CN109686095A - Bus or train route Synergistic method and system based on LTE-V - Google Patents
Bus or train route Synergistic method and system based on LTE-V Download PDFInfo
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- CN109686095A CN109686095A CN201910119147.5A CN201910119147A CN109686095A CN 109686095 A CN109686095 A CN 109686095A CN 201910119147 A CN201910119147 A CN 201910119147A CN 109686095 A CN109686095 A CN 109686095A
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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
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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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
Abstract
The invention discloses a kind of bus or train route Synergistic method based on LTE-V, comprising: the vehicle-mounted collaboration processing equipment identification, acquisition vehicle running environment information, vehicle condition data information；The trackside processing equipment acquires and generates road condition information；The remote server receives the vehicle running environment information, the vehicle condition data information and the road condition information, makees comprehensive analysis to the above-mentioned information received by the coprocessor and carries out collaboration processing.In addition, the invention also discloses a kind of bus or train route cooperative system based on LTE-V.Using bus or train route cooperative system and bus or train route Synergistic method of the invention, the operation and efficiency of traffic system are substantially increased, and dramatically avoids traffic accident.
Description
Technical field
The present invention relates to vehicle networking technical field, in particular to a kind of bus or train route Synergistic method and system based on LTE-V.
Background technique
In the prior art, car networking is that the letter such as vehicle, road, environment is collected using technologies such as wireless communication, sensor measurings
Breath by Che-vehicle, Che-road information exchange and is shared, and makes intelligent coordinated between vehicle and infrastructure and cooperation, to realize intelligence
The integrated network of energy traffic administration control, Vehicular intelligent control and Intelligent Dynamic information service, is technology of Internet of things in intelligence
The extension of energy field of transportation system.Based on in-vehicle network, inter-vehicle network and vehicle-mounted mobile internet, according to agreement communication protocol and
Data Exchange Standard communicates wirelessly the big system with information exchange between vehicle-X (X: vehicle, road, pedestrian and internet etc.)
System network is that by the integrated network of intelligent traffic management, Intelligent Dynamic information service and Vehicular intelligentization control.
V2X is to refer between automobile or the communication system of automobile and roadside pedestrian, cyclist, is vehicle casual network
(Vehicular Ad-hoc Networks, VANETs) also belongs to a kind of mobile casual network (Mobile Ad-hoc
Networks,MANETs).In this network, the vehicle of each networking can become a network node, have mobility.
V2X will also by the mobile base station of surrounding carry out data exchange, thus more accurately determine vehicle specific location and in real time
Traffic information etc..In intelligent transportation field, sensor is broadly divided into autonomic sensor (laser radar, millimetre-wave radar, camera shooting
Head etc.) and communication sensor two major classes, V2X technology is exactly to rely on the latter.In simple terms, V2X be a kind of realization both-way communication and
The security system of multidirectional communication, similar to the connection type of WIFI, can allow between vehicle vehicle, between vehicle people, vehicle and traffic lights etc.
Between infrastructure, signal is sent, is sent to other side position, speed, obstacle, danger etc. is similar to, to promote driving peace
Entirely.And this " connection type of similar WIFI " is exactly the V2X communication technology.
LTE-V is a kind of V2X solution based on TD-LTE technology.LTE-V communicates skill to vehicle active safety application
The scheme of art has carried out emphasis optimization, frame structure, maximum transmission power reduction, congestion control, in terms of
Biggish breakthrough is achieved, system performance is optimized, and verified by emulation, has fully demonstrated LTE-V technology pair
802.11P the comparative advantages of system.LTE-V also devises the D2D communication plan that base station participates in scheduling simultaneously, forms support certainly
The whole scene communication technology scheme under two kinds of scheduling methods is dispatched in tissue and base station, meets the diversified application need of intelligent transportation
It asks, in conjunction with honeycomb and straight-through technology, supports the multiple business such as traffic safety, traffic efficiency, Infotainment comprehensively.LTE-V is base
In 4G technology realize vehicle vehicle communication, with LTE cellular network be the basis V2X car networking proprietary protocol, including LTE-V-Cell with
Two operating modes of LTE-V-Direct.LTE-V-Cell can support big bandwidth, big covering logical by existing cellular network
Letter, meets Telematics application demand；LTE-V-Direct can realize vehicle and surrounding enviroment section independently of cellular network
Point low time delay, highly reliable direct communication, meet traffic safety demand.Future, LTE-V technology can be with smooth evolutions to 5G.Entirely
The communication standard of unified vehicle and workshop is had no in ball.It is reported that 1998, the U.S. drafted be suitable for dedicated short distance bus or train route without
The standard of line communications facility, using the 75MHz frequency range in 5.850~5.925GHz as dedicated short-range communication in intelligent transportation system
DSRC wireless radio service.Subsequent, European Union, Japan, Singapore, South Korea etc. release one after another oneself communication standard, but various countries exist
Frequency range is divided, is defined, use aspect has differences.DSRC (Dedicated Short Range Communications) is i.e. specially
With short-range communication technology, it is a kind of efficient wireless communication technique, high speed data transfer is provided, and guarantees that the low of communication link is prolonged
When and low interference.It is reported that it is mounted with the vehicle and roadside unit (RSU) of on board unit (OBU), it is logical by the dedicated short distance of DSRC
Letter technology can realize that inter-vehicular communication (V2V) and vehicle communicate (V2I) with roadside infrastructure.DSRC may be implemented specific small
The identification and two-way communication of (usually tens of rice) to the mobile target under high-speed motion in region, DSRC can real-time Transmission figures
Picture, voice-and-data information, realize the two-way communication of V2I, V2V and V2P, and DSRC is widely used in ETC non-parking charge, goes out
Enter the fields such as control, fleet management, information service.Not yet release unified V2X communication standard in China.
