CN106601001A - Vehicle communication method and system - Google Patents
Vehicle communication method and system Download PDFInfo
- Publication number
- CN106601001A CN106601001A CN201510672911.3A CN201510672911A CN106601001A CN 106601001 A CN106601001 A CN 106601001A CN 201510672911 A CN201510672911 A CN 201510672911A CN 106601001 A CN106601001 A CN 106601001A
- Authority
- CN
- China
- Prior art keywords
- information
- vehicle
- traveling
- communication terminal
- decision
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Traffic Control Systems (AREA)
Abstract
The invention relates to a vehicle communication method and system, and the method comprises the steps that a vehicle-mounted communication terminal on a vehicle carries out interaction with a cloud server in a vehicle-cloud-vehicle V2C mode, so as to determine a first driving path of the vehicle, and transmit the first driving path to a driving decision making machine on the vehicle; meanwhile, the vehicle-mounted communication terminal carries out the interaction with a vehicle-mounted communication terminal on an adjacent vehicle in a mode of vehicle-vehicle V2V, so as to obtain the driving information of the adjacent vehicle and transmit the driving information to the driving decision making machine; the driving decision making machine determines the driving decision making information according to the first driving path and the driving information of the adjacent vehicle, so as to enable a driving controller to control the driving of the vehicle according to the driving decision making information. The method effectively combines two communication modes of V2V and V2C to achieve the automatic driving, can provide more accurate automatic driving transmission data, improve the data transmission speed, and can reduce the probability of dangerous accidents.
Description
Technical field
The present invention relates to car networking technology field, more particularly to a kind of vehicle communication method and system.
Background technology
As orthodox car market speedup slows down and car networking technology is developed rapidly, motorcar electric
Change, electric business, it is intelligent will become long-term development trend with sharedization, this is just to drive automatically
The research and development for sailing automobile leave huge space.Traditional autonomous driving vehicle is by vehicle-mounted sensing
System senses vehicle-periphery, and according to road, the vehicle location and barrier letter for being perceived
Breath control vehicle steering and speed, automatic planning travelling line so that vehicle safety, can
Travel on road by ground, control vehicle reaches predeterminated target.
However, the time delay of the data transfer mode of traditional autonomous driving vehicle is longer, reliability
It is relatively low, it is difficult to the inferior position such as Instantaneous sharing of information between the acquisition of the macroscopical driving information of realization and vehicle,
So that the data transfer mode of traditional automatic Pilot is increasingly difficult to meet the demand of user.
On the other hand, with the development of the cordless communication network technology such as 5G, user is made for number
According to the super large bandwidth, ultra-high capacity, ultra dense website, super reliability transmitted, can connect whenever and wherever possible
The demands such as entering property are also increasingly highlighted.In the case, depend on efficient, real-time Data Transmission
Two kinds of communication modes " car-high in the clouds-car " (V2C, Vehicle to Cloud) and " Che-car " (V2V,
Vehicle-to-vehicle) also necessarily become one of trend of following autonomous driving vehicle communication,
But as which each has pluses and minuses, such as, though V2C can realize macroscopical row interior in a big way
Information sharing is sailed, but data transfer instantaneity is low；The data transfer instantaneity of V2V is high, but nothing
Method realizes that macroscopical driving information is shared, and transmission range is little.
Therefore, two kinds of communication modes of V2V and V2C how to be effectively combined and realize automatic Pilot,
Carrying out data transmission promptly and accurately, reduce the probability that peril occurs become it is urgently to be resolved hurrily
One of technical problem.
The content of the invention
The technical problem to be solved is how to be effectively combined V2V and two kinds of V2C
Communication mode realizes automatic Pilot, and how to provide more accurately automatic Pilot transmission data,
With the probability for reducing having an accident.
For this purpose, one aspect of the present invention proposes a kind of vehicle communication method, including following step
Suddenly：
Vehicle communication terminal on vehicle passes through car-high in the clouds-car V2C communication parties with cloud server
Formula is interacted, to determine the first travel route of the vehicle；
The vehicle communication terminal is sent to the first travel route for determining on the vehicle
Traveling decision-making device, and, the vehicle communication terminal is same with what the cloud server was interacted
When, interacted by Che-car V2V modes with the vehicle communication terminal of Adjacent vehicles, to obtain
State the driving information of Adjacent vehicles；
The driving information of the Adjacent vehicles for obtaining is sent to institute by the vehicle communication terminal
State traveling decision-making device；
The vehicle-mounted sensing device of the vehicle obtains surrounding's sighting distance traffic information of the vehicle, and
The surrounding sighting distance traffic information is sent to into the traveling decision-making device；
The traveling decision-making device is believed according to the traveling of first travel route, the Adjacent vehicles
Breath and the surrounding sighting distance traffic information determine traveling decision information, the Adjacent vehicles be with
At least one vehicle of the distance of the vehicle in preset range, and by the traveling decision information
The travel controller of the vehicle is sent to, so that the travel controller is believed according to the traveling decision-making
The breath control vehicle traveling.
Preferably, the vehicle communication terminal on the vehicle and cloud server by car-high in the clouds-
Car V2C communication modes are interacted, to determine the first travel route of the vehicle, including：
The vehicle communication terminal obtain the destination information of the vehicle, current location information and
Vehicle essential information, and by the destination information, current location information and vehicle essential information
The cloud server is sent to by the V2C communication modes；
The vehicle communication terminal receives the cloud server by the V2C communication modes
It is determined that the first travel route；
Wherein, first travel routes information is the cloud server according to the destination
The letter that information, current location information, vehicle essential information and Current traffic traffic information determine
Breath.
Preferably, the vehicle communication terminal of the vehicle communication terminal and Adjacent vehicles by car-
Car V2V modes are interacted, including：
The startup information and driving information of the vehicle are sent to institute by the vehicle communication terminal
State Adjacent vehicles；
Wherein, the startup information includes initial start speed, traveling lane；The traveling letter
Breath includes the position that vehicle position information, driving speed information, direction angle information and preparation are driven towards
Confidence ceases.
