CN115294789A - Vehicle moving method based on Internet of vehicles, vehicle moving system and vehicle - Google Patents
Vehicle moving method based on Internet of vehicles, vehicle moving system and vehicle Download PDFInfo
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- CN115294789A CN115294789A CN202210713438.9A CN202210713438A CN115294789A CN 115294789 A CN115294789 A CN 115294789A CN 202210713438 A CN202210713438 A CN 202210713438A CN 115294789 A CN115294789 A CN 115294789A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- 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
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Abstract
The invention discloses a vehicle moving method, a vehicle moving system and a vehicle based on Internet of vehicles, wherein the method comprises the following steps: receiving a vehicle moving request from a blocked vehicle, acquiring positioning information and vehicle information of the blocked vehicle, performing data interaction with the blocked vehicle, identifying the positioning information and the vehicle information of the blocked vehicle, performing intelligent decision making, and preliminarily judging whether the blocked vehicle blocks a driving route of the blocked vehicle; if the decision output result is that the stopping vehicle primarily judges that the stopping vehicle obstructs the driving route of the stopped vehicle, starting an advanced driving auxiliary system, acquiring the surrounding environment information of the stopping vehicle, making a safety decision, and judging whether space is available or not to allow the stopped vehicle to pass through; if no space is available for the blocked vehicle to pass through, the blocked vehicle is communicated and interacted, and the vehicle moving is negotiated or not required. The method and the system can meet the vehicle moving requirements of the blocked vehicle owners, and can also consider the safety factors of the blocked vehicle owners, so that the output results after intelligent decision making are more humanized and intelligent.
Description
Technical Field
The invention relates to a vehicle moving method, a vehicle moving system and a vehicle thereof, in particular to a vehicle moving method, a vehicle moving system and a vehicle based on the Internet of vehicles.
Background
The core of the intelligent traffic field is an intelligent networking automobile, and the key is the intellectualization and networking of the automobile. The intellectualization means that the highly autonomous intellectualization of the vehicle is realized depending on the advanced driving assistance technology. Networking mainly depends on carrying a vehicle-mounted networking terminal, and interconnection perception among traffic members is realized through information interaction among vehicles, roads and clouds. The cellular vehicular wireless communication technology (C-V2X) is one of the important technical means for realizing networking, and can provide high-speed data transmission and meet the requirements of low delay and safe communication between vehicles under the condition of high-speed movement.
Through the intelligent and networking technologies, all vehicles can transmit and gather various information of the vehicles to a central processing unit, and through calculation, the information of a large number of vehicles can be analyzed and processed, so that the optimal routes of different vehicles can be calculated and used as effective information, the vehicle condition and road condition report of relevant application scenes can be realized, and the deep changes of traffic management modes, automobile industry forms and people's travel modes can be promoted.
The inventor finds that the traditional vehicle moving scheme is divided into two methods, one method is that a user manually calls a vehicle owner, and the vehicle owner judges whether other vehicles are really blocked or not by listening to the voice description of the other side so as to determine whether the vehicle needs to be moved or not; another kind of scheme is for patting the assigned position, finds the car owner through the mobile unit networking, and the car owner receives the information after, judges whether need move the car.
The two modes lack the consideration of safety, the owner cannot judge whether the surrounding is safe or not, and can only singly inform the owner of the vehicle moving request, and the owner cannot judge whether the vehicle should be moved or not, so that false alarm can be often caused, and the time of the owner is wasted.
The inventor thinks that in an application scenario of moving vehicles, a method of a vehicle moving system based on internet of vehicles technology is lacked to solve the problems of personnel, vehicles, communication and decision making in the application scenario of moving vehicles.
Disclosure of Invention
The invention aims to provide a vehicle moving method and system based on Internet of vehicles and a vehicle thereof, and solves the defects in the prior art, and the technical problems comprise that: the method comprises the following steps of automatically identifying the problem of a scene needing to move the vehicle; the problem of acquiring the positioning information and vehicle information data of the blocking vehicle and the blocked vehicle; the problem of algorithm evaluation of moving of the blocking vehicle and the blocked vehicle; the problem of automatically establishing an information transmission channel; remote human-computer interaction, etc.
The invention provides the following scheme:
a vehicle moving method based on Internet of vehicles specifically comprises the following steps:
receiving a vehicle moving request from a blocked vehicle, awakening a vehicle-mounted terminal by using V2X equipment, acquiring positioning information and vehicle information of the blocked vehicle, performing data interaction with the blocked vehicle, identifying the positioning information and the vehicle information of the blocked vehicle, performing intelligent decision making, and preliminarily judging whether the blocked vehicle blocks a driving route of the blocked vehicle or not;
if the decision output result is that the stopping vehicle is preliminarily judged to block the driving route of the stopped vehicle, starting an advanced driving auxiliary system, acquiring the surrounding environment information of the stopping vehicle, carrying out safety decision, and judging whether no space exists or not to allow the stopped vehicle to pass;
if no space exists, the blocked vehicle passes through the space, and then the communication interaction is carried out with the blocked vehicle to negotiate vehicle moving;
if the blocked vehicle passes through the space, the blocked vehicle is communicated and interacted with the blocked vehicle, and the vehicle moving is not needed.
