CN114987542A - Vehicle control method and device based on road side unit - Google Patents
Vehicle control method and device based on road side unit Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
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Abstract
The application relates to the technical field of automatic driving, in particular to a vehicle control method and device based on a road side unit. The method comprises the following steps: acquiring preset running route information of a current vehicle, wherein the preset running route information comprises a target road side unit sequence, and the target road side unit sequence is a sequence formed by road side unit information of road side units passing through the preset running route; acquiring current road side unit information of a current road side unit through which a current vehicle passes in a driving process of the current vehicle based on preset driving route information; detecting a driving track of the current vehicle based on the target road side unit sequence and the current road side unit information to obtain a driving track detection result; and controlling the current vehicle to run based on the running track detection result. The method and the device effectively judge the driving safety state, avoid false positioning interference caused by unstable positioning signals or attacked positioning signals, and improve the safety of automatic driving.
Description
Technical Field
The application relates to the technical field of automatic driving, in particular to a vehicle control method and device based on a road side unit.
Background
The global navigation satellite system represented by the GPS, the GLONASS, the Galileo and the Beidou can provide high-precision navigation positioning time service for global users, is widely applied in the fields of traffic, communication, electric power, finance and the like, and becomes one of the foundations of the modern information society.
However, due to the weak satellite navigation signal, the open signal structure, the time sensitivity of the system and other reasons, the system is very susceptible to various interference influences, so that the navigation equipment outputs wrong positioning results, and the control safety of the automatic driving vehicle is further influenced. For example, spoofing interference is one of the most common and threatening interferences, and by broadcasting false navigation signals, the navigation device can not only output wrong positioning results, but also output controlled positioning results according to the intention of an attacker, thereby seriously affecting the safety application of the navigation system. Therefore, it is desirable to provide a vehicle control scheme that prevents a vehicle from being disturbed during autonomous driving to improve safety of autonomous driving.
The invention content is as follows:
in view of the above problems in the prior art, the present application provides a method and an apparatus for controlling a vehicle based on a road side unit, so as to solve the technical problem in the prior art that the safety of automatic driving is low.
In one aspect, the present application provides a method for controlling a vehicle based on a road side unit, the method including:
acquiring preset driving route information of a current vehicle, wherein the preset driving route information comprises a target road side unit sequence, and the target road side unit sequence is a sequence formed by road side unit information of road side units passing through the preset driving route;
acquiring current road side unit information of a current road side unit through which the current vehicle passes in a running process of the current vehicle based on the preset running route information;
detecting a driving track of the current vehicle based on the target road side unit sequence and the current road side unit information to obtain a driving track detection result;
and controlling the current vehicle to run based on the running track detection result.
Further, before the controlling the current vehicle to run based on the travel track detection result, the method further includes:
in the running process of the current vehicle based on the preset running route information, obtaining the road side unit position information of the current road side unit where the current vehicle passes and the current position information of the current vehicle when the current vehicle passes through the current road side unit;
comparing the current position information with the position information of the road side unit to obtain a vehicle position comparison result;
the controlling the current vehicle operation based on the travel track detection result includes:
and controlling the current vehicle to operate based on the running track detection result and the current vehicle position comparison result.
Further, before the controlling the current vehicle operation based on the travel track detection result, the method further includes:
acquiring current position information of the current vehicle in a driving process of the current vehicle based on the preset driving route information;
determining reference roadside unit information of the current passing path of the current vehicle based on the current position information;
comparing the reference road side unit information with the current road side unit information to obtain a road side information comparison result;
the controlling the current vehicle operation based on the travel track detection result includes:
and controlling the current vehicle to run based on the running track detection result and the road side information comparison result.
Further, the detecting the driving track of the current vehicle based on the target rsu sequence and the current rsu information to obtain a driving track detection result includes:
matching the current RSU information with the target RSU sequence;
determining that the driving track detection result is track abnormity under the condition that the target road side unit sequence is not matched with the current road side unit information;
the controlling the current vehicle operation based on the travel track detection result includes:
updating the preset driving route information under the condition that the driving track detection result is track abnormity;
controlling the current vehicle to travel based on the updated travel route information.
Further, the method further comprises: and generating a position spoofing attack warning under the condition that the current vehicle position comparison result is that the positions are inconsistent.