Preferably, the vehicle communication terminal on the vehicle and cloud server by car-high in the clouds-
Car V2C communication modes are interacted, and are also included：
The traveling decision-making device is judged that according to the travel speed of the vehicle traveling is fast
Spend the traveling of the vehicle determined according to the traveling decision information for the travel controller
Speed, when the travel speed is less than the first predetermined threshold, and in the speed downward driving duration be higher than
During the second predetermined threshold, start the vehicle-mounted sensing device and the surrounding sighting distance traffic information is sent out
Give the vehicle communication terminal；
The vehicle communication terminal is by the driving information of the vehicle and the surrounding sighting distance road conditions
Information is sent to the cloud server.
Preferably, the traveling decision-making device is according to first travel route, the Adjacent vehicles
Driving information and the surrounding sighting distance traffic information determine traveling decision information, including：
The traveling decision-making device is regarded according to the driving information and the surrounding of the Adjacent vehicles
Judge whether the Adjacent vehicles or sighting distance road conditions are just affecting the vehicle away from traffic information
Often travel；If, it is determined that braking decision information, and the braking decision information is sent to
The travel controller, so that the travel controller is according to the braking decision information control
Vehicle carries out brake hard.
Preferably, the vehicle communication terminal on the vehicle and cloud server by car-high in the clouds-
Car V2C communication modes are interacted, including：
The vehicle communication terminal receives weather information, the non line of sight that the cloud server sends
Traffic information and update cartographic information, and by the weather information, non line of sight traffic information and
The cartographic information of renewal is sent to the vehicular map device of the traveling decision-making device and the vehicle；
The vehicular map device receive and show the weather information, non line of sight traffic information and
Cartographic information；
Correspondingly, the traveling decision-making device is according to first travel route, the Adjacent vehicles
Driving information and the surrounding sighting distance traffic information determine traveling decision information, specially：
The traveling decision-making device is according to first travel routes information, the row of the Adjacent vehicles
Sail information, the surrounding sighting distance traffic information and the weather information, non line of sight traffic information
Traveling decision information is determined with cartographic information.
On the other hand, the present invention also proposes a kind of vehicular communication system, including：
Vehicle communication terminal, for passing through car-high in the clouds-car V2C communication modes with cloud server
Interaction, to determine the first travel route of the vehicle, and the first travel route for determining is sent out
The traveling decision-making device on the vehicle is sent, and, while interacting with the cloud server,
Interacted by Che-car V2V modes with the vehicle communication terminal of Adjacent vehicles, to obtain the phase
The driving information of adjacent vehicle, and the driving information of acquisition is sent to into the traveling decision-making device；
Vehicle-mounted sensing device, for obtaining surrounding's sighting distance traffic information of the vehicle, and by institute
State sighting distance traffic information around and be sent to the traveling decision-making device；
The traveling decision-making device, for according to first travel route, the Adjacent vehicles
Driving information and the surrounding sighting distance traffic information determine traveling decision information, and this is travelled
Decision information is sent to the travel controller of the vehicle；
Travel controller, for controlling the vehicle traveling according to the traveling decision information.
Preferably, the vehicle-mounted sensing device is in the row for travelling decision-making device according to the vehicle
Sail after speed judged, the surrounding sighting distance traffic information is sent to by institute according to judged result
State vehicle communication terminal；The travel speed is the travel controller according to the traveling decision-making
The travel speed of the vehicle that information determines；
The vehicle communication terminal is additionally operable to regard the driving information of the vehicle and the surrounding
The cloud server is sent to away from traffic information.
Preferably, the vehicle communication terminal is additionally operable to receive the gas that the cloud server sends
The cartographic information of image information, non line of sight traffic information and renewal, and by the weather information, non-
Sighting distance traffic information and cartographic information are sent to the traveling decision-making device；
The traveling decision-making device is additionally operable to according to first travel routes information, the adjacent car
Driving information, the surrounding sighting distance traffic information and the weather information, non line of sight road
Condition information and cartographic information determine traveling decision information.
Preferably, the communication system also includes vehicular map device；
The vehicular map device is used to show the weather information, non line of sight traffic information and ground
Figure information.
Vehicle communication method disclosed in this invention and system, can effectively using V2C and
Two kinds of communication modes of V2V, optimize data-transmission mode, it is possible to which offer is more accurately driven automatically
Transmission data is sailed, and then reduces the probability having an accident.
Description of the drawings
The features and advantages of the present invention can be more clearly understood from by reference to accompanying drawing, accompanying drawing is to show
Meaning property and should not be construed as carrying out the present invention any restriction, in the accompanying drawings：
The flow chart that Fig. 1 shows vehicle communication method provided in an embodiment of the present invention；
Fig. 2 shows the structural representation of vehicular communication system provided in an embodiment of the present invention；
Fig. 3 shows the structural representation of the vehicular communication system that another embodiment of the present invention is provided；
Fig. 4 shows the concrete application of vehicle communication method provided in an embodiment of the present invention and system
Schematic diagram of a scenario.
Specific embodiment
Below in conjunction with accompanying drawing, embodiments of the present invention is described in detail.