Further, the vehicle-mounted terminal device specifically includes: controlling the radar, the camera and the sensor;
the method for acquiring the positioning information and the vehicle information of the blocking vehicle specifically comprises the following steps: utilizing a GNSS module to obtain GNSS position coordinates when the stopping vehicle stops, or: under the condition of losing GNSS signals, the inertial navigation device is utilized to obtain the GNSS position of the blocking vehicle and the heading h of the vehicle during parking A ；
The vehicle information includes a vehicle length L A Vehicle width W A Heche height H A 。
Further, the process of making an intelligent decision specifically includes:
judging whether the blocked vehicle is in the advancing direction of the blocking vehicle: calculating the distance and azimuth h between the blocking vehicle and the blocked vehicle AB The distance can meet the space required by the movement of the vehicle within a certain range, and the azimuth angle h of the blocking vehicle relative to the blocked vehicle AB The direction angle h with the blocked vehicle B And subtracting and calculating an absolute value, and deciding whether the output blocked vehicle is in the advancing direction of the blocked vehicle.
Further, whether a driving space exists in the forward direction of the blocked vehicle is judged: judging the direction of the blocked vehicle relative to the blocking vehicle according to the position information provided by the V2X equipment, and detecting the accurate distance D between the blocking vehicle and the blocked vehicle by using a radar and a camera AB If the distance D is accurate AB If the distance between the obstacle and other surrounding obstacles is smaller than the width of the blocked vehicle, judging that the obstacle exists in the driving route of the blocked vehicle.
Further, according to different conditions that the blocked vehicle is in a static state or runs, intelligent decision output is respectively carried out;
if the blocked vehicle is in the running process, performing coordinate conversion, converting the longitude and latitude positions of the GNSS positions into a rectangular coordinate system, setting a safety region of the blocked vehicle at any moment in the running process, judging whether the safety region of the blocked vehicle intersects with the safety region of the blocking vehicle, and judging whether collision danger exists;
if the blocked vehicle is in a static state, if the blocked vehicle is assumed to perform a small initial value and defaults to be that the blocked vehicle is in a straight line, calculating the blocked vehicle according to the traveling state, and judging whether a scratch danger exists.
A vehicle moving method based on Internet of vehicles specifically comprises the following steps:
the method comprises the steps of finding that a barrier vehicle exists on a running line, and sending position information, vehicle information and a vehicle moving request of the barrier vehicle to the barrier vehicle;
and carrying out data interaction and communication interaction with the barrier vehicle, and negotiating vehicle moving.
The utility model provides a move car system based on car networking specifically includes:
the vehicle moving request receiving module is used for receiving a vehicle moving request from a blocked vehicle, awakening the vehicle-mounted terminal by using the V2X equipment and acquiring positioning information and vehicle information of the blocked vehicle;
the data acquisition module of the blocked vehicle is used for carrying out data interaction with the blocked vehicle and identifying the position information and the vehicle information of the blocked vehicle;
the intelligent vehicle moving decision module is used for making an intelligent decision and preliminarily judging whether the blocking vehicle blocks the driving route of the blocked vehicle or not:
if the decision output result is that the stopping vehicle is preliminarily judged to block the driving route of the stopped vehicle, starting an advanced driving auxiliary system, acquiring the surrounding environment information of the stopping vehicle, carrying out safety decision, and judging whether no space exists or not to allow the stopped vehicle to pass;
if no space exists, the blocked vehicle passes through the space, and then the communication interaction is carried out with the blocked vehicle to negotiate vehicle moving;
if the blocked vehicle passes through the space, the blocked vehicle is communicated and interacted with the blocked vehicle, and the vehicle moving is not needed.
The utility model provides a move car system based on car networking specifically includes:
the vehicle moving request sending module is used for sending the position information, the vehicle information and the vehicle moving request of the blocked vehicle to the blocking vehicle;
and the vehicle moving negotiation interaction module is used for carrying out data interaction and communication interaction with the barrier vehicle and negotiating vehicle moving.
An electronic device, comprising: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus; the memory has stored therein a computer program which, when executed by the processor, causes the processor to perform the steps of the method.
A computer readable storage medium storing a computer program executable by an electronic device, the computer program, when run on the electronic device, causing the electronic device to perform the steps of the method.
The utility model provides a vehicle that has intelligence decision function of moving based on car networking specifically includes:
the electronic equipment is used for realizing the vehicle moving method based on the Internet of vehicles;
a processor running a program, the steps of the method being performed from data output by the electronic device when the program is running;
a storage medium for storing a program which, when executed, performs the steps of the method on data output from an electronic device.
