CN112887935A - Automatic driving vehicle formation method based on vehicle road cloud cooperation - Google Patents
Automatic driving vehicle formation method based on vehicle road cloud cooperation Download PDFInfo
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- CN112887935A CN112887935A CN202110106749.4A CN202110106749A CN112887935A CN 112887935 A CN112887935 A CN 112887935A CN 202110106749 A CN202110106749 A CN 202110106749A CN 112887935 A CN112887935 A CN 112887935A
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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]
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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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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
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Abstract
The invention provides an automatic driving vehicle formation method based on vehicle-road cloud cooperation, and relates to the technical field of vehicle-road cooperative automatic driving. The invention solves the problems that the position of a motorcade is difficult to ensure not to change all the time, lane change is difficult when the position of the motorcade needs to be changed, traffic can be blocked and dynamic formation cannot be realized when formation is too long, and the road safety problem under the condition of mixed traffic of automatic driving vehicles, internet vehicles and common vehicles is solved; the vehicles run in a formation mode, and the road passing efficiency is improved.
Description
Technical Field
The invention relates to the technical field of vehicle-road cooperative automatic driving, in particular to an automatic driving vehicle formation method based on vehicle-road cloud cooperation.
Background
The vehicle-road cloud cooperation technology is a comprehensive technology integrating the fields of automobile engineering, communication, traffic, information safety, software and the like, and comprises interconnection and intercommunication of vehicles and vehicles (V2V), vehicles and roads (V2I), vehicles and clouds (V2C) and roads and clouds (I2C), wherein the vehicle-road cloud cooperation is that the vehicles, the roads and the clouds are connected through communication technologies (LTE-V2X, 4G/5G, WI-FI, light and the like), vehicle and road measurement information is uploaded to a cloud (edge computing nodes, edge clouds, regional clouds, central clouds and the like), the cloud data is subjected to fusion perception, after cooperation decision, the decision is directly issued to the vehicles or issued to the vehicles through a road measurement unit, and vehicle and road information interaction and sharing are achieved.
When the communication distance of the formation vehicles V2V is relatively close, the driving safety of the rear vehicles is affected because the positions of the vehicles cannot be changed, in the traditional formation scheme, the head vehicle must always keep the foremost position, in the real road traffic environment, the positions of the fleet are difficult to ensure to be unchanged all the time, when the positions of the fleet need to be changed, lane changing is difficult, when the formation is too long, traffic can be blocked, and the formation vehicles are all preset vehicles and cannot be dynamically formed. In the process of vehicle gradual intellectualization, a mixed traffic flow with coexisting automatic driving vehicles, internet vehicles and ordinary vehicles exists, and because the driving strategies of different vehicles are different, danger is easy to occur.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides an automatic driving vehicle formation method based on vehicle road cloud coordination.
In order to achieve the purpose, the invention adopts the following technical scheme: automatic driving vehicle formation method based on vehicle road cloud cooperation, including on-board terminal OBU, wave frequency transceiver module, the information high in the clouds of certainly, wireless transmitter module, autopilot system, vehicle controller, RSU body and PC, on-board terminal OBU's output electric connection has the information high in the clouds of certainly, the output of the information high in the clouds of certainly and on-board terminal OBU's input electric connection, on-board terminal OBU's output electric connection has the autopilot system, the output and the on-board terminal OBU input electric connection of RSU body, on-board terminal OBU's output electric connection has vehicle controller.
Preferably, the output electric connection of on-vehicle terminal OBU has wave frequency transceiver module, wave frequency transceiver module's output and the input electric connection in the high side of the car information cloud, the output in the high side of the car information cloud and wave frequency transceiver module's input electric connection.
Preferably, the output end of the on-board terminal OBU is electrically connected with a wireless transmitting module, and the output end of the wireless transmitting module is electrically connected with the input end of the automatic driving system.
Preferably, the output end of the RSU body is electrically connected to the PC5 body, and the output end of the PC5 body is electrically connected to the input end of the on-board terminal OBU.
Preferably, a closed loop is formed between the own vehicle information cloud and the vehicle-mounted terminal OBU.