Bus or train route collaboration refers to using the technologies such as advanced wireless communication and next generation internet, comprehensive implementation vehicle vehicle, vehicle
Road dynamic realtime information exchange, and in full space-time dynamic traffic information collection and development vehicle active safety control on the basis of fusion
Effective collaboration of people's bus or train route is sufficiently realized in system and road coordinated management, guarantees traffic safety, traffic efficiency is improved, to be formed
Safe and efficient and environmentally friendly road traffic system.The technical connotation of bus or train route collaboration has at 3 points, first is that emphasizing people-Che-road system
Collaboration, second is that the large-scale networked joint control in region is emphasized, third is that emphasizing to utilize multimodel traffic network and information exchange.This technology
It is information technology and automobile and the result that the big industry of traffic two blends.Currently, being driven automatically with grid motor connectionization and to automobile
The research sailed constantly upgrades, and bus or train route collaboration becomes a hot word being constantly mentioned.Most of research institution is all special before
Infuse in network to automobile, the research of automatic Pilot, and derivative for road and research and development are seldom mentioned.When automobile no longer
An only simple tool, when being had reached to a certain degree to its research and development, if it is desired to realize the intelligence of future transportation, just
It is no longer that bicycle intelligence is so simple.No matter the research and development or highway construction of bicycle intelligence, be all to isolate out respective data
Come, also only the intelligence of limitation, the data that most of automobiles generate are unable to effectively be used intelligence, and bus or train route collaboration is
Vehicle, road, people, cloud are effectively combined, the data respectively generated can be used flexibly, and not only effective solution user is met
The trip problem arrived, while a reasonable solution can also be proposed to the various traffic conditions generated on highway." bus or train route
Collaboration " by be intelligent transportation, wisdom high speed core.
However, inventor it has been investigated that, in the prior art, to guarantee traffic safety, to realize real time communication, V2X is logical
Letter needs to realize relative to the lower time delay of ordinary traffic system, it is desirable that is usually less than 100ms.Based on DSRC standard
802.11p is more than 100ms in the Time Delay of Systems of 5.9GHZ frequency short haul connection, and LTE-V is usually 50ms, and there are also smaller
Delay variation.Therefore bus or train route cooperative system in the prior art is limited by relevant criterion and can not play its optimum performance.
Relative to the DSRC based on 802.11p, LTE-V-Direct obviously rises in the data packet transfer rate of each transmission range, reliably
Property degree rises 15%-25%；V2X communication needs bigger power system capacity, and power system capacity usually uses open ended wagon flow close
Degree is measured, i.e. the accessible vehicle number of the communication system in certain in a flash a lane of unit length, in open ended vehicle
In terms of current density, relative to the communication mode of unicast and multicast, LTE-V-Direct has 257% and 39% raising respectively.Base
Need to create a large amount of roadside units (RSU) in the networking of the DSRC technology of 802.11p, the newly-built cost of this type base station equipment compared with
Greatly, hardware product cost is also higher.And LTE-V directly utilizes existing cellular network, uses existing base station and frequency range, group
Net cost is substantially reduced.
