, the problem that effective communication cannot be carried out between the vehicles under the condition that the V2V signal is influenced is effectively solved, and safe and stable driving of the formation in the tunnel is guaranteed.

Description

Tunnel formation communication method and device and electronic equipment
Technical Field
The embodiment of the application relates to the technical field of automatic driving, in particular to a tunnel formation communication method and device and electronic equipment.
Background
With the development and application of automatic driving technology, the safety and stability of vehicle formation driving becomes a research focus of technicians, and how to maintain effective communication between vehicles in the formation becomes an important means for guaranteeing the safety and stability of vehicle formation in the driving process.
In the related technology, the formation driving function mainly uses Vehicle-to-Vehicle (V2V) communication from a Vehicle end to a Vehicle end, and in the formation driving process, formation commands are directly communicated and interacted with information through an On Board Unit (OBU) between vehicles, however, after the formation driving enters a tunnel, signal synchronization of V2V will be affected by a special traffic environment of the tunnel, so that effective transmission of V2V information cannot be performed, and finally safety and stability in the formation driving process in the tunnel are difficult to guarantee.
Disclosure of Invention
The embodiment of the application provides a tunnel formation communication method and device and electronic equipment, and solves the technical problems that V2V information between vehicles cannot be effectively transmitted under a tunnel environment, and formation driving safety and stability in a tunnel are difficult to guarantee.
In order to achieve the above object, the present application provides the following technical solutions:
according to a first aspect of embodiments of the present application, there is provided a tunnel formation communication method for setting a second communication unit that communicates with a first communication unit of each vehicle in a formation, the method being applied to the second communication unit, including:
if the vehicles in the formation enter the tunnel, acquiring communication information of the vehicles which have entered the tunnel in the formation, wherein the communication information comprises vehicle identification, vehicle speed, inter-vehicle distance and position information;
after the communication information of the vehicles following the tail of the formation in the formation is obtained, the communication information of the vehicles in the formation is sent to the first communication units of the vehicles in the formation according to a preset period, so that the vehicles in the formation travel cooperatively based on the communication information.
In the embodiment of the application, the method is adopted to utilize the second communication unit in the tunnel to synchronize the communication information of the formation vehicles, so that the problem that effective communication cannot be carried out between the vehicles under the condition that V2V signals in the tunnel are influenced is solved, and the safe and stable running of the formation vehicles in the tunnel is ensured
In one embodiment, the first communication unit is an on-board unit (OBU) and the second communication unit is a Road Side Unit (RSU).
In the embodiment of the application, the method can effectively improve the communication efficiency and has universal applicability.
In one embodiment, before sending the communication information of each vehicle in the formation to the first communication unit of each vehicle in the formation according to a preset cycle, the method further comprises:
and if the vehicles in the formation enter the communication coverage range of the second communication unit, establishing communication connection with the first communication unit.
In the embodiment of the application, the method can ensure that the vehicle enters the tunnel to acquire the communication information between the vehicles.
In one embodiment, before sending the communication information of each vehicle in the formation to the first communication unit of each vehicle in the formation according to a preset cycle, the method further comprises:
acquiring a V2V communication period of communication between the vehicles which are formed into a queue before entering the tunnel based on the first communication unit; and determining the preset period based on the V2V communication period.
In the embodiment of the application, the communication period before and after the formation of the vehicles enters the tunnel can be kept by adopting the method, and the stability of the formation of the vehicles in the driving process is improved.
In one embodiment, after obtaining the communication information of the vehicles entering the tunnel in the formation and before obtaining the communication information of the vehicles following the tail of the formation, the method further comprises the following steps:
and if the situation that the pilot vehicle drives out of the tunnel and the queue tail following vehicle does not enter the tunnel is monitored, acquiring communication information of the queue tail following vehicle, and sending the communication information of each vehicle in the formation to the queue tail following vehicle.
In the embodiment of the application, the method can solve the communication problem between the vehicle following at the tail of the formation and the driven-out pilot vehicle when the tunnel is too short or the formation is too long, so as to further ensure the stable driving of the formation in the tunnel.
In one embodiment, after acquiring the V2V information of the tail-following cars in the formation, the method further comprises:
and sending a prompt message about that a pilot vehicle drives out of the tunnel and a vehicle before the following vehicle drives into the tunnel to the following vehicle at the tail of the queue, wherein the prompt message is that the following vehicle at the tail of the queue runs cooperatively according to the communication information acquired from the second communication unit.
In the embodiment of the application, by adopting the method, when the tunnel is too short or the formation is too long, the formation cooperation of the tail of the formation and the vehicle according to the communication information acquired by the second communication unit can be further ensured.