Compared with the prior art, the invention has the following advantages:
the method has the advantages that data interaction is carried out between the blocking vehicle and the blocked vehicle through sending and receiving vehicle moving requests, intelligent vehicle moving between vehicles is realized based on the vehicle networking technology, the process of man-made interference is reduced, and the capacity of autonomously judging intelligent vehicle moving is added for the vehicles;
the method comprises the steps that when a blocking vehicle and a blocked vehicle perform data interaction, positioning information and vehicle information are sent and received, a data basis is provided for intelligent vehicle moving and intelligent decision making, and vehicle moving negotiation is performed on an output result of the intelligent decision making;
in the process of intelligent decision making, the data base of positioning information and vehicle information is fully relied on, and an advanced driving auxiliary system is combined to obtain the surrounding environment information of the blocking vehicle, so that safety decision making is carried out, the vehicle moving requirements of the blocked vehicle owner can be met, the safety factors of the blocking vehicle owner can be considered, the output result of the intelligent decision making is more humanized and intelligent, more reliable report information is provided for the vehicle owner, and the occurrence of mischief or malignant accidents is prevented.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are 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 flow chart of the vehicle moving method based on the internet of vehicles (barrier vehicle).
Fig. 2 is an architecture diagram of the vehicle moving system based on the internet of vehicles (barrier vehicle) of the invention.
Fig. 3 is a flow chart of the vehicle moving method based on the internet of vehicles (blocked vehicle) of the invention.
Fig. 4 is an architecture diagram of the vehicle moving system based on the internet of vehicles (blocked vehicle) of the invention.
Fig. 5 is a flow chart for implementing the relative position calculation, path prediction calculation, and collision scratch calculation through various algorithms.
FIG. 6 is a graph of a straight-path prediction algorithm in a particular embodiment.
FIG. 7 is a graph of a turn path prediction algorithm in a particular embodiment.
Fig. 8 is a system architecture diagram of a vehicle moving scheme of a specific embodiment.
Fig. 9 is a system architecture diagram of an electronic device.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention has the main idea that the intelligent vehicle-mounted intelligent sensing and information communication system is applied to the intelligent internet automobiles, solves the problem of vehicle moving in daily life by utilizing the technologies of vehicle-mounted single-vehicle intelligent sensing, information communication and the like, by the technical application of intellectualization and networking, the traffic efficiency is improved, and safer and more convenient comprehensive service is provided for users.
As shown in fig. 1, a flowchart (barrier vehicle a) of a vehicle moving method based on an internet of vehicles specifically includes the following steps:
step S1: receiving a vehicle moving request from a blocked vehicle, awakening the vehicle-mounted terminal by using V2X equipment, and acquiring positioning information and vehicle information of the blocked vehicle;
step S2: carrying out data interaction with the blocked vehicle, identifying the positioning information and the vehicle information of the blocked vehicle, and carrying out intelligent decision making;
and step S3: preliminarily judging whether the blocking vehicle blocks the running route of the blocked vehicle, if the blocking vehicle does not block the running route of the blocked vehicle, entering step S7, and if the blocking vehicle blocks the running route of the blocked vehicle, entering step S4;
and step S4: if the decision output result is that the stopping vehicle is preliminarily judged to block the driving route of the stopped vehicle, starting an advanced driving auxiliary system, acquiring the surrounding environment information of the stopping vehicle, making a safety decision, and entering the step S5;
step S5: judging whether space is available or not, and allowing the blocked vehicle to pass through;
step S6: if no space exists, the blocked vehicle passes through the space, and then the vehicle is communicated and interacted with the blocked vehicle to negotiate vehicle moving;
step S7: if the blocked vehicle passes through the space, the blocked vehicle is communicated and interacted with the blocked vehicle, and the vehicle moving is not needed.
In this embodiment, it can be understood by those skilled in the art that the lack of space for the blocked vehicle to pass includes the following situations:
the driving method is judged according to the driving common knowledge and the life common knowledge, so that a vehicle driver can feel that the 'real' no space can eliminate obstacles to enable the vehicle to pass, and the vehicle cannot pass smoothly through the conventional driving technology;
the method can also be as follows: through the calculation result of the vehicle-mounted equipment and the interaction result between people and vehicles, a driver knows that the real space does not exist so that obstacles can be eliminated and the vehicle can pass smoothly, and in this situation, the driver fully trusts the calculation result of the vehicle-mounted equipment and makes a judgment that the real space does not exist so that the obstacles can be eliminated and the vehicle can pass smoothly.
In this embodiment, it can be understood by those skilled in the art that the barrier vehicle can acquire any information, and the information can be sent to the owner of the vehicle through any technical means in the prior art, in a manner of wireless communication, a mobile network, and the like, for example, the owner of the vehicle can receive the information through a wireless communication device, a mobile terminal device, a mobile phone, a tablet computer, and the like.
