CN115346375B - Automobile 5G information transmission method - Google Patents
Automobile 5G information transmission method Download PDFInfo
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- CN115346375B CN115346375B CN202211273863.7A CN202211273863A CN115346375B CN 115346375 B CN115346375 B CN 115346375B CN 202211273863 A CN202211273863 A CN 202211273863A CN 115346375 B CN115346375 B CN 115346375B
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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
- G08G1/048—Detecting movement of traffic to be counted or controlled with provision for compensation of environmental or other condition, e.g. snow, vehicle stopped at detector
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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
- G08G1/09—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
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/18—Network planning tools
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/22—Traffic simulation tools or models
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Abstract
The invention discloses an automobile 5G information transmission method, and relates to the technical field of Internet of vehicles optimization; the problem to be solved is an information transmission control method for automatic driving of an automobile, which comprises the following steps: step one, establishing automobile information transmission system models of a plurality of 5G base stations in a main urban area; the 5G base station is constructed by adopting a hybrid hierarchical network architecture; step two, setting a plurality of remote driving platforms on the mobile phone APP; acquiring data information of the environment around the automobile through an acquisition module, and sensing data information of obstacles around the automobile through a sensing module; analyzing the barrier information received by the 5G automobile through a central processing unit; step five, automatically selecting an optimal route through the robot path navigation of the ROS in the driving process of the automobile; and step six, completing information transceiving in automatic automobile driving, and forming remote control by using a 5G network, so that the problems of network delay and poor accuracy are solved.
Description
Technical Field
The invention relates to the field of vehicle networking optimization, in particular to an automobile 5G information transmission method.
Background
With the rapid increase of the automobile reserves in China, the problem of road traffic safety is increasingly prominent. Vehicle and outside information exchange (V2X) has attracted people's attention as a new approach to solving the problem of road safety. The V2X vehicle networking realizes intelligent information exchange and sharing between vehicles and objects such as people, vehicles, roads, backstage and the like by fusing modern communication and network technology, and ensures that vehicles run safely, comfortably, energy-saving and efficiently.
At present, the main components of the electric vehicle internet of vehicles include an electric vehicle and roadside objects, and the electric vehicle and the roadside objects (mobile phones, backstage, monitoring and the like) can communicate through WIFI, mobile networks, bluetooth networks and the like, but the communication efficiency still needs to be improved. Considering that 5G communication has the advantages of higher transmission rate and lower time delay, and in combination with the 5G communication network technology which is vigorously developed at the present stage, the vehicle-to-vehicle networking architecture of the electric vehicle based on the 5G communication becomes more flexible in the future, and the system elements are more diverse.
The inventor regards the concept of the future electric vehicle networking based on 5G communication, not only limited to information intercommunication among the components, but also needs to charge the signal receiver while communicating. At present, an optimal power resource allocation method under the situation of simultaneous communication and charging is lacked, and consideration on long-term efficiency performance of the whole vehicle networking system is also lacked.
Disclosure of Invention
In order to solve the problems, the invention discloses an automobile 5G information transmission method, which is an information transmission control method capable of automatically driving an automobile.
In order to realize the technical effects, the invention adopts the following technical scheme:
A5G information transmission method for an automobile is characterized by comprising the following steps: the method comprises the following steps:
step one, establishing automobile information transmission system models of a plurality of 5G base stations in a main urban area; the 5G base station is constructed by adopting a hybrid hierarchical network architecture;
step two, setting a plurality of remote driving platforms on the mobile phone APP;
acquiring data information of the environment around the automobile through an acquisition module, and sensing data information of obstacles around the automobile through a sensing module;
analyzing the information of the obstacles received by the 5G automobile through a central processing unit;
step five, automatically selecting an optimal route through the robot path navigation of the ROS in the driving process of the automobile;
and step six, completing information receiving and transmitting in the automatic driving of the automobile.
In a further technical scheme of the invention, the acquisition module is used for acquiring the condition of a road surface; the acquisition module comprises:
the OBD data acquisition module is used for monitoring whether the automobile exhaust exceeds the standard or not, and if so, the OBD data acquisition module triggers the alarm module;
the automobile tire pressure acquisition module is used for acquiring whether the air pressure of wheels on an automobile is standard or not, and if the air pressure is not standard, the alarm module is triggered;
the GPS signal receiving module is used for positioning the driving position of the automobile at any time;
the GPRS module is used for sending the data to a database server in real time;
the acquisition module acquires automobile internal data, automobile tire pressure data and GPS position information through an OBD interface, then transmits the data to a database server through a GPRS module in real time, and finally a user logs in the server through a browser to acquire the data of the OBD data acquisition module, the automobile tire pressure acquisition module and the GPS signal receiving module; the method for acquiring the surrounding environment of the 5G automobile is to acquire the road surface condition through a standard acquisition module of a high-speed serial computer expansion bus and input the acquired signal into a central processing unit.
