WO2022237472A1

WO2022237472A1 - Method and apparatus for communication between vehicles, and electronic device and readable storage medium

Info

Publication number: WO2022237472A1
Application number: PCT/CN2022/087724
Authority: WO
Inventors: 何增龙
Original assignee: 广州小鹏汽车科技有限公司
Priority date: 2021-05-08
Filing date: 2022-04-19
Publication date: 2022-11-17
Also published as: CN113259906A

Abstract

Provided in the present application are a method and apparatus for communication between vehicles, and an electronic device and a readable storage medium. The method comprises: before executing a vehicle behavior, communicating, by using a first antenna module, with a second antenna module corresponding to a second vehicle within a preset distance range, and determining orientation information of the second vehicle according to communication information; according to the vehicle behavior and the orientation information of the second vehicle, determining a target second vehicle that needs to be notified; sending a collaboration request to the target second vehicle by using the first antenna module; and if feedback information returned by the target second vehicle for the collaboration request is received and the feedback information is agreement information, executing the vehicle behavior. By means of the present application, communication between vehicles can be completed without the need for using components of a traditional vehicle, such as horns, turn signals, a microphone and a camera, thereby reducing the communication costs.

Description

Communication method, device, electronic device and readable storage medium between vehicles

This application claims the priority of the Chinese patent application with the application number 202110502411.0 and the application name "A communication method, device, electronic device and medium between vehicles" submitted to the China Patent Office on May 08, 2021, the entire content of which Incorporated in this application by reference.

technical field

The present invention relates to the technical field of vehicles, in particular to an inter-vehicle communication method, an inter-vehicle communication device, an electronic device and a computer-readable storage medium.

Background technique

With the development of science and technology, automobiles, as an important travel tool for people, are developing in the direction of autonomous driving or unmanned vehicles. Traditional vehicles communicate during driving usually by honking the horn, turning on the turn signal, etc., but these communication methods are all based on human vision or hearing. When self-driving or unmanned vehicles mature, the "driver" of the vehicle is no longer a human, but a computer processing program. The computer processing program itself cannot hear the sound of the horn or see the signal of the car lights. The traditional The means of communication between vehicles is not suitable for autonomous or driverless vehicles.

Contents of the invention

In view of the above problems, the present application is proposed to provide an inter-vehicle communication method and a corresponding inter-vehicle communication device, an electronic device, and a computer that overcome the above problems or at least partially solve the above problems readable storage media.

The present application discloses a communication method between vehicles, which is applied to a first vehicle, the first vehicle has a first antenna module, and the method includes:

Before performing the vehicle behavior, using the first antenna module to communicate with the second antenna module corresponding to the second vehicle within the preset distance range, and determining the orientation information of the second vehicle according to the communication information;

According to the vehicle behavior and the orientation information of the second vehicle, determine a target second vehicle that needs to be notified; the target second vehicle is a second vehicle that hinders the first vehicle from performing the vehicle behavior;

Using the first antenna module to send a coordination request to the target second vehicle; the coordination request is used to request the target second vehicle to cooperate with the first vehicle to perform the vehicle behavior, so as to avoid hindering the first vehicle the vehicle performs the stated vehicular action;

If the feedback information for the coordination request returned by the target second vehicle is received and the feedback information is consent information, the vehicle behavior is executed.

In the vehicle-to-vehicle communication method, the first antenna module includes at least three first antenna sub-modules, and the communication information includes at least three first antenna sub-modules sending signals to the second antenna corresponding to the second vehicle. The positioning information sent by the antenna module and the response information for the positioning information returned by the second antenna module corresponding to the second vehicle, the determining the orientation information of the second vehicle according to the communication information includes:

determining the sending time of the positioning information, and determining the receiving time of the response information;

calculating a time difference between the sending time and the receiving time, and determining the orientation information of the second vehicle according to the time difference.

In the inter-vehicle communication method, the vehicle behavior includes overtaking behavior, and the determining the target second vehicle to be notified according to the vehicle behavior and the orientation information of the second vehicle includes:

determining the overtaking path information corresponding to the overtaking behavior;

According to the overtaking path information and the orientation information of the second vehicle, a target second vehicle that hinders the first vehicle from performing an overtaking behavior according to the overtaking path information is determined.

In the inter-vehicle communication method, the coordination request includes an overtaking request corresponding to the overtaking behavior, and if the feedback information for the coordination request returned by the target second vehicle is received and the feedback information is If you agree to the information, execute the vehicle behavior, including:

If the feedback information for the overtaking request returned by the target second vehicle is received and the feedback information is consent information, overtaking is performed according to the overtaking route corresponding to the overtaking route information.