Further, the controlling the current vehicle operation based on the travel track detection result and the current vehicle position comparison result includes:
updating the preset driving route information under the condition that the current vehicle position comparison result is inconsistent and/or the driving track detection result is track abnormity;
controlling the current vehicle to travel based on the updated travel route information.
Further, the method further comprises: and generating a position spoofing attack warning when the roadside information comparison result shows that the roadside information is inconsistent.
Further, the controlling the current vehicle operation based on the travel track detection result and the roadside information comparison result includes:
updating the preset driving route information under the condition that the road side information comparison result is that the road side information is inconsistent and/or the driving track detection result is that the track is abnormal;
controlling the current vehicle to travel based on the updated travel route information.
Further, the method further comprises:
acquiring a driving road condition in the driving process of the vehicle based on the current vehicle preset driving route information;
updating the preset driving route information under the condition that the driving road condition meets a preset abnormal road condition;
and controlling the current vehicle to travel based on the updated travel route information.
The present application further provides a vehicle control device based on a roadside unit, the device includes:
a route acquisition module: the road side unit sequence is a sequence formed by road side unit information of road side units passing through the preset driving route;
a road side unit information acquisition module: the road side unit information acquisition unit is used for acquiring the current road side unit information of the current road side unit where the current vehicle passes in the running process of the current vehicle based on the preset running route information;
a driving track detection result module: the road side unit sequence acquisition unit is used for acquiring the current road side unit sequence and the current road side unit information;
an operation module: for controlling the current vehicle operation based on the travel track detection result.
In another aspect, the present application provides an electronic device, which includes a processor and a memory, where at least one instruction and at least one program are stored in the memory, and the at least one instruction and the at least one program are loaded by the processor and executed to implement the rsu-based vehicle control method according to any one of the above aspects.
In another aspect, the present application provides a computer storage medium having at least one instruction and at least one program stored therein, the at least one instruction and the at least one program being loaded and executed by a processor to implement the rsu-based vehicle control method as described in any one of the above.
In another aspect, the present application provides a vehicle-mounted terminal, where at least one instruction and at least one program are stored in the vehicle-mounted terminal, and the at least one instruction and the at least one program are loaded and executed by a processor to implement the method for controlling a vehicle based on a roadside unit as described in any one of the above.
The vehicle control method, device, equipment, vehicle-mounted terminal and storage medium based on the road side unit have the following technical effects:
the method comprises the steps of obtaining preset running route information of a current vehicle, wherein the preset running route information comprises a target road side unit sequence, and obtaining current road side unit information of a current road side unit through which the vehicle passes in the running process of the current vehicle based on the preset running route information; detecting a driving track of the current vehicle based on the target road side unit sequence and the current road side unit information to obtain a driving track detection result; and controlling the vehicle to run based on the running track detection result. The method and the device for detecting the road side unit information acquire the current road side unit information in real time during driving, acquire the target road side unit sequence in the preset driving route information, can detect the driving track based on the current road side unit information and the road test unit information in the target road side unit sequence, further judge the driving safety state, avoid the false positioning interference caused by unstable positioning signals or attacked positioning signals, and improve the safety of automatic driving.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions and advantages of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic flow chart diagram of a road side unit-based vehicle control method provided by an embodiment of the application;
FIG. 2 is a schematic diagram of an autonomous driving system of a vehicle according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart of another road side unit-based vehicle control method provided in the embodiment of the present application;
FIG. 4 is a schematic flow chart of another road side unit-based vehicle control method provided in the embodiments of the present application;
FIG. 5 is a schematic flow chart of another road side unit-based vehicle control method provided in the embodiments of the present application;
FIG. 6 is a schematic flow chart of another road side unit-based vehicle control method provided in the embodiments of the present application;
FIG. 7 is a block diagram schematically illustrating a structure of a roadside unit-based vehicle control 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 embodiment of the application discloses a vehicle control method and device based on a road side unit, which can judge the driving safety state, improve the safety of automatic driving and prevent a vehicle from being subjected to deceptive attack in the automatic driving process.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making creative efforts shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be implemented 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 server 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.