In one embodiment, after sending the communication information of each vehicle in the formation to the first communication unit of each vehicle in the formation according to a preset cycle, the method further comprises:
acquiring traffic road condition information and speed limit information in front of a tunnel; and sending the traffic road condition information and the speed limit information to the pilot vehicle so that the pilot vehicle plans path information and/or vehicle control information after the tunnel based on the traffic road condition information and the speed limit information.
In the embodiment of the application, the method can improve the formation adjustment efficiency so that the formation can be quickly adapted to the front road section when leaving the tunnel, and the safety and stability of the formation when leaving the tunnel are further improved.
According to a second aspect of the embodiments of the present application, there is provided an intra-tunnel formation communication apparatus that sets a second communication unit that communicates with a first communication unit of each vehicle in formation, the apparatus being applied to the second communication unit, including:
the system comprises an acquisition module, a storage module and a display module, wherein the acquisition module is used for acquiring communication information of vehicles which enter a tunnel in a formation when the vehicles enter the tunnel in the formation, and the communication information comprises vehicle identification, vehicle speed, inter-vehicle distance and position information;
and the sending module is configured to send the communication information of each vehicle in the formation to the first communication unit of each vehicle in the formation according to a preset period after the communication information of the vehicles following the tail of the formation in the formation is obtained, so that each vehicle in the formation can cooperatively run based on the communication information.
In one embodiment, the tunnel formation communication device is configured to perform any one of the possible implementations of the first aspect described above.
According to a third aspect of the present application, there is provided an electronic device comprising: the tunnel formation communication method comprises a memory, a processor and a computer program, wherein the computer program is stored in the memory, and the processor runs the computer program to execute the tunnel formation communication method.
According to a fourth aspect of the present application, there is provided a computer-readable storage medium including a computer program for implementing the tunnel formation communication method.
According to a fifth aspect of embodiments of the present application, there is provided a computer program product comprising computer program code which, when run on a computer, causes the computer to perform the method of tunneling formation communication.
According to a sixth aspect of the embodiments of the present application, there is provided a chip, including a memory and a processor, where the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, and execute the tunneling queuing communication method.
Drawings
Fig. 1 is one of scene schematic diagrams of a tunnel formation communication method according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a tunnel formation communication method according to an embodiment of the present application;
fig. 3 is a second schematic view of a scenario of a tunnel formation communication method according to an embodiment of the present application
Fig. 4 is a schematic flowchart of another tunnel formation communication method according to an embodiment of the present application;
fig. 5 is a flowchart illustrating another tunnel formation communication method according to an embodiment of the present application;
fig. 6a is a schematic diagram illustrating information interaction between an RSU and an OBU in an embodiment of the present application;
fig. 6b is a second flowchart of another tunnel formation communication method according to the embodiment of the present application;
fig. 7 is a schematic structural diagram of an intra-tunnel formation communication device according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings. In the present embodiment, "at … …" and "after … …" may be at the instant of occurrence of a certain condition or may be within a certain period of time after occurrence of a certain condition, and the present embodiment is not particularly limited to this.
With the development and application of new technologies such as an automatic driving technology, an information communication technology, cloud computing and the like, automobiles are being changed from a mechanical product which is manually operated to an intelligent product which is controlled by an intelligent system. The automatic driving technology is applied to the automobile to effectively reduce the accident rate.
Wherein, the formation of multiple vehicles is a key direction. If realize formation in coordination and the stable driving between the completion car and the car, can effectively avoid the rear-end collision accident that the emergency brake of front truck caused, promote road safety by a wide margin, and the many cars formation autopilot can reduce the car distance of following between car and the car for the back car windage is littleer, can reduce the oil consumption cost of back car.
The method has the advantages that the formation cooperation and stable driving between vehicles are realized, the vehicle-vehicle communication plays a key role, however, after the formation driving enters the tunnel, the GPS (Global Positioning System) time service is easy to interfere, so that the V2V signal synchronization between the vehicles is influenced by the special traffic environment of the tunnel, the V2V information cannot be effectively transmitted, how to ensure that the V2V information can be timely and synchronously transmitted to each vehicle in the process of entering the tunnel, and the important factor for continuously ensuring the safe and stable driving state is achieved, in the related technology, the problem of V2X communication synchronization of the vehicles in the tunnel is solved by using an Ultra Wideband (UWB) wireless technology in the tunnel, however, the UWB technology is not generally applicable due to the defects of strong beam directivity, short communication distance and the like of the UWB technology.
In view of the above, the present application provides a tunnel formation communication method, in which a second communication unit capable of communicating with each vehicle in the formation is disposed in a tunnel, and during the traveling process when the formation enters the tunnel, the second communication unit is used to communicate with a first communication unit of the formation vehicle to obtain V2V information of each vehicle, and the information is synchronized with each vehicle, so as to replace the situation that each vehicle obtains information of other vehicles based on V2V communication in the tunnel, thereby avoiding the formation safety stability problem caused by the fact that effective communication cannot be performed between vehicles under the condition that V2V signals are affected.