Compared with the prior art, the invention has the beneficial effects that:
compared with the prior art, the invention has the advantages and positive effects that when the vehicle is started, the vehicle-mounted terminal OBU uploads information including position, lane, direction, speed, whether the current vehicle is an automatic driving vehicle, vehicle type, rotating speed, torque and the like to the vehicle information cloud end by means of the wave frequency receiving and transmitting module at the frequency of 10HZ in a 4G/5G or PC5 communication mode, wherein the vehicle-mounted terminal OBU plays a role in increasing information sources acquired by the automatic driving vehicle, the wave frequency receiving and transmitting module plays a role in further stabilizing signal transmission, the vehicle information cloud end can send signals to the vehicle-mounted terminal OBU again by means of the wave frequency receiving and transmitting module, the vehicle-mounted terminal OBU can send the information to the wireless transmitting module, the wireless transmitting module uploads the information to the automatic driving system, and the automatic driving system combines the sensor information of the automatic driving system to enable the vehicle to search other vehicles, the effect of forming the vehicles with the front vehicles is achieved, when the forming state of the vehicles is changed, the forming target is issued to the vehicles again by the self-vehicle information cloud, the effect of dynamically changing the driving positions of the vehicles is achieved, when road abnormal conditions are detected by road equipment, the RSU body broadcasts messages, the RSU body transmits the broadcast messages to the vehicle-mounted terminal OBU through the PC5 body, the vehicle-mounted terminal OBU receives the broadcast messages and sends the messages to the vehicle controller, the automatic formation vehicles are automatically driven to make decisions such as speed reduction, lane change, overtaking and the like according to the roads, the vehicle change is not limited by the forming, after the vehicles complete the behaviors of speed reduction, changing, overtaking and the like, the problems that the positions of the vehicle fleets are difficult to guarantee not to change all the time are solved, the lane change is difficult when the positions of the vehicle fleets are changed, and the traffic is blocked when the forming is too long, the problem of dynamic formation can not be solved. Simultaneously solves the road safety problem under the condition of mixed traffic of automatic driving vehicles, internet vehicles and common vehicles in the road
Drawings
FIG. 1 is a schematic structural diagram of an autonomous vehicle formation method based on vehicle cloud coordination according to the present invention;
FIG. 2 is a schematic view of a flow structure of an automatic driving vehicle formation method based on vehicle cloud coordination according to the present invention;
FIG. 3 is a schematic view of a partial flow structure of an automatic driving vehicle formation method based on vehicle cloud coordination according to the present invention;
illustration of the drawings: 1. an On Board Unit (OBU); 2. a wave frequency transceiving module; 3. a self vehicle information cloud terminal; 4. a wireless transmitting module; 5. an automatic driving system; 6. a vehicle controller; 7. an RSU body; 8. PC5 body.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments of the present disclosure.
Embodiment 1, as shown in fig. 1 to 3, the present invention provides a vehicle-road-cloud-coordination-based autonomous vehicle formation method, including a vehicle-mounted terminal OBU1, a wave frequency transceiver module 2, a vehicle information cloud 3, a wireless transmitter module 4, an autonomous system 5, a vehicle controller 6, an RSU body 7, and a PC5 body 8, wherein an output end of the vehicle-mounted terminal OBU1 is electrically connected to the vehicle information cloud 3, an output end of the vehicle information cloud 3 is electrically connected to an input end of the vehicle-mounted terminal OBU1, an output end of the vehicle-mounted terminal OBU1 is electrically connected to the autonomous system 5, an output end of the RSU body 7 is electrically connected to an input end of the vehicle-mounted terminal OBU1, an output end of the vehicle-mounted terminal OBU1 is electrically connected to the vehicle controller 6, an output end of the vehicle-mounted terminal OBU1 is electrically connected to the wave frequency transceiver module 2, an output end of the wave frequency transceiver module 2, the output of the information cloud of the own car 3 and the input electric connection of wave frequency transceiver module 2, vehicle-mounted terminal OBU 1's output electric connection has wireless transmitter module 4, wireless transmitter module 4's output and autopilot system 5's input electric connection, RSU body 7's output electric connection has PC5 body 8, the output of PC5 body 8 and vehicle-mounted terminal OBU 1's input electric connection, form closed loop between the information cloud of the own car 3 and the vehicle-mounted terminal OBU 1.
The whole invention achieves the effects that when the vehicle is started, the vehicle-mounted terminal OBU1 adopts the frequency of 10HZ through 4G or 5G to upload information including position, lane, direction, speed, whether the current vehicle is an automatic driving vehicle, vehicle type, rotating speed, torque and the like to the vehicle information cloud end 3 by the aid of the wave frequency transceiving module 2, wherein the vehicle-mounted terminal OBU1 has the effect of increasing the information source acquired by the automatic driving vehicle, the wave frequency transceiving module 2 has the effect of further stabilizing signal transmission, the vehicle information cloud end 3 can send signals to the vehicle-mounted terminal OBU1 by the aid of the wave frequency transceiving module 2 again, then the vehicle-mounted terminal OBU1 can send the information to the wireless transmitting module 4, the wireless transmitting module 4 uploads the information to the automatic driving system 5, the automatic driving system 5 enables the vehicle to search other vehicles by combining with the sensor information of the automatic driving system 5, the effect of forming the vehicles with the front vehicles is achieved, when the forming state of the vehicles is changed, the self-vehicle information cloud end 3 can issue forming targets to the vehicles again, the effect of dynamically changing the driving positions of the vehicles is achieved, when road abnormal conditions are detected by road equipment, the RSU body 7 can conduct message broadcasting, the RSU body 7 can transmit broadcast information to the vehicle-mounted terminal OBU1 through the PC5 body 8, the vehicle-mounted terminal OBU1 sends messages to the vehicle controller 6 after receiving the broadcast information, at the moment, the automatic formation vehicles can conduct decision making such as speed reduction, lane changing and overtaking according to the roads, at the moment, the vehicle change is not limited by forming, after the vehicles complete the actions such as speed reduction, changing to and overtaking, the problem that the positions of the vehicle fleets are difficult to guarantee not to change all the time is solved, when the positions of the vehicle fleets need to be changed, the lane changing is difficult, when the forming is too long, can block traffic and cannot form a formation dynamically.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.
