CN116319854A - Intelligent driving system is cooperated to car way cloud - Google Patents
Intelligent driving system is cooperated to car way cloud Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
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- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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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
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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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
- B60W2556/00—Input parameters relating to data
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Abstract
The invention relates to a vehicle-road cloud cooperative intelligent driving system, which comprises: a vehicle end system comprising: the system comprises a perception layer, a decision layer and an execution layer, wherein the perception layer comprises a vehicle-mounted unit; a cloud system, comprising: the system comprises a central cloud computing platform, an area cloud computing platform and edge cloud computing platforms, wherein one central cloud computing platform is connected with a plurality of area cloud computing platforms, and one area cloud computing platform is connected with a plurality of edge cloud computing platforms; a wayside system comprising: a roadside sensing device and a roadside unit; the road side sensing equipment is connected with the center cloud computing platform, the regional cloud computing platform and the edge cloud computing platform; the edge cloud computing platform is connected with the vehicle-mounted unit through the road side unit; the regional cloud computing platform is connected with the vehicle-mounted unit through the road side unit; the central cloud computing platform and the regional cloud computing platform are also directly connected with the vehicle-mounted unit.
Description
Technical Field
The invention is used for a high-level vehicle Lu Yun cooperative intelligent driving system, and particularly relates to a vehicle-road cloud cooperative intelligent driving system.
Background
At present, intelligent network-connected automobiles are divided into two technical routes of single-car intelligence and car road cooperation, the single-car intelligence has realized that the automatic driving function of L2 or L2+ level is mass-produced to the ground, and the automatic driving of the single-car of L3 and L4 level also has actual road test verification. With the improvement of the automatic driving level, the perception and operation main body of the vehicle is gradually changed into an automatic driving system from people, such as L2 can liberate both feet of a driver, L2+ liberates both hands and feet of the driver, L3 liberates both hands and feet of the driver, long-time distraction of the driver is allowed, higher requirements are provided for the perception and decision making capability and the safety level of the automatic driving, and in an actual traffic scene, many long-tail effects are difficult or impossible to solve for the intelligent of a single vehicle, such as beyond-sight perception, blind area perception and high-latitude traffic data (global traffic situation, traffic signal lamp with high confidence and the like), and the long-tail effects bring great functional experience limitation to the intelligent system of the single vehicle with high level. The vehicle-road cloud cooperation is a traffic information interaction technology based on communication, realizes vehicle-end, road-end and cloud information interaction, has the characteristics of all weather, beyond visual range and cooperation, can well solve the long tail effect of the intelligent majority of single vehicles, combines high-level automatic driving of the vehicle-road cloud cooperation, and can bring better user experience.
According to the prior patent, the prior patent mainly aims at the fusion of the road cooperation of the L2-level self-adaptive cruise control, and the road cooperation system is mainly utilized to acquire the position and the motion state information of the front vehicle, so that the cruise control algorithm is improved, the whole system is not considered from the aspects of the whole function architecture of a vehicle end, a road end and a cloud end, the advantages of the road cloud cooperation in the acquisition, the calculation processing and the transmission of other traffic information are not considered, only the information interaction between vehicles (V2V) is considered, the application of V2V needs to have higher vehicle-end permeability to play a role, and the function implementation is greatly influenced under the condition of lower current vehicle permeability. For example, in CN113682305a, a vehicle-road cooperative adaptive cruise control method is provided, which is used for monitoring a host vehicle on a remote vehicle in real time through a C-V2X technology during road running, and the host vehicle detects a collision risk between the host vehicle and the remote vehicle according to the remote vehicle information obtained through the V2X technology; and if the collision risk between the main vehicle and the remote vehicle is detected, and after judging that the main vehicle driver is in normal driving according to the driving concentration condition of the main vehicle driver, starting the main vehicle self-adaptive cruise system. In CN110816529B, a vehicle cooperative adaptive cruise control method based on a variable time-distance strategy is provided, the number of CACC vehicles in front of a current vehicle and in a communication range is determined by using a radar, a vehicle-mounted sensor and V2V communication, the desired safe following distance is determined by using different variable time-distance strategies according to the number of vehicles, and the desired acceleration is determined, thereby realizing vehicle control.
Disclosure of Invention
Aiming at the problems, the invention provides a vehicle-road cloud cooperative intelligent driving system, which introduces vehicle-road cloud cooperatively into the vehicle intelligent driving system, improves the defects of single vehicle intelligence in beyond-sight perception, blind area perception, expected functional safety and high-dimensional traffic data perception, and can support the realization of an L3 level automatic driving function.