Referring to fig. 1, fig. 1 is a schematic flowchart of a method for controlling a vehicle based on a road side unit according to an embodiment of the present disclosure, where the method includes the steps of the method according to the embodiment or the flowchart, but may include more or less steps based on conventional or non-creative labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. When implemented in an actual apparatus, system, or device product, the methods of the embodiments or figures can be performed sequentially or in parallel (e.g., in the context of parallel processors or multi-threaded processing). Specifically, as shown in fig. 1, the method may include:
s101: the method comprises the steps of obtaining preset driving route information of a current vehicle, wherein the preset driving route information comprises a target road side unit sequence, and the target road side unit sequence is a sequence formed by road side unit information of road side units passing through a preset driving route.
Specifically, the preset driving route information may be provided by the automatic driving operation platform, the preset driving route information may be obtained by analyzing a track packet of a sub-road section or an entire driving road section, and the preset driving route information may further include a target travel route of a preset automatic driving current vehicle. Specifically, the automatic driving unit of the current vehicle sends a driving route request including a target starting point and a target destination to the automatic driving operation platform, receives a target track packet fed back by the automatic driving operation platform, and obtains information such as a target road side unit sequence after analysis. For example, referring to fig. 2, after parsing the trajectory packet received by the autopilot unit, the obtained target rsu sequence is 101/102.
S102: and in the running process of the current vehicle based on the preset running route information, the road side acquires the current road side unit information of the current road side unit through which the current vehicle passes.
Specifically, in the running process of the current vehicle, the automatic driving unit performs information interaction with each road side unit on the way, and correspondingly, the current road side unit information is obtained by performing information interaction between the current vehicle and the road side unit on the current way. Specifically, the current rsu information may include an rsu identifier, such as a unique number or a unique identification ID of the rsu.
S103: and detecting the running track of the current vehicle based on the target road side unit sequence and the current road side unit information to obtain a running track detection result. It should be noted that the travel track detection refers to travel track detection in which the current vehicle travels based on the preset travel route information.
S104: and controlling the current vehicle to run based on the running track detection result.
Specifically, the current road side unit information is obtained in real time during driving, the target road side unit sequence in the preset driving route information is obtained, driving track detection can be carried out based on the current road side unit information and the road test unit information in the target road side unit sequence, the driving safety state is further judged, false positioning interference caused by unstable positioning signals or attacked positioning signals is avoided, and the safety of automatic driving is improved.
In some embodiments, step S103 comprises:
s201: and matching the current RSU information with the target RSU sequence.
S202: and under the condition that the target road side unit sequence is not matched with the current road side unit information, determining that the driving track detection result is track abnormity.
In some embodiments, each piece of road side unit information in the target road side unit sequence is matched with the current road side unit information, and when the matching results are all inconsistent, the driving track detection result is determined to be track abnormity.
In other embodiments, current road side unit information and historical road side unit information of the road side units passing by are sequenced based on time sequence, a passing road side unit sequence is generated, and the passing road side unit sequence is compared with the target road side unit sequence; and if the sequences are matched, determining that the current road side unit information is matched with the target road side unit sequences, the track is normal, otherwise, determining that the track is abnormal. The time sequence refers to the time sequence of the road side unit of the current vehicle passing through, and the sequence matching refers to the consistency of the road side unit sequence passing through and the corresponding sequence segment in the target road side unit sequence.
It should be noted that, in some embodiments, if a current vehicle receives current rsu information sent by multiple rsus within an information receiving range, if a road condition scene of the multiple rsus is set through an intersection or the like, the received multiple current rsu information is respectively matched with a target rsu sequence, and if any one of the multiple current rsu information is matched with the target rsu sequence, it is determined that a track is normal; or determining the current road side unit information matched with the target road side unit as the target road side unit information, and generating a road side unit sequence based on the target road side unit information and the historical road side unit information so as to perform sequence matching. And if the information of the plurality of current road side units is not matched with the target road side unit sequence, determining that the track is abnormal.
In some embodiments, the preset driving route information further includes interfered rsu information, where the interfered rsu information is rsu information of rsus of other roads connected to the preset driving route. Accordingly, S201 may be set as: matching the current road side unit information with a target road side unit sequence and interference road side unit information respectively; s202 may be set as: and if the information of the plurality of current road side units is not matched with the information of the target road side unit sequence and the information of the interference road side unit, determining that the running track detection result is track abnormity.
Specifically, if any one of the plurality of pieces of current road side unit information does not exist in the target road side unit sequence and the interference road side unit information, determining that the track is abnormal.
Based on some or all of the foregoing embodiments, in some embodiments, step S104 includes:
s301: and updating the preset driving route information under the condition that the driving track detection result is track abnormity.