Summary of the invention
Based on this, for solve in the prior art the technical issues of, spy propose a kind of bus or train route collaborative party based on LTE-V
Method, comprising:
Step 1, vehicle-mounted collaboration processing equipment is set in the car；It is arranged at trackside by road or at road traffic hinge
Manage equipment；Remote server is set at bus or train route collaboration processing center；Wherein, be provided with it is vehicle-mounted collaboration processing equipment vehicle it
Between, be provided with it is vehicle-mounted collaboration processing equipment vehicle and the trackside processing equipment and remote server between, at the trackside
It is communicated between reason equipment and remote server by LTE-V agreement；
Step 2, the vehicle-mounted collaboration processing equipment in vehicle identifies and acquires vehicle running environment information, vehicle condition data letter
Breath, and by the vehicle-mounted vehicle-mounted LTE-V communication module cooperateed in processing equipment by the vehicle running environment information of acquisition, institute
It states vehicle condition data information and is sent to the trackside processing equipment or the remote server；
Step 3, the trackside LTE-V communication module in the trackside processing equipment receives what vehicle-mounted collaboration processing equipment was sent
The vehicle running environment information, the vehicle condition data information, while the trackside processing equipment acquires and generates condition of road surface
Information, by the trackside LTE-V communication module in the trackside processing equipment by the vehicle running environment information, the vehicle condition
Data information is forwarded to the remote server, and the road condition information that acquisition generates is sent to the remote service
Device；
Step 4, server LTE-V communication module in the remote server receive the vehicle running environment information,
The coprocessor of the vehicle condition data information and the road condition information, the remote server carries out above- mentioned information
Comprehensive analysis and collaboration processing, and processing result feedback is sent to the trackside processing equipment, by the trackside processing equipment
The onboard system processing equipment being forwarded in corresponding vehicle.
In one embodiment, the on-board driving environment sensing equipment identification in the vehicle-mounted collaboration processing equipment, acquisition
Vehicle running environment information, and export to in-vehicle processor；Vehicle condition acquisition equipment in the vehicle-mounted collaboration processing equipment will adopt
The vehicle condition data information collected is exported to in-vehicle processor, and received information is transmitted to vehicle by vehicle-mounted LTE-V communication module
Borne processor；The in-vehicle processor to come vehicle running environment information, vehicle condition data information, from vehicle-mounted LTE-V communication dress
The information set is handled and is output control signals to Vehicle Controller, and Vehicle Controller realizes the vehicle of vehicle according to control signal
Velocity modulation is whole, spacing adjustment, lane-change, overtakes other vehicles, function of parking；The in-vehicle processor exports alarm alert signal to warning note and fills
It sets, warning alert is carried out to driver.
In one embodiment, on-board driving environment sensing equipment has front camera, rear camera, radar, GPS
Coordinate setting device；The image information of ambient enviroment is as vehicle in the front camera and rear camera acquisition vehicle driving
Running environment information, including lane line, traffic sign, vehicle, pedestrian image information；The GPS coordinate locator provides this
The vehicle body coordinate of vehicle is as vehicle running environment information；The radar acquires the distance between this vehicle and front truck as vehicle driving
Environmental information；
In one embodiment, the vehicle condition acquisition equipment includes velocity sensor, and the velocity sensor acquires this vehicle
Real-time speed as vehicle condition data information；Vehicle condition acquisition equipment acquires the steering of this vehicle, throttle, brake information as vehicle
Condition data information；The vehicle condition acquisition equipment includes vehicle-mounted memory, and the vehicle-mounted memory is stored with to be believed as vehicle condition data
This vehicle Vehicle length, the width, height, road clearance, wheel base, tyre position information, vehicle brake distance collation table of breath.
In one embodiment, the trackside processing equipment further includes panoramic camera, trackside processor；Panoramic camera
It obtains road scene image and is sent to trackside processor；The trackside processor receives trackside road scene image and is regarded
Scheme conversion, target identification, the target detection under vertical view visual angle and the fusion of multi-angle of view object detection and recognition result and scene flows
Estimation processing, generates corresponding road condition information；Between the trackside LTE-V communication module and vehicle-mounted LTE-V communication module
Che-Lu Tongxin is carried out, the vehicle-mounted vehicle running environment information for cooperateing with processing equipment to send, vehicle condition data information are received and is forwarded to
The road condition information of generation is sent to remote server by remote server.
In addition, the technical issues of to solve in the prior art, spy proposes a kind of bus or train route collaborative device based on LTE-V.
The bus or train route collaborative device based on LTE-V includes vehicle-mounted collaboration processing equipment, trackside processing equipment, remote service
Device；
Wherein, the vehicle-mounted collaboration processing equipment includes on-board driving environment sensing equipment, vehicle condition acquisition equipment, vehicle-mounted
LTE-V communication module, in-vehicle processor, Vehicle Controller, warning note device；The on-board driving environment sensing equipment, institute
It states and is mutually interconnected between vehicle-mounted LTE-V communication module, the Vehicle Controller, the warning note device and the in-vehicle processor
It connects；The vehicle-mounted collaboration processing equipment identification, acquisition vehicle running environment information, vehicle condition data information, and by the vehicle row
Sail environmental information, the vehicle condition data information is sent to the trackside processing equipment or the remote server；
Wherein, for the setting of trackside processing equipment by road or at road traffic hinge, the trackside processing equipment includes complete
Scape video camera, trackside processor, trackside LTE-V communication module；The trackside processing equipment receives vehicle-mounted collaboration processing equipment hair
The vehicle running environment information sent, the vehicle condition data information, the trackside processing equipment acquire and generate condition of road surface
The vehicle running environment information, the vehicle condition data information are forwarded to the remote server by information, and acquisition is generated
The road condition information is sent to the remote server；
Wherein, the remote server is set in bus or train route collaboration processing center, including server LTE-V communication module,
Coprocessor, the remote server receive the vehicle running environment information, the vehicle condition data information and the road
Road condition information makees comprehensive analysis to the above-mentioned information received by the coprocessor and carries out collaboration processing, will handle
As a result feedback is sent to trackside processing equipment, the vehicle-mounted system being forwarded in its communication range in all vehicles by trackside processing equipment
System processing equipment.
