WO2019000745A1 - 一种兼容多制式v2x的v2x终端、***及管理方法 - Google Patents

一种兼容多制式v2x的v2x终端、***及管理方法 Download PDF

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Publication number
WO2019000745A1
WO2019000745A1 PCT/CN2017/108667 CN2017108667W WO2019000745A1 WO 2019000745 A1 WO2019000745 A1 WO 2019000745A1 CN 2017108667 W CN2017108667 W CN 2017108667W WO 2019000745 A1 WO2019000745 A1 WO 2019000745A1
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vehicle
information
data
surrounding
receiving
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PCT/CN2017/108667
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English (en)
French (fr)
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王龙翔
张盈盈
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深圳市金溢科技股份有限公司
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Publication of WO2019000745A1 publication Critical patent/WO2019000745A1/zh

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • 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
    • G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40006—Architecture of a communication node
    • 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
    • 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
    • H04L67/50—Network services
    • H04L67/52—Network services specially adapted for the location of the user terminal
    • 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
    • H04L67/50—Network services
    • H04L67/56—Provisioning of proxy services
    • H04L67/565—Conversion or adaptation of application format or content
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN

Definitions

  • the invention relates to the field of Intelligent Transportation System (ITS), in particular to a V2X terminal, system and management method compatible with multi-system V2X.
  • ITS Intelligent Transportation System
  • WAVE Wireless Access in Vehicular Environments
  • ETSI-ITS European Telecommunications Standards Institute-Intelligent Transport Systems, European Telecommunications Standards Protocol-Intelligent Transportation System
  • LTE-V LongTermEvolution-Vehicle
  • V2X vehicle to X, vehicle communication / vehicle communication
  • the present invention provides a management method compatible with a multi-system V2X, including:
  • the surrounding vehicle data is transmitted based on at least two of WAVE, ETSI-ITS, and/or LTE-V standards, and after receiving the surrounding vehicle data according to a corresponding technique, the surrounding vehicle data is decoded and converted into a first standard. format;
  • the driver is alerted or controlled based on the vehicle travel information and the surrounding vehicle data in a first standard format.
  • step of receiving vehicle state information of the installed vehicle is specifically:
  • the step of receiving vehicle location information of the installed vehicle is specifically;
  • the longitude, latitude, altitude, and direction angle information of the vehicle is received by the positioning module and converted into a third standard format.
  • the transmission is a point-to-point communication based on the OCB mode
  • the transmission is based on the ITS-G5A access mode.
  • step of generating the vehicle travel information according to the vehicle state information and the vehicle location information is specifically:
  • Processing is performed after acquiring vehicle state information of the installed vehicle and vehicle location information of the installed vehicle, and generating vehicle travel information including historical route information of the vehicle and prediction of predicting the travel track of the vehicle Path information.
  • the surrounding vehicle data is vehicle status information and vehicle position information of other vehicles.
  • receiving, in the receiving, surrounding vehicle data transmitted by a V2X terminal on another vehicle wherein the surrounding vehicle data is transmitted based on any at least two of WAVE, ETSI-ITS, and/or LTE-V standards,
  • the driver is alerted or controlled according to the vehicle driving information and the surrounding vehicle data.
  • the vehicle step it also includes;
  • the other vehicles After receiving the vehicle state information and the vehicle location information of the installed vehicle and other vehicles, the other vehicles are classified and saved according to the relative positions of the installed vehicles and other vehicles.
  • step of alerting or controlling the driver according to the vehicle driving information and the surrounding vehicle data specifically includes:
  • Determining the threat of the other vehicle to the installed vehicle according to vehicle state information of the installed vehicle, vehicle position information, vehicle state information of other vehicles, vehicle position information, and vehicle travel information of the installed vehicle And prioritize the threats and prioritize the most dangerous threats.
  • the present invention also discloses a V2X terminal compatible with a multi-system V2X, including:
  • a receiving module configured to receive vehicle state information and vehicle location information of the vehicle
  • a sensor data processing module configured to generate vehicle travel information according to the vehicle state information and the vehicle location information
  • a wireless receiving module configured to receive surrounding vehicle data sent by a V2X terminal on another vehicle and decode the data into a first standard format
  • the wireless receiving module includes any one of a WAVE device, an ETSI-ITS device, and an LTE-V device. At least two, the WAVE device, the ETSI-ITS device, and the LTE-V device are respectively configured to decode and convert the surrounding vehicle data into a first standard after receiving the surrounding vehicle data according to a corresponding technology format;
  • a processing module for the surrounding vehicle according to the vehicle travel information and the first standard format
  • the data alerts the driver or controls the vehicle.