It should be noted that, when the driving track detection result is that the track is abnormal, the current vehicle may be subjected to spoofing attack, and then departs from the preset driving route, and needs to stop, wait and re-plan the driving route information, so as to update the preset driving route information, and make the current vehicle away from the attack area of signal spoofing and interference.
S302: and controlling the current vehicle to travel based on the updated travel route information.
S303: and controlling the current vehicle to continue running based on the original preset running route information under the condition that the running track detection result is that the track is normal.
According to the method and the device, the route is re-planned through the updated running route information under the condition that the running track detection result is track abnormity, so that the safety of automatic driving is ensured.
Based on some or all of the foregoing embodiments, in some embodiments, before S104, the method further includes:
s401: in the running process of the current vehicle based on the preset running route information, obtaining the road side unit position information of the current road side unit where the current vehicle passes and the current position information of the current vehicle when the current vehicle passes through the current road side unit.
S402: and comparing the current position information with the position information of the road side unit to obtain a vehicle position comparison result.
Correspondingly, S104 may specifically include: and controlling the current vehicle to operate based on the travel track detection result and the current vehicle position comparison result.
Specifically, under the condition that the position comparison result of the current vehicle is inconsistent and/or the detection result of the running track is track abnormal, the preset running route information is updated, and the current vehicle is far away from an attack area of signal deception and interference by updating the preset running route information. And controlling the current vehicle to travel based on the updated travel route information. And if the position comparison result of the current vehicle is consistent and the running track detection result is normal track, controlling the current vehicle to continue running based on the original preset running route information.
In some embodiments, the method further comprises: and generating a position spoofing attack warning when the current vehicle position comparison result shows that the positions are inconsistent.
Specifically, when the position comparison result of the current vehicle is that the positions are inconsistent, it is indicated that the current vehicle has been subjected to spoofing attacks, such as GPS/GNSS spoofing attacks, and a warning is given to remind that the current vehicle is currently subjected to spoofing attacks through the position spoofing attacks.
Here, the positional deviation between the two positions is not equal to a predetermined deviation. It can be understood that the positioning deviation can also be generated when the current vehicle passes through a region with a weak signal in the running process, and the false alarm rate of the spoofing attack is reduced by setting the preset deviation.
On the basis of carrying out road side unit sequence comparison, the road side unit position information and the current position information of the current vehicle are compared and processed, the signal reliability in the automatic driving process is further monitored, whether the current vehicle is subjected to cheating attack in the automatic driving process or not is verified through double comparison, and the safety of automatic driving is improved.
Based on some or all of the foregoing embodiments, in some embodiments, before S104, the method further includes:
s401: and acquiring the current position information of the current vehicle in the running process of the current vehicle based on the preset running route information.
S402: and determining the information of the reference road side unit of the current passing way of the current vehicle based on the current position information.
S403: and comparing the reference road side unit information with the current road side unit information to obtain a road side information comparison result.
Specifically, the reference rsu information may include rsu information of at least one neighboring rsu near the current position information, such as rsu numbers including a plurality of neighboring rsus. And determining the road side unit within the preset range around the current vehicle based on the current position information, and determining the determined road side unit information of the road side unit as reference road side unit information.
Further, the current road side unit information is compared with each road side unit information in the reference road side unit information, if the road side unit information is consistent, the road side information comparison result is determined to be consistent, and if not, the road side unit information is inconsistent.
Correspondingly, S104 may specifically include: and controlling the current vehicle to run based on the running track detection result and the road side information comparison result.
Specifically, under the condition that the road side information comparison result is that the road side information is inconsistent and/or the running track detection result is that the track is abnormal, the preset running route information is updated, and the current vehicle is far away from an attack area of signal deception and interference through updating the preset running route information. And controlling the current vehicle to travel based on the updated travel route information. And if the road side information comparison result is that the road side information is consistent and the running track detection result is that the track is normal, controlling the current vehicle to continue running based on the original preset running route information.
In some embodiments, the method further comprises: and generating a position spoofing attack warning when the roadside information comparison result shows that the roadside information is inconsistent.
Specifically, when the roadside information comparison result is that the roadside information is inconsistent, it is indicated that the current vehicle has been subjected to spoofing attacks, such as GPS/GNSS spoofing attacks, and a warning is given to remind that the current vehicle is currently subjected to spoofing attacks through position spoofing attacks.
