CN102546696B - Driving perception navigation system - Google Patents
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Abstract
The invention provides a driving perception navigation system, which comprises a plurality of vehicles capable of forming an ad hoc network. The vehicles establish a first communication mode and a second communication mode according to the type and application of data to be transmitted. In the first communication mode, single-hop data transmission is adopted; and in the second communication mode, multi-hop data transmission is adopted. Compared with the prior art, the driving perception navigation system provides the two communication modes, and performs data transmission by adopting the two different communication modes for different data types and application, so that data can be quickly and reliably transmitted to all the vehicles using the driving perception navigation system, data transmission efficiency can be improved, and the vehicles on roads can be timely and accurately navigated.
Description
Technical Field
The invention relates to a vehicle perception navigation technology, in particular to a driving perception navigation system adopting a self-organizing network.
Background
The development of the automobile industry and the popularization of private cars bring increasingly serious traffic problems, and traffic accidents are increased rapidly. The traditional centralized intelligent traffic system is embarrassed, firstly, the traffic data of the traditional centralized intelligent traffic system is single and limited, the current traffic information mainly collects the macroscopic information of the road traffic condition through the video and microwave acquisition means on the road, and the state and the condition in each vehicle cannot be accurately sensed; in addition, in the centralized intelligent traffic system, a large amount of transmission bandwidth is occupied for communication between the vehicles and the monitoring center (central server), and the response time of data transmission is slow, so that the transmission efficiency of information is influenced; furthermore, the individual vehicles lack the perception function for the surrounding environment of the road, the vehicles lack the way of information transmission, and the information acquired by a single vehicle cannot interact with the information of other vehicles around.
In view of this, a Vehicular Ad Hoc Network (VANET) is now in operation, and an Ad Hoc Network structure is one of the most common Vehicular Ad Hoc networks. The ad hoc network technology is a multi-hop and self-organizing network, and comprises a plurality of nodes, wherein each node is a host and a router, and the nodes are wirelessly connected through wireless links. For example, within a signal coverage area, two nodes may communicate directly; while outside the signal coverage, the two nodes can communicate with each other by means of the retransmission of the intermediate other vehicle node.
In an ad hoc network of vehicles in road traffic, each of which is considered a mobile node of the ad hoc network, the vehicles are equipped with appropriate transmitting, receiving devices and other devices known to those skilled in the art for analyzing, processing and outputting messages.
With such an ad hoc network, it is possible for a vehicle joining the network to: by exchanging corresponding information, when the emergency service vehicle approaches the traffic intersection, other vehicles are warned of the existence of the emergency service vehicle, so that the intersection is kept smooth so that the emergency service vehicle can rapidly pass; the vehicles may exchange information about their respective speeds, for example, a preceding slow-moving vehicle needs to warn a following, possibly faster-moving vehicle of a vehicle speed to avoid by sending a corresponding slower-speed information to prevent a rear-end collision, or a following fast-moving vehicle needs to warn a preceding, possibly slower-moving vehicle of a vehicle speed to avoid by sending a corresponding faster-speed information for a following fast-moving vehicle to safely overtake; the preceding vehicle may transmit information of a collision accident or road congestion to the following vehicle, so that the following vehicle takes countermeasures for changing lanes, turning back, or resetting a driving route after learning the information.
However, in existing ad hoc networks without a central server, the number of participating nodes and the number of connections between nodes are constantly changing, together with the constant change of the external environment, so that in some cases it may happen that the amount of information to be exchanged between the various nodes (e.g. audio information and/or video information) is too large, resulting in "congestion" of the communication medium, and possibly important traffic information, e.g. about traffic accidents, road congestion, etc., cannot be reliably transmitted to all mobile nodes.
Disclosure of Invention
The invention aims to provide a driving perception navigation system to solve the problems that in the prior art, due to the defects of numerous trunk amplifiers and scattered layout, centralized monitoring and power supply are difficult and management is inconvenient.
The invention provides a driving perception navigation system, which comprises a plurality of vehicles with the capability of forming a self-organizing network, wherein the vehicles establish a first communication mode and a second communication mode according to the type of data required to be transmitted and the application of the data; in the first communication mode, using single-hop data transmission; in the second communication mode, multi-hop data transmission is used.