The technical solution of the present application is explained in detail below. Embodiments of the present application may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 1 is a schematic view of a scenario provided in an embodiment of the present application, as shown in fig. 1, a tunnel includes a Road Side Unit (RSU), a running vehicle formation, and surrounding free vehicles. In this embodiment, the vehicle formation includes one pilot vehicle and a plurality of following vehicles that run following the pilot vehicle. Illustratively, all vehicles in the formation enter the tunnel, and the coverage area of the RSU is a tunnel area and a preset area in front of and behind the tunnel, for example, the preset area is 5km in front of and behind the tunnel.
The above briefly explains the scene schematic diagram of the present application, and the following takes the RSU applied in fig. 1 as an example to explain in detail the tunnel formation communication method provided in the embodiment of the present application.
Referring to fig. 2, fig. 2 is a flowchart illustrating a communication method for formation of a tunnel according to an embodiment of the present application, where the tunnel is provided with a second communication unit capable of communicating with a first communication unit of each vehicle in the formation, and the method is applied to the second communication unit, and the method includes step S201 and step S202.
In this embodiment, the first communication unit is an on-board communication unit (OBU), and the second communication unit is a Road Side Unit (RSU).
The OBU and the RSU may communicate with each other by, but not limited To, Dedicated Short Range Communication (DSRC) or Cellular Vehicle networking (C-V2X), wherein the OBU may be disposed on a Vehicle, and the RSU may be disposed on a roadside rack. In combination with practical applications or with the development of technology, the first communication unit and the second communication unit are not limited to the OBU and the RSU, but may be other communication devices capable of communicating in a tunnel.
Step S201, if the vehicles in the formation enter the tunnel, acquiring communication information of the vehicles which have entered the tunnel in the formation, wherein the formation comprises a pilot vehicle and a following vehicle which runs along with the pilot vehicle, and the communication information comprises vehicle identification, vehicle speed, inter-vehicle distance and position information.
In this embodiment, a vehicle in a formation enters a tunnel, that is, any vehicle in the formation enters the tunnel, once a first vehicle (a pilot vehicle) enters the tunnel, the RSU starts to acquire communication information that needs to be transmitted to a following vehicle, for example, V2V information, the pilot vehicle enters a signal coverage of the RSU before entering the tunnel, the RSU establishes a communication connection with an OBU of the pilot vehicle, and when the pilot vehicle enters the tunnel, the RSU acquires V2V information thereof based on communication with the OBU.
In some embodiments, in order to further ensure the driving stability of the vehicle formation in the tunnel scene, when the vehicle formation does not enter the tunnel yet but enters the communication coverage of the RSU, the V2V information of the vehicles is acquired, that is, each vehicle in the vehicle formation is within the communication coverage of the RSU, its OBU communicates with the RSU, synchronizes respective V2V information to the RSU, and the RSU synchronizes the vehicle formation after receiving the V2V information of each vehicle in the vehicle formation, so as to realize the coordination of the vehicle formation. Wherein for a vehicle that has not entered the tunnel but is within communication range of the RSU, communication based on V2V may continue with other vehicles that have not entered the tunnel.
It can be understood that the V2V information is information that under normal driving conditions (e.g., no tunnel entry), the vehicles in the formation need to synchronize with other vehicles in the formation to ensure formation coordination based on V2V, and in this embodiment, the V2V information includes vehicle identification, vehicle speed, inter-vehicle distance, and location information. In order to quickly identify each vehicle in the formation, each vehicle in the formation has a unique identification number (ID for short); the inter-vehicle distance is usually a constant distance set after formation and formation are finished, but the inter-vehicle distance is changed between vehicles when special road conditions are met along with the running of the formation, and the corresponding formation vehicles need to be synchronously adjusted in time; the position information is real-time position information, that is, the current position information of the vehicle is obtained continuously along with the running of the vehicle.
Of course, in some embodiments, other information, such as acceleration, steering angle, vehicle state, and the like, may be included in addition to the above information, and this is not particularly limited in this application.
Step S202, after the communication information of the vehicles following the tail of the formation in the formation is acquired, the communication information of the vehicles in the formation is sent to the first communication units of the vehicles in the formation according to a preset period, so that the vehicles in the formation travel cooperatively based on the V2V information.
In this embodiment, the RSU communicates with the OBUs of each vehicle respectively to obtain V2V information of each vehicle, and after obtaining V2V information of a queue trailing car, synchronizes the received V2V information of the vehicles in the queue to the first communication units of all the vehicles respectively according to a preset period, and each vehicle can adjust the driving state between the front and rear vehicles in real time according to the V2V information obtained by the RSU, for example, the stability of the inter-vehicle distance and the vehicle speed is ensured, and then the stable driving of the queue in the tunnel is maintained.