On the basis of carrying out road side unit sequence comparison, reference road side unit information and current road side unit information are compared and processed simultaneously, so that the driving safety state is further judged, the signal reliability in the automatic driving process is further monitored, whether the vehicle suffers cheating attack in the automatic driving process or not is further verified through double comparison, and the safety of automatic driving is improved.
Based on some or all of the above embodiments, in some embodiments, the method further comprises:
s501: and acquiring the driving road condition in the driving process of the current vehicle based on the preset driving route information of the current vehicle.
S502: and updating the preset driving route information under the condition that the driving road condition meets the preset abnormal road condition.
S503: and controlling the current vehicle to travel based on the updated travel route information.
The traffic jam condition is caused by traffic accidents in the preset running route in the process that the vehicle runs based on the preset route.
In a specific embodiment, please refer to fig. 3, the method includes:
s11: and acquiring preset running route information of the current vehicle, wherein the preset running route information comprises a target road side unit sequence.
S12: and acquiring the current road side unit information of the current road side unit where the current vehicle passes in the running process of the current vehicle based on the preset running route information.
S13: and acquiring the road side unit position information of the current road side unit where the current vehicle passes and the current position information of the current vehicle when the current vehicle passes through the current road side unit.
S14: and matching the current RSU information with the target RSU sequence. Step S17 is performed if the target sequence of road side units does not match the current road side unit information, and step S15 is performed if there is road side unit information in the target sequence of road side units that matches the current road side unit information.
S15: and comparing the current position information with the position information of the road side unit to obtain a current vehicle position comparison result. If the current vehicle position comparison result indicates that the positions do not match, step S16 is executed. If the current vehicle position comparison result indicates that the positions match, step S19 is executed.
S16: a location spoofing attack warning is generated.
S17: and updating the preset driving route information.
S18: and controlling the current vehicle to travel based on the updated travel route information.
S19: and controlling the current vehicle to continue running based on the preset running route information.
In another embodiment, referring to fig. 4, the method includes:
s31: and acquiring preset running route information of the current vehicle, wherein the preset running route information comprises a target road side unit sequence.
S32: and acquiring the current road side unit information of the current road side unit where the current vehicle passes in the running process of the current vehicle based on the preset running route information.
S33: current position information of a current vehicle is acquired.
S34: and matching the current RSU information with the target RSU sequence. Step S37 is performed in the case where the target sequence of road side units does not match the current road side unit information, and step S35 is performed in the case where there is road side unit information in the target sequence of road side units that matches the current road side unit information.
S35: and determining the information of the reference road side unit of the current passing way of the current vehicle based on the current position information.
S36: and comparing the reference road side unit information with the current road side unit information to obtain a road side information comparison result. If the roadside information comparison result is that the roadside information does not match, step S37 is executed. If the roadside information comparison result is that the roadside information matches, step S40 is executed.
S37: a location spoofing attack warning is generated.
S38: and updating the preset driving route information.
S39: and controlling the current vehicle to travel based on the updated travel route information.
S40: and controlling the current vehicle to continue to run based on the preset running route information.
In another embodiment, referring to fig. 5, the method includes:
s51: and acquiring preset running route information of the current vehicle, wherein the preset running route information comprises a target road side unit sequence.
S52: in the running process of the current vehicle based on the preset running route information, obtaining the current road side unit information of the current road side unit where the current vehicle passes, the road side unit position information of the current road side unit where the current vehicle passes and the current position information of the current vehicle when the current vehicle passes through the current road side unit.
S53: and matching the current RSU information with the target RSU sequence, simultaneously comparing the current position information with the RSU position information, if the matching result is not matched and/or the comparison result is inconsistent in position, executing step S54, otherwise, executing step S57.
S54: a location spoofing attack warning is generated.
S55: and updating the preset driving route information.
S56: and controlling the current vehicle to travel based on the updated travel route information.
S57: and controlling the current vehicle to continue to run based on the preset running route information.
In another embodiment, referring to fig. 6, the method includes:
s61: and acquiring preset running route information of the current vehicle, wherein the preset running route information comprises a target road side unit sequence.
S62: and acquiring the current road side unit information of the current road side unit where the current vehicle passes and the current position information of the current vehicle in the running process of the current vehicle based on the preset running route information.
S63: and determining the information of the reference road side unit of the current passing way of the current vehicle based on the current position information.