  • the present invention also provides a V2X terminal compatible with a multi-system V2X, comprising: a processor and a memory, wherein the memory is used to store program instructions, and the program instructions are used to be loaded by the processor to implement Method steps as described above.
  • a multi-system V2X compatible system including a plurality of V2X terminals as described above that are respectively installed on different vehicles and are wirelessly connected.
  • a roadside device wirelessly connected to the V2X terminal is further included.
  • the technical solution of the present invention implements a unified data format for vehicle state information, vehicle state information, and surrounding vehicle data of the vehicle, thereby realizing compatible access modes of different vehicles and different communication standards, without performing equipment Modifications can support a variety of known V2X standards, extend the range of availability, and facilitate compatibility in regions that use different standards.
  • FIG. 1 is a flow chart of a method for managing a multi-mode V2X compatible with the present invention.
  • the technical standards used in each region are different, mainly including WAVE standard, ETSI-ITS standard, and LTE-V standard.
  • the function of the multi-standard V2X is provided in the first embodiment of the present invention.
  • S101 Receive vehicle state information of the installed vehicle, and receive vehicle location information of the installed vehicle;
  • the method is performed by a V2X terminal mounted on a vehicle, which is a vehicle in which a V2X terminal that performs the method is installed.
  • Receiving vehicle state information of the installed vehicle is to receive vehicle speed and braking state information of the vehicle through the CAN bus interface of the vehicle, and converting into a second standard format;
  • Receiving vehicle location information of the installed vehicle is specifically, receiving by the positioning module
  • the longitude, latitude, altitude, and direction angle information of the vehicle are converted into a third standard format.
  • the CAN bus interface is only an optional form. Since the vehicle status information is different from the content to the form of each vehicle, it needs to be converted into a standard format, that is, the second.
  • the standard format is ready for use, and the vehicle state information in this embodiment includes the vehicle speed of the vehicle, the brake state information, and the like.
  • the positioning module is also a variety of systems, such as GPS, Beidou, Galileo, etc., also need to be converted to the standard format, the third standard format for use.
  • the vehicle position information in this embodiment includes longitude, latitude, altitude, direction angle information, and the like of the vehicle, wherein the square angle is an angle between the traveling direction of the vehicle and the true north.
  • S102 Generate vehicle driving information according to the vehicle state information and the vehicle location information
  • processing is performed to generate vehicle driving information, where the driving information of the vehicle includes historical path information of the vehicle and performing the driving track of the vehicle.
  • Predicted predicted path information which is saved for use.
  • the vehicle travel information may also be a collective name of the vehicle state information of the second standard format and the vehicle travel information of the third standard format, and only the unified combination thereof is here. It is saved, and no other processing is done. It is not limited here.
  • S103 Receive and decode surrounding vehicle data sent by a V2X terminal on another vehicle, where the surrounding vehicle data is transmitted based on at least two of WAVE, ETSI-ITS, and/or LTE-V standards, according to corresponding technologies.
  • the surrounding vehicle data is decoded and converted into a first standard format; it can be understood that the surrounding vehicle data is vehicle state information, vehicle location information of other vehicles, and the V2X installed thereon
  • the terminal collects and sends.
  • the V2X terminal installed in the vehicle receives the vehicle state information and the vehicle position information of the installed vehicle and other vehicles, and classifies and saves the other vehicles according to the relative positions of the installed vehicles and other vehicles.
  • the classification of the direction in which the vehicle travels can also be classified according to the influence of other vehicles on the driving of the installed vehicle, which is not limited herein.
  • the classification save mode can quickly find the corresponding impact vehicle in order to better distinguish different application requirements, which helps to improve the timeliness of the application.
  • S104 Remind or control the driver according to the vehicle driving information and the surrounding vehicle data in a first standard format. Specifically, determining, according to vehicle state information of the installed vehicle, vehicle location information, vehicle state information of other vehicles, vehicle location information, and vehicle driving information of the installed vehicle, determining that the other vehicle is installed to the vehicle The threat of the vehicle, and the threats are graded to prioritize the most dangerous threats. It can be understood that there are various ways of processing, such as when the collision is early warning, using a sound or displaying an alarm device to remind the driver to avoid the impending danger. Or actively control the vehicle's brakes when it is determined that a hazard is about to occur to avoid serious injury to the driver. At the same time, it is reminded that the dangers of different danger levels can be predicted at the same time for reference.