In the inter-vehicle communication method, the vehicle behavior includes parking behavior, and the determining the target second vehicle to be notified according to the vehicle behavior and the orientation information of the second vehicle includes:

determining the parking route information corresponding to the parking behavior;

According to the parking path information and the orientation information of the second vehicle, a target second vehicle that prevents the first vehicle from performing a parking behavior according to the parking path information is determined.

In the inter-vehicle communication method, the coordination request includes a parking request corresponding to the parking behavior, and if the feedback information for the coordination request returned by the target second vehicle is received and the feedback If the information is consent information, execute the vehicle behavior, including:

If the feedback information for the parking request returned by the target second vehicle is received and the feedback information is consent information, when it is detected that there is no obstacle to the parking of the first vehicle according to the parking route information, When the target vehicle is the second vehicle, the vehicle is parked according to the parking route corresponding to the parking route information.

In the inter-vehicle communication method, the vehicle behavior includes a car yielding behavior, the coordination request includes a car yielding request corresponding to the car yielding behavior, and if the target second vehicle returns a response to the Coordination request feedback information and the feedback information is consent information, then execute the vehicle behavior, including:

If the feedback information on the yielding request returned by the target second vehicle is received and the feedback information is consent information, then negotiate with the target second vehicle on avoidance information;

If the avoidance information indicates that the first vehicle avoids the target second vehicle, performing a yielding behavior for the target second vehicle;

If the avoidance information indicates that the target second vehicle avoids the first vehicle, continue driving.

The present application also discloses an inter-vehicle communication device, which is applied to a first vehicle, the first vehicle has a first antenna module, and the device includes:

The first determining module is configured to use the first antenna module to communicate with the second antenna module corresponding to the second vehicle within the preset distance range before performing the vehicle behavior, and determine the orientation of the second vehicle according to the communication information information;

The second determination module is configured to determine a target second vehicle that needs to be notified according to the vehicle behavior and the orientation information of the second vehicle; the target second vehicle is to prevent the first vehicle from performing the vehicle behavior the second vehicle;

A sending module, configured to use the first antenna module to send a coordination request to the target second vehicle; the coordination request is used to request the target second vehicle to cooperate with the first vehicle to perform the vehicle behavior, so as to avoid obstructing the first vehicle from performing the vehicular behaviour;

An execution module, configured to execute the vehicle behavior if the feedback information regarding the coordination request returned by the target second vehicle is received and the feedback information is consent information.

In the vehicle-to-vehicle communication device, the first antenna module includes at least three first antenna sub-modules, and the communication information includes the at least three first antenna sub-modules sending to the second corresponding to the second vehicle respectively. The positioning information sent by the antenna module and the response information for the positioning information returned by the second antenna module corresponding to the second vehicle, the first determination module includes:

A first determining submodule, configured to determine the sending time of the positioning information, and determine the receiving time of the response information;

The second determining submodule is configured to calculate a time difference between the sending time and the receiving time, and determine the orientation information of the second vehicle according to the time difference.

In the inter-vehicle communication device, the vehicle behavior includes overtaking behavior, and the second determination module includes:

The third determining submodule is used to determine the overtaking path information corresponding to the overtaking behavior;

The fourth determination submodule is configured to determine, according to the overtaking route information and the orientation information of the second vehicle, a target second vehicle that prevents the first vehicle from performing an overtaking behavior according to the overtaking route information.

In the inter-vehicle communication device, the coordination request includes an overtaking request corresponding to the overtaking behavior, and the execution module includes:

The overtaking sub-module is configured to perform overtaking according to the overtaking route corresponding to the overtaking route information if the feedback information for the overtaking request returned by the target second vehicle is received and the feedback information is consent information.

In the inter-vehicle communication device, the vehicle behavior includes parking behavior, and the second determination module includes:

The fifth determination submodule is used to determine the parking route information corresponding to the parking behavior;

The sixth determining submodule is used to determine the target second vehicle that prevents the first vehicle from parking according to the parking route information according to the parking route information and the orientation information of the second vehicle.

In the inter-vehicle communication device, the coordination request includes a parking request corresponding to the parking behavior, and the execution module includes:

The parking submodule is configured to receive the feedback information for the parking request returned by the target second vehicle and the feedback information is consent information, then when it is detected that there is no obstruction to the first vehicle to follow the When the target second vehicle is parked according to the parking route information, the vehicle is parked according to the parking route corresponding to the parking route information.

In the vehicle-to-vehicle communication device, the vehicle behavior includes a car-giving behavior, and the coordination request includes a car-giving request corresponding to the car-giving behavior, and the execution module includes:

A negotiation processing submodule, configured to negotiate with the target second vehicle on avoidance information if the feedback information on the yielding request returned by the target second vehicle is received and the feedback information is consent information deal with;

The car yielding sub-module is configured to perform a car yielding behavior for the target second vehicle if the avoidance information indicates that the first vehicle avoids the target second vehicle;

A driving submodule, configured to continue driving if the avoidance information indicates that the target second vehicle avoids the first vehicle.