The invention provides a vehicle-road cloud cooperative intelligent driving system, which comprises:
a vehicle end system comprising: the system comprises a perception layer, a decision layer and an execution layer, wherein the perception layer comprises a vehicle-mounted unit;
a cloud system, comprising: the system comprises a central cloud computing platform, an area cloud computing platform and edge cloud computing platforms, wherein one central cloud computing platform is connected with a plurality of area cloud computing platforms, and one area cloud computing platform is connected with a plurality of edge cloud computing platforms;
a wayside system comprising: a roadside sensing device and a roadside unit;
the road side sensing equipment is connected with the center cloud computing platform, the regional cloud computing platform and the edge cloud computing platform;
the edge cloud computing platform is connected with the vehicle-mounted unit through the road side unit;
the regional cloud computing platform is connected with the vehicle-mounted unit through the road side unit;
the central cloud computing platform and the regional cloud computing platform are also directly connected with the vehicle-mounted unit.
Preferably, the road side unit communicates with the vehicle-mounted unit through a PC5 direct communication interface, and broadcasts the standard message frames after calculation processing of the regional cloud computing platform and the edge cloud computing platform to the vehicle-mounted unit, so as to realize data sharing in the region.
Preferably, the central cloud computing platform interacts with the vehicle-mounted unit through a Uu cellular network communication interface, the vehicle-mounted unit reports the state information of the vehicle, and the central cloud computing platform provides corresponding data service.
Preferably, the vehicle-mounted unit is further connected with the regional cloud computing platform through a Uu cellular network communication interface according to requirements so as to acquire corresponding data services.
Preferably, the sensing layer comprises N laser radars, 4 side view cameras, N front view cameras, N forward millimeter wave radars, 4 side millimeter wave radars, 4 surrounding view cameras, 12 ultrasonic radars, a combined positioning device and a vehicle-mounted unit;
the decision layer comprises a first controller and a second controller;
the execution layer comprises a braking system, a steering system, a power system and a man-machine interaction system, wherein the braking system adopts a full redundancy design and consists of an ESP (electronic stability program) I and an ESP II which are connected in parallel, and the steering system adopts a full redundancy design and consists of an EPS I and an EPS II which are connected in parallel;
the decision layer is in communication connection with the execution layer through a gateway;
the laser radar, the side view camera, the side view millimeter wave radar and the combined positioning are independently connected to a first controller of the decision layer, the forward millimeter wave radar, the look-around camera and the ultrasonic radar are independently connected to a second controller of the decision layer, and the forward view camera and the vehicle-mounted unit are simultaneously connected to the first controller and the second controller of the decision layer.
The technical scheme of the invention is as follows:
the system cooperatively introduces the vehicle road cloud into the intelligent driving system of the vehicle, improves the defects of the intelligent vehicle in beyond-vision perception, blind area perception, expected functional safety and high-dimensional traffic data perception, and can support the realization of the L3 level automatic driving function.
Drawings
FIG. 1 is a schematic diagram of a vehicle end function architecture according to the present invention;
fig. 2 is a schematic diagram of a road side and cloud architecture according to the present invention.
Detailed Description
The invention will be further illustrated with reference to the drawings and specific examples, which are to be understood as illustrative only and not limiting the scope of the invention.
The embodiment can be divided into a vehicle end system, a road end and a cloud end system.
The vehicle-end system comprises a sensing layer, a decision layer and an execution layer, wherein the vehicle-end system sensing layer comprises a camera, a millimeter wave radar, an ultrasonic radar, a laser radar and a vehicle-mounted unit 29, the vehicle-mounted unit 29 is responsible for realizing vehicle-road cloud cooperative communication, and the vehicle-end system sensing layer adopts a heterogeneous redundancy design. The vehicle-end system decision layer comprises a main controller and a secondary controller, wherein the secondary controller is used for backing up the main controller and sharing calculation force. The vehicle-end system execution layer comprises a braking system 213, a steering system 214 and a power system 215, and adopts a full redundancy design. The road side system comprises road side sensing equipment 14 and a road side unit 15, wherein the road side sensing equipment 14 comprises a millimeter wave radar, a camera, a laser radar, a meteorological sensor and a road sensor, so that the comprehensive sensing of the single-road traffic state is realized, and the road side unit 15 is responsible for realizing the communication with the cloud and the vehicle end. The cloud system comprises an edge cloud computing platform 13, an area cloud computing platform 12 and a center cloud computing platform 11, wherein the edge cloud computing platform 12 is connected with a plurality of groups of road side sensing devices 14, the area cloud computing platform 12 is connected with a plurality of the edge cloud computing platforms 13, and the center cloud computing platform 11 is connected with a plurality of the area cloud computing platforms 12 to form a multi-layer hierarchical cloud architecture of center-area-edge.