In one embodiment, the on-board driving environment sensing equipment for identification and acquire vehicle running environment letter
Breath；Vehicle-mounted LTE-V communication module is used to assist between other vehicles, trackside processing equipment and remote server by LTE-V
View is communicated；On-board driving environment sensing equipment exports collected vehicle running environment information to in-vehicle processor, vehicle
Condition acquisition equipment exports collected vehicle condition data information to in-vehicle processor, and vehicle-mounted LTE-V communication module is received
Information be transmitted to in-vehicle processor；The in-vehicle processor is to the vehicle running environment from on-board driving environment sensing equipment
Information, the vehicle condition data information from vehicle condition acquisition equipment, the information from vehicle-mounted LTE-V communication device are handled and are exported
Signal is controlled to Vehicle Controller, Vehicle Controller realized according to control signal the speed adjustment of vehicle, spacing adjustment, lane-change,
It overtakes other vehicles, function of parking；The in-vehicle processor exports alarm alert signal to warning note device, carries out warning to driver and mentions
It wakes up.
In one embodiment, on-board driving environment sensing equipment has front camera, rear camera, radar, GPS
Coordinate setting device；The front camera and rear camera are used to acquire the image information of ambient enviroment in vehicle driving, packet
Include lane line, traffic sign, vehicle, pedestrian image information；The vehicle body that the GPS coordinate locator is used to provide this vehicle is sat
Mark；The radar is for acquiring the distance between this vehicle and front truck；
In one embodiment, the vehicle condition acquisition equipment includes velocity sensor, and the velocity sensor is for acquiring
The real-time speed of this vehicle；The vehicle condition acquisition equipment acquires the steering of this vehicle, throttle, brake information；The vehicle condition acquires equipment
Including vehicle-mounted memory, the vehicle-mounted memory is used to store the Vehicle length, width, height, road clearance, front and back wheel of this vehicle
Away from, tyre position information, vehicle brake distance collation table.
In one embodiment, the panoramic camera obtains road scene image and is sent to trackside processor；It is described
Trackside processor includes Video Decoder, data storage, target detection recognition unit, image fusion unit；The video solution
Code device is connected to panoramic camera；The data storage is connected to the Video Decoder, and with described image integrated unit,
The target detection recognition unit is connected with each other；It is mutually interconnected between described image integrated unit and the target detection recognition unit
It connects；The trackside processor receive the trackside road scene image of panoramic camera shooting and carry out view conversion, target identification,
The target detection and the fusion of multi-angle of view object detection and recognition result overlooked under visual angle and scene flows estimation are handled, and are generated corresponding
Road condition information；Che-Lu Tongxin is carried out between the trackside LTE-V communication module and vehicle-mounted LTE-V communication module, is received
The vehicle-mounted vehicle running environment information for cooperateing with processing equipment to send, vehicle condition data information are simultaneously forwarded to remote server, will generate
Road condition information be sent to remote server.