  • the management method does not only provide warnings for dangerous behaviors, but also provides guidance or autopilot services to the driver in the case of system support, such as guiding free parking spaces in parking lots with roadside equipment, or The road selection is carried out at the traffic lights where the roadside equipment is installed, and will not be described here.
  • the transmission is a point-to-point communication based on an OCB (OutsidetheContext of a Basic Service Set) mode;
  • the communication mode also includes:
  • WAVE MAC Mainly responsible for channel coordination, channel switching, time slot synchronization, etc., and provides QoS-guaranteed data transmission for upper-layer applications. Its data plane can support both WSMP (WAVE Short Message Protocol) and IPv6 data services.
  • WSMP Wi-Fi Short Message Protocol
  • IPv6 IPv6 data services
  • WSMP is a simple network/transport layer protocol.
  • the data packets carried by the WSMP are generally short and are an unreliable transmission protocol. It is mainly responsible for providing interfaces for different application service requests (Channel Service Request, Provider Service Request, User Service Request, etc.), and assigning corresponding network resources to each application according to the request for supply and use.
  • the WAVE security module is mainly used to ensure the security of data communication and ensure that the information sent by each terminal is authentic.
  • TCP/IPv6 Provides Internet access for terminals. Currently, it is mainly used for terminal to obtain and verify digital certificates.
  • the terminal access network does not need to perform operations such as association and authentication, which greatly shortens the access time of the terminal.
  • the WAVE security module is introduced to ensure data security, and the timeliness is improved based on the unified data format report. More conducive to the application of the vehicle network.
  • This mode includes:
  • GeoNetworking A geographically-based routing exchange model that allows data to be transmitted over multiple hops in the network, providing direct service support for upper-layer transport protocols.
  • BTP Basic Transport Protocol
  • GeoNetworking-N6 Used to provide multi-hop capability for IPv6.
  • the ETSI-ITS security module is used to ensure the security of data communication.
  • multi-hop propagation can be implemented between V2X terminals, and the access time of the terminal is shortened.
  • the security module is introduced to ensure data security, and the timeliness is improved on the basis of unified data format reporting, which is more conducive to Application of vehicle networks.
  • a V2X terminal compatible with a multi-system V2X includes:
  • a receiving module configured to receive vehicle state information and vehicle location information of the vehicle
  • a sensor data processing module configured to generate vehicle travel information according to the vehicle state information and the vehicle location information
  • a wireless receiving module configured to receive surrounding vehicle data sent by a V2X terminal on another vehicle and decode the data into a first standard format
  • the wireless receiving module includes any one of a WAVE device, an ETSI-ITS device, and an LTE-V device. At least two, the WAVE device, the ETSI-ITS device, and the LTE-V device are respectively configured to decode and convert the surrounding vehicle data into a first standard after receiving the surrounding vehicle data according to a corresponding technology format;
  • a processing module for the surrounding vehicle according to the vehicle travel information and the first standard format
  • the data alerts the driver or controls the vehicle.
  • V2X terminal compatible with a multi-system V2X, comprising: a processor and a memory, the memory for storing program instructions for being loaded by the processor to implement as described in Embodiment 1 Method steps.
  • a multi-format V2X compatible system comprising a plurality of V2X terminals as described above that are respectively mounted on different vehicles and are wirelessly connected.
  • the system also includes a roadside device that is wirelessly coupled to the V2X terminal.