The present application also discloses an electronic device, including: a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, the above-mentioned The steps of the above-mentioned communication method between vehicles.

The present application also discloses a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned inter-vehicle communication method are implemented.

This application includes the following advantages:

In this application, before the own vehicle executes the vehicle behavior, it can locate the surrounding vehicles through the antenna module with positioning capability, and determine other vehicles that may hinder the own vehicle from performing the vehicle behavior, and the own vehicle can communicate with other vehicles in advance. communication negotiation. By adopting the above method, vehicle-to-vehicle communication can be completed without using components such as horns, turn signals, microphones, and cameras of traditional vehicles, reducing communication costs; and vehicle point-to-point can be realized without using 4G/5G base stations Communication between vehicles, and high-precision positioning between vehicles without the use of satellite positioning technology, to meet the needs of autonomous or unmanned vehicles for communication and positioning in various environments, without being affected by geographical location.

Description of drawings

FIG. 1 is a flow chart of the steps of a communication method between vehicles provided by the present application;

Fig. 2 is a flowchart of the steps of another inter-vehicle communication method provided by the present application;

Fig. 3 is a schematic diagram of the vehicle-to-vehicle communication method for overtaking behavior in the present application;

Fig. 4 is a structural block diagram of an inter-vehicle communication device provided by the present application.

Detailed ways

In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some embodiments of the present invention, rather than Full examples. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present invention belong to the protection scope of the present invention.

For self-driving or unmanned vehicles, the "driver" of the vehicle is no longer a human but a CPU (central processing unit, central processing unit). The CPU itself cannot hear the sound of the horn or see the signal of the lights. In the future, A self-driving car might not need microphones and cameras to pick up horn sounds and headlight signals. Traditional ways of communicating between vehicles are not suitable for autonomous or driverless vehicles.

In addition, if self-driving or unmanned vehicles continue to use the existing 4G/5G technology for communication and high-precision satellite positioning for positioning, there are limitations that cannot be ignored. For example, in a lane with high traffic density, when the vehicle behind wants to overtake the vehicle in front, it is necessary to use 4G/5G technology to remind the vehicle in front that the vehicle is about to overtake. Since 4G/5G communication is based on point-to-point communication, in different It is impossible to communicate with the vehicle in front without knowing the communication interface of the vehicle in front (such as a mobile phone number). Although the existing high-precision satellite positioning method can control the positioning accuracy to about 1 meter, this is only the highest positioning accuracy. Generally speaking, the positioning accuracy can only be about 5 meters, which is not enough to support automatic driving or Intelligent use of driverless vehicles. Furthermore, the existing 4G/5G communication technology and satellite positioning technology are based on third-party services. When in the wild or remote areas without 4G/5G communication base stations, 4G/5G communication technology will not be available; when the vehicle When driving in places where satellite positioning is difficult to cover, such as tunnels, underground car parks or valleys, the use of satellite positioning technology limits the use of autonomous or driverless vehicles.

One of the core ideas of the present application is that before the own vehicle executes the vehicle behavior, it can locate the surrounding vehicles through the antenna module with positioning capability, and determine other vehicles that may hinder the own vehicle from performing the vehicle behavior, and the own vehicle can communicate with the Other vehicles communicate and negotiate in advance. By adopting the above method, vehicle-to-vehicle communication can be completed without using components such as horns, turn signals, microphones, and cameras of traditional vehicles, reducing communication costs; and vehicle point-to-point can be realized without using 4G/5G base stations Communication between vehicles, and high-precision positioning between vehicles without the use of satellite positioning technology, to meet the needs of autonomous or unmanned vehicles for communication and positioning in various environments, without being affected by geographical location.

Referring to FIG. 1 , it shows a flow chart of the steps of a communication method between vehicles provided by the present application, which is applied to a first vehicle, and the first vehicle has a first antenna module, and may specifically include the following steps:

Step 101, before performing the vehicle behavior, use the first antenna module to communicate with the second antenna module corresponding to the second vehicle within a preset distance range, and determine the orientation information of the second vehicle according to the communication information.

In this application, the first vehicle may be used to represent the current vehicle, and the second vehicle may be used to represent other vehicles except the current vehicle. Wherein, the first vehicle has a first antenna module, and the first antenna module has a positioning capability. In an example, the first antenna module may be a UWB antenna. UWB (Ultra Wide Band) technology is a wireless carrier communication technology. It does not use a sine carrier, but uses a nanosecond-level non-sine wave narrow pulse to transmit data. It has the characteristics of high-precision positioning and high-speed data transmission. UWB positioning accuracy can be within 10cm, which is higher than satellite positioning accuracy.

