CN103578292A - Apparatus for preventing vehicle control error of V2V communication system and method thereof - Google Patents
Apparatus for preventing vehicle control error of V2V communication system and method thereof Download PDFInfo
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- CN103578292A CN103578292A CN201310311607.7A CN201310311607A CN103578292A CN 103578292 A CN103578292 A CN 103578292A CN 201310311607 A CN201310311607 A CN 201310311607A CN 103578292 A CN103578292 A CN 103578292A
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- vehicle
- information
- travel direction
- communication system
- status information
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
- B60W2050/046—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
Abstract
The present invention provides an apparatus for preventing a vehicle control error of a V2V (Vehicle-To-Vehicle) communication system and a method thereof. The apparatus and the method is characterized by using state information of other one vehicle received from the other vehicle as object information required to control the vehicle, only when the vehicle is verified to drive at the same lane with the other vehicle, the state information of the other vehicle can be used as the object information required to control the vehicle, thereby preventing error of vehicle control caused by the state information of the vehicle driving on an opposite lane.
Description
Technical field
The system that the present invention relates to realize on vehicle, relates in particular to communication system between vehicle.
Background technology
The communication technology between vehicle (Vehicle to Vehicle ad-hoc network, V2V) is extensively universal.For example, in the vehicular communication system frequency band (5.9GHz) that to be vehicle distributing in can communication zone time with vehicle, implement to communicate by letter, and adopt road private radio communication WAVE (the Wireless Access in Vehicular Environments) technology of the short-distance wireless communication technology based on CSMA/CD (Carrier Sense Multiple Access/Collision Detection).The V2V communication system realizing on vehicle is the various status informations of collection vehicle, utilizes the above-mentioned communication technology to send car status information to other vehicle, and receives the status information of other vehicle.The object information that need consider when the status information receiving from other vehicle is used for controlling vehicle.Vehicle can be to information such as other vehicle notice airbag deployment, collision activity, and other vehicle can suitably be controlled thereupon.For example, when front vehicles crashes, can notify front vehicle, make front vehicle implement brake hard.
But vehicle transmits car status information as Fig. 1 to all vehicles can communication zone, vehicle (Host Vehicle, HV) to other vehicle (the Remote Vehicle that is positioned at the communication zone of opposite carriageway, RV) also transmit car status information, and also can receive other car status information from being positioned at other vehicle of opposite carriageway.Therefore as Fig. 2 (a), because of the vehicle collision on A direction lane, cause the vehicle deceleration of B direction lane and cause as the traffic disturbance phenomenon of Fig. 2 (b).That is to say, vehicle is that other car status information to receiving is not screened, but all as controlling the required consideration object information of vehicle, causes the problems referred to above.
Summary of the invention
According to the present invention, for the car status information receiving, not to be unconditionally applied as to control the required consideration object information of vehicle, and be to provide the technical scheme that can screen rear application.
For realizing described technical task, between the vehicular communication system that one aspect of the present invention relates to, the wrong anti-locking apparatus of vehicle control comprises: Department of Communication Force, implement to communicate by letter with other vehicle; Control part, according to the status information of described other vehicle receiving by described Department of Communication Force, described other vehicle of judgement whether with Vehicle Driving Cycle on same track, while only having judgement to travel on described same track, using the status information of described reception as controlling the required consideration object information application of described vehicle.
Described control part is the travel direction of utilizing described other vehicle of status information confirmation of described other vehicle, when other vehicle heading of described confirmation is consistent with the travel direction of described vehicle, on described other vehicle of judgement and described Vehicle Driving Cycle on same track.
Described control part is sent to described other vehicle by the described car status information that comprises described vehicle heading by described Department of Communication Force.
For realizing described technical task, the implementation step that the vehicle that the present invention relates to is on the other hand controlled wrong prevention method comprises: the status information that receives described other vehicle from other vehicle; According to described other vehicle of the status information judgement of described reception whether with Vehicle Driving Cycle in same track; Only have judgement to travel when described same track, using the status information of described reception as controlling the required consideration object information application of described vehicle.
The advantage that the present invention has is:
According to the vehicle of communication system between vehicle provided by the invention, control mistake and prevent device and method, the status information that is other vehicle of receiving for other vehicle from opposite carriageway is travelled is directly eliminated, and not as controlling the required consideration object information application of vehicle, from root, prevent the problem of vehicle implementation mistake being controlled as traditional other car status information because travelling in opposite carriageway.