As shown in fig. 1, the vehicle-end system includes a perception layer, a decision layer and an execution layer. The sensing layer comprises N laser radars 21 (N can be 1 or 2), 4 side view cameras 22, N front view cameras 23 (N can be 1 or 2), N forward millimeter wave radars 24 (N can be 1 or 2), 4 side millimeter wave radars 25,4 looking around cameras 26, 12 ultrasonic radars 27, a combined positioning device 28 and an on-board unit 29. The decision layer includes a first controller 210 and a second controller 211. The execution layer comprises a braking system 213, a steering system 214, a power system 215 and a man-machine interaction system 216, wherein the braking system 213 adopts a full redundancy design and is formed by connecting an ESP one 2131 and an ESP two 2132 in parallel, and the steering system 214 adopts a full redundancy design and is formed by connecting an EPS one 2141 and an EPS two 2142 in parallel. The decision layer is communicatively connected to the execution layer via the gateway 212. Each sensor of the sensing layer adopts a heterogeneous redundancy design, namely, the laser radar 21, the side view camera 22, the side millimeter wave radar 25 and the combined positioning 28 are independently connected with a first controller 210 of the decision layer, the forward millimeter wave radar 24, the side view camera 26 and the ultrasonic radar 27 are independently connected with a second controller 211 of the decision layer, the front view camera 23 and the vehicle-mounted unit 29 are simultaneously connected with the first controller 210 and the second controller 211 of the decision layer, the decision layer adopts a design of main control and auxiliary control, the first controller 210 is used as a main controller, the second controller 211 is used as an auxiliary controller, and the auxiliary controller is used for controlling backup and calculation force sharing.
Aiming at beyond visual range and blind area sensing scenes such as ramp remittance and remittance scenes, road side sensing equipment is deployed at the entrance or exit roadside of a ramp, the multi-layer hierarchical cloud system is accessed, the movement state information of vehicles on the ramp and a main road is sensed in real time through the road side sensing equipment, remittance and remittance vehicles with collision risks are calculated through the edge cloud computing platform 13, the related vehicle information is sent to a vehicle-mounted unit 29 of the remittance and remittance vehicles through the road side unit 15, after the information is received by the vehicle-mounted unit 29 of the remittance and remittance vehicles, the information is sent to a vehicle-end system decision layer for sensing fusion and computation processing, and finally decision results are given, an executing layer is controlled to carry out braking deceleration or lane change and other avoidance, and the safety and comfort of the automatic driving vehicles in the ramp remittance and remittance scenes are improved.
Aiming at the expected functional safety scene, such as a traffic accident in front, the intelligent vehicle cannot accurately identify the event and the affected lane, the lane-level detection and identification of the traffic accident can be realized by deploying the road side sensing equipment 14 at the road side and accessing the multi-layer hierarchical cloud system, the type of the traffic accident and the affected lane information are sent to a remote vehicle through the cloud and the road end, the vehicle can acquire the traffic accident information in advance, and a decision of decelerating/taking over/changing the road is made in advance.
For a high-dimensional data scene, for example, an autopilot vehicle passes through a signal lamp intersection, a camera of a bicycle intelligent cannot sense the countdown of the signal lamp, or under the condition of shielding a sight line, the signal lamp cannot be sensed, the road side unit 15 is deployed at the signal lamp intersection and is connected with the multi-layer hierarchical cloud system, the road side unit 15 directly acquires the phase state and countdown information of the signal lamp from a signal machine controller, the information is uploaded to a cloud, the cloud is issued to the autopilot vehicle, or the information is directly broadcast to a vehicle-mounted unit 29 of the autopilot vehicle through the road side unit 15, the vehicle-mounted unit 29 sends the signal lamp information to a decision layer, the decision layer gives a traffic suggestion according to the information, and the execution layer controls the vehicle to pass through the signal lamp intersection safely and efficiently according to the suggestion.