The flow chart that Fig. 1 shows vehicle communication method provided in an embodiment of the present invention；Such as Fig. 1
Shown, the vehicle communication method of the present embodiment is comprised the following steps：
S1：Vehicle communication terminal on vehicle is logical by car-high in the clouds-car V2C with cloud server
Letter mode is interacted, to determine the first travel route of the vehicle；
S2：The vehicle communication terminal is sent to the first travel route for determining on the vehicle
Traveling decision-making device, and, the vehicle communication terminal is being interacted with the cloud server
Meanwhile, interacted by Che-car V2V modes with the vehicle communication terminal of Adjacent vehicles, to obtain
The driving information of the Adjacent vehicles；
S3：The driving information of the Adjacent vehicles for obtaining is sent to by the vehicle communication terminal
The traveling decision-making device；
S4：The vehicle-mounted sensing device of the vehicle obtains surrounding's sighting distance traffic information of the vehicle,
And the surrounding sighting distance traffic information is sent to into the traveling decision-making device；
S5：The traveling decision-making device is according to first travel route, the row of the Adjacent vehicles
Sail information and the surrounding sighting distance traffic information determines traveling decision information, the Adjacent vehicles
It is at least one vehicle with the distance of the vehicle in preset range, and by the traveling decision-making
Information is sent to the travel controller of the vehicle, so that the travel controller is determined according to the traveling
Plan information controls the vehicle traveling；
Wherein, the Adjacent vehicles are at least with the distance of the vehicle in preset range
Individual vehicle, the preset range are, for example, the coverage of V2V communication modes under the 5G network coverages.
The vehicle communication method that the present embodiment is provided, effectively make use of two kinds of V2C and V2V to lead to
Letter mode, optimizes data-transmission mode, and provides more accurately automatic Pilot transmission data,
And then achieve the effect of the probability for reducing having an accident.
On this basis, the vehicle communication terminal on the vehicle and cloud server by car-
High in the clouds-car V2C communication modes interaction, to determine the first travel route of the vehicle, may be used also
Including：
The vehicle communication terminal obtain the destination information of the vehicle, current location information and
Vehicle essential information, and by the destination information, current location information and vehicle essential information
The cloud server is sent to by the V2C communication modes；
The vehicle communication terminal receives the cloud server by the V2C communication modes
It is determined that the first travel route；
Wherein, first travel routes information is the cloud server according to the destination
The information that information, current location information, vehicle essential information and current traffic information determine,
The vehicle essential information is preferably licence plate, model etc..As the preferred of the present embodiment, institute
State vehicle communication terminal to interact by Che-car V2V modes with the vehicle communication terminal of Adjacent vehicles,
May also include：
The startup information and driving information of the vehicle are sent to institute by the vehicle communication terminal
State Adjacent vehicles；
Wherein, the startup information includes initial start speed, traveling lane；The traveling letter
Breath includes the position that vehicle position information, driving speed information, direction angle information and preparation are driven towards
Confidence ceases.
Further, said method also includes：
The traveling decision-making device is judged that according to the travel speed of the vehicle traveling is fast
Spend the traveling of the vehicle determined according to the traveling decision information for the travel controller
Speed, when the travel speed is less than the first predetermined threshold (goal-selling speed), and in the car
When fast downward driving duration is higher than the second predetermined threshold, start the vehicle-mounted sensing device by the week
Enclose sighting distance traffic information and be sent to the vehicle communication terminal；
The vehicle communication terminal by V2C communication modes by the driving information of the vehicle and
The surrounding sighting distance traffic information is sent to the cloud server.
Above-mentioned V2C communication modes are properly termed as self-action V2C communication modes, and another kind of form,
Vehicle condition or sighting distance traffic information that the passenger that will be obtained is actively entered, such as car accident,
Road service system etc., the communication mode for reporting cloud server are properly termed as active V2C communications
Mode.
Preferably, the traveling decision-making device is according to first travel route, the Adjacent vehicles
Driving information and the surrounding sighting distance traffic information determine traveling decision information, including：
The traveling decision-making device is regarded according to the driving information and the surrounding of the Adjacent vehicles
Judge whether the Adjacent vehicles or sighting distance road conditions are just affecting the vehicle away from traffic information
Often travel；If, it is determined that braking decision information, and the braking decision information is sent to
The travel controller, so that the travel controller is according to the braking decision information control
Vehicle carries out brake hard.If it is not, the then driving information of the negligible Adjacent vehicles.
On this basis, by the V2V communication modes to other cars in preset range around
The driving information of the Current vehicle is sent, so that the vehicle for receiving information can be according to distance
The actual range of the car takes brake measure, to avoid vehicle accident.
When cloud server receive the information for reporting or receive renewal weather information when, can be right
The reporting information is processed, and the section bayonet socket information is verified in such as triggering, is determined whether to more
New traffic information or cartographic information.It is when judging to need to update, anti-by V2C communication modes
Feedback corresponding information is to vehicle communication terminal.
On this basis, the vehicle communication terminal on the vehicle and cloud server by car-
High in the clouds-car V2C communication modes interaction, including：
The vehicle communication terminal receives weather information, the non line of sight that the cloud server sends
Traffic information and update cartographic information, and by the weather information, non line of sight traffic information or
Cartographic information is sent to the vehicular map device of the traveling decision-making device and the vehicle；
The vehicular map device shows the weather information, non line of sight traffic information and map letter
Breath；
Correspondingly, the traveling decision-making device is according to first travel route, the Adjacent vehicles
Driving information and the surrounding sighting distance traffic information determine traveling decision information, specially：
The traveling decision-making device is according to first travel routes information, the row of the Adjacent vehicles
Sail information, the surrounding sighting distance traffic information and the weather information, non line of sight traffic information
Traveling decision information is determined with cartographic information.
Wherein, it is described traveling decision information include the second travel routes information, initial travel speed,
Traveling lane and travel direction angle；Second travel routes information refers to the first travel routes information,
And consider the weather information of renewal, surrounding vehicles information, surrounding sighting distance traffic information and map
The information such as information, therefore more science, accurately, are conducive to the generation for avoiding traffic accident.
Specifically, when the vehicle needs to change travel direction or doubling in the process of moving,
By the V2V communication modes by the driving information of the Current vehicle, such as vehicle location is believed
Positional information that breath, driving speed information, direction angle information and preparation are driven towards etc., is sent to
The Adjacent vehicles.
The V2V communication modes are properly termed as direct-type V2V communication mode, it is possible to achieve point-to-point
Or the data-transmission mode of point-to-multipoint, its objective is the driving information for security consideration,
For example the information such as emergency brake of vehicle, travel direction change is transmitted directly to other vehicles of surrounding,
Relative to V2C communication modes, this direct-type V2V mode reduces time delay, and then reduces
The probability that vehicle accident occurs.