In a further technical scheme of the invention, the central processing unit is used for analyzing, processing and judging obstacles encountered in the driving process of the 5G automobile, the obstacles are static obstacles and dynamic obstacles, and the central processing unit adopts an 8080 central processing unit.
In a further technical scheme of the invention, the induction module is used for inducing obstacles on a road surface, and the induction module adopts a radar microwave induction module.
In a further technical scheme of the invention, the control unit is used for receiving an electric signal of the central processing unit and controlling the running speed, braking and turning of the 5G automobile, and the control unit adopts a control unit of an AT96 bus.
In a further technical scheme of the invention, the automobile positioning module is used for positioning the driving position of the automobile at any time and inputting an electric signal into the central processing unit, and the automobile positioning module adopts a Mitsubishi FX3U-20SSC-H positioning module.
In a further technical scheme of the invention, the power supply module is connected with the input ends of the acquisition module, the central processing unit, the control unit and the alarm module, the output end of the acquisition module is connected with the input end of the central processing unit, the output end of the induction module is connected with the input end of the central processing unit, the output end of the central processing unit is connected with the input end of the control unit, the output end of the control unit is connected with the input end of the alarm module, the output end of the automobile positioning module is connected with the input end of the central processing unit, and the output end of the GPS module is connected with the input end of the control unit.
In a further technical scheme of the invention, the car navigation module is used for voice navigation of a user, the car navigation module calculates the position of the next position point from a known position point according to the course, the navigation speed and the time of the movement at the position point, and the car navigation module adopts the robot path navigation of the ROS.
In a further technical scheme of the invention, the alarm module is used for warning passers-by or passengers in an automobile, the alarm module adopts a CTC comprehensive alarm module, and the CTC comprehensive alarm module comprises a touch alarm, an infrared alarm, a smoke alarm and a heat release alarm.
In a further technical scheme of the invention, the CTC comprehensive alarm module is used for receiving an electric signal of the control unit, and if the control unit analyzes that the safety coefficient of the automobile exceeds a normally specified threshold data value, an alarm system is triggered through the wireless communication module, and the alarm system comprises a light alarm, a sound alarm and a smell alarm.
In a further technical scheme of the invention, the method is characterized in that: the robot path navigation of the ROS adopts SINS navigation positioning algorithm, and in order to solve the problem of automobile navigation accuracy, a GPS combined pseudo-range differential positioning function is adopted:
in equation (1), h is expressed from satellite to GPSA received unit vector; p represents the true position of the receiver;
expressed as estimated receiver positions; λ represents the carrier wavelength; n is the broadcast track deviation, Δ t, expressed as the number of whole cycles of the carrier, dp s Expressed as satellite clock error, Δ t R Expressed as the clock error of the receiver; MP is expressed as multipath effect, eta is expressed as measurement noise error caused by noise error source; c is the distance from the satellite position to the estimated receiver position; rho is expressed as a pseudo range from a satellite to a receiver, and delta phi is expressed as micro inertial navigation of an automobile; the formula (2) introduces a derivation rule on the basis of classical GPS combined pseudo-range differential positioning, so that the error capacity is improved, as shown in the formula (2):
in the formula (2), v s Expressed as the true velocity of the GPS satellites; v. of R Expressed as the estimated measured speed of the GPS receiver;
expressed as the derivative of the satellite clock error,
expressed as the derivative of the clock difference of the receiver,
expressed as the derivative of the multipath effect, η' as the derivative of the measurement noise error caused by the noise error source, for the purpose of refining the satellite rotation period and the frequency of the car 5G signal, equation (3) is introduced: the formula (3) adopts a satellite rotation period function:
φ(T+ΔT)=φ(T)+fΔT (3)
in equation (3), T is expressed as the period of the satellite, Δ T is expressed as the periodic variation of the satellite, f is expressed as the frequency of the satellite, Φ (T + Δ T) is expressed as the variation of the ionospheric delay of the satellite period, Φ (T) is expressed as the ionization delay of the satellite period, equation (4) is used to detect the actual distance from the satellite to the car 5G, as shown in equation (4): the formula (4) adopts a pseudo range function:
in the formula (4), the first and second groups,
a satellite position vector expressed as the time of signal transmission,
the vector of the receiver satellites, t, expressed as the observation time μ The time of the satellite clock relative to the GPS system is represented by delta, and the time of the satellite to the automobile is represented by t; the formula (4) is reduced to obtain the formula (5), and the formula (5) is shown as follows:
in the formula (5), t us Expressed as the advance of the receiver clock relative to the satellite clock, i.e. the clock difference: equations (6) to (7) represent the positions of the coordinates of the automobile during driving: the equations (6) - (7) use a primary cumulative distance function, as shown in equations (6) - (7):
in formulas (6) to (7), x 0 ，y 0 Expressed as the initial position of the vehicle at time t, S κ Expressed as the vehicle from time t 0 To the position of time t, theta t Expressed as the car from time t 0 The absolute course from the position to the time t, x and y represent the position of the automobile in the driving process, and the navigation errors of the automobile in the driving process are reduced by the formulas (1) to (7).