Accompanying drawing explanation
Fig. 1 be can communication zone between vehicle schematic diagram;
Fig. 2 is the traffic disturbance phenomenon schematic diagram occurring because of communication system between traditional vehicle;
Fig. 3 is that the vehicle of communication system between the vehicle that provides of one embodiment of the invention is controlled wrong anti-locking apparatus block scheme;
Fig. 4 is the process flow diagram that vehicle that one embodiment of the invention provides is controlled wrong prevention method.
In figure:
100: Department of Communication Force; 200: control part.
Embodiment
For making object, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
Fig. 3 is that the vehicle of communication system between the vehicle of one embodiment of the invention is controlled wrong anti-locking apparatus block scheme.As shown in Figure 3, between vehicle, the wrong anti-locking apparatus of the vehicle of communication system (V2V communication system) control comprises Department of Communication Force 100 and control part 200.Department of Communication Force 100 is the structures for vehicle communication, can be suitable for IEEE 802.11a/g WLAN standard.Control part 200 is for preventing that vehicle from controlling wrong treatment progress.Control part 200 is by car Intranet, to receive information of vehicles from vehicle sensors.Car Intranet is CAN (Controller Area Network), and the information of vehicles receiving by CAN comprises car speed information, wheel steering angle information, airbag deployment information etc.Control part 200 receives vehicle position information or travel direction information from navigational system.Navigational system is not only GPS to be received to coordinate information and gyro sensor information sends communication system between vehicle to, but after calculating the travel direction of vehicle, this computing information is sent to communication system between vehicle.
For this reason, the position coordinates that the every 200ms of navigational system meeting checks vehicles by GPS calculates the travel direction of vehicle.The shade area that GPS can not receive is to calculate vehicle location by gyro sensor value.As mentioned above, navigational system is to utilize GPS and gyro sensor to calculate the travel direction of vehicle, sends vehicle to and controls wrong anti-locking apparatus.If navigational system only sends vehicle position information to vehicle and controls wrong anti-locking apparatus, control part 200 can utilize the positional information of transmission directly to calculate the travel direction of vehicle.
In an embodiment, the determination methods in the same track of whether travelling is as follows.Control part 200 compares the travel direction information of other vehicle and the vehicle heading information that provides from navigational system from other status information receiving.When the travel direction of vehicle is consistent with other vehicle heading, vehicle and other vehicle can be regarded as travelling in same track.Thereupon, control part 200 is using the car status information receiving as controlling the required consideration object information application of vehicle.But when the travel direction of vehicle and other vehicle heading are inconsistent, other vehicle can be regarded as travelling in opposite carriageway.Thereupon, control part 200 can directly be eliminated other car status information receiving, not as controlling the required consideration object information of vehicle.
Fig. 4 is the process flow diagram that vehicle that one embodiment of the invention provides is controlled wrong prevention method.As shown in Figure 4, control part 200 receives other car status information (step S100) by Department of Communication Force 100.Control part 200 judges according to other car status information receiving whether vehicle and other vehicle travel on same track.In an embodiment, can compare and the same track that judges whether to travel the travel direction of vehicle and other vehicle.Supplemental instruction is as follows.Control part 200 is by the travel direction (step S200) of other vehicle of travel direction validation of information of comprising in other information of vehicles.Then, control part 200 judges the travel direction whether consistent (step S300) of the travel direction of vehicle and other vehicle of confirmation.The vehicle heading information exchange is here crossed CAN and is gathered.If consistent, control part 200 meeting judgement vehicles and other vehicle are controlled required consideration object information application (step S400) using other car status information as vehicle in same lanes.Other car status information of application is transmitted in vehicle electronic controlling device.Inconsistent control part 200 is not directly eliminated other car status information receiving and is controlled required consideration object information application (step S500) as vehicle.
Although do not illustrate, but control part 200 gathers speed information, wheel steering angle information, gas by CAN assists expansion information etc., from navigational system collection vehicle travel direction information, the car status information forming by Information Monitoring is sent to other vehicle by Department of Communication Force 100.
Above embodiment only, in order to technical scheme of the present invention to be described, is not intended to limit; Although the present invention is had been described in detail with reference to previous embodiment, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in aforementioned each embodiment, or part technical characterictic is wherein equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution depart from the scope of technical scheme described in various embodiments of the present invention.Protection scope of the present invention should make an explanation according to following claim scope, and all technical schemes in its equal scope should all belong to claim scope of the present invention.
Claims (10)
1. between vehicle, the vehicle of communication system is controlled a wrong prevention method, it is characterized in that, the implementation step of the method comprises:
From other vehicle, receive the status information of described other vehicle;
According to described other vehicle of the status information judgement of described reception whether with Vehicle Driving Cycle in same track; And
Only have judgement to travel when described same track, using the status information of described reception as controlling the required consideration object information application of described vehicle.