And for the non-data for security consideration of transmission, such as recreation data etc., it is also possible to it is real
The data-transmission mode of existing point-to-point or point-to-multipoint, but for information transmission security in terms of examine
Consider, need the identity for confirming to send and receive both sides.Therefore, can be by this V2V communication modes
Referred to as interactive mode V2V communication modes, before being carried out data transmission using interactive V2V communication modes,
First have to determine the vehicle of receiving data whether in V2V communication ranges.
The vehicle communication method that the present embodiment is provided, for the characteristic of automatic Pilot institute transmission data
Using fixed transmission means, select during realizing the existing automatic Pilot of simplification V2C or
The process of V2V communication modes, and more accurately automatic Pilot transmission data is provided, improve
Data transmission bauds, so as to reduce the probability having an accident.
Fig. 2 shows the structural representation of vehicular communication system provided in an embodiment of the present invention；Such as
Shown in Fig. 2, the vehicular communication system 10 that the present embodiment is provided includes：Vehicle communication terminal 11,
Traveling decision-making device 12 and travel controller 13；
Described vehicle communication terminal 11, for passing through car-high in the clouds-car V2C with cloud server
Communication mode is interacted, to determine the first travel route of the vehicle, and the first row that will be determined
Sail the traveling decision-making device 12 that route is sent on the vehicle, and, with the cloud server
While interaction, interacted by Che-car V2V modes with the vehicle communication terminal of Adjacent vehicles,
To obtain the driving information of the Adjacent vehicles, and the driving information of acquisition is sent to into the row
Sail decision-making device 12.
Vehicle-mounted sensing device 14, for obtaining surrounding's sighting distance traffic information of the vehicle, and will
The surrounding sighting distance traffic information is sent to the traveling decision-making device 12；
Described traveling decision-making device 12, for according to first travel route, the adjacent car
Driving information and the surrounding sighting distance traffic information determine traveling decision information, and should
Traveling decision information is sent to the travel controller 13 of the vehicle；
Described travel controller 13, for controlling the vehicle according to the traveling decision information
Traveling.
The traveling decision information preferably includes the initial start speed of the vehicle, Travel vehicle
Road, travel direction, deflection, braking decision information, goal-selling speed, the car with front truck
Away from, doubling and turning decision information etc..
Correspondingly, the control vehicle traveling includes the initial start of the control vehicle
Speed, traveling lane, traveling road direction (deflection), control the vehicle braking, according to
The speed of the traveling of vehicle described in goal-selling speed controlling, while controlling institute in the process of moving
Stating vehicle and keep default spacing with front truck, and control the vehicle carries out doubling and turning etc..
The vehicular communication system that the present embodiment is provided, effectively make use of two kinds of V2C and V2V to lead to
Letter mode, and then more accurately automatic Pilot transmission data is provided, reach reduction and danger has occurred
The purpose of the probability of dangerous accident.
Automobile is wanted to realize automatic Pilot, is from the perspective of, it is necessary to receive road in traffic safety angle
Marking line and accurate location, the height of traffic lights, each road and crossing traffic mark contain
The information such as justice.Although these information easily can be watched by naked eyes when the mankind drive,
But more important for automatic Pilot technology, even requisite element.
Fig. 3 shows the structural representation of the vehicular communication system that another embodiment of the present invention is provided；
As shown in figure 3, the vehicle-mounted sensing device 14 is in the traveling on the basis of above-described embodiment
After decision-making device 12 is judged according to the travel speed of the vehicle, will be described according to judged result
Surrounding sighting distance traffic information is sent to the vehicle communication terminal 11；Wherein, the travel speed
The traveling of the vehicle determined according to the traveling decision information for the travel controller 13
Speed.
Correspondingly, the vehicle communication terminal 11 is additionally operable to the driving information of the vehicle and institute
State sighting distance traffic information around and be sent to the cloud server.
Preferably, the vehicle communication terminal 11 is additionally operable to receive what the cloud server sent
The cartographic information of weather information, non line of sight traffic information and renewal, and by the weather information,
Non line of sight traffic information and the cartographic information for updating are sent to the traveling decision-making device 12；
Correspondingly, the traveling decision-making device 12 is according to first travel routes information, the phase
The driving information of adjacent vehicle, the surrounding sighting distance traffic information and the weather information, non-regard
Traveling decision information is determined away from traffic information and cartographic information.
The vehicle-mounted sensing device 14 can determine that to travel decision-making device 12 traveling decision information is provided
More accurately and timely foundation.
Preferably, the communication system also includes vehicular map device 15, for showing the gas
Image information, non line of sight traffic information and cartographic information.Described vehicular map device 15 can be more
The information updated by cloud server, such as vehicle accident, traffic congestion, road are shown intuitively
Road block, real-time road etc..
Fig. 4 shows the concrete application of vehicle communication method provided in an embodiment of the present invention and system
Schematic diagram of a scenario；As shown in figure 4, the tool of the vehicle communication method and system of the present embodiment offer
Body application scenarios include cloud server and 3 vehicles for being provided with above-mentioned communication system；Its
In, carried out data transmission by V2V communication modes between above-mentioned vehicle and vehicle, vehicle and cloud
Carried out data transmission by V2C communication modes between the server of end.
The detailed process of data transfer is as follows：
1st, before the traveling of vehicle 010, the destination information of user input is obtained, vehicle 001
Decision-making device 012 is travelled by the current vehicle position information, destination information, vehicle essential information,
Cloud server 016 is sent to by V2C.
2nd, cloud server 016 is believed substantially according to current location information, destination information, vehicle
Breath and current traffic information decision-making the first route or travel by vehicle information, and by current non line of sight road
Condition information, the cartographic information for updating, travel routes information are sent to vehicle-carrying communication end by V2C
End 011.Meanwhile, vehicle communication terminal 011 receives surrounding vehicles driving information by V2V.Car
Sensing device 14 is carried, surrounding's sighting distance traffic information of the vehicle is obtained.