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Abstract

一种兼容多制式V2X的管理方法，包括：接收所安装车辆的车辆状态信息，接收所安装车辆的车辆位置信息（S101）；根据车辆状态信息和车辆位置信息生成车辆行驶信息（S102）；接收其它车辆上的V2X终端所发送的周围车辆数据并解码，其中周围车辆数据基于WAVE、ETSI-ITS和/或LTE-V标准中的任意至少两个进行传输，按照对应的技术接收周围车辆数据后，对周围车辆数据解码并转化成第一标准格式（S103）；根据车辆行驶信息和第一标准格式的周围车辆数据对驾驶员进行提醒或控制车辆（S104）。支持已知的多种V2X标准，拓展了可用范围，方便了在采用不同标准之间的地区进行兼容。

Description

一种兼容多制式V2X的V2X终端、***及管理方法 技术领域
本发明涉及智能交通(Intelligent Transportation System，简称ITS)领域，尤其涉及一种兼容多制式V2X的V2X终端、***及管理方法。
背景技术
WAVE(Wireless Access in Vehicular Environments车辆环境无线接入技术)、ETSI-ITS(European Telecommunications Standards Institute-IntelligentTransportSystems，欧洲电信标准协议-智能交通***)、LTE-V(LongTermEvolution-Vehicle，车载环境长期演进通信技术)等V2X(vehicle to X，车路通信/车车通信)通信技术差异性较大，无法做到相互兼容。进一步的在行车安全类应用场景中，各上层应用需要与车辆交互获取到车辆状态信息、需要与定位模块交互获取到车辆实时位置信息，而由于不同的车辆状态信息、实时位置信息获取方式差异性极大，为应用开发带来极大的不便利性。
发明内容
为解决上述问题，本发明提供了一种兼容多制式V2X的管理方法，包括：
接收所安装车辆的车辆状态信息，接收所安装车辆的车辆位置信息；
根据所述车辆状态信息和所述车辆位置信息生成车辆行驶信息；
接收其它车辆上的V2X终端所发送的周围车辆数据并解码，其中所述周 围车辆数据基于WAVE、ETSI-ITS和/或LTE-V标准中的任意至少两个进行传输，按照对应的技术接收所述周围车辆数据后，对所述周围车辆数据解码并转化成第一标准格式；
根据所述车辆行驶信息和第一标准格式的所述周围车辆数据对驾驶员进行提醒或控制车辆。
进一步的，所述接收所安装车辆的车辆状态信息步骤具体为：
通过所述车辆的CAN总线接口接收车辆的车速、制动状态信息，并转化成第二标准格式；
和/或，
所述接收所安装车辆的车辆位置信息步骤具体为；
通过定位模块接收所述车辆的经度、纬度、高度、方向角信息，并转化成第三标准格式。
进一步的，所述周围车辆数据基于WAVE标准进行传输时，传输为基于OCB模式的点对点通信；
和/或，
所述周围车辆数据基于ETSI-ITS标准进行传输时，传输为基于ITS-G5A接入模式。
进一步的，所述根据所述车辆状态信息和所述车辆位置信息生成车辆行驶信息步骤具体为：
获取到所安装车辆的车辆状态信息和所安装车辆的车辆位置信息后进行处理，生成车辆行驶信息，所述车辆行驶信息包括所述车辆的历史路径信息和对所述车辆行驶轨迹进行预测的预测路径信息。
进一步的，所述周围车辆数据为其它车辆的车辆状态信息、车辆位置信 息，则在所述接收其它车辆上的V2X终端所发送的周围车辆数据并解码，其中所述周围车辆数据基于WAVE、ETSI-ITS和/或LTE-V标准中的任意至少两个进行传输，按照对应的技术接收所述周围车辆数据后，对所述周围车辆数据解码并转化成第一标准格式步骤之后，所述根据所述车辆行驶信息和所述周围车辆数据对驾驶员进行提醒或控制车辆步骤之前，还包括；
接收所安装车辆和其它车辆的车辆状态信息、车辆位置信息后，根据所安装车辆和其它车辆的相对位置，对其它车辆进行目标分类并保存。
进一步的，所述根据所述车辆行驶信息和所述周围车辆数据对驾驶员进行提醒或控制车辆步骤具体包括：
根据所述所安装车辆的车辆状态信息、车辆位置信息，其它车辆的车辆状态信息、车辆位置信息，和所述所安装车辆的车辆行驶信息，判断所述其它车辆对所述所安装车辆的威胁，并对所述威胁进行分级，优先处理危险程度最高的威胁。