The invention has the beneficial and positive effects that: unlike the conventional art, the present invention comprises the following steps: step one, establishing automobile information transmission system models of a plurality of 5G base stations in a main urban area; the 5G base station is constructed by adopting a hybrid hierarchical network architecture; step two, setting a plurality of remote driving platforms on the mobile phone APP; acquiring data information of the environment around the automobile through an acquisition module, and sensing data information of obstacles around the automobile through a sensing module; analyzing the barrier information received by the 5G automobile through a central processing unit; step five, automatically selecting an optimal route through the robot path navigation of the ROS in the driving process of the automobile; and step six, completing information transceiving in automatic automobile driving, wherein the invention uses a 5G network to form remote control, and solves the problems of network delay and poor accuracy.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive exercise, wherein:
fig. 1 shows a flow chart of a method for transmitting 5G information of a vehicle;
FIG. 2 shows a diagram of a 5G information transmission and 5G base system for a car;
fig. 3 shows a system diagram of an automobile 5G information transmission method.
Detailed Description
The preferred embodiments of the present invention will hereinafter be described in conjunction with the appended drawings, it being understood that the embodiments described herein are merely for the purpose of illustrating and explaining the invention and are not intended to limit the invention:
A5G information transmission method for an automobile is characterized by comprising the following steps: the method comprises the following steps:
step one, establishing automobile information transmission system models of a plurality of 5G base stations in a main urban area; the 5G base station is constructed by adopting a hybrid hierarchical network architecture;
step two, setting a plurality of remote driving platforms on the mobile phone APP;
acquiring data information of the surrounding environment of the automobile through an acquisition module, and sensing data information of obstacles around the automobile through a sensing module;
analyzing the information of the obstacles received by the 5G automobile through a central processing unit;
step five, automatically selecting an optimal route through the robot path navigation of the ROS in the driving process of the automobile;
and step six, completing information receiving and transmitting in the automatic driving of the automobile.
In a specific embodiment, the acquisition module is used for acquiring the condition of a road surface; the acquisition module comprises: OBD data acquisition module, car tire pressure collection module, GPS signal receiving module and GPRS module, collection module passes through the OBD interface and obtains inside data of car, car tire pressure data, GPS positional information, then sends these data to database server through the GPRS module in real time, and finally, the user obtains these data through browser login server, the 5G car gathers the method of environment on every side and gathers the road surface condition for the high-speed data acquisition module through PCIe, the signal input central processing unit who will gather. PCI express is a high speed serial bus with single channel data transfer rates up to 2.5Gbiu/s, with single, four, eight, sixteen and the highest thirty-two channels. Compared with PCI and early computer buses with parallel architectures, PCI Express bus equipment has own special connection, and the bus technology has the advantages of high bandwidth, high performance, low delay among pins, low power consumption, reliable transmission and the like, and has wide application prospects. PCI Express can realize data transmission in two directions in one cycle, compared with the condition that PCI can only transmit data in one direction in one cycle. In addition, PCI Express has a hot-plug characteristic, and the PCI Express bus maintains software compatibility with conventional PCI, but the physical bus is replaced with a high-speed serial bus, and the slot is not compatible because the bus structure has a parallel-to-serial converter at the interface side in addition to the PCI-compatible structure at the local side. At present, most computers are provided with both PCI slots and PCI Express slots on a motherboard. Since PCI express is a newly emerging bus, its complex architecture makes application design and development more difficult.
OBD is an abbreviation for On-Board Diagnostics in English, which translates to "vehicle-mounted automatic diagnostic System" in Chinese. The system can monitor whether the tail gas of the automobile exceeds the standard or not at any time according to the running condition of the engine, and can immediately send out a warning once the tail gas exceeds the standard. When the system is in failure, a fault (MIL) lamp or a Check Engine warning lamp is turned on, meanwhile, a power assembly control module (PCM) stores fault information into a memory, and a fault code can be read out from the PCM through a certain program. According to the prompt of the fault code, the maintenance personnel can quickly and accurately determine the nature and the position of the fault.