Before the first vehicle executes the vehicle behavior, it can search for the second vehicle within the preset distance range, wherein the preset distance range can be different according to the specific execution of the vehicle behavior, that is, for the vehicle behavior A, the corresponding The preset distance range may be a; and for the vehicle behavior B, the corresponding preset distance range may be b. In addition, other methods may also be used to determine the size of the preset distance range, which is not specifically limited in this application.

In this application, the second vehicle has a second antenna module, which may also be a UWB antenna. The first vehicle and the second vehicle can communicate through the first antenna module and the second antenna module, and the first vehicle can determine the orientation information of the second vehicle according to the communication information between them. In an example, the orientation information of the second vehicle may be relative position information to the first vehicle, and the relative position information may include a relative angle and a relative distance.

It should be noted that the composition of the first antenna module and the second antenna module may be the same or different, which is not specifically limited in this application. Wherein, the first antenna module has a positioning capability, but the second antenna module may not have a positioning capability, and the first antenna module and the second antenna module can communicate with each other.

In this application, the first vehicle and the second vehicle may be autonomous or unmanned vehicles.

It should be noted that the positioning speed of UWB is fast, and a signal can usually be sent and received within 1 microsecond. During this process, the relative position change of the vehicle is almost negligible. And the positioning of the vehicle can be a continuous process, and the surrounding vehicles can be continuously positioned, so the position information between the vehicles is constantly refreshed.

Step 102, according to the vehicle behavior and the location information of the second vehicle, determine the target second vehicle to be notified.

Wherein, the target second vehicle is a second vehicle that hinders the first vehicle from performing the vehicle behavior.

In this application, in order to prevent the second vehicle from hindering the first vehicle from performing the vehicle behavior, one or more second vehicles around the first vehicle can be selected according to the required vehicle behavior and the orientation information of the second vehicle. A second vehicle that may hinder the first vehicle from performing the vehicle behavior is determined.

Step 103, using the first antenna module to send a coordination request to the target second vehicle.

Wherein, the cooperation request is used to request the target second vehicle to cooperate with the first vehicle to perform the vehicle behavior, so as to avoid hindering the first vehicle from performing the vehicle behavior.

In this application, after determining the target second vehicle, the first vehicle can use the first antenna module to send a coordination request to the target second vehicle, requesting the target second vehicle to cooperate with the first vehicle to perform the required vehicle behavior . The vehicle identifier of the first vehicle may be included in the coordination request, so as to facilitate subsequent communication with the target second vehicle.

Step 104, if the feedback information for the coordination request returned by the target second vehicle is received and the feedback information is consent information, execute the vehicle behavior.

In this application, after receiving the coordination request, the target second vehicle can give feedback on the coordination request, generate corresponding feedback information, and send the feedback information to the corresponding first antenna of the first vehicle through the second antenna module module. When the first vehicle receives the feedback information and determines that the feedback information is consent information, indicating that the target second vehicle agrees to cooperate with the first vehicle to perform the vehicle behavior, the first vehicle can start to perform the vehicle behavior. In an example, after detecting the current driving condition information of the own vehicle, the target second vehicle may determine whether to approve or reject the coordination request of the first vehicle according to the current driving condition information.

To sum up, in this application, before the own vehicle executes the vehicle behavior, it can locate the surrounding vehicles through the antenna module with positioning capability, and determine other vehicles that may hinder the own vehicle from performing the vehicle behavior, and the own vehicle can communicate with other vehicles. The vehicle conducts communication negotiation in advance. By adopting the above method, vehicle-to-vehicle communication can be completed without using components such as horns, turn signals, microphones, and cameras of traditional vehicles, reducing communication costs; and vehicle point-to-point can be realized without using 4G/5G base stations Communication between vehicles, and high-precision positioning between vehicles without the use of satellite positioning technology, to meet the needs of autonomous or unmanned vehicles for communication and positioning in various environments, without being affected by geographical location.

Referring to FIG. 2 , it shows a flow chart of the steps of another inter-vehicle communication method provided by the present application, which is applied to a first vehicle, and the first vehicle has a first antenna module, and may specifically include the following steps:

Step 201, determine the sending time of the positioning information, and determine the receiving time of the response information.

In this application, the first vehicle may be used to represent the current vehicle, and the second vehicle may be used to represent other vehicles except the current vehicle. The first vehicle and the second vehicle may be autonomous or unmanned vehicles. The first vehicle may use its own first antenna module to communicate with the corresponding second antenna module of the second vehicle before performing the desired vehicle behavior. Wherein, the first antenna module has positioning capability, and the orientation information of the second vehicle can be determined according to the communication information between the first antenna module and the second antenna module.