For the purposes of simplicity of description, the method steps disclosed in the present embodiment are described as a series of acts, but those skilled in the art will appreciate that the present embodiment is not limited by the order of acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the present embodiment. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Preferably, the vehicle-mounted terminal device specifically includes: controlling a radar, a camera and a sensor;
the method comprises the following steps of obtaining positioning information and vehicle information of a blocking vehicle A, specifically: obtaining GNSS position coordinates (latA, lonA) when the vehicle stops by using the GNSS module, or: in the case of loss of GNSS signals, the inertial navigation device is used to obtain the GNSS position (latA, lonB) of the obstructing vehicle and the heading h of the vehicle when the vehicle is parked A ；
The vehicle information includes the vehicle length L A Vehicle width W A And height H A 。
Preferably, the process of making an intelligent decision specifically includes:
judging whether the blocked vehicle B is in the advancing direction of the blocking vehicle A: calculating the distance and the azimuth angle h between the blocking vehicle A and the blocked vehicle B AB The distance can meet the space required by the movement of the vehicle within a certain range, and the azimuth angle h of the blocking vehicle A relative to the blocked vehicle B AB The direction angle h with the blocked vehicle B And subtracting and calculating an absolute value, and deciding whether the output blocked vehicle B is in the advancing direction of the blocking vehicle A.
Preferably, it is determined whether or not the blocked vehicle B has a traveling space in the advancing direction: judging the blocked vehicle phase according to the position information provided by the V2X equipmentFor the direction of the blocking vehicle, the precise distance D between the blocking vehicle A and the blocked vehicle B is detected by using a radar and a camera AB If the distance D is accurate AB If the distance between the vehicle B and other obstacles around the blocked vehicle B is less than a certain threshold value, the distance between the vehicle B and other obstacles around the blocked vehicle B is further detected, and if the distances between the vehicle B and other obstacles around the blocked vehicle B are less than the vehicle width of the blocked vehicle B, the vehicle is judged to have an obstacle on the driving route of the blocked vehicle.
As will be appreciated by those skilled in the art, the precise distance D is described AB Less than a threshold value, which can be determined by the skilled person in the art by means of the prior art, the combination of a priori value, empirical value, driving knowledge, life knowledge, etc.
Preferably, according to different situations that the blocked vehicle B is in a static state or runs, intelligent decision output is respectively carried out;
if the blocked vehicle B is in the running process, coordinate conversion is carried out, the longitude and latitude position of the GNSS position is converted into a rectangular coordinate system, a safety area of the blocked vehicle B at any moment in the running process is set, whether intersection exists with the safety area of the blocking vehicle A or not is judged, and whether collision danger exists or not is judged;
if the blocked vehicle B is in a static state, if the blocked vehicle B advances by a small initial value, the blocked vehicle B defaults to straight running, the blocked vehicle A is calculated according to the straight running state, and whether the scratch danger exists is judged.
As shown in fig. 2, the architecture diagram of the vehicle moving system based on the internet of vehicles (barrier vehicle a) specifically includes:
the vehicle moving request receiving module is used for receiving a vehicle moving request from the blocked vehicle B, awakening the vehicle-mounted terminal by using the V2X equipment and acquiring the positioning information and the vehicle information of the blocking vehicle A;
the data acquisition module of the blocked vehicle is used for carrying out data interaction with the blocked vehicle B and identifying the position information and the vehicle information of the blocked vehicle B;
the intelligent vehicle moving decision module is used for making an intelligent decision and preliminarily judging whether the barrier vehicle A blocks the driving route of the blocked vehicle B:
if the decision output result is that the stopping vehicle A is preliminarily judged to block the driving route of the blocked vehicle B, starting an advanced driving auxiliary system, acquiring the surrounding environment information of the stopping vehicle A, carrying out safety decision, and judging whether space is available or not to allow the blocked vehicle B to pass through;
if no space exists, the blocked vehicle B passes through the space, and then the blocked vehicle B performs communication interaction with the blocked vehicle B to negotiate vehicle moving; if the blocked vehicle B has space to pass through, the communication interaction is carried out with the blocked vehicle B without moving the vehicle.
It should be noted that, although only the vehicle moving request receiving module, the blocked vehicle data acquisition module and the intelligent vehicle moving decision module are disclosed in the system, the composition of the system is not limited to the above basic function modules, but rather, the invention is to be expressed as: on the basis of the basic function modules, a person skilled in the art may add one or more function modules arbitrarily in combination with the prior art to form an infinite number of embodiments or technical solutions, that is, the present system is open rather than closed, and the protection scope of the claims of the present invention should not be considered to be limited to the disclosed basic function modules because the present embodiment discloses only individual basic function modules. Meanwhile, for convenience of description, the above devices are described as being divided into various units and modules by functions, respectively. Of course, the functions of the units and modules may be implemented in one or more software and/or hardware when implementing the invention.
As shown in fig. 3, the flow chart (blocked vehicle) of the vehicle moving method based on the internet of vehicles of the present invention specifically includes:
step T1: the method comprises the following steps that (a blocked vehicle B) a blocked vehicle exists on a running line, and position information, vehicle information and a vehicle moving request of the blocked vehicle are sent to the blocked vehicle;
step T2: data interaction (positioning information and vehicle information) and communication interaction with the blocking vehicle, exemplary: the APP sends the time for moving the vehicle to the blocking vehicle A, the blocking vehicle A forwards the time to the blocked vehicle B, and the negotiation for moving the vehicle is carried out.