另一方面，本发明还公开了一种兼容多制式V2X的V2X终端，包括：
接收模块，用于接收车辆的车辆状态信息和车辆位置信息；
传感器数据处理模块，根据所述车辆状态信息和所述车辆位置信息生成车辆行驶信息；
无线接收模块，用于接收其它车辆上的V2X终端所发送的周围车辆数据并解码后转化为第一标准格式，所述无线接收模块包括WAVE装置、ETSI-ITS装置、LTE-V装置中的任意至少两个，所述WAVE装置、所述ETSI-ITS装置、所述LTE-V装置分别用于按照对应的技术接收所述周围车辆数据后，对所述周围车辆数据解码并转化成第一标准格式；
处理模块，用于根据所述车辆行驶信息和第一标准格式的所述周围车辆 数据对驾驶员进行提醒或控制车辆。
再一个方面，本发明还提供了一种兼容多制式V2X的V2X终端，包括：处理器和存储器，所述存储器用于存储程序指令，所述程序指令用于被所述处理器加载，以实现如上所述的方法步骤。
进一步的，还提供了一种兼容多制式V2X的***，包括复数个分别安装在不同车辆上，且无线相连的如上所述的V2X终端。
进一步的，还包括和所述V2X终端无线连接的路侧设备。
实施本发明的技术方案，对车辆的车辆状态信息、车辆状态信息、周围车辆数据均各自采用统一的数据格式，因而实现了兼容不同车辆的接入方式、和不同的通信标准，无需对设备进行修改即可支持已知的V2X多种标准，拓展了可用范围，方便了在采用不同标准之间的地区进行兼容。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。附图中：
图1是本发明一种兼容多制式V2X的管理方法的流程图。
具体实施方式
在现行的V2X***中，各个地区所使用的技术标准各不相同，主要包括WAVE标准、ETSI-ITS标准、LTE-V标准，各标准技术差异较大无法相互兼 容，但是所承担的功能基本相同，为了解决不同技术标准间的兼容问题，本发明实施例1提供了一种兼容多制式V2X的管理方法,如图1所述，包括：
S101：接收所安装车辆的车辆状态信息，接收所安装车辆的车辆位置信息；
具体的，本方法由安装在车辆上的V2X终端执行，所安装车辆就是安装执行该方法的V2X终端的车辆。接收所安装车辆的车辆状态信息为通过所述车辆的CAN总线接口接收车辆的车速、制动状态信息，并转化成第二标准格式；接收所安装车辆的车辆位置信息具体为，通过定位模块接收所述车辆的经度、纬度、高度、方向角信息，并转化成第三标准格式。
可以理解的，CAN总线接口仅为一种可选的形式，由于各个车辆自身的不同，所接收到的车辆状态信息从内容到形式也各不相同，因此需要将其转化为标准格式即第二标准格式以备使用，本实施例中车辆状态信息包括车辆的车速、制动状态信息等。同理，定位模块也为多种，如GPS、北斗、伽利略等***，同样需要转化为标准格式即第三标准格式以备使用。本实施例中车辆位置信息包括车辆的经度、纬度、高度、方向角信息等，其中方角为车辆行驶方向和正北方的夹角。
S102：根据所述车辆状态信息和所述车辆位置信息生成车辆行驶信息；
具体的，获取到所安装车辆的车辆状态信息和所安装车辆的车辆位置信息后进行处理，生成车辆行驶信息，所述车辆行驶信息包括所述车辆的历史路径信息和对所述车辆行驶轨迹进行预测的预测路径信息，保存该信息以备使用。在其他实施例中，车辆行驶信息也可以仅仅是第二标准格式的车辆状态信息和第三标准格式的车辆行驶信息的统称，此处仅仅对其进行统一的合 成保存，并不做其他处理，在此不做限定。
S103：接收其它车辆上的V2X终端所发送的周围车辆数据并解码，其中所述周围车辆数据基于WAVE、ETSI-ITS和/或LTE-V标准中的任意至少两个进行传输，按照对应的技术接收所述周围车辆数据后，对所述周围车辆数据解码并转化成第一标准格式；可以理解的，所述周围车辆数据为其它车辆的车辆状态信息、车辆位置信息，由其上安装的V2X终端采集并发送的。则本车上安装的V2X终端接收所安装车辆和其它车辆的车辆状态信息、车辆位置信息后，根据所安装车辆和其它车辆的相对位置，对其它车辆进行目标分类并保存。除此以外分类的方式还可以有多种，如对车辆类型进行分类。对车辆行驶的方向进行分类，也可以根据其他车辆对所安装车辆行驶所产生的影响进行分类，在此不做限定。该分类保存模式为了更好的区分不同应用需求时能快速的找到对应的影响车辆，有助于提高应用的时效性。