Implement the embodiment of the present invention, will have the following beneficial effects:
Compared to the bus or train route cooperative system based on DSRC, LTE-V can solve DSRC technology covered from road, profit model,
Capacity and security and various aspects there are the problem of, and the deployment of LTE-V network is relatively easy, spectral bandwidth distribution flexibly, transmission
Reliably, covering is wide；The present invention is handled by the unified collaboration of remote server, so that the vehicle with vehicle-mounted collaboration processing equipment
The operating condition and present road situation of its neighbouring vehicle can be learned in time rapidly, to keep reasonable speed and optimal
Model choices, substantially increase the operation and efficiency of traffic system, and dramatically avoid the generation of accident.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Wherein:
Fig. 1 is the schematic diagram of the bus or train route cooperative system based on LTE-V in the present invention；
Fig. 2 is the flow diagram of the bus or train route Synergistic method based on LTE-V in the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the bus or train route cooperative system based on LTE-V that the invention discloses a kind of, comprising:
Vehicle-mounted collaboration processing equipment 1, trackside processing equipment 2, remote server 3；
Wherein, the vehicle-mounted collaboration processing equipment 1 includes on-board driving environment sensing equipment, vehicle condition acquisition equipment, vehicle-mounted
LTE-V communication module, in-vehicle processor, Vehicle Controller, warning note device；The on-board driving environment sensing equipment, institute
It states and is connected with each other between vehicle-mounted LTE-V communication module, the Vehicle Controller, the suggestion device and the in-vehicle processor；
On-board driving environment sensing equipment for identification and acquires vehicle running environment information；Vehicle-mounted LTE-V communication module is used for this vehicle
It is communicated between other vehicles, trackside processing equipment 2 and remote server 3 by LTE-V agreement；On-board driving environment
Awareness apparatus exports the collected vehicle running environment information to in-vehicle processor, and vehicle condition acquires equipment will be collected
The vehicle condition data information is exported to in-vehicle processor, and vehicle-mounted LTE-V communication module exports the information received to vehicle-mounted place
Manage device；The in-vehicle processor to from on-board driving environment sensing equipment vehicle running environment information, from vehicle condition acquire
The vehicle condition data information of equipment, the information from vehicle-mounted LTE-V communication device are handled and output control signals to vehicle-mounted control
Device processed, Vehicle Controller realize the speed adjustment of vehicle according to control signal, spacing adjustment, lane-change, overtake other vehicles, function of parking；Institute
It states in-vehicle processor and exports alarm alert signal to warning note device, warning alert is carried out to driver；
Wherein, on-board driving environment sensing equipment have a variety of sensing devices, including front camera, rear camera,
Radar, GPS coordinate locator；The front camera and rear camera are used to acquire the image of ambient enviroment in vehicle driving
Information, including lane line, traffic sign, vehicle, pedestrian image information；The GPS coordinate locator provides the vehicle body of this vehicle
Coordinate；The radar acquires the distance between this vehicle and front truck；
The vehicle condition acquisition equipment includes velocity sensor, and the velocity sensor acquires the real-time speed of this vehicle；It is described
Vehicle condition acquisition equipment can also acquire the steering of this vehicle, throttle, brake information；The vehicle condition acquisition equipment further includes vehicle-mounted storage
Device, the vehicle-mounted memory can be used for storing the Vehicle length, width, height, road clearance, wheel base, tire of this vehicle
Location information, vehicle brake distance collation table；By the acquisition to information above, guarantee that in-vehicle processor can be made quickly just
True processing, but also the output of its control instruction is more accurate；
Wherein, the setting of trackside processing equipment 2 is by road or at road traffic hinge, such as the trackside processing equipment can
To be arranged at crossing, high speed charge station, parking fee collective system station, the trackside processing equipment includes panoramic camera, at trackside
Manage device, trackside LTE-V communication module；Panoramic camera is used for the acquisition of trackside road scene image, and is sent to trackside processing
Device, trackside processor generate for realizing target detection and multi-angle of view object detection and recognition the result fusion overlooked under visual angle
Road condition information；The trackside LTE-V communication module is used to complete Che-Lu Tongxin function between vehicle-mounted LTE-V communication module
Can, it receives the vehicle-mounted vehicle running environment information for cooperateing with processing equipment 1 to send, vehicle condition data information and is forwarded to remote server
3, the road condition information of generation is sent to remote server 3；Trackside processor include Video Decoder, data storage,
Target detection recognition unit, image fusion unit；The Video Decoder is connected to panoramic camera；The data storage connects
It is connected to the Video Decoder, and is connected with each other with described image integrated unit, the target detection recognition unit；Described image
It is connected with each other between integrated unit and the target detection recognition unit；The trackside processor receives panoramic camera shooting
Trackside road scene image simultaneously completes view conversion, target detection, target identification and scene flows estimation processing, generates corresponding road
Road condition information；
Wherein, the remote server 3 is set in bus or train route collaboration processing center, including server LTE-V communication module,
Coprocessor, server LTE-V communication module receive the vehicle running environment information, the vehicle condition data information and institute
Road condition information is stated, comprehensive analysis is made to the above-mentioned information received by the coprocessor and carries out collaboration processing, it will
Processing result feedback is sent to trackside processing equipment 2, is forwarded in all vehicles in its communication range by trackside processing equipment 2
Onboard system processing equipment 1；
The trackside processing equipment 2 constitutes the coordinating communication node based on LTE-V, is created by the coordinating communication node real
When LTE-V mobile network, this is added in real time by vehicle-mounted LTE-V communication device in the vehicle in the coordinating communication node communication range
LTE-V mobile network realizes the data sharing in network to form mesh communication topological structure；Any vehicle in network
The information of energy real-time reception other vehicles in netting；It is handled and is divided by information of the in-vehicle processor to surrounding vehicles again
Analysis carries out warning note judgement in conjunction with the variation of vehicle driving status, the starting alarm when needing to alarm by judgement.