It should be noted that, in this embodiment, after the V2V information of the rear-end following vehicle in the formation is acquired, all the V2V information is synchronously transmitted, which takes into account that when some vehicles are in the tunnel and some vehicles are outside the tunnel, the vehicles in the tunnel and the vehicles outside the tunnel may be disconnected due to different working conditions inside and outside the tunnel, and in addition, each time the V2V information of one vehicle is received, more energy consumption is required for synchronization, in this embodiment, the V2V information is synchronized after the V2V information of the rear-end following vehicle in the formation is acquired, so that the above problem can be better solved.
Illustratively, after the formation vehicle enters the tunnel, the RSU first receives V2V information of the pilot vehicle, including vehicle identification, vehicle speed, inter-vehicle distance and position information of the pilot vehicle, and formation control commands such as cruise vehicle speed, inter-vehicle distance, real-time position, and each vehicle ID allocated to its following vehicle, and sequentially receives information such as vehicle identification, vehicle speed, inter-vehicle distance and position information of the following vehicle, and after receiving the ID and V2V information of the last vehicle, the RSU synchronously forwards the V2V information of the formation vehicle to each formation vehicle, so that the formation vehicle still synchronously receives the formation control commands and the V2V information of each vehicle in the tunnel.
It should be noted that, in the above example, the V2V information considers the formation control command of the pilot vehicle, and in other examples, the V2V information does not necessarily carry the formation control command of the pilot vehicle when synchronizing the V2V information, because the pilot vehicle has already sent the formation control command to each vehicle before entering the tunnel and the pilot vehicle does not need to adjust the formation control command in the tunnel road condition; in addition, the preset period can be adaptively set by a person skilled in the art in combination with practical applications, and in some examples, the preset period can also be determined according to the communication period of V2V when the formation is not entering into the tunnel.
In the embodiment, the communication mode of the formation in the tunnel is switched from V2V to an Infrastructure to Vehicle (I2V), that is, the communication between the RSU and the Vehicle in the tunnel solves the technical problem that the GPS time service in the tunnel is easily interfered to cause the failure of the V2V signal between the vehicles, which further causes the failure of the V2V information, and further achieves the purpose of continuing stable driving of the formation in the tunnel, and the communication between the RSU and the OBU is a wide communication mode adopted in the current driving process, so that the communication method for the tunnel formation provided by the embodiment has a generally applicable considerable prospect.
In one embodiment, the first communication unit and the second communication unit establish a communication connection in advance based on a communication coverage area of the second communication unit, so that the first communication unit realizes communication with the second communication unit within the communication coverage area of the second communication unit, wherein before sending the communication information of each vehicle in the formation to the first communication unit of each vehicle in the formation according to a preset cycle (step S202), the method further comprises the following steps:
and if the vehicles in the formation enter the communication coverage range of the second communication unit, establishing communication connection with the first communication unit.
In this embodiment, the first communication unit and the second communication unit establish communication connection, but realize communication between the two based on a specific trigger condition, where the specific trigger condition is that the vehicle enters the tunnel. In some embodiments, the first communication unit and the second communication unit establish a communication connection, i.e., begin communicating and obtain the V2V information for the vehicle.
In a more specific embodiment, a communication period (i.e., a preset period) for communication between the RSU and the vehicle OBUs in the formation plays an important role in keeping the formation stably running, and the present embodiment further includes the following steps before transmitting communication information of each vehicle in the formation to the first communication unit of each vehicle in the formation according to the preset period (step S202):
acquiring a V2V communication period of communication between the vehicles which are formed into a queue before entering the tunnel based on the first communication unit; and determining the preset period based on the V2V communication period.
Illustratively, during formation driving, a pilot vehicle sends a formation control command, when the formation vehicle does not enter a tunnel, the vehicles are communicated with each other by V2V, and the communication period is T (such as 100 ms); when the formation vehicle runs into the RSU communication coverage area in the tunnel, the formation vehicle establishes communication with the RSU, the communication period is determined according to the V2V communication period, for example, T (such as 100ms) is still kept, and under the condition that the working condition difference between the outside of the tunnel and the inside of the tunnel is large, the preset period can be adaptively adjusted according to the V2V period to ensure the stability of the formation.
Referring to fig. 3, fig. 3 is a second schematic view of a scenario provided by the embodiment of the present application, as shown in fig. 3, a lead car has already left a tunnel, but a formation tail following car a has not yet entered the tunnel. Considering that in this scenario, because the tunnel is too short or the formation is too long, the pilot vehicle has already exited the tunnel, but the behind-team follower a has not yet entered the tunnel, the behind-team follower a may receive formation command information of the pilot vehicle under such a condition (the V2V signal is not affected), because the pilot vehicle has exited the tunnel, the V2V information of the vehicle B in the tunnel may not be accurately acquired, the vehicle a may not recognize accurate state information of the vehicle B in receiving the formation command of the pilot vehicle, and there is also a possibility that effective V2V communication cannot be performed between the vehicle a and the vehicle B, in order to ensure stable travel of formation in the tunnel under such a condition, the embodiment of the present application provides another tunnel formation communication method.