In a specific embodiment, the central processing unit is used for analyzing, processing and judging obstacles encountered in the driving process of a 5G automobile, wherein the obstacles are static obstacles and dynamic obstacles, and the central processing unit adopts an 8080 central processing unit. The CPU depends on the instruction to calculate and control the system, and each CPU defines a series of instruction systems matched with the hardware circuit. The strength of the instruction is also an important index of the CPU, and the instruction set is one of the most effective tools for improving the efficiency of the processor. From the mainstream architecture at present, the instruction set can be divided into two parts, i.e. a complex instruction set and a reduced instruction set, and from the specific applications, such as the MIX (Multi Media Extended), SSE2 (streaming-Single instruction multiple data-extensions 2) SEE3 of Intell and 3 DNow!of AMD! The CPU is an extended instruction set of the CPU, and the processing capacities of the CPU, multimedia, graphic images, internet and the like are respectively enhanced. We will generally refer to the extended instruction set of the CPU as the "instruction set of the CPU". The SSE3 instruction set is also the smallest instruction set, and heretofore M IX contains 57 commands, SSE contains 50 commands, SSE2 contains 144 commands, and SSE3 contains 13 commands. SSE3 is also the most advanced instruction set, SSE3 is already supported by Intel Prescott processors, AMD will add support to the SSE3 instruction set in future dual core processors, and full-America will also support this instruction set.
In a specific embodiment, the input of collection module, central processing unit, the control unit and alarm module is connected to the power module, central processing unit's input is connected to collection module's output, central processing unit's input is connected to response module's output, central processing unit's output connection control unit's input, alarm module's input is connected to control unit's output, central processing unit's input is connected to car orientation module's output, control unit's input is connected to the output of GPS module.
In a specific embodiment, the sensing module is used for sensing obstacles on a road surface, the obstacles are static obstacles and dynamic obstacles, and the sensing module adopts a radar microwave sensing module. A microwave induction switch, also called a microwave radar, is made by using the Doppler principle of electromagnetic waves, and as known, any wave has a reflection characteristic, when the wave with a certain frequency touches an obstacle, a part of the wave is reflected, if the obstacle is static, the wavelength of the reflected wave is constant, if the obstacle moves towards a wave source, the wavelength of the reflected wave is shorter than that of the wave source, if the obstacle moves away from the wave source, the wavelength of the reflected wave is longer than that of the wave source, and the change of the wavelength means the change of the frequency. The microwave induction is just to know that a moving object approaches or moves away through the change of reflected waves. Therefore, it is known that microwave induction mainly reacts to the movement of an object, such as a human body, and therefore has a fast reaction speed, and is suitable for detecting an object approaching or departing from a microwave inductor at a certain speed, such as a person walking at a certain speed passing through a certain place can be conveniently detected by using microwaves.
In a specific embodiment, the control unit is used for receiving the electric signals of the central processing unit and controlling the running speed, braking and turning of the 5G automobile, and the control unit adopts a control unit of an AT96 bus. The control unit commands of the AT96 bus can be generally divided into three types, a common control command, a read command, and a write command. Before the module detection, 4 power supply seam appliances are controlled according to requirements to provide corresponding working power supplies for different modules, and after the module detection is finished, the power supplies are automatically turned on again. The control of the relay is simple, only the write operation is needed to be executed on the corresponding O interface, and the program is not independently programmed. The common control command generates a common control signal, the priority is higher accepted by each unit on the bus, and the S signal is generated autonomously. Therefore, only the write operation needs to be executed on the corresponding O interface, and the program is not separately programmed. The format of the read command and the write command is consistent, wherein N is the station number of the module, and the sub-address code and the function code of the executed command are respectively arranged in brackets and are accompanied with corresponding data transmission. Because only a single module test is carried out in the subject supported by the invention, the station number is fixed and unchanged within the validity period of the command. The invention is based on the O interface used in the circuit design.
In a specific embodiment, the automobile positioning module is used for positioning the driving position of an automobile at any time and inputting an electric signal into the central processing unit, and the automobile positioning module adopts a Mitsubishi FX3U-20SSC-H positioning module. The positioning module QD75 is used together with a stepping motor or a servo driver to execute a module for controlling the position or the speed of a machine, can complete main positioning control, OPR control (returning to an original point control), advanced positioning control, manual control and the like, and is characterized by quick start, reduced response time of the machine, high-speed command of the highest Mps of a differential black actuator system, quick and accurate control in an automatic engraving machine electric control system and fixed position feeding control and linear control realized by the QD75 positioning module. The character selection is controlled by QD75 fixed feeding and OPR, the motor drives the lettering disc to rotate, according to the lettering characters arranged on the touch screen by an operator, one character is found and engraved every time the lettering characters are rotated (the rotation amount of each time is calculated by a CPU and sent to the QD75, the QD75 sends the pulse to the servo driver to further control the servo motor, the lettering disc automatically returns to the original point after the last character is engraved to wait for the next drill rod joint needing to be engraved to produce a batch number, the character adjusting interval is controlled by QD75 fixed feeding, the motor drives the joint sequence to rotate for a fixed distance after each character is engraved, and the rotation is controlled by QD75 linearly.