The running condition information includes real-time speed value, dynamic brake distance value and vehicle body coordinate, and real-time speed value is passed by speed
Sensor provides in real time, and vehicle body coordinate is provided in real time by GPS coordinate locator.Before vehicle location, the meeting of remote server 3 will be local
GPS differential corrections parameter send each vehicle to, vehicle is repaired according to this differential corrections parameter and in conjunction with itself GPS positioning coordinate
Positive GPS positioning solution, improves the positioning accuracy of user in subrange.
Referring to fig. 2, the invention discloses a kind of bus or train route Synergistic method based on LTE-V, comprising:
Step 1, vehicle-mounted collaboration processing equipment is set in the car；It is arranged at trackside by road or at road traffic hinge
Manage equipment；Remote server is set at bus or train route collaboration processing center；Wherein, be provided with it is vehicle-mounted collaboration processing equipment vehicle it
Between, be provided with it is vehicle-mounted collaboration processing equipment vehicle and the trackside processing equipment and remote server between, at the trackside
It is communicated between reason equipment and remote server by LTE-V agreement；
Step 2, the vehicle-mounted collaboration processing equipment identification in vehicle, acquisition vehicle running environment information, vehicle condition data information,
And by the vehicle-mounted LTE-V communication module in vehicle-mounted collaboration processing equipment by the vehicle running environment information of acquisition, described
Vehicle condition data information is sent to the trackside processing equipment or the remote server；
Step 3, the trackside LTE-V communication module in the trackside processing equipment receives what vehicle-mounted collaboration processing equipment was sent
The vehicle running environment information, the vehicle condition data information, while the trackside processing equipment acquires and generates condition of road surface
Information, by the trackside LTE-V communication module in the trackside processing equipment by the vehicle running environment information, the vehicle condition
Data information is forwarded to the remote server, and the road condition information that acquisition generates is sent to the remote service
Device；
Step 4, server LTE-V communication module in the remote server receive the vehicle running environment information,
The coprocessor of the vehicle condition data information and the road condition information, the remote server carries out above- mentioned information
Comprehensive analysis and collaboration processing, and processing result feedback is sent to the trackside processing equipment, by the trackside processing equipment
The onboard system processing equipment being forwarded in corresponding vehicle.
Wherein, the on-board driving environment sensing equipment identification in the vehicle-mounted collaboration processing equipment, acquisition vehicle driving ring
Border information, and export to in-vehicle processor；Vehicle condition in the vehicle-mounted collaboration processing equipment acquires equipment for collected vehicle condition
Data information is exported to in-vehicle processor, and received information is transmitted to in-vehicle processor by vehicle-mounted LTE-V communication module；Institute
It states in-vehicle processor and is carried out to vehicle running environment information, vehicle condition data information, the information from vehicle-mounted LTE-V communication device is come
Vehicle Controller is handled and outputs control signals to, Vehicle Controller realizes the speed adjustment of vehicle, spacing according to control signal
Adjustment lane-change, is overtaken other vehicles, function of parking；The in-vehicle processor output alarm alert signal is to warning note device, to driver
Carry out warning alert.
Wherein, on-board driving environment sensing equipment has front camera, rear camera, radar, GPS coordinate positioning
Device；The image information of ambient enviroment is as vehicle running environment in the front camera and rear camera acquisition vehicle driving
Information, including lane line, traffic sign, vehicle, pedestrian image information；The GPS coordinate locator provides the vehicle body of this vehicle
Coordinate is as vehicle running environment information；The radar acquires the distance between this vehicle and front truck to be believed as vehicle running environment
Breath；
Wherein, the vehicle condition acquisition equipment includes velocity sensor, and the velocity sensor acquires the real-time speed of this vehicle
As vehicle condition data information；Vehicle condition acquisition equipment acquires the steering of this vehicle, throttle, brake information as vehicle condition data letter
Breath；The vehicle condition acquisition equipment includes vehicle-mounted memory, and the vehicle-mounted memory is stored with this vehicle as vehicle condition data information
Vehicle length, width, height, road clearance, wheel base, tyre position information, vehicle brake distance collation table.
Wherein, the trackside processing equipment further includes panoramic camera, trackside processor；Panoramic camera obtains road field
Scape image is simultaneously sent to trackside processor；The trackside processor receives trackside road scene image and carries out view conversion, mesh
Mark is other, overlook the target detection under visual angle and multi-angle of view object detection and recognition result merges and scene flows estimation processing,
Generate corresponding road condition information；Che-road is carried out between the trackside LTE-V communication module and vehicle-mounted LTE-V communication module
Communication receives the vehicle-mounted vehicle running environment information for cooperateing with processing equipment to send, vehicle condition data information and is forwarded to remote service
The road condition information of generation is sent to remote server by device.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, can't be such that the essence of corresponding technical solution departs from the spirit and scope of the technical scheme of various embodiments of the present invention.