In an example, the first antenna module includes at least three first antenna sub-modules, and the communication information may include the positioning information and the second The response information for positioning information returned by the second antenna module corresponding to the vehicle. Wherein, at least three antenna sub-modules among the at least three first antenna sub-modules are not on the same straight line. The first antenna sub-module may be a UWB antenna. The second antenna module may include at least one second antenna sub-module, and the second antenna sub-module may also be a UWB antenna. The previous relative positions of the first vehicle and the second vehicle can be determined by acquiring the sending time of the positioning information and the receiving time of the response information.

For example, the first vehicle may have three UWB antennas that are not on the same straight line, the second vehicle may have one UWB antenna, the three UWB antennas of the first vehicle respectively send positioning information to one UWB antenna of the second vehicle, and then One UWB antenna of the second vehicle returns the corresponding response information to the three UWB antennas of the first vehicle respectively. Using the time difference between sending positioning information and receiving response information, the signal transmission time can be determined, and then the signal sending end and signal receiving end can be calculated. , that is, the distance between two UWB antennas, and the distance between vehicles can be determined according to the distance between UWB antennas.

Step 202, calculating the time difference between the sending time and the receiving time, and determining the orientation information of the second vehicle according to the time difference.

In this application, the position information of the second vehicle may be determined according to the time difference between the time when the location information is sent and the time when the response information is received. The orientation information of the second vehicle may be relative position information to the first vehicle, and the relative position information may include a relative angle and a relative distance.

In one example, the first vehicle has five UWB antennas (at least three are not on the same straight line), and the second vehicle has one UWB antenna. When the first vehicle uses the five UWB antennas for positioning, five UWB antennas can be obtained. The distance between the UWB antenna and one UWB antenna of the second vehicle can be calculated according to the five distance data and the relative distance and relative direction between the first vehicle and the second vehicle by using a trigonometric function relationship.

Step 203, according to the vehicle behavior and the location information of the second vehicle, determine the target second vehicle to be notified.

Step 204, using the first antenna module to send a coordination request to the target second vehicle.

In this application, after the target second vehicle is determined, the first vehicle may use the first antenna module to send a coordination request to the target second vehicle.

Step 205, if the feedback information regarding the coordination request returned by the target second vehicle is received and the feedback information is consent information, execute the vehicle behavior.

In this application, if the target second vehicle agrees to cooperate with the first vehicle to perform the vehicle behavior, the first vehicle can start to perform the required vehicle behavior.

In an example, the vehicle behavior includes overtaking behavior, for step 203, the following sub-steps can be performed:

Sub-step S11, determining the overtaking route information corresponding to the overtaking behavior.

Sub-step S12, according to the overtaking route information and the orientation information of the second vehicle, determine the target second vehicle that hinders the first vehicle from overtaking according to the overtaking route information.

In this application, it is possible to determine the overtaking path information corresponding to the overtaking behavior that the first vehicle needs to perform, and determine the target number that prevents the first vehicle from performing overtaking behavior according to the overtaking path information according to the overtaking path information and the orientation information of the second vehicle. Two vehicles. Wherein, the target second vehicle may include the target left vehicle, and/or, the target front vehicle, and/or, the target rear vehicle.

The coordinated request includes an overtaking request corresponding to the overtaking behavior. For step 205, the following sub-steps can be performed:

Sub-step S13, if the feedback information for the overtaking request returned by the target second vehicle is received and the feedback information is consent information, overtaking is performed according to the overtaking route corresponding to the overtaking route information.

In this application, if the target second vehicle agrees to cooperate with the first vehicle to perform an overtaking behavior, the first vehicle can overtake according to the overtaking route corresponding to the overtaking route information. Preferably, after sending the consent information, the target second vehicle can maintain the current driving state until receiving the completion message of the overtaking behavior returned by the first vehicle, so as to avoid hindering the first vehicle from performing the overtaking behavior. Specifically, when the first vehicle receives the feedback information for the overtaking request and the feedback information is consent information, it can start to perform the overtaking behavior, specifically, it can change lanes to the left, and accelerate overtaking after the left lane change .