As shown in fig. 2, the cloud system includes a central cloud computing platform (service operation platform) 11, an area cloud computing platform (area computing platform) 12 and an edge cloud computing platform (edge computing platform) 13, and the road-side system includes a road-side sensing device 14 and a road-side unit 15, wherein the road-side sensing device 14 includes a millimeter wave radar 141, a camera 142, a laser radar 143, a weather sensor 144 and a road sensor 145. The road side sensing device 14 is responsible for collecting road traffic event and traffic participant information, and respectively inputs the road traffic event and traffic participant information to the central cloud computing platform (service operation platform) 11, the regional cloud computing platform (regional computing platform) 12 and the edge cloud computing platform (edge computing platform) 13 according to different data types and service requirements. The edge cloud computing platform (edge computing platform) 13 performs data fusion computation according to the data sensed by the road side sensing device 14 and forms a standard message frame from the result, and transmits the corresponding message frame to the regional cloud computing platform (regional computing platform) and the road side unit 15. The regional cloud computing platform (regional computing platform) 12 integrates regional data and the central cloud computing platform (service operation platform) 11, and the vehicle-mounted unit 16 reports the fusion of vehicle information, transmits corresponding processing information to the road side unit 15, and simultaneously transmits corresponding service data to the central cloud computing platform (service operation platform) 11, so that data sharing in and among regions is realized. The central cloud computing platform (service operation platform) 11 interacts with the on-board unit 16 through a Uu cellular network communication interface, the on-board unit 16 reports the state information of the vehicle, and the central cloud computing platform (service operation platform) 11 provides corresponding data services. The road side unit 15 communicates with the vehicle-mounted unit 16 through a PC5 direct communication interface, and broadcasts the standard message frames after calculation processing of the regional cloud (regional calculation unit) 12 and the edge cloud (edge calculation unit) 13 to the vehicle-mounted unit 16, so as to realize data sharing in the region. The vehicle-mounted unit 16 may be connected to the regional cloud computing platform (regional computing platform) 12 or the central cloud computing platform (service operation platform) 11 through Uu interfaces according to requirements, so as to obtain corresponding data services.
The vehicle-mounted unit 16 is used for realizing data interaction by the vehicle-mounted end, road end and cloud system, so that cooperation among vehicles, roads and clouds is realized, and the defects of intelligent perception and decision of a bicycle are overcome.
Claims (5)
1. The utility model provides a car way cloud cooperatees intelligent driving system which characterized in that includes:
a vehicle end system comprising: the system comprises a perception layer, a decision layer and an execution layer, wherein the perception layer comprises a vehicle-mounted unit;
a cloud system, comprising: the system comprises a central cloud computing platform, an area cloud computing platform and edge cloud computing platforms, wherein one central cloud computing platform is connected with a plurality of area cloud computing platforms, and one area cloud computing platform is connected with a plurality of edge cloud computing platforms;
a wayside system comprising: a roadside sensing device and a roadside unit;
the road side sensing equipment is connected with the center cloud computing platform, the regional cloud computing platform and the edge cloud computing platform;
the edge cloud computing platform is connected with the vehicle-mounted unit through the road side unit;
the regional cloud computing platform is connected with the vehicle-mounted unit through the road side unit;
the central cloud computing platform and the regional cloud computing platform are also directly connected with the vehicle-mounted unit.
2. The vehicle Lu Yun collaborative intelligent driving system according to claim 1, wherein the roadside unit communicates with the on-board unit through a PC5 direct communication interface, and the roadside unit broadcasts the standard message frames after calculation processing of the regional cloud computing platform and the edge cloud computing platform to the on-board unit to realize data sharing in a region.
3. The vehicle Lu Yun collaborative intelligent driving system according to claim 1, wherein the central cloud computing platform interacts with the on-board unit via a Uu cellular network communication interface, the on-board unit reports vehicle status information, and the central cloud computing platform provides corresponding data services.
4. The vehicle Lu Yun collaboration intelligent drive system of claim 1, wherein the on-board unit is further connected to the regional cloud computing platform via a Uu cellular network communication interface as required to obtain corresponding data services.
5. The vehicle Lu Yun co-intelligent driving system according to claim 1, wherein,
the sensing layer comprises N laser radars, 4 side view cameras, N front view cameras, N forward millimeter wave radars, 4 side millimeter wave radars, 4 surrounding view cameras, 12 ultrasonic radars, a combined positioning device and a vehicle-mounted unit;
the decision layer comprises a first controller and a second controller;
the execution layer comprises a braking system, a steering system, a power system and a man-machine interaction system, wherein the braking system adopts a full redundancy design and consists of an ESP (electronic stability program) I and an ESP II which are connected in parallel, and the steering system adopts a full redundancy design and consists of an EPS I and an EPS II which are connected in parallel;
the decision layer is in communication connection with the execution layer through a gateway;
the laser radar, the side view camera, the side view millimeter wave radar and the combined positioning are independently connected to a first controller of the decision layer, the forward millimeter wave radar, the look-around camera and the ultrasonic radar are independently connected to a second controller of the decision layer, and the forward view camera and the vehicle-mounted unit are simultaneously connected to the first controller and the second controller of the decision layer.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117496711A (en) * | 2023-11-14 | 2024-02-02 | 南京智慧交通信息股份有限公司 | 5G-based man-vehicle road integrated intelligent traffic system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117496711A (en) * | 2023-11-14 | 2024-02-02 | 南京智慧交通信息股份有限公司 | 5G-based man-vehicle road integrated intelligent traffic system and method |
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