Optionally, the first communication mode is a normal communication mode; the second communication mode is a vehicle link communication mode in which the plurality of vehicles are in the same direction and at a constant interval, and data transmission is performed in units of vehicle links.
Optionally, in the normal communication mode, data transmission is performed in a multicast manner.
Optionally, the vehicle comprises: the sensor is used for acquiring environment perception information; the GPS positioning device is used for acquiring vehicle positioning information; the image acquisition device is used for acquiring the information of the road condition in front of and/or behind the vehicle; and an information transceiver for transmitting and receiving information.
Optionally, the vehicle link communication mode includes: the system comprises a link data acquisition display layer, a vehicle link dynamic navigation barrier layer, a vehicle link data analysis and management layer, a vehicle link routing control layer and a vehicle identification detection layer, wherein each layer is based on the service of the next layer; the vehicle link data acquisition display layer defines an interface for acquiring each data; the data comprises static data and dynamic data; the static data comprises geographic information and environment perception information, and the geographic information comprises road information and/or map information; the environment perception information comprises temperature information and/or humidity information; the dynamic data comprises vehicle positioning information and road condition information; the vehicle positioning information comprises vehicle GPS information and/or vehicle speed information; the road condition information comprises audio information and/or video information; the vehicle link dynamic navigation barrier layer defines the functions of navigation control and barrier control on the vehicle; the vehicle link data analysis and management layer reprocesses the collected data by using a service-oriented method; a vehicle link route control layer for performing route control on transmission of data transmitted by the vehicle; and the vehicle identification detection layer is used for identifying and detecting vehicles in a communication mode forming the vehicle link, so that the safe transmission of data is realized.
Optionally, in the navigation control, the method includes: positioning the vehicle by using the obtained vehicle positioning information of the vehicle; the real-time data of other vehicles in the driving road is judged by acquiring the vehicle positioning information of other vehicles around in the communication mode; and designing and displaying an optimized guide route for the vehicle, wherein the obtained vehicle positioning information of the vehicle is positioning information of other vehicles.
Optionally, in the obstacle avoidance control, an image capturing device mounted in the vehicle is used to assist the GPS positioning device to obtain obstacle information in front of the vehicle and/or a vehicle distance of the vehicle in front, and obstacle information outside the vehicle distance is obtained through a vehicle link communication mode, so as to perform anticipation and advance response.
Optionally, the reprocessing of the data by the vehicle link data analysis and management layer includes: for static data, an index mechanism is adopted; and classifying the dynamic data according to service types and carrying out heterogeneous management on the dynamic data.
Optionally, the identification detection of the vehicle identification detection layer includes encrypting the transmitted data at a link layer, and adding an identity identification mechanism through combination of IPv6 and a public key mechanism.
Optionally, the plurality of vehicles further comprise a common communication mode, and in the common communication mode, data transmission is performed in a multicast manner.
In summary, the driving perception navigation system of the invention has the following advantages:
the driving perception navigation system of the invention provides two communication modes, adopts two different communication modes for data transmission aiming at different data types and applications thereof, can quickly and reliably transmit data to all vehicles applying the driving perception navigation system, improves the efficiency of data transmission, and can provide timely and accurate navigation for vehicles on roads.
The invention provides a data transmission mechanism based on a vehicle link. The system utilizes the vehicle self-organizing network to connect the vehicle nodes in a link mode, and performs unified local management on the vehicles in the vehicle links, thereby avoiding the defects of slow response time and high network bandwidth occupation of the traditional traffic management system centralized management. The proposed vehicle link transmission method can provide efficient real-time video and audio transmission and data transmission in emergency.
And thirdly, collecting and acquiring multiple sensors. The system provides a function of data interaction with various sensors, and comprises sensing data such as GPS positioning information, temperature and humidity sensing information, real-time video information, audio and voice information and the like. On the basis of the traditional navigation system, abundant data sources are added, so that the navigation function is more effective and visible.
And fourthly, providing prediction and early warning based on the perception data. The system provides the function of responding to real-time data, and comprises the collection of self-collected data and the response processing of other vehicle nodes for transmitting data. The specific application includes real-time road condition analysis, shortest path analysis, overspeed early warning, vehicle distance prompt and the like. The response functions provide driving safety guarantee for the driver by combining data interaction among the vehicle link nodes.