S64: and matching the current RSU information with the target RSU sequence, simultaneously comparing the reference RSU information with the current RSU information, and executing the step S65 if the matching result is unmatched and/or the comparison result is inconsistent in position, otherwise executing the step S68.
S65: a location spoofing attack warning is generated.
S66: and updating the preset driving route information.
S67: and controlling the current vehicle to travel based on the updated travel route information.
S68: and controlling the current vehicle to continue to run based on the preset running route information.
Embodiments of the present application further provide a roadside unit-based vehicle control apparatus, and the following description in conjunction with fig. 7 provides a roadside unit-based vehicle control apparatus, and referring to fig. 7, the apparatus may include:
the route acquisition module 11: the road side unit sequence is a sequence formed by road side unit information of road side units passing through the preset driving route;
roadside unit information acquisition module 12: the road side unit information acquisition unit is used for acquiring the current road side unit information of the current road side unit where the current vehicle passes in the running process of the current vehicle based on the preset running route information;
the travel track detection result module 13: the road side unit sequence detection module is used for detecting the driving track of the current vehicle based on the target road side unit sequence and the current road side unit information to obtain a driving track detection result;
the operation module 14: for controlling the current vehicle operation based on the travel track detection result.
In some embodiments, the apparatus further comprises:
a position information acquisition module: the method and the device are used for acquiring the road side unit position information of the current road side unit where the current vehicle passes and the current position information of the current vehicle when the current vehicle passes through the current road side unit in the running process of the current vehicle based on the preset running route information.
A position comparison module: and the road side unit position information processing unit is used for comparing the current position information with the road side unit position information to obtain a vehicle position comparison result.
The operation module 14 is also used for controlling the operation of the current vehicle based on the running track detection result and the comparison result of the current vehicle position.
In some embodiments, the apparatus further comprises:
the position information acquisition module is also used for acquiring the current position information of the current vehicle in the running process of the current vehicle based on the preset running route information.
A reference roadside unit information determination module: and the reference road side unit information is used for determining the current passing way of the current vehicle based on the current position information.
The reference road side unit information comparison module: and the road side information comparison module is used for comparing the reference road side unit information with the current road side unit information to obtain a road side information comparison result.
The operation module 14 is further configured to control the current vehicle to operate based on the driving track detection result and the road side information comparison result.
In some embodiments, the driving trajectory detection module 13 further includes:
the road side unit information matching module: for matching the current rsu information with the target rsu sequence.
A driving track detection result determining module: and the method is used for determining that the driving track detection result is track abnormity under the condition that the target road side unit sequence is not matched with the current road side unit information.
The operation module 14 further includes:
an updating module: and the method is used for updating the preset driving route information under the condition that the driving track detection result is track abnormity.
A driving module: for controlling the current vehicle to travel based on the updated travel route information.
In some embodiments, the apparatus further comprises:
a warning module: and generating a position spoofing attack warning when the current vehicle position comparison result is that the positions are inconsistent.
The warning module is also used for generating a position spoofing attack warning under the condition that the roadside information comparison result is that the roadside information is inconsistent.
In some embodiments, the updating module is further configured to update the preset driving route information when the current vehicle position comparison result is that the position is inconsistent and/or the driving track detection result is that the track is abnormal.
In some embodiments, the updating module is further configured to update the preset driving route information when the road side information comparison result is that the road side information is inconsistent and/or the driving track detection result is that the track is abnormal.
In some embodiments, the apparatus further comprises:
road conditions collection module: the system comprises a road condition acquisition unit, a road condition acquisition unit and a road condition display unit, wherein the road condition acquisition unit is used for acquiring a driving road condition in the driving process of a current vehicle based on vehicle preset driving route information;
the updating module is also used for updating the preset driving route information under the condition that the driving road condition meets the preset abnormal road condition;
the driving module is also used for controlling the current vehicle to drive based on the updated driving route information.
With regard to the control device in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The device embodiments and the method embodiments in the present application are based on similar implementations.
In another aspect, the present application provides an electronic device, which includes a processor and a memory, where at least one instruction and at least one program are stored in the memory, and the at least one instruction and the at least one program are loaded by the processor and executed to implement the rsu-based vehicle control method according to any one of the above aspects.