Claims (10)
1. a kind of bus or train route Synergistic method based on LTE-V characterized by comprising
Step 1, vehicle-mounted collaboration processing equipment is set in the car；Trackside processing is arranged by road or at road traffic hinge to set
It is standby；Remote server is set at bus or train route collaboration processing center；Wherein, be provided between the vehicle of vehicle-mounted collaboration processing equipment,
It is provided between the vehicle and the trackside processing equipment and remote server of vehicle-mounted collaboration processing equipment, trackside processing is set
It is standby to be communicated between remote server by LTE-V agreement；
Step 2, the vehicle-mounted collaboration processing equipment in vehicle identifies and acquires vehicle running environment information, vehicle condition data information, and
By the vehicle-mounted LTE-V communication module in vehicle-mounted collaboration processing equipment by the vehicle running environment information of acquisition, the vehicle
Condition data information is sent to the trackside processing equipment or the remote server；
Step 3, the trackside LTE-V communication module in the trackside processing equipment receives the described of vehicle-mounted collaboration processing equipment transmission
Vehicle running environment information, the vehicle condition data information, while the trackside processing equipment acquires and generates road condition information,
By the trackside LTE-V communication module in the trackside processing equipment by the vehicle running environment information, the vehicle condition data
Information is forwarded to the remote server, and the road condition information that acquisition generates is sent to the remote server；
Step 4, server LTE-V communication module in the remote server receives the vehicle running environment information, described
Vehicle condition data information and the road condition information, the coprocessor of the remote server integrate above- mentioned information
Analysis and collaboration processing, and processing result feedback is sent to the trackside processing equipment, it is forwarded by the trackside processing equipment
Onboard system processing equipment into corresponding vehicle.
2. the method according to claim 1, wherein
The identification of on-board driving environment sensing equipment, acquisition vehicle running environment information in the vehicle-mounted collaboration processing equipment, and
It exports to in-vehicle processor；Vehicle condition acquisition equipment in the vehicle-mounted collaboration processing equipment is defeated by collected vehicle condition data information
Out to in-vehicle processor, received information is transmitted to in-vehicle processor by vehicle-mounted LTE-V communication module；The on-board processing
Device is to coming vehicle running environment information, vehicle condition data information, handled and exported from the information of vehicle-mounted LTE-V communication device
Signal is controlled to Vehicle Controller, Vehicle Controller realized according to control signal the speed adjustment of vehicle, spacing adjustment, lane-change,
It overtakes other vehicles, function of parking；The in-vehicle processor exports alarm alert signal to warning note device, carries out warning to driver and mentions
It wakes up.
3. according to the method described in claim 2, it is characterized in that,
Wherein, on-board driving environment sensing equipment has front camera, rear camera, radar, GPS coordinate setting device；Institute
The image information of ambient enviroment in front camera and rear camera acquisition vehicle driving is stated as vehicle running environment information,
Including lane line, traffic sign, vehicle, pedestrian image information；The vehicle body coordinate that the GPS coordinate locator provides this vehicle is made
For vehicle running environment information；The radar acquires the distance between this vehicle and front truck and is used as vehicle running environment information.
4. according to the method described in claim 2, it is characterized in that,
The vehicle condition acquisition equipment includes velocity sensor, and the velocity sensor acquires the real-time speed of this vehicle as vehicle condition number
It is believed that breath；Vehicle condition acquisition equipment acquires the steering of this vehicle, throttle, brake information as vehicle condition data information；The vehicle condition
Acquiring equipment includes vehicle-mounted memory, and the vehicle-mounted memory is stored with this vehicle Vehicle length, width as vehicle condition data information
Degree, height, road clearance, wheel base, tyre position information, vehicle brake distance collation table.
5. the method according to claim 1, wherein
The trackside processing equipment further includes panoramic camera, trackside processor；Panoramic camera obtains road scene image simultaneously
It is sent to trackside processor；The trackside processor receives trackside road scene image and carries out view conversion, target identification, bows
Depending on the target detection and the fusion of multi-angle of view object detection and recognition result and scene flows estimation processing under visual angle, generate corresponding
Road condition information；Che-Lu Tongxin is carried out between the trackside LTE-V communication module and vehicle-mounted LTE-V communication module, receives vehicle
It carries the vehicle running environment information for cooperateing with processing equipment to send, vehicle condition data information and is forwarded to remote server, by generation
Road condition information is sent to remote server.