3rd, vehicle communication terminal 011 by above-mentioned non line of sight traffic information, around sighting distance traffic information,
The cartographic information of renewal, surrounding vehicles driving information, travel routes information are sent to traveling decision-making
Device 012, traveling decision-making device 012 are set according to sighting distance traffic information around and surrounding vehicles driving information
Determine vehicle initial start speed, traveling lane, base area are determined according to sighting distance traffic information around
Figure information, travel route and traveling lane determine travel direction angle；Believed according to non line of sight road conditions
Breath determines goal-selling speed.
4th, decision-making device 012 is travelled by vehicle initial start speed, traveling lane, travel direction angle
Pass to travel controller 013, the control vehicle launch of travel controller 013；Meanwhile, traveling is determined
Plan device 012 will by active V2V communication patterns to surrounding vehicles broadcasting van start information,
Vehicle location and travel speed, the vehicle for receiving broadcast message can be according to the reality apart from the car
Border distance takes brake measure；
The advantage of the communication mode wherein broadcasted is can both to have realized point-to-point, can be realized again a little
Communication to multiple spot.
5th, during the traveling of Current vehicle 010, the vehicle need to preserve the travel speed letter of front truck
Breath, is such as obtained by interactive mode V2V communication patterns or direct using vehicle-mounted sensing device 014
Detection.When vehicle-mounted sensing device 014 collects Current vehicle 010 apart from leading vehicle distance less than predetermined
Super close distance, reduce speed, pull open the distance with front vehicles, when vehicle-mounted sensing device 014
Current vehicle 010 is collected apart from leading vehicle distance more than predetermined super close distance but less than predetermined
Closely during thresholding, by Reduced Speed Now, and speed is reduced to it is identical with front truck, while broadcast
The current speed of this car and positional information；In the same manner, when vehicle-mounted sensing device 014 collects this
Car apart from leading vehicle distance be more than predetermined remote thresholding when, will give it the gun, and speed will be carried
It is raised to identical with front truck；When vehicle-mounted sensing device 014 do not collect front vehicles existence information or
During more than predetermined overlength distance thresholding, speed is lifted to the maximum of the section prescribed limit.
6th, when vehicle 001 needs to change according to the second travel route that traveling decision-making device 012 is formulated
When travel direction, doubling, this vehicle location is broadcasted by active V2V communication patterns, travelled
Speed, deflection, and prepare the positional information for driving towards.
7th, when the vehicle communication terminal 011 receives the traveling letter of the broadcast of Adjacent vehicles 017
During breath, decision-making device 012 is travelled first according to the positional information, travel direction angle, speed for receiving
Information decides whether the normally travel for affecting this car, if do not affected, ignores the information, otherwise tightly
It is anxious to brake, and broadcast the driving information of the vehicle after braking.
8th, when the travel speed of vehicle 001 is less than goal-selling speed, and in the speed downward driving
When duration is higher than predetermined threshold, the ambient environmental conditions that vehicle-mounted sensing device 014 can be shot,
Vehicle traveling information, positional information report cloud server 016 by V2C communication patterns.
9th, when cloud server 016 receive the weather information of renewal, non line of sight traffic information or
During cartographic information, the speed information that can be reported according to vehicle communication terminal 011, surrounding letter
Breath etc., triggering verify the section bayonet socket information, decide whether road conditions to be updated or cartographic information,
If desired update, then the traffic information or cartographic information of renewal are issued to based on V2C vehicle-mounted logical
Letter terminal 011, and be displayed in vehicular map device (not shown).
The vehicular communication system that the present embodiment is provided, can be directed to the spy of automatic Pilot institute transmission data
Property realize fixed transmission means, effectively make use of two kinds of communication modes of V2C and V2V, and
There is provided more accurately automatic Pilot transmission data, data transmission bauds is improve, so as to reduce
The probability that has an accident.
Although being described in conjunction with the accompanying embodiments of the present invention, those skilled in the art can
To make various modifications and variations without departing from the spirit and scope of the present invention, so
Modification and within the scope of modification each falls within and is defined by the appended claims.
Claims (10)
1. a kind of vehicle communication method, it is characterised in that comprise the following steps：
Vehicle communication terminal on vehicle passes through car-high in the clouds-car V2C communication parties with cloud server
Formula is interacted, to determine the first travel route of the vehicle；
The vehicle communication terminal is sent to the first travel route for determining on the vehicle
Traveling decision-making device, and, the vehicle communication terminal is same with what the cloud server was interacted
When, interacted by Che-car V2V modes with the vehicle communication terminal of Adjacent vehicles, to obtain
State the driving information of Adjacent vehicles；
The driving information of the Adjacent vehicles for obtaining is sent to institute by the vehicle communication terminal
State traveling decision-making device；
The vehicle-mounted sensing device of the vehicle obtains surrounding's sighting distance traffic information of the vehicle, and
The surrounding sighting distance traffic information is sent to into the traveling decision-making device；
The traveling decision-making device is believed according to the traveling of first travel route, the Adjacent vehicles
Breath and the surrounding sighting distance traffic information determine traveling decision information, the Adjacent vehicles be with
At least one vehicle of the distance of the vehicle in preset range, and by the traveling decision information
The travel controller of the vehicle is sent to, so that the travel controller is believed according to the traveling decision-making
The breath control vehicle traveling.
2. communication means according to claim 1, it is characterised in that on the vehicle
Vehicle communication terminal is interacted by car-high in the clouds-car V2C communication modes with cloud server, with true
First travel route of the fixed vehicle, including：
The vehicle communication terminal obtain the destination information of the vehicle, current location information and
Vehicle essential information, and by the destination information, current location information and vehicle essential information
The cloud server is sent to by the V2C communication modes；
The vehicle communication terminal receives the cloud server by the V2C communication modes
It is determined that the first travel route；
Wherein, first travel routes information is the cloud server according to the destination
The letter that information, current location information, vehicle essential information and Current traffic traffic information determine
Breath.