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FIG. 1 shows a system architecture diagram of a vehicle awareness navigation system of the present invention in one embodiment;
FIG. 2 shows a hierarchical framework diagram of vehicle link aware navigation based on an on-board ad hoc network;
fig. 3 is a schematic flow chart illustrating the establishment of an ad hoc network on board based on a vehicle link communication mode;
FIG. 4 shows a flow diagram for simple data transmission and reception by a vehicle node;
fig. 5 shows a flow chart of the transmission and reception of video information by the vehicle node.
Detailed Description
The inventors of the present invention found that: in the existing ad hoc network, the number of participating nodes and the number of connections between the nodes are constantly changing, and the external environment is constantly changing, so that in some cases, it may happen that the amount of information to be exchanged between the nodes is too large (for example, the information is audio information and/or video information), so that data is congested, and possibly important traffic information, such as traffic accidents, road congestion, and the like, cannot be reliably transmitted to all mobile nodes.
Therefore, the inventor of the present invention provides a driving-aware navigation system, which comprises a plurality of vehicles capable of forming an ad hoc network, wherein the plurality of vehicles establish a first communication mode and a second communication mode according to the type of data required to be transmitted and the application thereof; in the first communication mode, using single-hop data transmission; in the second communication mode, multi-hop data transmission is used. Therefore, two different communication modes are adopted for data transmission aiming at different data types and applications thereof, data can be quickly and reliably transmitted to all vehicles applying the driving perception navigation system, and the data transmission efficiency is improved; and can provide timely and accurate navigation for vehicles on the road according to the data.
The following describes the driving awareness navigation system of the present invention in detail by using specific embodiments.
Referring to fig. 1, a system architecture diagram of a vehicle sensing navigation system according to an embodiment of the present invention is shown. As shown in fig. 1, the driving awareness navigation system of the present invention includes a plurality of vehicles capable of forming an Ad hoc network, where the vehicles form a vehicle Ad hoc network (VANET) according to actual road conditions and application thereof, each vehicle is used as a network node, each vehicle is a host and a router, and information transmission is performed between the network nodes (i.e., between vehicles) in a wireless manner.
In the present embodiment, each vehicle as a network node is provided with: the sensor is used for acquiring environment perception information, and the environment perception information comprises temperature information and/or humidity information; the GPS positioning device is used for acquiring vehicle positioning information, and the vehicle positioning information comprises vehicle GPS information and/or vehicle speed information; the image acquisition device is used for acquiring information of road conditions in front of and/or behind the vehicle, wherein the information comprises audio information and/or video information; and the information transceiving device is used for transceiving information to be transmitted to the vehicle or relayed to other vehicles.
According to the type of data to be transmitted and its application, two communication modes for data transmission are adopted in the perception system: a normal communication mode and a vehicle link communication mode. In the ordinary communication mode, single-hop data transmission is used, specifically, data transmission may be performed in a multicast manner, and the related data mainly includes some simple data, such as GPS information, temperature information, humidity information, and the like. In the vehicle link communication mode, multi-hop data transmission is used, and related data mainly include complex data with large flow and large bandwidth occupation, such as audio information and/or video information including road condition information. Through the two communication modes, each vehicle serving as a network node in the driving perception navigation system can acquire relevant real-time information, and the real-time information is integrated, analyzed and processed to respond and dynamically navigate, so that a large amount of important traffic information service can be provided for a user or the user is helped to make a decision.
The driving perception navigation system provides two communication modes for information transmission for building a vehicle-mounted self-organizing network, can adopt two different communication modes for data transmission aiming at different data types and application thereof, can quickly and reliably transmit data to all vehicles applying the driving perception navigation system, improves the efficiency of data transmission, and can provide timely and accurate navigation for vehicles on roads.
Referring also to fig. 2, a hierarchical frame diagram of vehicle link aware navigation based on a vehicle ad hoc network is shown. As shown in fig. 2, the link awareness navigation includes: the system comprises a vehicle link data acquisition and display layer 10, a vehicle link dynamic navigation barrier layer 12, a vehicle link data analysis and management layer 14, a vehicle link routing control layer 16 and a vehicle identification and detection layer 18, wherein each layer is based on the service of the next layer.