In a specific embodiment, the car navigation module is used for voice navigation of a user, the car navigation module calculates the position of the next position point according to the heading, the navigational speed and the time of the movement at the known position point from one known position point, and the car navigation module adopts the robot path navigation of the ROS. The mobile robot needs to sense the world through a laser radar sensor or a binocular vision sensor for navigation. The navigation function package only receives sensor data issued by using a specific message type, if the navigation uses a single-line laser plane arrival sensor, the accuracy of the sensor is degree, and the support of laser rich arrival data needs to be obtained during navigation, namely, data received by a radar is obtained under a corresponding communication protocol. And the laser radar analyzes the received data, calculates the position of an object encountered by the mobile robot in the running process, and performs integral navigation and local navigation by moving to an optimal path. The general processing idea of the data received by the laser radar is that the data received by the radar is filtered, and corresponding data is found to calculate the degree of a local obstacle and a local path required by a station, the corresponding calculated amount can be reduced by finding the data with a proper angle, the unused angle data can be filtered out during programming, and only the data in the range of 180 degrees in front of the robot is used for processing.
In a specific embodiment, the alarm module is used for warning passers-by or passengers in an automobile, and the alarm module adopts a CTC comprehensive alarm module. The CTC alarm comprises two main categories, namely a central alarm and a station alarm. The central alarm mainly comprises input alarm generated by a Temporary Speed limit server (TSRs), a Radio Block Center (RBC), a disaster monitoring unit and the like, driving operation alarm of a dispatcher, equipment fault alarm of the CTC Center and the like. The station alarm comprises signal state change alarm, station driving operation alarm, station equipment fault alarm and the like. In the existing mode, the central alarm information is gathered in a central application server in real time, the station alarm information needs to be uploaded to the central application server through a CTC core service channel, and the central application server carries out directional distribution or broadcasting on the alarm information. Because the application server is a centralized and distributed center of CTC alarm information, the comprehensive alarm server can directly acquire all alarm information from the central application server. The equipment for collecting or generating the central alarm is positioned in a dispatching center machine room constructed at a high level, the equipment is centralized in position, the network channel is stable, and perfect safety verification measures are provided. Therefore, the central alarm can be directly taken as a credible alarm source to be brought into the comprehensive alarm resource pool, the station alarm forwarded by the application server is transmitted through a wide area network channel and forwarded by multiple nodes, and the possibility of loss after the station alarm is overtaken and the possibility of being calculated and modified exists. Therefore, the station alarm enters the comprehensive alarm service area for caching and waits for further verification. The station comprehensive alarm submodule is connected with the station autonomous machine, and on the basis of not influencing the core service of the autonomous machine, the station comprehensive alarm submodule actively captures station alarm information and uploads the station alarm information to the comprehensive alarm server. And after acquiring station sharing alarms from different logic paths, the comprehensive alarm server takes the alarm source, the pushing target and the generation time information triad as an index and an identifier to carry out correctness checking and real-time comparison under the same alarm identifier. And when the alarm contents are consistent and the time error is within 30s, setting the station alarm as a credible alarm, and otherwise, respectively taking the following treatment measures according to failure reasons.
(1) When the time error is more than 30s, the alarm with early time is generated by acquiring the message;
(2) When station alarms forwarded by the center are missing or the contents are inconsistent, alarms uploaded by the station are directly acquired;
(3) When the alarm uploaded by the station is absent, the alarm information is timely issued to the dispatcher electrical service maintenance terminal, and the fact that the alarm is not verified is noted. As a further technical scheme, the CTC comprehensive alarm module is used for receiving electric signals of the control unit, and if the safety coefficient of the automobile analyzed by the control unit exceeds a normally specified threshold data value, an alarm system is triggered, wherein the alarm system comprises a light alarm, a sound alarm and a smell alarm.