3. communication means according to claim 1, it is characterised in that the vehicle-carrying communication
Terminal is interacted by Che-car V2V modes with the vehicle communication terminal of Adjacent vehicles, including：
The startup information and driving information of the vehicle are sent to institute by the vehicle communication terminal
State Adjacent vehicles；
Wherein, the startup information includes initial start speed, traveling lane；The traveling letter
Breath includes the position that vehicle position information, driving speed information, direction angle information and preparation are driven towards
Confidence ceases.
4. communication means according to claim 1, it is characterised in that on the vehicle
Vehicle communication terminal is interacted by car-high in the clouds-car V2C communication modes with cloud server, is also wrapped
Include：
The traveling decision-making device is judged that according to the travel speed of the vehicle traveling is fast
Spend the traveling of the vehicle determined according to the traveling decision information for the travel controller
Speed, when the travel speed is less than the first predetermined threshold, and in the speed downward driving duration be higher than
During the second predetermined threshold, start the vehicle-mounted sensing device and the surrounding sighting distance traffic information is sent out
Give the vehicle communication terminal；
The vehicle communication terminal is by the driving information of the vehicle and the surrounding sighting distance road conditions
Information is sent to the cloud server.
5. communication means according to claim 3, it is characterised in that the traveling decision-making
Device is regarded according to first travel route, the driving information of the Adjacent vehicles and the surrounding
Traveling decision information is determined away from traffic information, including：
The traveling decision-making device is regarded according to the driving information and the surrounding of the Adjacent vehicles
Judge whether the Adjacent vehicles or sighting distance road conditions are just affecting the vehicle away from traffic information
Often travel；If, it is determined that braking decision information, and the braking decision information is sent to
The travel controller, so that the travel controller is according to the braking decision information control
Vehicle carries out brake hard.
6. communication means according to claim 1, it is characterised in that on the vehicle
Vehicle communication terminal is interacted by car-high in the clouds-car V2C communication modes with cloud server, including：
The vehicle communication terminal receives weather information, the non line of sight that the cloud server sends
Traffic information and update cartographic information, and by the weather information, non line of sight traffic information and
The cartographic information of renewal is sent to the vehicular map device of the traveling decision-making device and the vehicle；
The vehicular map device receive and show the weather information, non line of sight traffic information and
The cartographic information of renewal；
Correspondingly, the traveling decision-making device is according to first travel route, the Adjacent vehicles
Driving information and the surrounding sighting distance traffic information determine traveling decision information, specially：
The traveling decision-making device is according to first travel routes information, the row of the Adjacent vehicles
Sail information, the surrounding sighting distance traffic information and the weather information, non line of sight traffic information
Traveling decision information is determined with cartographic information.
7. a kind of vehicular communication system, it is characterised in that include：
Vehicle communication terminal, for passing through car-high in the clouds-car V2C communication modes with cloud server
Interaction, to determine the first travel route of the vehicle, and the first travel route for determining is sent out
The traveling decision-making device on the vehicle is sent, and, while interacting with the cloud server,
Interacted by Che-car V2V modes with the vehicle communication terminal of Adjacent vehicles, to obtain the phase
The driving information of adjacent vehicle, and the driving information of acquisition is sent to into the traveling decision-making device；
Vehicle-mounted sensing device, for obtaining surrounding's sighting distance traffic information of the vehicle, and by institute
State sighting distance traffic information around and be sent to the traveling decision-making device；
The traveling decision-making device, for according to first travel route, the Adjacent vehicles
Driving information and the surrounding sighting distance traffic information determine traveling decision information, and this is travelled
Decision information is sent to the travel controller of the vehicle；
Travel controller, for controlling the vehicle traveling according to the traveling decision information.
8. communication system according to claim 7, it is characterised in that the vehicle-mounted sensing
Device after the traveling decision-making device is judged according to the travel speed of the vehicle, according to sentencing
The surrounding sighting distance traffic information is sent to the vehicle communication terminal by disconnected result；The traveling
Speed is the row of the vehicle that the travel controller is determined according to the traveling decision information
Sail speed；
The vehicle communication terminal is additionally operable to regard the driving information of the vehicle and the surrounding
The cloud server is sent to away from traffic information.
9. communication system according to claim 8, it is characterised in that the vehicle-carrying communication
Terminal be additionally operable to receive the weather information that the cloud server sends, non line of sight traffic information and
The cartographic information of renewal, and by the map of the weather information, non line of sight traffic information and renewal
Information is sent to the traveling decision-making device；
The traveling decision-making device is additionally operable to according to first travel routes information, the adjacent car
Driving information, the surrounding sighting distance traffic information and the weather information, non line of sight road
Condition information and cartographic information determine traveling decision information.