After the above scenario is briefly introduced, another intra-tunnel communication method provided in the embodiment of the present application is described below with respect to the scenario illustrated in fig. 3.
Referring to fig. 4, fig. 4 is another tunnel formation communication method provided in this embodiment of the present application, in this embodiment, on the basis of the foregoing embodiment, by monitoring the tunnel entry and exit conditions of the pilot vehicle and the tail-of-line vehicle, and in this case, acquiring V2V information of the tail-of-line vehicle, and then synchronizing V2V information of the vehicle in the tunnel to the tail-of-line vehicle, so as to further ensure stable traveling of the formation in the tunnel, specifically, after acquiring communication information of the vehicle that has entered the tunnel in the formation (step S201), and before acquiring V2V information of the tail-of-line vehicle in the formation (step S202), further includes step S401.
Step S401, if it is monitored that the pilot vehicle runs out of the tunnel and the queue tail following vehicle does not enter the tunnel, acquiring communication information of the queue tail following vehicle, and sending the communication information of each vehicle in the formation to the queue tail following vehicle.
In this embodiment, when the formation runs through a short tunnel, the piloted vehicle runs out of the tunnel, but the tail portion of the formation does not enter the tunnel yet with the vehicle a, that is, the tail portion of the formation with the vehicle a can still receive the formation command information of the piloted vehicle. Under the working condition, considering that a formation vehicle B immediately in front of the A enters the tunnel, the pilot vehicle cannot accurately communicate with the B V2V, and the vehicle A cannot identify accurate state information of the vehicle B in the formation command of the pilot vehicle, so that the A does not process the V2V information of the pilot vehicle, and the V2V information of the RSU in the tunnel is taken as the standard.
In an example, the RSU continuously monitors whether the navigator vehicle is driving out of the tunnel, specifically, whether the navigator vehicle is driving out of the tunnel may be monitored according to the position information of the navigator vehicle and the exit position of the tunnel, and in other examples, whether the navigator vehicle is driving out of the tunnel may also be acquired based on the interaction between the RSU and the OBU of the navigator vehicle, so as to implement the monitoring of the navigator vehicle by the RSU. Correspondingly, the RSU simultaneously monitors whether the following vehicle of the queue tail runs out of the tunnel or not, wherein the monitoring mode of the RSU for the following vehicle of the queue tail is the same.
Further, in order to avoid that the behind-team follower a receives the V2V information sent by the lead vehicle and makes a decision based on the information, the present embodiment makes the behind-team follower communicate with the RSU according to the prompt message by sending the behind-team follower a prompt message that the lead vehicle has driven out of the tunnel and that the behind-team follower has driven into the tunnel. Specifically, after the communication information of the tail following vehicle in the formation is acquired (step S202), the method further includes the following steps:
and sending a prompt message about that a pilot vehicle drives out of the tunnel and a front vehicle of the follow-up vehicle drives into the tunnel to the follow-up vehicle at the tail of the queue, wherein the prompt message is used for prompting the follow-up vehicle at the tail of the queue to cooperatively drive according to the communication information acquired from the second communication unit.
It will be appreciated that in this embodiment the lead vehicle has exited the tunnel and the tail-of-line follower has not entered the tunnel, with the lead vehicle and the tail-of-line follower still within the communication coverage of the RSU.
In this embodiment, when the formation runs through the tunnel, vehicles that do not enter the tunnel may receive formation information of the lead car and the RSU at the same time, and since the RSU-synchronized V2V information includes accurate information of an immediately preceding car, the working condition is based on receiving the RSU information, and formation command information of the lead car is not processed. Compared with the embodiment, the stability and the safety of formation running can be effectively improved.
It should be noted that the RSU-synchronized V2V information includes information of the immediately preceding vehicle and the lead vehicle, and it is not necessary to process the V2V information of the lead vehicle in order to keep the communication modes consistent and improve the accuracy and safety. It will be appreciated that each follower needs to receive information from the lead vehicle.
In some application scenarios, there may be a case where a plurality of vehicles ahead have exited the tunnel and a behind-the-team following vehicle is still in the tunnel, or a plurality of vehicles behind-the-team are still in the tunnel, taking as an example that the vehicles exiting the tunnel are still in the communication range of the RSU, the vehicles exiting the tunnel can receive the GPS signal, that is, the vehicles exiting the tunnel can communicate based on V2V and can also use RSU communication, in order to improve stable driving between the vehicles exiting the tunnel and the vehicles in the tunnel, in this case, the RSU still obtains V2V information of the tunnel vehicles and the vehicles in the tunnel, and synchronizes all vehicles in the formation, and the formation of vehicles performs coordinated driving based on the V2V information obtained by the RSU.