In a specific embodiment, the CTC comprehensive alarm module is used for receiving an electric signal of the control unit, and if the control unit analyzes that the safety coefficient of the automobile exceeds a normally specified threshold data value, an alarm system is triggered, wherein the alarm system comprises a light alarm, a sound alarm and a smell alarm;
in a specific embodiment, the robot path navigation of the ROS adopts an SINS navigation positioning algorithm, in order to solve the problem of accurate car navigation, for example, the MIMU/GPS (micro inertial measurement unit/satellite positioning system) integrated navigation system described in formula (1) can provide high-precision and high-reliability navigation information, and the application in the fields of missiles, guided bombs, smart projectiles and the like is more and more extensive, the designed data fusion algorithm is that the key conventional kalman filter for realizing the system is successfully applied in the aspect of integrated navigation system design, but an accurate state equation model needs to be established to describe the position and speed variation law of an aircraft, the deviation between the recursive state estimation and the real state is more and more large due to modeling errors and calculation errors, and the divergence phenomenon is generated, and the conventional kalman filter generally requires that both the dynamic process and noise of the system are determined, and when the system has model errors or the noise is uncertain, the kalman filter divergence is caused. In order to avoid divergence, methods such as an attenuation memory method, a limit memory method, square root filtering, UDU filtering, adaptive filtering suboptimal filtering and the like are adopted. Aiming at the problem of filtering divergence caused by the change of a measurement noise variance matrix R in modeling, adaptive Kalman filtering based on a fuzzy theory is adopted to correct the measurement noise variance matrix R on line in real time, so that the problem of filtering divergence caused by the change of the measurement noise variance matrix is effectively solved, and in order to solve the problem of accurate automobile navigation, as shown in a formula (1), the formula (1) adopts GPS combined pseudo-range differential positioning:
in formula (1), h is expressed as a unit vector from a satellite to GPS reception; p represents the true position of the receiver;
expressed as estimated receiver bits; λ represents the carrier wavelength; dp is a broadcast track deviation, N is a whole number of cycles of the carrier dp is a broadcast track deviation, Δ t s Expressed as satellite clock error, Δ t R Expressed as the clock error of the receiver; MP is expressed as multipath effect, eta is expressed as measurement noise error caused by noise error source; c is the distance from the satellite position to the estimated receiver position; rho is expressed as a pseudo range from a satellite to a receiver, and delta phi is expressed as micro inertial navigation of an automobile; in order to meet the requirement of positioning precision in a dynamic scene, the invention provides a BDS/GPS positioning algorithm based on the robust Kalman filtering. According to the algorithm, M estimation is introduced on the basis of classical Kalman filtering, and the robust capability is improved. The effectiveness of the algorithm is verified by collecting actually measured data under a regular movement route in a shielding scene in an experiment, and result analysis shows that the algorithm improves positioning accuracy to a certain extent. In addition, aiming at the nonlinear condition, the invention provides a BDS/GPS positioning algorithm based on the adaptive unscented Kalman filtering. According to the algorithm, on the basis of unscented Kalman filtering, chi-square test is firstly introduced to evaluate a system model, a corresponding chi-square test value is obtained, then a piecewise linear function between the system noise statistical model and the chi-square test value is constructed, a system noise estimation value is obtained, and finally the adaptive unscented Kalman filtering with the system noise statistical characteristic is obtained. The effectiveness of the algorithm is verified by acquiring actually measured data under an irregular movement route in a shielding scene in an experiment, and result analysis shows that the algorithm improves positioning accuracy to a certain extent, a derivation rule is introduced into the formula (2) on the basis of classical GPS combined pseudo-range differential positioning, so that the error capability is improved, as shown in the formula (2):
in the formula (2), v s Expressed as the true velocity of the GPS satellite; v. of R Expressed as the estimated measured velocity of the GPS receiver;
expressed as the derivative of the satellite clock error,
expressed as the derivative of the clock difference of the receiver,
expressed as the derivative of the multipath effect, η' expressed as the derivative of the measurement noise error caused by the noise error source; in a combination mode, the traditional scheme does not utilize the advantages of each system to the maximum extent, and the invention adopts a BDS/GPS positioning algorithm based on pseudo-range combination to realize the close combination among the systems. The algorithm firstly introduces the clock deviation of the system into a geometric distance formula from a satellite to receiving equipment, constructs a pseudo-range function to perform Taylor series expansion, and reserves a first-order term; and finally, acquiring the actual measurement data of the resolved position-sitting experiment shielded by the big tree and the house by acquiring the actual measurement data, verifying the effectiveness of the algorithm, and analyzing the result to show that the algorithm improves the positioning precision to a certain extent. In order to refine the rotation period of the satellite and the frequency of the car 5G signal, equation (3) is introduced, said equation (3) using the satellite rotation period function:
φ(T+ΔT)=φ(T)+fΔT (3)
in formula (3), T represents the period of the satellite, Δ T represents the periodic variation of the satellite, f represents the frequency of the satellite, Φ (T + Δ T) represents the variation of the ionospheric delay of the satellite period, Φ (T) represents the ionization delay of the satellite period; with the progress of research, as the positioning accuracy of each system of the GNSS is different, when the position coordinate is resolved based on the weighted minimum multiplication, the weighted values of the GNSS are researched by many scholars at home and abroad.