6. a kind of bus or train route cooperative system based on LTE-V characterized by comprising
Vehicle-mounted collaboration processing equipment, trackside processing equipment, remote server；
Wherein, the vehicle-mounted collaboration processing equipment includes on-board driving environment sensing equipment, vehicle condition acquisition equipment, vehicle-mounted LTE-V
Communication module, in-vehicle processor, Vehicle Controller, warning note device；It is the on-board driving environment sensing equipment, described vehicle-mounted
It is connected with each other between LTE-V communication module, the Vehicle Controller, the warning note device and the in-vehicle processor；Institute
State the identification of vehicle-mounted collaboration processing equipment, acquisition vehicle running environment information, vehicle condition data information, and by the vehicle running environment
Information, the vehicle condition data information are sent to the trackside processing equipment or the remote server；
Wherein, for the setting of trackside processing equipment by road or at road traffic hinge, the trackside processing equipment includes that panorama is taken the photograph
Camera, trackside processor, trackside LTE-V communication module；The trackside processing equipment receives what vehicle-mounted collaboration processing equipment was sent
The vehicle running environment information, the vehicle condition data information, the trackside processing equipment acquire and generate road condition information,
The vehicle running environment information, the vehicle condition data information are forwarded to the remote server, it will be described in acquisition generation
Road condition information is sent to the remote server；
Wherein, the remote server is set in bus or train route collaboration processing center, including server LTE-V communication module, collaboration
Processor, the remote server receive the vehicle running environment information, the vehicle condition data information and the road like
Condition information makees comprehensive analysis to the above-mentioned information received by the coprocessor and carries out collaboration processing, by processing result
Feedback is sent to trackside processing equipment, is forwarded to the onboard system in its communication range in all vehicles by trackside processing equipment
Manage equipment.
7. the bus or train route cooperative system according to claim 6 based on LTE-V, which is characterized in that
Wherein, the on-board driving environment sensing equipment for identification and acquires vehicle running environment information；Vehicle-mounted LTE-V communication
Module between other vehicles, trackside processing equipment and remote server by LTE-V agreement for being communicated；Vehicle-mounted row
It sails environment sensing equipment to export collected vehicle running environment information to in-vehicle processor, vehicle condition acquisition equipment will collect
Vehicle condition data information export to in-vehicle processor, received information is transmitted to vehicle-mounted place by vehicle-mounted LTE-V communication module
Manage device；The in-vehicle processor to from on-board driving environment sensing equipment vehicle running environment information, from vehicle condition acquire
The vehicle condition data information of equipment, the information from vehicle-mounted LTE-V communication device are handled and output control signals to vehicle-mounted control
Device processed, Vehicle Controller realize the speed adjustment of vehicle according to control signal, spacing adjustment, lane-change, overtake other vehicles, function of parking；Institute
It states in-vehicle processor and exports alarm alert signal to warning note device, warning alert is carried out to driver.
8. the bus or train route cooperative system according to claim 7 based on LTE-V, which is characterized in that
Wherein, on-board driving environment sensing equipment has front camera, rear camera, radar, GPS coordinate locator；Institute
It states front camera and rear camera is used to acquire the image information of ambient enviroment in vehicle driving, including lane line, traffic
Mark, vehicle, pedestrian image information；The GPS coordinate locator is for providing the vehicle body coordinate of this vehicle；The radar is used for
Acquire the distance between this vehicle and front truck.
9. the bus or train route cooperative system according to claim 6 based on LTE-V, which is characterized in that
The vehicle condition acquisition equipment includes velocity sensor, and the velocity sensor is used to acquire the real-time speed of this vehicle；It is described
Vehicle condition acquisition equipment acquires the steering of this vehicle, throttle, brake information；The vehicle condition acquisition equipment includes vehicle-mounted memory, described
Vehicle-mounted memory is used to store the Vehicle length, width, height, road clearance, wheel base, tyre position information, vehicle of this vehicle
The braking distance table of comparisons.
10. the bus or train route cooperative system according to claim 6 based on LTE-V, which is characterized in that
The panoramic camera obtains road scene image and is sent to trackside processor；The trackside processor includes video solution
Code device, data storage, target detection recognition unit, image fusion unit；The Video Decoder is connected to panoramic camera；
The data storage is connected to the Video Decoder, and with described image integrated unit, the target detection recognition unit
It is connected with each other；It is connected with each other between described image integrated unit and the target detection recognition unit；The trackside processor connects
It receives the trackside road scene image of panoramic camera shooting and carries out the target inspection under view conversion, target identification, vertical view visual angle
It surveys and multi-angle of view object detection and recognition result merges and scene flows estimation processing, generate corresponding road condition information；Institute
Progress Che-Lu Tongxin between trackside LTE-V communication module and vehicle-mounted LTE-V communication module is stated, vehicle-mounted collaboration processing equipment is received
The vehicle running environment information of transmission, vehicle condition data information are simultaneously forwarded to remote server, and the road condition information of generation is sent out
It send to remote server.
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Application publication date: 20190426 |