Referring to fig. 5, fig. 5 is a schematic flow chart of another communication method for formation in a tunnel according to an embodiment of the present disclosure, in which, based on the above embodiment, the embodiment obtains traffic road condition information and speed limit information in front of the tunnel and synchronizes them to a formation navigator in time, so that the formation is adjusted according to the traffic road condition in front of the tunnel before the navigator leaves the tunnel, so that the formation can adapt to the road section in front quickly when leaving the tunnel, and the safety and stability of the formation when leaving the tunnel are further improved. Specifically, compared to the above embodiment, the present embodiment further includes step S501 and step S502 after sending the communication information of each vehicle in the formation to the first communication unit of each vehicle in the formation according to the preset cycle (step S202).
And S501, acquiring traffic road condition information and speed limit information in front of the tunnel.
The traffic road condition information may include information such as traffic congestion, whether a traffic accident occurs in the traffic ahead, and a specific situation of the traffic accident, and it can be understood that the traffic road condition information is in front of the tunnel, that is, a distance in front of the tunnel exit, for example, within 5km of the tunnel exit.
In an implementation manner, the RSU may communicate with the OBU of the free vehicle in front of the tunnel within its communication range to acquire traffic condition information and speed limit information in front of the tunnel.
And step S502, the traffic road condition information and the speed limit information are sent to the pilot vehicle, so that the pilot vehicle plans path information and/or vehicle control information after a tunnel based on the traffic road condition information and the speed limit information.
It should be noted that, before the pilot vehicle temporarily does not run out of the tunnel, the RSU sends the traffic road condition information and the speed limit information ahead to the pilot vehicle, so that the pilot vehicle plans the path information and/or the vehicle control information (corresponding to the formation control command above) in time, for easy understanding, as shown in fig. 6a and 6b, while the RSU forms the synchronous V2V information into the tunnel, the RSU synchronously sends the traffic road condition and the speed limit information ahead after running out of the tunnel to the pilot vehicle, and the pilot vehicle performs the path planning and the vehicle control decision according to the traffic jam condition and the speed limit information.
In fig. 6b, after receiving the traffic condition information and the speed limit information (i.e., the tunnel-out traffic condition in the figure) sent by the RSU, the pilot vehicle determines whether to replan the path or adjust the vehicle control information, such as the formation vehicle speed, the inter-vehicle distance, the acceleration, etc., according to the tunnel-out traffic condition, if it determines that the path needs to be replanned, the adjustment information is returned to the RSU, the RSU further synchronizes with each vehicle in the formation, after the whole formation exits the tunnel, the GPS signal returns to normal, the vehicles in the formation can continue to maintain V2V communication, the communication connection with the RSU is disconnected (even if the vehicles still exist within the signal coverage range of the RSU, the communication can still be disconnected), and the pilot vehicle drives based on the planned path and the vehicle control information, and the pilot vehicle makes a further decision according to the specific situation of the road ahead. Wherein, fig. 6b specifically includes the following steps:
a. the RSU in the tunnel respectively acquires V2V information of a pilot vehicle and a following vehicle of the formation, and it can be understood that the pilot vehicle and the following vehicle both enter the communication coverage range of the RSU;
b. the RSU synchronizes V2V information of each following vehicle, traffic road condition information and speed limit information in front of the tunnel and the like to the pilot vehicle; and the RSU can synchronously pilot the V2V information of the vehicle and other vehicles at the same time;
d. the pilot vehicle confirms whether to replan the path or adjust vehicle control information, such as formation vehicle speed, vehicle distance, acceleration and the like, according to the traffic condition (namely traffic road condition information and speed limit information) of the tunnel;
e. if the traffic condition is confirmed to be the right, re-planning the path and/or adjusting the vehicle control information according to the tunnel traffic condition, and sending the newly planned path information and the vehicle control information to the RSU;
f. the RSU synchronously forwards newly planned path information and vehicle control information of the piloting vehicle to other follower vehicles, and each follower vehicle runs according to the newly planned path information and the vehicle control information;
g. after the formation is driven out of the tunnel and the GPS returns to normal, the vehicles in the formation communicate based on V2V again.
Compared with the related technology, the formation in the tunnel of the embodiment acquires the traffic road condition information and the speed limit information in front of the tunnel by means of the expansion capability of the RSU of the tunnel, so that the method is helpful for a pilot vehicle to plan a path in advance and control the vehicle, can be quickly adapted to a front road section after the vehicle leaves the tunnel, and maintains the safe and stable running of the formation vehicles before and after the vehicle leaves the tunnel.