Claims (5)
1. Automatic driving vehicle formation method based on vehicle road cloud cooperation comprises a vehicle-mounted terminal OBU (1), a wave frequency transceiver module (2), a vehicle information cloud end (3), a wireless transmitting module (4), an automatic driving system (5), a vehicle controller (6), an RSU body (7) and a PC5 body (8), and is characterized in that: the vehicle-mounted terminal OBU system comprises a vehicle-mounted terminal OBU body (7), an output end of the vehicle-mounted terminal OBU (1) is electrically connected with a vehicle information cloud end (3), an output end of the vehicle information cloud end (3) is electrically connected with an input end of the vehicle-mounted terminal OBU (1), an output end of the vehicle-mounted terminal OBU (1) is electrically connected with an automatic driving system (5), an output end of the RSU body (7) is electrically connected with an input end of the vehicle-mounted terminal OBU (1), and an output end of the vehicle-mounted terminal OBU (1) is electrically connected with a.
2. The vehicle-road cloud coordination-based autonomous vehicle formation method according to claim 1, characterized in that: the vehicle-mounted terminal OBU (1) is characterized in that the output end of the OBU is electrically connected with a wave frequency receiving and sending module (2), the output end of the wave frequency receiving and sending module (2) is electrically connected with the input end of a self-vehicle information cloud end (3), and the output end of the self-vehicle information cloud end (3) is electrically connected with the input end of the wave frequency receiving and sending module (2).
3. The vehicle-road cloud coordination-based autonomous vehicle formation method according to claim 1, characterized in that: the vehicle-mounted terminal OBU (1) is characterized in that the output end of the vehicle-mounted terminal OBU is electrically connected with a wireless transmitting module (4), and the output end of the wireless transmitting module (4) is electrically connected with the input end of an automatic driving system (5).
4. The vehicle-road cloud coordination-based autonomous vehicle formation method according to claim 1, characterized in that: the output electric connection of RSU body (7) has PC5 body (8), the output of PC5 body (8) and the input electric connection of vehicle mounted terminal OBU (1).
5. The vehicle-road cloud coordination-based autonomous vehicle formation method according to claim 1, characterized in that: a closed loop is formed between the own vehicle information cloud end (3) and the vehicle-mounted terminal OBU (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110106749.4A CN112887935A (en) | 2021-01-26 | 2021-01-26 | Automatic driving vehicle formation method based on vehicle road cloud cooperation |
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| CN202110106749.4A CN112887935A (en) | 2021-01-26 | 2021-01-26 | Automatic driving vehicle formation method based on vehicle road cloud cooperation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113709106A (en) * | 2021-07-22 | 2021-11-26 | 一汽解放汽车有限公司 | Data analysis system and method suitable for commercial vehicle networking data |
| CN113992713A (en) * | 2021-10-21 | 2022-01-28 | 国汽智控(北京)科技有限公司 | Vehicle cloud communication method and device, electronic equipment and storage medium |
| CN115206081A (en) * | 2022-07-07 | 2022-10-18 | 智道网联科技(北京)有限公司 | Formation control system for autonomous vehicles |
-
2021
- 2021-01-26 CN CN202110106749.4A patent/CN112887935A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113709106A (en) * | 2021-07-22 | 2021-11-26 | 一汽解放汽车有限公司 | Data analysis system and method suitable for commercial vehicle networking data |
| CN113709106B (en) * | 2021-07-22 | 2023-11-07 | 一汽解放汽车有限公司 | Data analysis system and method suitable for commercial vehicle internet of vehicles data |
| CN113992713A (en) * | 2021-10-21 | 2022-01-28 | 国汽智控(北京)科技有限公司 | Vehicle cloud communication method and device, electronic equipment and storage medium |
| CN113992713B (en) * | 2021-10-21 | 2024-02-13 | 国汽智控(北京)科技有限公司 | Vehicle cloud communication method and device, electronic equipment and storage medium |
| CN115206081A (en) * | 2022-07-07 | 2022-10-18 | 智道网联科技(北京)有限公司 | Formation control system for autonomous vehicles |
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