For the purposes of simplicity of description, the method steps disclosed in the present embodiment are described as a series of acts, but those skilled in the art will appreciate that the present embodiment is not limited by the order of acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the present embodiment. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
As shown in fig. 4, the architecture diagram of the vehicle moving system based on the internet of vehicles (the blocked vehicle B), the overall architecture of the vehicle moving system of the blocked vehicle B includes:
the vehicle moving request sending module is used for sending the position information, the vehicle information and the vehicle moving request of the blocked vehicle B to the blocking vehicle A;
and the vehicle moving negotiation interaction module is used for carrying out data interaction and communication interaction with the blocking vehicle A and negotiating vehicle moving.
It should be noted that, although only the vehicle moving request receiving module, the blocked vehicle data acquisition module and the intelligent vehicle moving decision module are disclosed in the system, the composition of the system is not limited to the above basic function modules, but rather, the invention is to be expressed as: on the basis of the basic functional modules, a person skilled in the art can combine the prior art to add one or more functional modules arbitrarily to form an infinite number of embodiments or technical solutions, that is, the present system is open rather than closed, and the protection scope of the present invention claims should not be considered to be limited to the disclosed basic functional modules because the present embodiment discloses only individual basic functional modules. Meanwhile, for convenience of description, the above devices are described as being divided into various units and modules by functions, respectively. Of course, the functionality of the various elements and modules may be implemented in the same or in multiple pieces of software and/or hardware in the practice of the invention.
As shown in fig. 5, fig. 6, fig. 7 and fig. 8, on the basis of the above embodiments, the embodiment implements relative position calculation, path prediction calculation and collision scratch calculation through multiple algorithms, and presents the overall process of the vehicle moving method and system based on the internet of vehicles through specific calculation.
In this embodiment, all vehicle-vehicle communication adopts a wireless direct connection LTE-V short-range communication technology, and the vehicle-vehicle communication adopts a wireless cellular 4G communication mode. Techniques such as radar and camera are used to collect position information of the opponent vehicle, and surrounding environment information.
Set up data collection module in the car, constitute by 3 submodule: the device comprises an IMU module, a GNSS module and a vehicle body data module.
The GNSS module provides GNSS position coordinates (latA, lonA) when the blocking vehicle a is parked.
The IMU provides the GNSS position (latA, lonB) of the obstructing vehicle A provided by the inertial navigation device in case of loss of GNSS signals when the obstructing vehicle A is in the parking lot, and the heading h when parking A 。
A vehicle body data module providing a vehicle length L A Width W of vehicle A And vehicle height H A 。
When the blocking vehicle A stops, the blocking vehicle A automatically starts a parking state.
Parking state: all radars and camera sensors are all closed, the V2X equipment is in a starting state, the vehicle-mounted terminal control module is in a standby state and can be called by the V2X equipment, and the vehicle-mounted terminal control module is in a low-power-consumption state in a parking state.
The owner of the blocked vehicle B finds that the stopping position of the blocking vehicle A blocks the running route of the blocking vehicle A, and the blocked vehicle B sends the position information (lat) of the blocked vehicle B B ，lon B ) Angle of direction h B V speed of travel v B Acceleration a B Yaw rate γ B Equal base vehicle information vehicle length L B Width W of vehicle B And vehicle height H B And a vehicle moving request is sent to the barrier vehicle A.
And the blocking vehicle A receives a vehicle moving request through the V2X equipment and enters an algorithm judging module. And judging whether the position of the vehicle is within the threshold range of the vehicle. The blocking vehicle a determines whether it is in the direction of travel of the blocked vehicle B. The blocking vehicle A identifies the position of the blocked vehicle B, judges whether the position of the blocked vehicle B is within the threshold range of the vehicle, and presets the vehicle as a vehicle with the radius r =10 m.
The method for judging whether the barrier vehicle A is in the advancing direction of the blocked vehicle B is as follows:
calculation of the stopping vehicle A (lat) according to the known method A ，lon A ) And a blocked vehicle B (lat) B ，lon B ) Distance (d) is calculated.
Calculation of the vehicle A (lat) according to known methods A ，lon A ) Relative and blocked vehicle B (lat) B ，lon B ) Is in azimuth h AB 。
When | h AB -h B And | is less than or equal to 30 degrees, the stopping vehicle A can be considered to be in the advancing direction of the stopped vehicle B. Wherein 30 degrees is a preset threshold value for judging the same direction.
And the blocking vehicle A transmits the position of the blocked vehicle B and the preliminary judgment result to the APP of the mobile phone of the vehicle owner in a network mode.
And the vehicle owner of the blocking vehicle A makes the following decisions according to the primary judgment result:
parking position influences others really, sends the time that can move the car through the APP and gives and blocks car A, blocks car A and forwards again for being blockked car B.