Referring to FIG. 3 , it is a schematic diagram of the vehicle-to-vehicle communication method for overtaking behavior of the present application. In the figure, the vehicle (the first vehicle) is provided with five first antenna sub-modules (three of which are not on the same straight line), and other vehicles (second vehicles) around the vehicle are also provided with Five second antenna sub-modules, when the vehicle needs to perform overtaking behavior, the five first antenna sub-modules can be used to send positioning information to the surrounding second vehicle respectively. In specific implementation, when positioning the left vehicle , the five first antenna sub-modules of the vehicle can respectively send positioning information to one of the second antenna sub-modules in the left vehicle (there may be many situations, and one is selected here for illustration), and the second antenna sub-module The module can return the corresponding response information after receiving the positioning information, and use the time difference between the sending time of the positioning information and the receiving time of the response information to determine the transmission time of the positioning signal, and then determine the distance between the first antenna sub-module and the second antenna sub-module. the distance. It can be seen from the figure that the distance between the five first antenna sub-modules of the host vehicle and the second antenna sub-module in the middle of the left vehicle can be obtained. According to the obtained five distance values, the distance between the left vehicle and the host vehicle can be calculated. relative distance and direction. After polling all the second vehicles, the own vehicle can obtain the orientation information of all the surrounding second vehicles. After determining the orientation information of all the surrounding second vehicles, it is possible to determine the target second vehicle that hinders the vehicle from overtaking, that is, the corresponding left vehicle, front vehicle and rear vehicle in the figure. The antenna sub-module sends overtaking requests to the vehicle on the left, the vehicle in front and the vehicle behind respectively, requesting to cooperate with the own vehicle to perform overtaking behavior. When the vehicle confirms that the vehicle on the left, the vehicle in front and the vehicle behind all agree to perform the overtaking behavior cooperatively, it can start to change lanes to the left, and then accelerate to overtake the vehicle in front after the lane change is completed. During this process, the vehicle on the left maintains its speed The speed of the vehicle in front and behind is also kept constant to facilitate the vehicle's overtaking action. After the own vehicle completes the overtaking action, it can send overtaking behavior execution completion messages to the left vehicle, the front vehicle and the rear vehicle respectively.

In another example, the vehicle behavior includes parking behavior, for step 203, the following sub-steps can be performed:

Sub-step S21, determining the parking route information corresponding to the parking behavior.

Sub-step S22, according to the parking path information and the orientation information of the second vehicle, determine the target second vehicle that hinders the first vehicle from performing parking behavior according to the parking path information.

In this application, when the first vehicle needs to perform parking behavior, the parking route information corresponding to the parking behavior can be determined, and according to the parking route information and the orientation information of the second vehicle, determine The parking route information is the target second vehicle for parking behavior.

The coordination request includes a parking request corresponding to the parking behavior. For step 205, the following sub-steps can be performed:

Sub-step S23, if the feedback information for the parking request returned by the target second vehicle is received and the feedback information is consent information, then when it is detected that there is no obstacle preventing the first vehicle from parking according to the When the target second vehicle is parked according to the route information, the vehicle is parked according to the parking route corresponding to the parking route information.

In this application, if the target second vehicle agrees to cooperate with the first vehicle to perform the parking behavior, the target second vehicle can move from the current position, and the first vehicle detects that there is no obstacle preventing it from parking according to the parking route information. For the second vehicle, the vehicle can be parked according to the parking route corresponding to the parking route information.

In yet another example, the vehicle behavior includes a car-giving behavior, and the coordination request includes a car-giving request corresponding to the car-giving behavior. For step 205, the following sub-steps can be performed:

In sub-step S31 , if the feedback information on the yielding request returned by the target second vehicle is received and the feedback information is consent information, then negotiate with the target second vehicle on the avoidance information.

In sub-step S32, if the avoidance information indicates that the first vehicle avoids the target second vehicle, performing a yielding behavior for the target second vehicle.

Sub-step S33, if the avoidance information indicates that the target second vehicle avoids the first vehicle, continue driving.

In this application, if the target second vehicle agrees to cooperate with the first vehicle to perform yielding behavior, the first vehicle can negotiate with the target second vehicle on the avoidance information. If the avoidance information indicates that the first vehicle avoids the target second vehicle, the first vehicle executes a yielding behavior for the target second vehicle; if the avoidance information indicates that the target second vehicle avoids the first vehicle, the first vehicle can continue driving. Specifically, the car-giving mechanism can be set in advance, for example, an uphill vehicle can be set to give way to a downhill vehicle, and a vehicle with better conditions for giving way can be set to give way. vehicle.

To sum up, in this application, before the own vehicle executes the vehicle behavior, it can locate the surrounding vehicles through the antenna module with positioning capability, and determine other vehicles that may hinder the own vehicle from performing the vehicle behavior, and the own vehicle can communicate with other vehicles. The vehicle conducts communication negotiation in advance. By adopting the above method, vehicle-to-vehicle communication can be completed without using components such as horns, turn signals, microphones, and cameras of traditional vehicles, reducing communication costs; and vehicle point-to-point can be realized without using 4G/5G base stations Communication between vehicles, and high-precision positioning between vehicles without the use of satellite positioning technology, to meet the needs of autonomous or unmanned vehicles for communication and positioning in various environments, without being affected by geographical location. By utilizing the high-precision positioning and high-speed data transmission characteristics of UWB, the communication between autonomous driving or unmanned vehicles is realized. Since the communication is based on the UWB antenna of the vehicle itself, it does not involve third-party communication base stations and satellites. Therefore, the communication method of this application can be used in all scenarios, even in scenarios such as parking lots, tunnels, and valleys.