10. communication system according to claim 9, it is characterised in that the communication system
System also includes vehicular map device；
The vehicular map device is used to show the weather information, non line of sight traffic information and ground
Figure information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510672911.3A CN106601001A (en) | 2015-10-16 | 2015-10-16 | Vehicle communication method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510672911.3A CN106601001A (en) | 2015-10-16 | 2015-10-16 | Vehicle communication method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106601001A true CN106601001A (en) | 2017-04-26 |
Family
ID=58553813
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510672911.3A Pending CN106601001A (en) | 2015-10-16 | 2015-10-16 | Vehicle communication method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106601001A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108492602A (en) * | 2018-03-28 | 2018-09-04 | 浙江鼎奕科技发展有限公司 | Vehicular automatic driving method and device |
| CN108521800A (en) * | 2017-09-29 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Control method, control terminal and the machine readable storage medium of automatic driving vehicle |
| CN108615388A (en) * | 2018-05-12 | 2018-10-02 | 徐州蓝湖信息科技有限公司 | A kind of pilotless automobile data-sharing systems and route method of adjustment |
| CN109341713A (en) * | 2018-11-30 | 2019-02-15 | 北京小马智行科技有限公司 | A kind of automated driving system, method and device |
| CN109507999A (en) * | 2017-09-15 | 2019-03-22 | 丰田自动车株式会社 | Travel controlling system, drive-control system and travel control method |
| CN109697848A (en) * | 2017-10-23 | 2019-04-30 | 普天信息技术有限公司 | A kind of method and device obtaining vehicle various dimensions information |
| CN109709965A (en) * | 2018-12-28 | 2019-05-03 | 驭势科技（北京）有限公司 | Control method of automatic driving vehicle and automatic driving system |
| CN109801494A (en) * | 2019-01-25 | 2019-05-24 | 浙江众泰汽车制造有限公司 | A kind of crossing dynamic guiding system and method based on V2X |
| CN110033625A (en) * | 2019-03-27 | 2019-07-19 | 刘瑞 | Follow the pilotless automobile intelligent networking system of vehicle interaction priority rules |
| CN110109458A (en) * | 2019-05-17 | 2019-08-09 | 爱驰汽车有限公司 | Vehicle-mounted automatic Pilot scheduling system, method, equipment and storage medium |
| CN110691321A (en) * | 2019-10-29 | 2020-01-14 | 北京汽车集团有限公司 | Terminal control method, device and equipment |
| CN110853386A (en) * | 2018-08-21 | 2020-02-28 | 上海擎感智能科技有限公司 | Vehicle, server and lane road condition construction prompting method based on 5G technology |
| CN111006681A (en) * | 2019-12-25 | 2020-04-14 | 星觅(上海)科技有限公司 | Auxiliary navigation method, device, equipment and medium |
| CN111105614A (en) * | 2019-12-06 | 2020-05-05 | 惠州市德赛西威汽车电子股份有限公司 | Traffic condition prediction method based on road social circle |
| CN112073941A (en) * | 2020-09-09 | 2020-12-11 | 山东理工大学 | Internet of vehicles V2V information transmission method based on interrupt mode |
| WO2021018006A1 (en) * | 2019-07-31 | 2021-02-04 | 华为技术有限公司 | Packet processing method and device |
| CN112461550A (en) * | 2020-10-29 | 2021-03-09 | 河海大学 | Maximum communication time delay detection method for intelligent networking automobile safety braking |
| CN112835346A (en) * | 2019-11-04 | 2021-05-25 | 大众汽车（中国）投资有限公司 | Method and system for controlling vehicle and vehicle-mounted automatic driving system |
| CN114531690A (en) * | 2022-01-10 | 2022-05-24 | 山西大学 | Sensing and communication optimization method and device for coal mine safety monitoring scene |
| WO2023236665A1 (en) * | 2022-06-10 | 2023-12-14 | 中国第一汽车股份有限公司 | Multi-vehicle atmosphere lamp interaction method and vehicle interaction method |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011022884A (en) * | 2009-07-17 | 2011-02-03 | Nissan Motor Co Ltd | Driving support system, in-vehicle device, computer program and information recording medium |
| CN102431556A (en) * | 2011-11-15 | 2012-05-02 | 武汉理工大学 | Integrated driver early warning device based on vehicle-road cooperation |
| US20120158276A1 (en) * | 2010-12-15 | 2012-06-21 | Electronics And Telecommunications Research Institute | Vehicle driving information provision apparatus and method |
| WO2012129425A2 (en) * | 2011-03-23 | 2012-09-27 | Tk Holdings Inc. | Driver assistance system |
| CN102724663A (en) * | 2011-03-29 | 2012-10-10 | 上海永畅信息科技有限公司 | Relay-based cooperative communication system for Internet of Vehicles |
| CN103440779A (en) * | 2013-08-09 | 2013-12-11 | 浙江吉利汽车研究院有限公司 | Vehicle running guiding system and guiding method |
| CN103810870A (en) * | 2012-11-14 | 2014-05-21 | 上海移为通信技术有限公司 | Vehicle control system and vehicle control method |
| CN103871273A (en) * | 2014-04-04 | 2014-06-18 | 上海扬梓投资管理有限公司 | Vehicle-mounted communication device, vehicle and vehicle communication method |
| CN104386063A (en) * | 2014-09-19 | 2015-03-04 | 奇瑞汽车股份有限公司 | Driving assistance system based on artificial intelligence |
| CN104751669A (en) * | 2015-03-20 | 2015-07-01 | 江苏大学 | Internet of Vehicles based intelligent driving assisting system and method |
-
2015
- 2015-10-16 CN CN201510672911.3A patent/CN106601001A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011022884A (en) * | 2009-07-17 | 2011-02-03 | Nissan Motor Co Ltd | Driving support system, in-vehicle device, computer program and information recording medium |
| US20120158276A1 (en) * | 2010-12-15 | 2012-06-21 | Electronics And Telecommunications Research Institute | Vehicle driving information provision apparatus and method |
| WO2012129425A2 (en) * | 2011-03-23 | 2012-09-27 | Tk Holdings Inc. | Driver assistance system |
| CN102724663A (en) * | 2011-03-29 | 2012-10-10 | 上海永畅信息科技有限公司 | Relay-based cooperative communication system for Internet of Vehicles |
| CN102431556A (en) * | 2011-11-15 | 2012-05-02 | 武汉理工大学 | Integrated driver early warning device based on vehicle-road cooperation |