And the vehicle link data acquisition display layer 10 defines an interface for acquiring each data. The data includes static data and dynamic data. The static data comprises geographic information and environment perception information, and the geographic information comprises road information and/or map information; the environmental awareness information includes temperature information and/or humidity information. The dynamic data comprises vehicle positioning information and road condition information, the vehicle positioning information comprises vehicle GPS information and/or vehicle speed information, and the road condition information comprises audio information and/or video information.
The vehicle link dynamic navigation barrier layer 12 defines functions of navigation control and barrier control for vehicles. In the navigation control, the method includes: positioning the vehicle by using the obtained vehicle positioning information of the vehicle; the real-time data of other vehicles in the driving road is judged by acquiring the vehicle positioning information of other vehicles around in the communication mode; and designing and displaying an optimized guide route for the vehicle, wherein the obtained vehicle positioning information of the vehicle is positioning information of other vehicles. In the barrier control, an image capturing device loaded in the vehicle is utilized to assist a GPS positioning device to obtain the barrier information in front of the vehicle and/or the distance between the vehicles in front, and the barrier information outside the sight distance is obtained through a vehicle link communication mode, so that the prejudgment and the advance response are carried out.
The vehicle link data analysis and management layer 14 re-processes the collected data using a service-oriented method. The reprocessing comprises: for static data, an index mechanism is adopted; and classifying the dynamic data according to service types and carrying out heterogeneous management on the dynamic data.
And a vehicle link route control layer 16 for performing route control on transmission of data transmitted by the vehicle.
And the vehicle identification detection layer 18 is used for identifying and detecting vehicles in a communication mode forming the vehicle link, so that the safe transmission of data is realized. The identification detection comprises the steps of carrying out encryption of a link layer on transmitted data and adding an identity identification mechanism through the combination of IPv6 and a public key mechanism.
According to the vehicle link communication mode, the vehicle nodes are connected in a link mode, unified local management is performed on vehicles in the vehicle links, and the defects that the response time of centralized management of a traditional traffic management system is slow and the occupied network bandwidth is high are overcome. The proposed vehicle link transmission method can provide efficient real-time video and audio transmission and data transmission in emergency. The vehicle nodes can perform dynamic navigation by responding and processing data collected by the vehicle nodes and data transmitted by other vehicle nodes, including real-time road condition analysis, shortest path analysis, overspeed early warning, vehicle distance prompt and the like, so that a large amount of important traffic information service can be provided for users or the users can be helped to make decisions.
Referring to fig. 3, a schematic flow chart of establishing the vehicle-mounted ad hoc network based on the vehicle link communication mode is shown.
As shown in fig. 3, for the creator: firstly, a vehicle creation message is sent; the method comprises the steps that vehicle joining messages sent back after other vehicle nodes respond are waited, if the vehicle joining messages sent back by other vehicle nodes are received after waiting for a period of time, the vehicle nodes corresponding to the vehicle joining messages are used as joining parties to join in own vehicle links, and a vehicle confirmation joining message is sent to the vehicle nodes; if the waiting time is overtime, the vehicle creating message is sent again; and repeating the steps until the retransmission times exceed the preset upper limit of times, stopping sending the vehicle creation message, counting the number of the vehicles which are added into the vehicle link, and finishing the process of creating the vehicle link. For each vehicle link, there is a globally unique identification number (ID) for distinguishing from other vehicle links, the ID number being a 64-bit integer obtained by hashing (Hash) the license plate number of the vehicle as the creator and the creation time.
Accordingly, for the joining party: firstly, the method waits for a vehicle creation message sent by a creator, prompts a request for joining a vehicle link to a user after receiving the vehicle creation message, and sends a vehicle joining message after the user agrees to carry out development operation; waiting for a vehicle confirmation adding message sent by a creator, if the vehicle confirmation adding message sent by the creator is received after waiting for a period of time, indicating that the vehicle confirmation adding message is confirmed to be added into a vehicle link corresponding to the creator, changing the vehicle link ID number of the vehicle into the vehicle link ID number of the creator, and then regarding vehicles with the same vehicle link ID numbers as the vehicle link ID numbers around as being in the same vehicle link; if the waiting time is out, the vehicle joining message is retransmitted, and the process is repeated in this way until the retransmission times exceed the preset upper limit of times, the vehicle joining message is stopped being transmitted, and the plan of joining the vehicle link fails.