The parking position really affects others, but in safety consideration, the sensing module is started through the final control module, and surrounding influence information is transmitted to the mobile phone. Then whether to move the vehicle is considered.
The sensor device is required to assist in judging whether the vehicle B is really clear of space and the blocked vehicle B passes through. The vehicle-mounted final control module starts the sensing module, judges the direction of the blocked vehicle B in the blocking vehicle A according to the position information provided by the V2X module, and detects the accurate distance D between the blocking vehicle A and the blocked vehicle B by using a radar and a camera AB Further, further judge D AB If D is AB <5m, further detecting the distance of other obstacles in the direction of the blocked vehicle B, such as the distance of other obstacles in the other directions (east, west, northeast, northwest) when the blocked vehicle B is in the due north direction. If any distance in any direction is less than the width W of the blocked vehicle B B Then, it is determined that the driving of the block vehicle B is surely affected. If there is a distance in one direction greater than the vehicle width W of the blocked vehicle B B Again, againAnd entering an algorithm decision module.
And the algorithm judging module respectively considers different situations of the stop and the running of the blocked vehicle B, predicts the running track of the blocked vehicle B according to the current position and the current running direction of the blocked vehicle B, and considers whether the vehicle width and the vehicle length in the running track intersect with other obstacles or not.
And (3) path prediction algorithm: the first type: the blocked vehicle B travels:
(lat B ，lon B ) Transformation of latitude and longitude into planar rectangular coordinate system (x) 1 ,y 1 ) The x axis of the coordinate system is the direction pointed by the head of the barrier vehicle A, and the y axis is the direction perpendicular to the head of the barrier vehicle A. Course angle h B Converted into an included angle h with a positive half shaft of an x axis B|x ，
r＝(vB/γ B )；
1) r is more than or equal to 32767, and the vehicle is considered to be in a straight line.
Time T shift s1= vB T +0.5 (a) B -fg)*t 2 (ii) a Where fg is the friction.
Then the position at time t is
(xt，yt)＝(x1+s1*cosh B|x ，y1+s1*sinh B|x )；
Then his safety area at time t is:
(xt+W B /2*cosh B|x -L B /2*sinh B|x ，yt+L B /2*cosh B|x +W B /2*sin h B|x )，(xt+W B /2*cosh B|x -L B /2*sinh B|x ，yt-L B /2*cosh B|x -W B /2*sin h B|x )，(xt-W B /2*cosh B|x +L B /2*sinh B|x ，yt+L B /2*cosh B|x +W B /2*sin h B|x )，(xt+W B /2*cosh B|x -L B /2*sinh B|x ，yt-L B /2*cosh B|x -W B /2*sin h B|x ) And a plane area surrounded by four points.
2) r < 32767, consider the vehicle turning.
s1＝vB*t+0.5*(a B -fg)*t 2 Wherein fg is the friction.
arc_angle＝s1/r；
arc_liner_x＝r*sin(arc_angle)；
arc_liner_y＝r*(1-cos(arc_angle))；
Then the position at time t is:
xt＝x1+arc_liner_x*cos(rad(h B|x ))+arc_liner_y*sin(rad(h B|x ))；
yt＝y1+arc_liner_x*sin(rad(h B|x ))-arc_liner_y*cos(rad(h B|x ))；
the coordinates (Xa, ya) of the barrier car a (latA, lonA) projected onto the plane rectangular coordinate system are obtained, and the safety area of the same barrier car a can be obtained:
(Xa+W A /2，Ya+L A /2)，(Xa+W A /2，Ya-L A /2)，(Xa-W A /2，Ya+L A /2)，(Xa+W A /2，Ya-L A and/2) a plane area enclosed by four points.
Collision scratch algorithm: 8 line segments of the two vehicles are obtained, and the positions of the obstacles can be also depicted by the line segments. If any two line segments are intersected, collision threat exists, otherwise, the B vehicle can safely pass through.
The second type: the blocked vehicle B is at rest: giving the blocked vehicle B a very small initial value, v B And (4) defaulting that the blocked vehicle B runs linearly, entering a first type of blocked vehicle B motion module, giving out path prediction, and judging whether a scratch threat exists.
In the above, if it is judged again that the blocked vehicle B can pass, the V2X device informs the blocked vehicle B. If the vehicle can not pass through the APP, the time for moving the vehicle is sent to the blocking vehicle A through the APP, and the blocking vehicle A forwards the time to the blocked vehicle B.
And intelligently making a decision to output a security policy result:
the owner of the blocked vehicle B finds that the stopping position of the blocking vehicle A blocks the running route of the blocking vehicle A, and the blocked vehicle B sends the position information of the vehicle and a vehicle moving request to the blocking vehicle A.
And the blocking vehicle A receives a vehicle moving request through the V2X equipment and enters an algorithm judging module. And judging whether the position of the vehicle is within the threshold range of the vehicle. The blocking vehicle a determines whether it is in the forward direction of the blocked vehicle B. The blocking vehicle A identifies the position of the blocked vehicle B and judges whether the position of the blocked vehicle B is within the threshold range of the vehicle.