In addition, this application mainly describes the communication method between vehicles from the three scenarios of overtaking behavior, parking behavior and yielding behavior. Those skilled in the art should know that the above three scenarios are only a small part of the application scenarios. The method can also be applied to other scenarios that require vehicle communication.

It should be noted that, for the method embodiment, for the sake of simple description, it is expressed as a series of action combinations, but those skilled in the art should know that the application is not limited by the described action sequence, because according to this application, certain steps may be performed in another order or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by this application.

Referring to FIG. 4 , it shows a structural block diagram of an inter-vehicle communication device provided by the present application, which is applied to a first vehicle, and the first vehicle has a first antenna module, which may specifically include the following modules:

The first determination module 401 is configured to use the first antenna module to communicate with the second antenna module corresponding to the second vehicle within the preset distance range before performing the vehicle behavior, and determine the second vehicle's location according to the communication information orientation information;

The second determination module 402 is configured to determine the target second vehicle that needs to be notified according to the vehicle behavior and the orientation information of the second vehicle; the target second vehicle is to prevent the first vehicle from executing the vehicle act of a second vehicle;

A sending module 403, configured to use the first antenna module to send a coordination request to the target second vehicle; the coordination request is used to request the target second vehicle to cooperate with the first vehicle to perform the vehicle behavior, so as to avoid obstructing the first vehicle from performing the vehicular behaviour;

The execution module 404 is configured to execute the vehicle behavior if the feedback information for the coordination request returned by the target second vehicle is received and the feedback information is consent information.

In the present application, the first antenna module includes at least three first antenna sub-modules, and the communication information includes sending at least three first antenna sub-modules to the second antenna module corresponding to the second vehicle. The positioning information of the second vehicle and the response information for the positioning information returned by the second antenna module corresponding to the second vehicle, the first determination module includes:

In the present application, the vehicle behavior includes overtaking behavior, and the second determination module includes:

In the present application, the coordination request includes an overtaking request corresponding to the overtaking behavior, and the execution module includes:

In the present application, the vehicle behavior includes parking behavior, and the second determination module includes:

The sixth determining submodule is configured to determine, according to the parking route information and the orientation information of the second vehicle, a target second vehicle that prevents the first vehicle from performing a parking behavior according to the parking route information.

In the present application, the coordination request includes a parking request corresponding to the parking behavior, and the execution module includes:

In the present application, the vehicle behavior includes a car-giving behavior, and the coordination request includes a car-giving request corresponding to the car-giving behavior, and the execution module includes:

As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related parts, please refer to the part of the description of the method embodiment.

The present application also provides an electronic device, including: a processor, a memory, and a computer program stored on the memory and capable of running on the processor. When the computer program is executed by the processor, the above-mentioned one Each process of the embodiment of the inter-vehicle communication method can achieve the same technical effect. In order to avoid repetition, details will not be repeated here.

The present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, each process of the above-mentioned embodiment of the inter-vehicle communication method is implemented, and can achieve The same technical effects are not repeated here to avoid repetition.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

Those skilled in the art should understand that the embodiments of the present application may be provided as methods, apparatuses, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowcharts and/or block diagrams of methods, terminal devices (systems), and computer program products according to the present application. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor or processor of other programmable data processing terminal equipment to produce a machine such that instructions executed by the computer or processor of other programmable data processing terminal equipment Produce means for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the The instruction means implements the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded into a computer or other programmable data processing terminal equipment, so that a series of operational steps are performed on the computer or other programmable terminal equipment to produce computer-implemented processing, thereby The instructions executed above provide steps for implementing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

While preferred embodiments of the present application have been described, additional changes and modifications to these embodiments can be made by those skilled in the art once the basic inventive concept is appreciated. Therefore, it is intended that the appended claims be interpreted to cover the preferred embodiment and all changes and modifications that fall within the scope of the application.

Finally, it should also be noted that in this text, relational terms such as first and second etc. are only used to distinguish one entity or operation from another, and do not necessarily require or imply that these entities or operations, any such actual relationship or order exists. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or terminal equipment comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements identified, or also include elements inherent in such a process, method, article, or end-equipment. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising said element.

The above has introduced in detail the inter-vehicle communication method, the inter-vehicle communication device, the electronic equipment and the computer-readable storage medium provided by the present invention. In this paper, specific examples are applied to the present invention. The principle and the implementation mode have been set forth, and the description of the above examples is only used to help understand the method of the present invention and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, in the specific implementation mode and application range There will be changes in all the above. In summary, the content of this specification should not be construed as limiting the present invention.