In the above description, reference is made to a "vehicle creation message", "vehicle join message", and "vehicle confirmation join message", where the vehicle creation message (queue create) is sent by a vehicle that creates a vehicle link, and when a vehicle that does not join the vehicle link receives the message, the vehicle may respond to the message to apply for joining the vehicle link. The vehicle joining message (QueuJoin) is sent out after the vehicle applying for joining responds to the vehicle creating message sent out by the vehicle creating the vehicle link, and when the vehicle creating the vehicle link constructs the vehicle link, if the message is received, the vehicle applying for joining can respond to the message and join the vehicle applying for joining into the created vehicle link. And the vehicle confirms the message (QueuAccept), the vehicle which establishes the vehicle link responds to the vehicle joining message sent by the vehicle which applies for joining, and the vehicle which applies for joining the vehicle link receives the message which confirms the joining and then shows that the vehicle link is successfully joined.
The structures of the three messages are basically consistent, and the formats of the messages are as follows: [ Lab: PkgType: UID: lat: lng: dir: spd: dis: QID: tsend. The definition of each field parameter is shown in table 1 below:
table 1 message format
According to the flow shown in fig. 3, a plurality of vehicles with consistent directions and a certain distance can form a vehicle-mounted ad hoc network based on vehicle links, and each vehicle belonging to the vehicle-mounted ad hoc network can transmit data in units of vehicle links.
The following describes in detail the data transmission and traffic navigation using the vehicle-mounted ad hoc network based on vehicle links according to a specific embodiment.
Example I, neighborhood dynamic road condition service based on vehicle link
The vehicle node obtains the traffic flow conditions of the surrounding roads by obtaining the vehicle state information sent by the surrounding vehicles. The vehicle nodes in the vehicle chain can forward the received vehicle data in the vehicle chain to other vehicles, so that the function of information sharing is achieved.
Referring to fig. 4, a schematic flow chart of data transmission and reception performed by a vehicle node is shown, where a format of a data packet is as follows: [ Lab: PkgType: UID: lat: lng: dir: spd: dis: QID: tsend ], the definition of each field parameter is shown in table 1 as described above.
As shown in fig. 4, for the data sender: after the sending time arrives, basic vehicle data is multicast to adjacent vehicles in a timing mode, and the information comprises GPS information (longitude and latitude), vehicle speed, driving direction and the like of the vehicle.
For the data receiver: receiving data; after receiving the multicast data, firstly analyzing the data to obtain the content of each field, then checking the validity of the message content, if the data is new, updating the neighborhood vehicle information table of the vehicle by the data receiver according to the content of the message, otherwise, if the data is old, directly discarding the data receiver. In addition, if the data receiver is a vehicle in the vehicle link, the data receiver can also check whether the data transmitter and the vehicle belong to the same vehicle link, and if the data transmitter and the vehicle do not belong to the same vehicle link, the received data is stored in a buffer area; if the message needs to be forwarded in the same vehicle link, the data receiver will multicast the message again to forward the data to other vehicles in the neighborhood, so that other vehicles in the same vehicle link can also obtain the message.
Specifically, the method comprises the following steps: for example, when passing through a bridge or a highway with heavy fog, vehicles on the whole road can form a vehicle link, and each vehicle node sends own information such as GPS information, speed, driving direction and the like to surrounding vehicles at regular time. Therefore, the vehicles can position the positions of the vehicles on the map by acquiring the position information sent by other vehicles in the neighborhood, so that the relative distance of the vehicles in the neighborhood can be acquired through the system even if the users cannot see the positions of the vehicles in front, the effect of early warning of vehicle collision or rear-end collision is achieved through the prompt of the system, and the bridges and road sections which need to be blocked originally under the condition of heavy fog can be opened to pass.
Example two, vehicle Link based traffic event Notification service
The traffic event notification service is to notify a user of information collected by vehicle sensors or information obtained from roadside infrastructure, such as event information of vehicle breakdown, traffic accident, etc., in advance via a vehicle ad hoc network.