S104：根据所述车辆行驶信息和第一标准格式的所述周围车辆数据对驾驶员进行提醒或控制车辆。具体的，根据所述所安装车辆的车辆状态信息、车辆位置信息，其它车辆的车辆状态信息、车辆位置信息，和所述所安装车辆的车辆行驶信息，判断所述其它车辆对所述所安装车辆的威胁，并对所述威胁进行分级，优先处理危险程度最高的威胁。可以理解的，处理的方式可以有多种，如碰撞预警时，用声音或者显示报警装置提醒驾驶员规避即将发生的危险。或者在判断危险将要发生时主动控制车辆制动以避免驾驶员受到严重的伤害。同时提醒危险发生时可以同时预告多个不同危险程度的威胁以供参考。
容易理解的，该管理方法并不仅仅针对危险行为进行预警，还可以再***支持的情况下对驾驶员提供指引或自动驾驶服务，如在安装有路侧设备的停车场指引空闲车位，或者在安装有路侧设备的红绿灯处进行道路选择，在此不做赘述。
再一个实施例中，在实施例1的基础上所述周围车辆数据基于WAVE标准进行传输时，传输为基于OCB(OutsidetheContextofaBasic service set，基本服务集之外的环境)模式的点对点通信；该通信模式还包括：
WAVE MAC：主要负责信道协调、信道切换、时隙同步等工作，并为上层应用提供具有QoS保障的数据发送功能。其数据平面可同时支持WSMP(WAVE Short Message Protocol，WAVE短消息传输协议)和IPv6数据业务。
WSMP：WSMP是一种简单的网络/传输层协议，为适应节点高速移动、拓扑变化快的车载网络环境，其承载的数据报文一般较短，且为一种不可靠传输协议。主要负责为不同的应用服务请求(Channel Service Request、Provider Service Request、User Service Request等)提供接口，并根据请求为各应用分配相应的网络资源，供应用使用。
WAVE安全模块：如前文所述，WAVE安全模块主要用于保证数据通信的安全性，保证每个终端发出的信息为真实可信的。
TCP/IPv6：为终端提供Internet接入功能，当前主要用于终端获取、验证数字证书。
该OCB模式下，终端接入网络无需进行关联、认证等操作，大大缩短了终端的接入时间；同时引入WAVE安全模块保证了数据的安全性，在统一数据格式上报的基础上提高了时效性，更利于车辆网的应用。
所述周围车辆数据基于ETSI-ITS标准进行传输时，传输为基于ITS-G5A接入模式。该模式包括：
GeoNetworking(基于地理位置信息的路由)：一种基于地理位置的路由交换模型，使得数据可在网络中多跳传输，可直接为上层传输协议提供服务支持。
BTP(Basic Transport Protocol，基本传输协议)为车载网络环境提供端到端的无连接服务。
GeoNetworking-N6：用于为IPv6提供多跳功能。
ETSI-ITS安全模块，用于保证数据通信的安全性。
采用本实施例，可以在V2X终端间实现多跳传播，同时缩短了终端的接入时间；同时引入安全模块保证了数据的安全性，在统一数据格式上报的基础上提高了时效性，更利于车辆网的应用。
再一个实施例，一种兼容多制式V2X的V2X终端，包括：
接收模块，用于接收车辆的车辆状态信息和车辆位置信息；
传感器数据处理模块，根据所述车辆状态信息和所述车辆位置信息生成车辆行驶信息；
无线接收模块，用于接收其它车辆上的V2X终端所发送的周围车辆数据并解码后转化为第一标准格式，所述无线接收模块包括WAVE装置、ETSI-ITS装置、LTE-V装置中的任意至少两个，所述WAVE装置、所述ETSI-ITS装置、所述LTE-V装置分别用于按照对应的技术接收所述周围车辆数据后，对所述周围车辆数据解码并转化成第一标准格式；
处理模块，用于根据所述车辆行驶信息和第一标准格式的所述周围车辆 数据对驾驶员进行提醒或控制车辆。
还公开了一种兼容多制式V2X的V2X终端，包括：处理器和存储器，所述存储器用于存储程序指令，所述程序指令用于被所述处理器加载，以实现如实施例1所述的方法步骤。
还公开了一种兼容多制式V2X的***，包括复数个分别安装在不同车辆上，且无线相连的如上所述的V2X终端。***还包括和所述V2X终端无线连接的路侧设备。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何纂改、等同替换、改进等，均应包含在本发明的权利要求范围之内。