And the blocking vehicle A transmits the position of the blocked vehicle B and the preliminary judgment result to the app of the mobile phone of the vehicle owner in a network mode.
The vehicle owner makes the following decisions according to the primary judgment result:
the parking position really affects others, the time for moving the vehicle is sent to the blocking vehicle A through the app, and the blocking vehicle A forwards the time to the blocked vehicle B;
the parking position really affects others, but in safety consideration, the ADAS module is started through the final control module, and surrounding influence information is transmitted to the mobile phone. And then whether the vehicle is moved or not is considered.
As shown in fig. 9, the present invention also discloses an electronic device and a storage medium corresponding to the vehicle moving method and system based on the internet of vehicles:
an electronic device, comprising: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus; the memory has a computer program stored therein, which, when being executed by the processor, causes the processor to carry out the steps of the networked vehicle moving method.
A computer-readable storage medium, which stores a computer program that is executable by an electronic device and, when the computer program runs on the electronic device, causes the electronic device to carry out the steps of a vehicle moving method based on internet of vehicles.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The electronic device includes a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on top of the operating system. The hardware layer includes hardware such as a Central Processing Unit (CPU), a Memory Management Unit (MMU), and a Memory. The operating system may be any one or more computer operating systems that implement control of an electronic device through a Process (Process), such as a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system, or a windows operating system. In the embodiment of the present invention, the electronic device may be a handheld device such as a smart phone and a tablet computer, or an electronic device such as a desktop computer and a portable computer, which is not particularly limited in the embodiment of the present invention.
The execution main body of the electronic device control in the embodiment of the present invention may be the electronic device, or a functional module capable of calling a program and executing the program in the electronic device. The electronic device may obtain the firmware corresponding to the storage medium, the firmware corresponding to the storage medium is provided by a vendor, and the firmware corresponding to different storage media may be the same or different, which is not limited herein. After the electronic device acquires the firmware corresponding to the storage medium, the firmware corresponding to the storage medium may be written into the storage medium, specifically, the firmware corresponding to the storage medium is burned into the storage medium. The process of burning the firmware into the storage medium can be implemented by adopting the prior art, and is not described in the embodiment of the present invention.
The electronic device may further acquire a reset command corresponding to the storage medium, where the reset command corresponding to the storage medium is provided by a vendor, and the reset commands corresponding to different storage media may be the same or different, and are not limited herein.
At this time, the storage medium of the electronic device is a storage medium in which the corresponding firmware is written, and the electronic device may respond to the reset command corresponding to the storage medium in which the corresponding firmware is written, so that the electronic device resets the storage medium in which the corresponding firmware is written according to the reset command corresponding to the storage medium. The process of resetting the storage medium according to the reset command can be implemented by the prior art, and is not described in detail in the embodiment of the present invention.
The invention also discloses a vehicle with an intelligent vehicle moving decision function based on the Internet of vehicles, which specifically comprises the following steps:
the electronic equipment is used for realizing a vehicle moving method based on the Internet of vehicles;
a processor running a program, wherein data output from the electronic device when the program runs execute the steps of the vehicle moving method based on the internet of vehicles;
a storage medium for storing a program which, when executed, carries out the steps of the internet-of-vehicles-based vehicle removal method for data output from an electronic device.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
It should be noted that certain terms are used throughout the description and following claims to refer to particular components. As one skilled in the art will appreciate, vehicle manufacturers may refer to a component by different names. The present specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. The following description is of the preferred embodiment for carrying out the invention, but the description is made for the purpose of general principles of the specification and is not intended to limit the scope of the invention. The scope of the present invention is defined by the appended claims.
From the above description of the embodiments, it is clear to those skilled in the art that the present invention can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
The invention is operational with numerous general purpose or special purpose computing system environments or configurations, such as: personal computers, server computers, hand-held or portable devices, tablet-type devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.
The invention may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of the technical solutions by those skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
In the several embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.
Claims (11)
1. The utility model provides a move car method based on car networking which characterized in that specifically includes:
receiving a vehicle moving request from a blocked vehicle, awakening a vehicle-mounted terminal by using V2X equipment, acquiring positioning information and vehicle information of the blocked vehicle, performing data interaction with the blocked vehicle, identifying the positioning information and the vehicle information of the blocked vehicle, performing intelligent decision making, and primarily judging whether the blocked vehicle blocks a driving route of the blocked vehicle;
if the decision output result is that the stopping vehicle primarily judges that the stopping vehicle obstructs the driving route of the stopped vehicle, starting an advanced driving auxiliary system, acquiring the surrounding environment information of the stopping vehicle, making a safety decision, and judging whether space is available or not to allow the stopped vehicle to pass through;
if no space exists, the blocked vehicle passes through the space, and then the vehicle is communicated and interacted with the blocked vehicle to negotiate vehicle moving;
if the blocked vehicle passes through the space, the blocked vehicle is communicated and interacted with the blocked vehicle, and the vehicle moving is not needed.