The embodiment of the present application also provides a formation communication device in a tunnel, the tunnel is provided with a second communication unit which communicates with the first communication unit of each vehicle in the formation, the device is applied to the second communication unit, as shown in fig. 7, the device comprises an obtaining module 71 and a sending module 72, wherein,
the acquiring module 71 is configured to acquire communication information of vehicles which have entered the tunnel in the formation when the vehicles enter the tunnel in the formation, wherein the communication information includes vehicle identification, vehicle speed, inter-vehicle distance and position information;
and the sending module 72 is configured to send the communication information of each vehicle in the formation to the first communication unit of each vehicle in the formation according to a preset period after the communication information of the trailing vehicle in the formation is acquired, so that each vehicle in the formation cooperatively runs based on the communication information.
In one embodiment, the first communication unit is an on-board unit (OBU) and the second communication unit is a Road Side Unit (RSU).
Compared with the related art, in the embodiment, the communication mode of the formation in the tunnel is switched from V2V to an Infrastructure to Vehicle (I2V), that is, the communication between the RSU and the Vehicle in the tunnel solves the technical problem that GPS time service in the tunnel is easily interfered to cause the failure of V2V signals between vehicles, and further the V2V information cannot be effectively transmitted, so that the purpose of the formation to continue to stably run in the tunnel is achieved, and the communication between the RSU and the OBU is a wide communication mode adopted in the current running process, so that the communication method for the tunnel formation provided by the embodiment has a generally applicable and considerable prospect.
In one embodiment, the apparatus further comprises:
and the communication establishing module is arranged to establish communication connection with the first communication unit when the vehicles enter the communication coverage range of the second communication unit in the formation.
In one embodiment, the obtaining module 71 is further configured to obtain a V2V communication period for the formation to communicate between vehicles before entering the tunnel based on the first communication unit;
the device further comprises: a period determination module configured to determine the preset period based on the V2V communication period.
In one embodiment, the obtaining module 71 is further configured to obtain communication information of a behind-team vehicle when it is detected that the pilot vehicle exits the tunnel and the behind-team vehicle does not enter the tunnel;
the sending module 72 is further configured to send the communication information of each vehicle in the formation to the trailing vehicle.
In one embodiment, the apparatus further comprises:
and the prompting module is set to send a prompting message about that a pilot vehicle exits the tunnel and a front vehicle of the follow-up vehicle enters the tunnel to the follow-up vehicle at the tail of the queue, and the prompting message is used for prompting the follow-up vehicle at the tail of the queue to cooperatively run according to the communication information acquired from the second communication unit.
In one embodiment, the acquiring module 71 is further configured to acquire traffic condition information and speed limit information in front of the tunnel; and the number of the first and second groups,
the sending module 72 is further configured to send the traffic road condition information and the speed limit information to the pilot vehicle, so that the pilot vehicle plans path information and/or vehicle control information after a tunnel is formed based on the traffic road condition information and the speed limit information.
It should be noted that the principle of each module in the in-tunnel formation communication device provided in this embodiment corresponds to the principle of each step in the method embodiment, and details of this embodiment are not described again.
Correspondingly, an embodiment of the present application further provides an electronic device, as shown in fig. 8, the electronic device includes: a memory 81, a processor 82 and a computer program, wherein the computer program is stored in the memory 81, and the processor 82 runs the computer program to execute the tunnel formation communication method.
Correspondingly, the embodiment of the present application also provides a computer-readable storage medium, where the storage medium includes a computer program, and the computer program is used to implement the tunnel formation communication method.
The embodiment of the present application correspondingly further provides a computer program product, which includes computer program code, when the computer program code runs on a computer, the computer is caused to execute the vehicle formation display method.
The chip comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor is used for calling and running the computer program from the memory and executing the vehicle formation display method.
In summary, the embodiments of the present application provide a tunnel formation communication method, device and electronic device, on one hand, by using a second communication unit in a tunnel to synchronize V2V information of formation vehicles, a problem that effective communication cannot be performed between vehicles under the condition that V2V signals are affected is avoided, and safe and stable driving of formation in the tunnel is ensured; on the other hand, in view of the fact that the communication between the RSU and the OBU is a wide communication mode adopted in the current driving process, the first communication unit is set as the OBU, and the second communication unit is set as the RSU, so that the intra-tunnel formation communication scheme provided by the embodiment has a generally applicable considerable prospect; on the other hand, by monitoring the tunnel access situations of the pilot vehicle and the queue tail follow-up vehicle, acquiring the V2V information of the queue tail follow-up vehicle under the situation, and then synchronizing the V2V information of the vehicles in the tunnel to the queue tail follow-up vehicle, the problem that the pilot vehicle is already driven out of the tunnel when the tunnel is too short or the formation is too long, and the V2V information of the vehicles in the tunnel cannot be accurately acquired can be solved, so that the stable running of the formation in the tunnel is further ensured; on the other hand, the formation adjustment is carried out on the pilot vehicles according to the traffic road condition in front of the tunnel before the pilot vehicles leave the tunnel by acquiring the traffic road condition information and the speed limit information in front of the tunnel and timely and synchronously sending the traffic road condition information and the speed limit information to the formation pilot vehicles, so that the formation is quickly adapted to the front road section when the formation exits the tunnel, and the safety and stability of the formation when the formation exits the tunnel are further improved.