Claims (10)

  1. 一种兼容多制式V2X的管理方法，其特征在于，包括：
    接收所安装车辆的车辆状态信息，接收所安装车辆的车辆位置信息；
    根据所述车辆状态信息和所述车辆位置信息生成车辆行驶信息；
    接收其它车辆上的V2X终端所发送的周围车辆数据并解码，其中所述周围车辆数据基于WAVE、ETSI-ITS和/或LTE-V标准中的任意至少两个进行传输，按照对应的技术接收所述周围车辆数据后，对所述周围车辆数据解码并转化成第一标准格式；
    根据所述车辆行驶信息和第一标准格式的所述周围车辆数据对驾驶员进行提醒或控制车辆。
  2. 根据权利要求1所述的方法，其特征在于，所述接收所安装车辆的车辆状态信息步骤具体为：
    通过所述车辆的CAN总线接口接收车辆的车速、制动状态信息，并转化成第二标准格式；
    和/或，
    所述接收所安装车辆的车辆位置信息步骤具体为；
    通过定位模块接收所述车辆的经度、纬度、高度、方向角信息，并转化成第三标准格式。
  3. 根据权利要求1所述的方法，其特征在于，所述周围车辆数据基于WAVE标准进行传输时，传输为基于OCB模式的点对点通信；
    和/或，
    所述周围车辆数据基于ETSI-ITS标准进行传输时，传输为基于ITS-G5A 接入模式。
  4. 根据权利要求1所述的方法，其特征在于，所述根据所述车辆状态信息和所述车辆位置信息生成车辆行驶信息步骤具体为：
    获取到所安装车辆的车辆状态信息和所安装车辆的车辆位置信息后进行处理，生成车辆行驶信息，所述车辆行驶信息包括所述车辆的历史路径信息和对所述车辆行驶轨迹进行预测的预测路径信息。
  5. 根据权利要求1所述的方法，其特征在于，所述周围车辆数据为其它车辆的车辆状态信息、车辆位置信息，则在所述接收其它车辆上的V2X终端所发送的周围车辆数据并解码，其中所述周围车辆数据基于WAVE、ETSI-ITS和/或LTE-V标准中的任意至少两个进行传输，按照对应的技术接收所述周围车辆数据后，对所述周围车辆数据解码并转化成第一标准格式步骤之后，所述根据所述车辆行驶信息和所述周围车辆数据对驾驶员进行提醒或控制车辆步骤之前，还包括；
    接收所安装车辆和其它车辆的车辆状态信息、车辆位置信息后，根据所安装车辆和其它车辆的相对位置，对其它车辆进行目标分类并保存。
  6. 根据权利要求5所述的方法，其特征在于，所述根据所述车辆行驶信息和所述周围车辆数据对驾驶员进行提醒或控制车辆步骤具体包括：
    根据所述所安装车辆的车辆状态信息、车辆位置信息，其它车辆的车辆状态信息、车辆位置信息，和所述所安装车辆的车辆行驶信息，判断所述其它车辆对所述所安装车辆的威胁，并对所述威胁进行分级，优先处理危险程度最高的威胁。
  7. 一种兼容多制式V2X的V2X终端，其特征在于，包括：
    接收模块，用于接收车辆的车辆状态信息和车辆位置信息；
    传感器数据处理模块，根据所述车辆状态信息和所述车辆位置信息生成车辆行驶信息；
    无线接收模块，用于接收其它车辆上的V2X终端所发送的周围车辆数据并解码后转化为第一标准格式，所述无线接收模块包括WAVE装置、ETSI-ITS装置、LTE-V装置中的任意至少两个，所述WAVE装置、所述ETSI-ITS装置、所述LTE-V装置分别用于按照对应的技术接收所述周围车辆数据后，对所述周围车辆数据解码并转化成第一标准格式；
    处理模块，用于根据所述车辆行驶信息和第一标准格式的所述周围车辆数据对驾驶员进行提醒或控制车辆。
  8. 一种兼容多制式V2X的V2X终端，其特征在于，包括：处理器和存储器，所述存储器用于存储程序指令，所述程序指令用于被所述处理器加载，以实现如权利要求1-6所述的方法步骤。
  9. 一种兼容多制式V2X的***，其特征在于，包括复数个分别安装在不同车辆上，且无线相连的如权利要求7或8所述的V2X终端。
  10. 根据权利要求9所述的***，其特征在于，还包括和所述V2X终端无线连接的路侧设备。
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