Further, fig. 8 is a schematic diagram illustrating a hardware structure of an electronic device for implementing the method for controlling a vehicle based on a roadside unit according to the embodiment of the present application, where the electronic device may participate in constituting or including the apparatus according to the embodiment of the present application. As shown in fig. 8, the electronic device 1 may comprise one or more (shown here as 902a, 902b, … …, 902 n) processors 902 (the processors 902 may comprise, but are not limited to, a processing means such as a microprocessor MCU or a programmable logic device FPGA), a memory 904 for storing data, and a transmitting means 906 for communication functions. Besides, the method can also comprise the following steps: a display, an input/output interface (I/O interface), a Universal Serial Bus (USB) port (which may be included as one of the ports of the I/O interface), a network interface, a power source, and/or a camera. It will be understood by those skilled in the art that the structure shown in fig. 8 is only an illustration and is not intended to limit the structure of the electronic device. For example, the electronic device 1 may also include more or fewer components than shown in FIG. 8, or have a different configuration than shown in FIG. 8.
It should be noted that the one or more processors 902 and/or other data processing circuitry described above may be referred to generally herein as "data processing circuitry". The data processing circuitry may be embodied in whole or in part in software, hardware, firmware, or any combination thereof. Furthermore, the data processing circuit may be a single stand-alone processing module, or incorporated in whole or in part into any of the other elements in the electronic device 1 (or mobile device). As referred to in the embodiments of the application, the data processing circuit acts as a processor control (e.g. selection of a variable resistance termination path connected to the interface).
The memory 904 may be used to store software programs and modules of application software, such as program instructions/data storage devices corresponding to the methods in the embodiments of the present application, and the processor 902 executes various functional applications and data processing by running the software programs and modules stored in the memory 904, so as to implement the roadside unit-based vehicle control method described above. The memory 904 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 904 may further include memory located remotely from the processor 902, which may be connected to the electronic device 1 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmitting means 906 is used for receiving or sending data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the electronic device 1. In one example, the transmission device 906 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 906 can be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
The display may be, for example, a touch screen type Liquid Crystal Display (LCD) that may enable a user to interact with a user interface of the electronic device 1 (or mobile device).
In the embodiment of the present application, the memory may be used to store software programs and modules, and the processor executes various functional applications and data processing by operating the software programs and modules stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs needed by functions and the like; the storage data area may store data created according to use of the device, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory may also include a memory controller to provide the processor access to the memory.
In another aspect, the present application provides a computer storage medium having at least one instruction and at least one program stored therein, the at least one instruction and the at least one program being loaded and executed by a processor to implement a rsu-based vehicle control method as described in any one of the above.
Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
In another aspect, the present application provides a vehicle-mounted terminal, where at least one instruction and at least one program are stored in the vehicle-mounted terminal, and the at least one instruction and the at least one program are loaded and executed by a processor to implement the method for controlling a vehicle based on a roadside unit as described in any one of the above.
The road side unit-based vehicle control method, device, electronic equipment and computer storage medium have the following technical effects:
the method comprises the steps of acquiring current road side unit information in real time during driving, acquiring a target road side unit sequence in preset driving route information, detecting a driving track based on the current road side unit information and the road side unit information in the target road side unit sequence, judging a driving safety state, avoiding false positioning interference caused by unstable positioning signals or attacked positioning signals, and improving safety of automatic driving.
On the basis of comparing the current road side unit information passing by the vehicle in the running process with the target road side unit sequence in the preset running route information of the vehicle, the position information of the road side unit of the current road side unit passing by the vehicle and the current position information of the vehicle passing by the current road side unit are obtained at the same time; and comparing the current position information with the position information of the road side unit, so as to further monitor the signal reliability in the automatic driving process, further verify whether the vehicle is subjected to deception attack in the automatic driving process through double comparison, and improve the safety of automatic driving.
On the basis of comparing the current road side unit information passing through the vehicle in running with a target road side unit sequence in the preset running route information of the vehicle, the current position information of the vehicle is acquired at the same time, and the reference road side unit information of the current passing through of the vehicle is determined based on the current position information; and comparing the reference road side unit information with the current road side unit information. Therefore, the signal reliability in the automatic driving process is further monitored, whether the vehicle is subjected to cheating attack in the automatic driving process is further verified through double comparison, and the safety of automatic driving is improved.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus and device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, and the program may be stored in a computer-readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk.
The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.