The format of the data message transmitted by the event notification service is as follows: [ Lab: lat: lng: dis: type: description, wherein a field parameter Type is a Type of an event, and is divided into an emergency (e.g., an anchor, a rear-end collision, a person hitting the road, etc.) and a non-emergency (e.g., a road congestion, a road prohibition, etc.), and the Description is specific contents of the event and includes Description information provided by a sender.
After each vehicle forms a vehicle-mounted ad hoc network based on vehicle links, the traffic event notification services performed can be divided into three types: active distribution, passive distribution and active response.
The active distribution means that various traffic event information is actively sent to other vehicles in the vehicle link, for example, after a user of one vehicle finds a passing road jam, the user can send the information of the road jam to other vehicles behind by using the vehicle as a data sender, so that other vehicles behind can know the information of the circuit jam and take corresponding measures, for example, the user can turn to other roads to drive by avoiding the jammed road at an intersection.
The passive distribution means that after the failure of the vehicle occurs, the system automatically sends the failure information of the vehicle to other vehicles through the vehicle link. For example, when one vehicle is anchored, the system sends an anchored emergency to the surrounding vehicles, and the rear vehicle can predict the front anchored accident through the transmission of the vehicle link.
The active response means that the vehicle receiving the traffic incident actively reminds the user of the incident according to the type of the received incident. For example, after one of the vehicles receives traffic jam information sent by other vehicles from the vehicle link, the anchored vehicle location and the jammed road section are drawn in red on a map interface configured by the vehicles to remind the user to avoid; after receiving an emergency event that the vehicle in front is anchored, the system draws the anchored vehicle location and the congested road section on a map interface, and can inform a user of the occurrence of the traffic event in time in alarm modes such as ringing or lamp flashing and the like.
Example three, traffic environment video information distribution service based on vehicle link
Under a special traffic scene, a vehicle user needs to know the traffic environment condition of a certain section, and video information is the best expression mode. The video information service flow is as shown in fig. 5.
As shown in fig. 5, for the data sender: the system performs data coding compression on each frame of video information and then transmits the video information.
For the data receiver: each time a frame of video information is received, it is first checked whether the frame data has been obtained or a more recent frame data has arrived, and if so, the frame data is directly discarded, otherwise, the frame data is processed. Before processing, whether the frame is data of the vehicle chain is judged, the data of the vehicle chain is forwarded firstly, so that the data in a fleet can reach all vehicles through multi-hop, and finally the data is stored in a buffer area.
In practical application, the data sender can send the front real-time road condition to other vehicles behind through a vehicle link, and the vehicle receiving the data can select a specific sender as a video sending source, for example, select the vehicle passing through an accident occurrence point as a video source after a road accident occurs, and select the vehicle blocking an intersection as the video source when the road is blocked, so that a user can obtain real-time visual road condition information.
In summary, the driving perception navigation system of the invention has the following advantages:
the driving perception navigation system of the invention provides two communication modes, adopts two different communication modes for data transmission aiming at different data types and applications thereof, can quickly and reliably transmit data to all vehicles applying the driving perception navigation system, improves the efficiency of data transmission, and can provide timely and accurate navigation for vehicles on roads.
The invention provides a data transmission mechanism based on a vehicle link. The system utilizes the vehicle self-organizing network to connect the vehicle nodes in a link mode, and performs unified local management on the vehicles in the vehicle links, thereby avoiding the defects of slow response time and high network bandwidth occupation of the traditional traffic management system centralized management. The proposed vehicle link transmission method can provide efficient real-time video and audio transmission and data transmission in emergency.
And thirdly, collecting and acquiring multiple sensors. The system provides a function of data interaction with various sensors, and comprises sensing data such as GPS positioning information, temperature and humidity sensing information, real-time video information, audio and voice information and the like. On the basis of the traditional navigation system, abundant data sources are added, so that the navigation function is more effective and visible.
And fourthly, providing prediction and early warning based on the perception data. The system provides the function of responding to real-time data, and comprises the collection of self-collected data and the response processing of other vehicle nodes for transmitting data. The specific application includes real-time road condition analysis, shortest path analysis, overspeed early warning, vehicle distance prompt and the like. The response functions provide driving safety guarantee for the driver by combining data interaction among the vehicle link nodes.
The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Any person skilled in the art can modify the above-described embodiments without departing from the spirit and scope of the present invention. Therefore, the scope of the invention should be determined from the following claims.