2. between vehicle according to claim 1, the vehicle of communication system is controlled wrong prevention method, it is characterized in that, whether other vehicle comprises with the step of Vehicle Driving Cycle in same track described in described judgement:
By the described status information receiving, confirm the travel direction of described other vehicle; And
When the travel direction of described other vehicle is consistent with the travel direction of described vehicle, described other vehicle of judgement and described Vehicle Driving Cycle are in same track.
3. between vehicle according to claim 1 and 2, the vehicle of communication system is controlled wrong prevention method, it is characterized in that, also comprises:
The status information of described vehicle that comprises the travel direction of described vehicle is sent to described other vehicle.
4. between vehicle, the vehicle of communication system is controlled a wrong anti-locking apparatus, it is characterized in that, comprising:
Department of Communication Force, implements to communicate by letter with other vehicle; And
Control part, according to the status information of other vehicle receiving by described Department of Communication Force, described other vehicle of judgement whether with Vehicle Driving Cycle on same track, while only having judgement to travel on described same track, using the status information of described reception as controlling the required consideration object information application of described vehicle.
5. between vehicle according to claim 4, the vehicle of communication system is controlled wrong anti-locking apparatus, it is characterized in that,
Described control part is to utilize the status information of described other vehicle to confirm the travel direction of described other vehicle, and while confirming that the travel direction of other vehicle heading and described vehicle is consistent, other vehicle and described Vehicle Driving Cycle are on same track described in judgement.
6. according to claim 4 or require the vehicle of communication system between the vehicle described in 5 to control wrong anti-locking apparatus, it is characterized in that,
Described control part is that the described car status information that comprises the travel direction of described vehicle is sent to described other vehicle by described Department of Communication Force.
7. between vehicle according to claim 4, the vehicle of logical infosystem is controlled wrong anti-locking apparatus, it is characterized in that,
Described control part is positional information or the travel direction information of described vehicle of receiving from navigational system.
8. the vehicle of vehicular communication system according to claim 7 is controlled wrong anti-locking apparatus, it is characterized in that,
Described control part is as long as receive the positional information of described vehicle from described navigational system, utilizes the positional information of described vehicle to calculate the travel direction of described vehicle.
9. between vehicle according to claim 7, the vehicle of communication system is controlled wrong anti-locking apparatus, it is characterized in that,
Described navigational system is to calculate the travel direction information of described vehicle based on GPS reception coordinate information and gyro sensor information, and the described travel direction information of calculating is sent to described control part.
10. between vehicle according to claim 9, the vehicle of communication system is controlled wrong anti-locking apparatus, it is characterized in that,
Described navigational system is that the positional information of described vehicle is calculated based on described gyro sensor information in the area that cannot receive at described GPS, and the described positional information of calculating is sent to described control part.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020120081185A KR20140015822A (en) | 2012-07-25 | 2012-07-25 | Apparatus for protecting vehicle control error in v2v system and method thereof |
| KR10-2012-0081185 | 2012-07-25 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103578292A true CN103578292A (en) | 2014-02-12 |
| CN103578292B CN103578292B (en) | 2017-10-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310311607.7A Active CN103578292B (en) | 2012-07-25 | 2013-07-23 | The wagon control mistake of communication system prevents device and method between vehicle |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR20140015822A (en) |
| CN (1) | CN103578292B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103810903A (en) * | 2014-02-27 | 2014-05-21 | 长安大学 | Warning message pushing method based on vehicle to vehicle communications |
| CN105590464A (en) * | 2014-11-12 | 2016-05-18 | 现代摩比斯株式会社 | System And Method For Recognizing Surrounding Vehicle |
| CN108335527B (en) * | 2017-01-19 | 2020-12-29 | 上海仪电数字技术股份有限公司 | Alarm system and method between running vehicles |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102072226B1 (en) | 2018-08-22 | 2020-01-31 | 전남대학교산학협력단 | Preparation Method of Chitinase and Chitin Oligosaccharides from Bacillus thuringiensis |
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- 2012-07-25 KR KR1020120081185A patent/KR20140015822A/en not_active Application Discontinuation
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2013
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| CN103810903A (en) * | 2014-02-27 | 2014-05-21 | 长安大学 | Warning message pushing method based on vehicle to vehicle communications |
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| CN108335527B (en) * | 2017-01-19 | 2020-12-29 | 上海仪电数字技术股份有限公司 | Alarm system and method between running vehicles |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103578292B (en) | 2017-10-20 |
| KR20140015822A (en) | 2014-02-07 |
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