Claims (10)
1. A method of roadside unit based vehicle control, the method comprising:
acquiring preset running route information of a current vehicle, wherein the preset running route information comprises a target road side unit sequence, and the target road side unit sequence is a sequence formed by road side unit information of road side units passing through the preset running route;
acquiring current road side unit information of a current road side unit through which the current vehicle passes in a running process of the current vehicle based on the preset running route information;
detecting a driving track of the current vehicle based on the target road side unit sequence and the current road side unit information to obtain a driving track detection result;
and controlling the current vehicle to operate based on the driving track detection result.
2. The roadside unit-based vehicle control method according to claim 1, characterized in that before the controlling the current vehicle operation based on the travel track detection result, the method further comprises:
in the running process of the current vehicle based on the preset running route information, obtaining the road side unit position information of the current road side unit where the current vehicle passes and the current position information of the current vehicle when the current vehicle passes through the current road side unit;
comparing the current position information with the position information of the road side unit to obtain a vehicle position comparison result;
the controlling the current vehicle operation based on the travel track detection result includes:
and controlling the current vehicle to operate based on the running track detection result and the current vehicle position comparison result.
3. The roadside unit-based vehicle control method according to claim 1, characterized in that before the controlling the current vehicle operation based on the travel track detection result, the method further comprises:
acquiring current position information of the current vehicle in a driving process of the current vehicle based on the preset driving route information;
determining reference roadside unit information of the current passing way of the current vehicle based on the current position information;
comparing the reference road side unit information with the current road side unit information to obtain a road side information comparison result;
the controlling the current vehicle operation based on the travel track detection result includes:
and controlling the current vehicle to run based on the running track detection result and the road side information comparison result.
4. The rsu-based vehicle control method of any one of claims 1-3, wherein the detecting the driving track of the current vehicle based on the target rsu sequence and the current rsu information to obtain the driving track detection result comprises:
matching the current RSU information with the target RSU sequence;
determining that the driving track detection result is track abnormity under the condition that the target road side unit sequence is not matched with the current road side unit information;
the controlling the current vehicle operation based on the travel track detection result includes:
updating the preset driving route information under the condition that the driving track detection result is track abnormity;
controlling the current vehicle to travel based on the updated travel route information.
5. The roadside unit-based vehicle control method of claim 2 further comprising: and generating a position spoofing attack warning under the condition that the current vehicle position comparison result is that the positions are inconsistent.
6. The roadside unit-based vehicle control method according to claim 2, wherein the controlling the current vehicle operation based on the travel track detection result and the current vehicle position comparison result includes:
updating the preset driving route information under the condition that the current vehicle position comparison result is inconsistent in position and/or the driving track detection result is track abnormal;
controlling the current vehicle to travel based on the updated travel route information.
7. The roadside unit-based vehicle control method of claim 3 further comprising: and generating a position spoofing attack warning when the roadside information comparison result shows that the roadside information is inconsistent.
8. The roadside unit-based vehicle control method according to claim 3, wherein the controlling the current vehicle operation based on the travel track detection result and the roadside information comparison result includes:
updating the preset driving route information under the condition that the road side information comparison result is that the road side information is inconsistent and/or the driving track detection result is that the track is abnormal;
controlling the current vehicle to travel based on the updated travel route information.
9. The roadside unit-based vehicle control method of claim 1, further comprising:
acquiring a driving road condition in the driving process of the vehicle based on the current vehicle preset driving route information;
updating the preset driving route information under the condition that the driving road condition meets a preset abnormal road condition;
controlling the current vehicle to travel based on the updated travel route information.
10. A roadside unit-based vehicle control apparatus, characterized in that the apparatus comprises:
a route acquisition module: the road side unit sequence is a sequence formed by road side unit information of road side units passing through the preset driving route;
a road side unit information acquisition module: the road side unit information acquisition unit is used for acquiring the current road side unit information of the current road side unit where the current vehicle passes in the running process of the current vehicle based on the preset running route information;
a driving track detection result module: the road side unit sequence acquisition unit is used for acquiring the current road side unit sequence and the current road side unit information;
an operation module: for controlling the current vehicle operation based on the travel track detection result.
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| CN115376236A (en) * | 2022-10-24 | 2022-11-22 | 宁波均联智行科技股份有限公司 | Vehicle detection method |
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| CN115376236A (en) * | 2022-10-24 | 2022-11-22 | 宁波均联智行科技股份有限公司 | Vehicle detection method |
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