Claims (6)
1. A driving-aware navigation system comprising a plurality of vehicles capable of forming an ad hoc network, wherein the plurality of vehicles establish a first communication mode and a second communication mode according to the type of data to be transmitted and the application thereof; in the first communication mode, using single-hop data transmission; in the second communication mode, using multi-hop data transmission; the first communication mode is a normal communication mode; the second communication mode is a vehicle link communication mode, and the vehicle link communication mode connects vehicle nodes in a link mode and performs uniform local management on the vehicles in the vehicle link; in the vehicle link communication mode, the directions of the vehicles are consistent, the distance between the vehicles is constant, and data transmission is carried out by taking a vehicle link as a unit;
the vehicle includes: the sensor is used for acquiring environment perception information; the GPS positioning device is used for acquiring vehicle positioning information; the image acquisition device is used for acquiring the information of the road condition in front of and/or behind the vehicle; information receiving and transmitting means for receiving and transmitting information; the vehicle link communication mode includes: the system comprises a vehicle link data acquisition and display layer, a vehicle link dynamic navigation barrier layer, a vehicle link data analysis and management layer, a vehicle link routing control layer and a vehicle identification and detection layer, wherein each layer is based on the service of the next layer; wherein,
the vehicle link data acquisition display layer defines an interface for acquiring each data; the data comprises static data and dynamic data; the static data comprises geographic information and environment perception information, and the geographic information comprises road information and/or map information; the environment perception information comprises temperature information and/or humidity information; the dynamic data comprises vehicle positioning information and road condition information; the vehicle positioning information comprises vehicle GPS information and/or vehicle speed information; the road condition information comprises audio information and/or video information;
the vehicle link dynamic navigation barrier layer defines the functions of navigation control and barrier control on the vehicle;
the vehicle link data analysis and management layer reprocesses the collected data by using a service-oriented method;
a vehicle link route control layer for performing route control on transmission of data transmitted by the vehicle;
and the vehicle identification detection layer is used for identifying and detecting vehicles in a communication mode forming the vehicle link, so that the safe transmission of data is realized.
2. The system according to claim 1, wherein in the normal communication mode, data transmission is performed in a multicast manner.
3. The vehicle-aware navigation system according to claim 1, wherein the navigation control includes: positioning the vehicle by using the obtained vehicle positioning information of the vehicle; judging real-time data of other vehicles in the driving road by acquiring vehicle positioning information of other vehicles around in the vehicle link communication mode; and designing and displaying an optimized guide route for the vehicle according to the obtained vehicle positioning information of the vehicle and the positioning information of other vehicles.
4. The system of claim 1, wherein in the obstacle-crossing control, the image capturing device mounted in the vehicle is used to assist the GPS positioning device to obtain the obstacle information in front of the vehicle and/or the distance between the vehicles in front, and the obstacle information outside the distance of sight is obtained through the vehicle link communication mode, so as to perform pre-determination and early response.
5. The vehicle-aware navigation system of claim 1, wherein the reprocessing of the data by the vehicle link data analysis and management layer comprises: for static data, an index mechanism is adopted; and classifying the dynamic data according to service types and carrying out heterogeneous management on the dynamic data.
6. The system of claim 1, wherein the vehicle recognition detection layer comprises link layer encryption of the transmitted data, and an identity recognition mechanism is added through combination of IPv6 and a public key mechanism.
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| CN103544838B (en) * | 2013-10-21 | 2015-07-15 | 电子科技大学 | Vehicular multi-hop cooperative transmission based road condition information acquisition method |
| CN104754686B (en) * | 2013-12-30 | 2019-09-10 | 北京大唐高鸿数据网络技术有限公司 | Optimization DSDV method for routing based on vehicle-mounted short haul connection net |
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| US20190339082A1 (en) * | 2018-05-02 | 2019-11-07 | Blackberry Limited | Method and system for hybrid collective perception and map crowdsourcing |
| CN110753300B (en) * | 2018-07-06 | 2021-10-15 | 华为技术有限公司 | Internet of things formation communication method |
| CN111083025A (en) * | 2018-10-22 | 2020-04-28 | 中兴通讯股份有限公司 | Data transmission method, vehicle-mounted communication equipment and computer readable storage medium |
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