The formula (4) adopts a pseudo range function:
in the formula (4), the first and second groups,
a satellite position vector expressed as the time of signal transmission,
the vector of the receiver satellites, t, expressed as the observation time μ The time of the satellite clock relative to the GPS system is represented by delta, and the time of the satellite to the automobile is represented by t; the formula (4) is arranged to obtain the formula (5), and as shown in the formula (5), in order to study the positioning calculation process of the BDS/GPS combined system, it is necessary to know the compatibility between each system and the related technology thereof.
The application outlines the basic composition of the BDS and the GPS and the coordinate system and the time system used by the BDS and the GPS, so that the difference between the systems is summarized, compatibility analysis of the BDS/GPS combined system is carried out, and the data processing related technology of the BDS/GPS combined system is introduced, and mainly comprises original data analysis, data sequencing and error preprocessing, and satellite position calculation of the BDS/GPS combined system.
In the formula (5), t us Expressed as the advance of the receiver clock relative to the satellite clock, i.e., the clock difference; the existing bus positioning terminal adopts single-point positioning, and has the defect that a breakpoint exists at a position where a signal is shielded due to poor precision. In order to solve the two defects, the positioning terminal adopts a combined Navigation positioning algorithm, and the output of combined Navigation is obtained by fusing IPS/BDS combined pseudo-range differential positioning and Navigation output of SINS (Strapdown Inertial Navigation System). The GPS/BDS combined pseudo-range differential positioning precision is superior to 1 meter, and the combination of multiple constellations of IPS/BDS increases the observation number of satellites, improves the observation condition of the satellites, namely the output of the 1SINS is completely independent and is not influenced by the outside, and the output of combined navigation always has a result and a formula regardless of the output of differential positioning(6) - (7) represents the position of the coordinates of the vehicle during driving, said equations (6) - (7) using a primary cumulative distance function, as shown in equations (6) - (7):
in formulas (6) to (7), x 0 ，y 0 Expressed as the initial position of the vehicle at time t, S κ Expressed as the vehicle from time t 0 To a time t, θ t Expressed as the vehicle from time t 0 The absolute course from the position to the time t, x and y represent the position of the automobile in the driving process, and the navigation errors of the automobile in the driving process are reduced by the formulas (1) to (7).
Although specific embodiments of the present invention have been described above, it will be understood by those skilled in the art that these specific embodiments are merely illustrative and that various omissions, substitutions and changes in the form and details of the methods and systems described above may be made by those skilled in the art without departing from the spirit and scope of the invention; for example, it is within the scope of the present invention to combine the steps of the above-described methods to perform substantially the same function in substantially the same way to achieve substantially the same result; accordingly, the scope of the invention is to be limited only by the following claims.
Claims (9)
1. A5G information transmission method for an automobile is characterized by comprising the following steps: the method comprises the following steps:
step one, establishing automobile information transmission system models of a plurality of 5G base stations in a main urban area; the 5G base station is constructed by adopting a hybrid hierarchical network architecture;
step two, setting a plurality of remote driving platforms on the mobile phone APP;
acquiring data information of the surrounding environment of the automobile through an acquisition module, and sensing data information of obstacles around the automobile through a sensing module;
analyzing the barrier information received by the 5G automobile through a central processing unit;
step five, automatically selecting an optimal route through the robot path navigation of the ROS in the driving process of the automobile;
sixthly, completing information receiving and transmitting in automatic driving of the automobile;
the robot path navigation of the ROS adopts an SINS navigation positioning algorithm, and in order to solve the problem of accurate automobile navigation, a GPS combined pseudo-range differential positioning function is adopted:
in formula (1), h is expressed as a unit vector from a satellite to GPS reception; p represents the true position of the receiver;
expressed as estimated receiver bits; λ represents the carrier wavelength; n is the whole circle number of the carrier wave, dp is the broadcast track deviation, Δ t s Expressed as satellite clock error, Δ t R Expressed as the clock error of the receiver; MP is expressed as multipath effect, eta is expressed as measurement noise error caused by noise error source; c is the distance from the satellite position to the estimated receiver position; rho is expressed as a pseudo range from a satellite to a receiver, and delta phi is expressed as micro inertial navigation of an automobile; the formula (2) introduces a derivation rule on the basis of classical GPS combined pseudo-range differential positioning, so that the error capability is improved, as shown in the formula (2):
in the formula (2), v s Expressed as the true velocity of the GPS satellites; v. of R Expressed as the estimated measured speed of the GPS receiver;
expressed as the derivative of the satellite clock error,
expressed as the derivative of the receiver's clock difference,
expressed as the derivative of the multipath effect, η' as the derivative of the measurement noise error caused by the source of the noise error, for the purpose of refining the satellite rotation period and the frequency of the car 5G signal, equation (3) is introduced: the formula (3) adopts a satellite rotation period function:
φ(T+ΔT)＝φ(T)+fΔT (3)
in equation (3), T is expressed as the period of the satellite, Δ T is expressed as the periodic variation of the satellite, f is expressed as the frequency of the satellite, Φ (T + Δ T) is expressed as the variation of the ionospheric delay of the satellite period, Φ (T) is expressed as the ionization delay of the satellite period, equation (4) is used to detect the actual distance of the satellite from the car 5G, as shown in equation (4): the formula (4) adopts a pseudo range function:
in the formula (4), the first and second groups of the chemical reaction are shown in the specification,
a satellite position vector expressed as the time of signal transmission,
the vector of the receiver satellites, t, expressed as the observation time u The time of the satellite clock relative to the GPS system is represented by delta, and the time of the satellite to the automobile is represented by t; the formula (4) is reduced to obtain a formula (5), and the formula (5) is as shown in the formula (5):
in the formula (5), t us Expressed as the advance of the receiver clock relative to the satellite clock, i.e., the clock difference; equations (6) to (7) represent the positions of the coordinates of the automobile during driving: the equations (6) - (7) use the primary cumulative distance function, as shown in equations (6) - (7):
in formulas (6) to (7), x 0 ，y 0 Expressed as the initial position of the vehicle at time t, S κ Expressed as the vehicle from time t 0 To the position of time t, theta t Expressed as the car from time t 0 The absolute course from the position to the time t, x and y represent the position of the automobile in the driving process, and the navigation errors of the automobile in the driving process are reduced by the formulas (1) to (7).
2. The automobile 5G information transmission method according to claim 1, wherein: the acquisition module is used for acquiring the condition of the road surface; the acquisition module comprises:
the OBD data acquisition module is used for monitoring whether the automobile exhaust exceeds the standard or not, and if so, the OBD data acquisition module triggers the alarm module;
the automobile tire pressure acquisition module is used for acquiring whether the air pressure of wheels on an automobile is standard or not, and if the air pressure is not standard, the alarm module is triggered;
the GPS signal receiving module is used for constantly positioning the driving position of the automobile;
the GPRS module is used for sending the data to a database server in real time;
the acquisition module acquires automobile internal data, automobile tire pressure data and GPS position information through an OBD interface, then transmits the data to a database server through a GPRS module in real time, and finally, a user logs in the server through a browser to acquire the data of the OBD data acquisition module, the automobile tire pressure acquisition module and the GPS signal receiving module; the method for acquiring the surrounding environment of the 5G automobile is to acquire the road surface condition through a standard acquisition module of a high-speed serial computer expansion bus and input the acquired signal into a central processing unit.
3. The automobile 5G information transmission method according to claim 1, wherein: the central processing unit is used for analyzing, processing and judging obstacles encountered in the driving process of the 5G automobile, the obstacles are static obstacles and dynamic obstacles, and the central processing unit adopts an 8080 central processing unit.
4. The automobile 5G information transmission method according to claim 1, wherein: the sensing module is used for sensing obstacles on a road surface and adopts a radar microwave sensing module.
5. The automobile 5G information transmission method according to claim 3, characterized in that: the central processing unit comprises a control unit, the control unit is used for receiving electric signals of the central processing unit and controlling the running speed, braking and turning of the 5G automobile, and the control unit adopts a control unit of an AT96 bus.
6. The automobile 5G information transmission method according to claim 3, characterized in that: the central processing unit further comprises an automobile positioning module, the automobile positioning module is used for positioning the driving position of the automobile at any time and inputting an electric signal into the central processing unit, and the automobile positioning module adopts a Mitsubishi FX3U-20SSC-H positioning module.
7. The automobile 5G information transmission method according to claim 3, characterized in that: the central processing unit further comprises an automobile navigation module, the automobile navigation module is used for voice navigation of a user, the automobile navigation module calculates the position of the next position point from a known position point according to the course, the navigational speed and the time of the movement at the position point, and the automobile navigation module adopts the robot path of the ROS for navigation.
8. The automobile 5G information transmission method according to claim 3, characterized in that: the central processing unit further comprises an alarm module, the alarm module is used for warning passersby or passengers in the automobile, the alarm module adopts a CTC comprehensive alarm module, and the CTC comprehensive alarm module comprises touch alarm, infrared alarm, smoke alarm and heat release alarm.
9. The automobile 5G information transmission method according to claim 8, wherein: the CTC comprehensive alarm module is used for receiving an electric signal of the control unit, and if the safety coefficient of the automobile analyzed by the control unit exceeds a normally specified threshold data value, an alarm system can be triggered through the wireless communication module and comprises a light alarm, a sound alarm and a smell alarm.
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