It will be understood by those of ordinary skill in the art that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media).
The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer.
In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as is well known to those skilled in the art.
In the description of the embodiments of the present application, the terms "first," "second," "third," "fourth," and the like (if any) are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. A tunnel formation communication method, wherein the tunnel is provided with a second communication unit that communicates with a first communication unit of each vehicle in the formation, the method being applied to the second communication unit, comprising:
if the vehicles in the formation enter the tunnel, acquiring communication information of the vehicles which have entered the tunnel in the formation, wherein the communication information comprises vehicle identification, vehicle speed, inter-vehicle distance and position information;
after the communication information of the vehicles following the tail of the formation in the formation is obtained, the communication information of the vehicles in the formation is sent to the first communication units of the vehicles in the formation according to a preset period, so that the vehicles in the formation travel cooperatively based on the communication information.
2. The method of claim 1, wherein the first communication unit is an on-board unit (OBU) and the second communication unit is a Road Side Unit (RSU).
3. The method of claim 1 or 2, further comprising, prior to transmitting the communication information for each vehicle in the formation to the first communication unit of each vehicle in the formation at a preset period:
and if the vehicles in the formation enter the communication coverage range of the second communication unit, establishing communication connection with the first communication unit.
4. The method of claim 1, further comprising, prior to transmitting the communication information for each of the cars in the formation to the first communication unit of each of the cars in the formation at a preset period:
acquiring a V2V communication period of communication between the vehicles which are formed into a queue before entering the tunnel based on the first communication unit; and determining the preset period based on the V2V communication period.
5. The method of claim 1, after obtaining the communication information of the vehicles in the formation that have entered the tunnel and before obtaining the communication information of the vehicles in the formation that follow the tail of the formation, further comprising:
and if the situation that the pilot vehicle drives out of the tunnel and the queue tail following vehicle does not enter the tunnel is monitored, acquiring communication information of the queue tail following vehicle, and sending the communication information of each vehicle in the formation to the queue tail following vehicle.
6. The method of claim 5, wherein after obtaining the communication information of the tail-following vehicles in the formation, further comprising:
and sending a prompt message about that the piloted vehicle runs out of the tunnel and that a vehicle before the trail car runs into the tunnel to the trail car, wherein the prompt message is used for prompting the trail car to run cooperatively according to the communication information acquired from the second communication unit.
7. The method of claim 1, further comprising, after transmitting the communication information for each of the cars in the formation to the first communication unit of each of the cars in the formation at a preset period:
acquiring traffic road condition information and speed limit information in front of a tunnel; and sending the traffic road condition information and the speed limit information to the pilot vehicle so that the pilot vehicle plans path information and/or vehicle control information after the tunnel based on the traffic road condition information and the speed limit information.
8. A tunnel formation communication apparatus, wherein the tunnel is provided with a second communication unit that communicates with a first communication unit of each vehicle in a formation, the apparatus being applied to the second communication unit, comprising:
the system comprises an acquisition module, a storage module and a display module, wherein the acquisition module is used for acquiring communication information of vehicles which enter a tunnel in a formation if the vehicles enter the tunnel in the formation, and the communication information comprises vehicle identification, vehicle speed, inter-vehicle distance and position information;
and the sending module is configured to send the communication information of each vehicle in the formation to the first communication unit of each vehicle in the formation according to a preset period after the communication information of the trailing vehicle in the formation is obtained, so that each vehicle in the formation cooperatively runs based on the communication information.
9. An electronic device, comprising: memory, a processor and a computer program, the computer program being stored in the memory, the processor running the computer program to perform the method of tunneling queuing communication according to any of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the storage medium includes a computer program for implementing the tunnel formation communication method according to any one of claims 1 to 7.
CN202210467229.0A 2022-04-29 2022-04-29 Tunnel formation communication method and device and electronic equipment Pending CN114845239A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210467229.0A CN114845239A (en) 2022-04-29 2022-04-29 Tunnel formation communication method and device and electronic equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210467229.0A CN114845239A (en) 2022-04-29 2022-04-29 Tunnel formation communication method and device and electronic equipment

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