Claims

A communication method between vehicles, characterized in that it is applied to a first vehicle, and the first vehicle has a first antenna module, the method comprising:

Before performing the vehicle behavior, using the first antenna module to communicate with the second antenna module corresponding to the second vehicle within the preset distance range, and determining the orientation information of the second vehicle according to the communication information;

According to the vehicle behavior and the orientation information of the second vehicle, determine a target second vehicle that needs to be notified; the target second vehicle is a second vehicle that hinders the first vehicle from performing the vehicle behavior;

Using the first antenna module to send a coordination request to the target second vehicle; the coordination request is used to request the target second vehicle to cooperate with the first vehicle to perform the vehicle behavior, so as to avoid hindering the first vehicle the vehicle performs the stated vehicular action;

If the feedback information for the coordination request returned by the target second vehicle is received and the feedback information is consent information, the vehicle behavior is executed.
The method according to claim 1, wherein the first antenna module includes at least three first antenna sub-modules, and the communication information includes sending at least three first antenna sub-modules to the second The positioning information sent by the second antenna module corresponding to the vehicle and the response information for the positioning information returned by the second antenna module corresponding to the second vehicle, the determining the orientation information of the second vehicle according to the communication information includes:

determining the sending time of the positioning information, and determining the receiving time of the response information;

calculating a time difference between the sending time and the receiving time, and determining the orientation information of the second vehicle according to the time difference.
The method according to claim 1, wherein the vehicle behavior includes overtaking behavior, and determining the target second vehicle to be notified according to the vehicle behavior and the orientation information of the second vehicle includes:

determining the overtaking path information corresponding to the overtaking behavior;

According to the overtaking path information and the orientation information of the second vehicle, a target second vehicle that hinders the first vehicle from performing an overtaking behavior according to the overtaking path information is determined.
The method according to claim 3, wherein the coordination request includes an overtaking request corresponding to the overtaking behavior, and if the feedback information for the coordination request returned by the target second vehicle is received and If the feedback information is consent information, the vehicle behavior is executed, including:

If the feedback information for the overtaking request returned by the target second vehicle is received and the feedback information is consent information, overtaking is performed according to the overtaking route corresponding to the overtaking route information.
The method according to claim 1, wherein the vehicle behavior includes parking behavior, and the determining the target second vehicle to be notified according to the vehicle behavior and the orientation information of the second vehicle includes :

determining the parking route information corresponding to the parking behavior;

According to the parking path information and the orientation information of the second vehicle, a target second vehicle that prevents the first vehicle from performing a parking behavior according to the parking path information is determined.
The method according to claim 5, wherein the coordination request includes a parking request corresponding to the parking behavior, and if a feedback on the coordination request returned by the target second vehicle is received, information and the feedback information is consent information, execute the vehicle behavior, including:

If the feedback information for the parking request returned by the target second vehicle is received and the feedback information is consent information, when it is detected that there is no obstacle to the parking of the first vehicle according to the parking route information, When the target vehicle is the second vehicle, the vehicle is parked according to the parking route corresponding to the parking route information.
The method according to claim 1, wherein the vehicle behavior includes a car-giving behavior, and the coordination request includes a car-giving request corresponding to the car-giving behavior, and if receiving the target second vehicle The returned feedback information for the coordination request and the feedback information is consent information, then execute the vehicle behavior, including:

If the feedback information on the yielding request returned by the target second vehicle is received and the feedback information is consent information, then negotiate with the target second vehicle on avoidance information;

If the avoidance information indicates that the first vehicle avoids the target second vehicle, then perform a yielding behavior for the target second vehicle;

If the avoidance information indicates that the target second vehicle avoids the first vehicle, continue driving.
An inter-vehicle communication device, characterized in that it is applied to a first vehicle, the first vehicle has a first antenna module, and the device includes:

The first determining module is configured to use the first antenna module to communicate with the second antenna module corresponding to the second vehicle within the preset distance range before performing the vehicle behavior, and determine the orientation of the second vehicle according to the communication information information;

The second determination module is configured to determine a target second vehicle that needs to be notified according to the vehicle behavior and the orientation information of the second vehicle; the target second vehicle is to prevent the first vehicle from performing the vehicle behavior the second vehicle;

A sending module, configured to use the first antenna module to send a coordination request to the target second vehicle; the coordination request is used to request the target second vehicle to cooperate with the first vehicle to perform the vehicle behavior, so as to avoid obstructing the first vehicle from performing the vehicular behaviour;

An execution module, configured to execute the vehicle behavior if the feedback information regarding the coordination request returned by the target second vehicle is received and the feedback information is consent information.
An electronic device, characterized by comprising: a processor, a memory, and a computer program stored on the memory and capable of running on the processor, when the computer program is executed by the processor, it realizes the claims Steps of the communication method between vehicles described in any one of 1-7.
A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, a vehicle according to any one of claims 1-7 is realized The steps of the communication method between.