2. The vehicle moving method based on the internet of vehicles as claimed in claim 1, wherein the vehicle-mounted terminal device specifically comprises: controlling the radar, the camera and the sensor;
the method for acquiring the positioning information and the vehicle information of the blocking vehicle specifically comprises the following steps: utilizing a GNSS module to obtain GNSS position coordinates when the stopping vehicle stops, or: under the condition of losing the GNSS signals, the inertial navigation device is utilized to obtain the GNSS position of the blocking vehicle and the head orientation h when the vehicle is parked A ；
The vehicle information includes a vehicle length L A Vehicle width W A Heche height H A 。
3. The vehicle moving method based on the internet of vehicles as claimed in claim 1, wherein the intelligent decision making process specifically comprises:
judging whether the blocked vehicle is in the advancing direction of the blocking vehicle: calculating the distance and azimuth h between the blocking vehicle and the blocked vehicle AB The distance can meet the space required by the movement of the vehicle within a certain range, and the azimuth angle h of the blocking vehicle relative to the blocked vehicle AB The direction angle h with the blocked vehicle B And subtracting and calculating an absolute value, and deciding whether the output blocked vehicle is in the advancing direction of the blocked vehicle.
4. A vehicle moving method based on the Internet of vehicles as claimed in claim 3, characterized in that whether the forward direction of the blocked vehicle has a driving space is judged: according to the position information provided by the V2X equipment, the direction of the blocked vehicle relative to the blocking vehicle is judged, and the precise distance D between the blocking vehicle and the blocked vehicle is detected by utilizing the radar and the camera AB If the distance D is accurate AB And if the distance between the vehicle and other obstacles around the vehicle is smaller than the width of the vehicle to be blocked, judging that the driving route of the vehicle to be blocked has obstacles.
5. Vehicle moving method based on Internet of vehicles as claimed in claim 3,
respectively carrying out intelligent decision output according to different conditions that the blocked vehicle is in a static state or runs;
if the blocked vehicle is in the running process, performing coordinate conversion, converting the longitude and latitude positions of the GNSS positions into a rectangular coordinate system, setting a safety region of the blocked vehicle at any moment in the running process, judging whether the safety region of the blocked vehicle intersects with the safety region of the blocking vehicle, and judging whether collision danger exists;
if the blocked vehicle is in a static state, if the blocked vehicle carries out a tiny initial value and defaults that the blocked vehicle is in straight running, the blocked vehicle is calculated according to the running state, and whether scratch danger exists is judged.
6. The utility model provides a move car method based on car networking which characterized in that specifically includes:
the method comprises the steps of finding that a barrier vehicle exists on a running line, and sending position information, vehicle information and a vehicle moving request of the barrier vehicle to the barrier vehicle;
and carrying out data interaction and communication interaction with the barrier vehicle, and negotiating vehicle moving.
7. The utility model provides a move car system based on car networking which characterized in that specifically includes:
the vehicle moving request receiving module is used for receiving a vehicle moving request from a blocked vehicle, awakening the vehicle-mounted terminal by using the V2X equipment and acquiring positioning information and vehicle information of the blocked vehicle;
the data acquisition module of the blocked vehicle is used for carrying out data interaction with the blocked vehicle and identifying the position information and the vehicle information of the blocked vehicle;
the intelligent vehicle moving decision module is used for making an intelligent decision and preliminarily judging whether the blocking vehicle blocks the driving route of the blocked vehicle or not:
if the decision output result is that the stopping vehicle primarily judges that the stopping vehicle obstructs the driving route of the stopped vehicle, starting an advanced driving auxiliary system, acquiring the surrounding environment information of the stopping vehicle, making a safety decision, and judging whether space is available or not to allow the stopped vehicle to pass through;
if no space exists, the blocked vehicle passes through the space, and then the communication interaction is carried out with the blocked vehicle to negotiate vehicle moving;
if the blocked vehicle passes through the space, the blocked vehicle is communicated and interacted with the blocked vehicle, and the vehicle moving is not needed.
8. The utility model provides a move car system based on car networking which characterized in that specifically includes:
the vehicle moving request sending module is used for sending the position information, the vehicle information and the vehicle moving request of the blocked vehicle to the blocking vehicle;
and the vehicle moving negotiation interaction module is used for carrying out data interaction and communication interaction with the barrier vehicle and negotiating vehicle moving.
9. An electronic device, comprising: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus; the memory has stored therein a computer program which, when executed by the processor, causes the processor to perform the steps of the method of any one of claims 1 to 6.
10. A computer-readable storage medium, characterized in that it stores a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the method of any one of claims 1 to 6.
11. The utility model provides a vehicle that has intelligence decision function of moving based on car networking which characterized in that specifically includes:
electronic equipment for implementing the vehicle moving method based on the vehicle networking of any one of claims 1 to 6;
a processor running a program, data output from the electronic device when the program is running performing the steps of the method of any of claims 1 to 6;
storage medium for storing a program which, when executed, performs the steps of the method of any one of claims 1 to 6 on data output from an electronic device.
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