| CN103810870A (en) * | 2012-11-14 | 2014-05-21 | 上海移为通信技术有限公司 | Vehicle control system and vehicle control method |
| CN103440779A (en) * | 2013-08-09 | 2013-12-11 | 浙江吉利汽车研究院有限公司 | Vehicle running guiding system and guiding method |
| CN103871273A (en) * | 2014-04-04 | 2014-06-18 | 上海扬梓投资管理有限公司 | Vehicle-mounted communication device, vehicle and vehicle communication method |
| CN104386063A (en) * | 2014-09-19 | 2015-03-04 | 奇瑞汽车股份有限公司 | Driving assistance system based on artificial intelligence |
| CN104751669A (en) * | 2015-03-20 | 2015-07-01 | 江苏大学 | Internet of Vehicles based intelligent driving assisting system and method |
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109507999B (en) * | 2017-09-15 | 2021-11-16 | 丰田自动车株式会社 | Travel control device, travel control system, and travel control method |
| CN109507999A (en) * | 2017-09-15 | 2019-03-22 | 丰田自动车株式会社 | Travel controlling system, drive-control system and travel control method |
| CN108521800A (en) * | 2017-09-29 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Control method, control terminal and the machine readable storage medium of automatic driving vehicle |
| WO2019061311A1 (en) * | 2017-09-29 | 2019-04-04 | 深圳市大疆创新科技有限公司 | Control method for self-driving car, control terminal and machine readable storage medium |
| CN109697848A (en) * | 2017-10-23 | 2019-04-30 | 普天信息技术有限公司 | A kind of method and device obtaining vehicle various dimensions information |
| CN108492602A (en) * | 2018-03-28 | 2018-09-04 | 浙江鼎奕科技发展有限公司 | Vehicular automatic driving method and device |
| CN108615388A (en) * | 2018-05-12 | 2018-10-02 | 徐州蓝湖信息科技有限公司 | A kind of pilotless automobile data-sharing systems and route method of adjustment |
| CN110853386A (en) * | 2018-08-21 | 2020-02-28 | 上海擎感智能科技有限公司 | Vehicle, server and lane road condition construction prompting method based on 5G technology |
| CN109341713A (en) * | 2018-11-30 | 2019-02-15 | 北京小马智行科技有限公司 | A kind of automated driving system, method and device |
| CN109709965A (en) * | 2018-12-28 | 2019-05-03 | 驭势科技（北京）有限公司 | Control method of automatic driving vehicle and automatic driving system |
| CN109801494A (en) * | 2019-01-25 | 2019-05-24 | 浙江众泰汽车制造有限公司 | A kind of crossing dynamic guiding system and method based on V2X |
| CN110033625A (en) * | 2019-03-27 | 2019-07-19 | 刘瑞 | Follow the pilotless automobile intelligent networking system of vehicle interaction priority rules |
| CN110109458A (en) * | 2019-05-17 | 2019-08-09 | 爱驰汽车有限公司 | Vehicle-mounted automatic Pilot scheduling system, method, equipment and storage medium |
| CN110109458B (en) * | 2019-05-17 | 2022-04-12 | 爱驰汽车有限公司 | Vehicle-mounted automatic driving scheduling system, method, equipment and storage medium |
| WO2021018006A1 (en) * | 2019-07-31 | 2021-02-04 | 华为技术有限公司 | Packet processing method and device |
| CN110691321B (en) * | 2019-10-29 | 2021-06-22 | 北京汽车集团有限公司 | Terminal control method, device and equipment |
| CN110691321A (en) * | 2019-10-29 | 2020-01-14 | 北京汽车集团有限公司 | Terminal control method, device and equipment |
| CN112835346A (en) * | 2019-11-04 | 2021-05-25 | 大众汽车（中国）投资有限公司 | Method and system for controlling vehicle and vehicle-mounted automatic driving system |
| CN111105614A (en) * | 2019-12-06 | 2020-05-05 | 惠州市德赛西威汽车电子股份有限公司 | Traffic condition prediction method based on road social circle |
| CN111006681A (en) * | 2019-12-25 | 2020-04-14 | 星觅(上海)科技有限公司 | Auxiliary navigation method, device, equipment and medium |
| CN112073941A (en) * | 2020-09-09 | 2020-12-11 | 山东理工大学 | Internet of vehicles V2V information transmission method based on interrupt mode |
| CN112073941B (en) * | 2020-09-09 | 2023-01-31 | 山东理工大学 | Internet of vehicles V2V information transmission method based on interrupt mode |
| CN112461550A (en) * | 2020-10-29 | 2021-03-09 | 河海大学 | Maximum communication time delay detection method for intelligent networking automobile safety braking |
| CN112461550B (en) * | 2020-10-29 | 2021-09-07 | 河海大学 | Maximum communication time delay detection method for intelligent networking automobile safety braking |
| CN114531690A (en) * | 2022-01-10 | 2022-05-24 | 山西大学 | Sensing and communication optimization method and device for coal mine safety monitoring scene |
| WO2023236665A1 (en) * | 2022-06-10 | 2023-12-14 | 中国第一汽车股份有限公司 | Multi-vehicle atmosphere lamp interaction method and vehicle interaction method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106601001A (en) | Vehicle communication method and system | |
| CN113299096B (en) | Cooperative intersection traffic control method, device and equipment | |
| Llatser et al. | Cooperative automated driving use cases for 5G V2X communication | |
| US10203699B1 (en) | Selective remote control of ADAS functionality of vehicle | |
| Uhlemann | Introducing connected vehicles [connected vehicles] | |
| CN107424411B (en) | Street lamp integration device, street lamp system and communication method | |
| CN109987093A (en) | Cooperative lane change control method, device and equipment | |
| CN107749193A (en) | Drive risk analysis and risk data sending method and device | |
| CN106971579A (en) | The trackside operational support system and method for a kind of intelligent network connection automobile | |
| CN110139790A (en) | Control method for stopping and shutoff control unit | |
| KR20190104477A (en) | Method for charging battery of autonomous vehicle and apparatus therefor | |
| CN106467112A (en) | Vehicle-mounted DAS (Driver Assistant System) | |
| CN104408970A (en) | Vehicle alarm method and device | |
| CN106023627A (en) | Active safety early warning device and method based on cooperative vehicle infrastructure and 4G network | |
| CN108022441A (en) | The method and automatic driving vehicle to communicate between control station and other traffic members | |
| CN102509474A (en) | System and method for automatically preventing collision between vehicles | |
| CN107545756A (en) | It is determined that the method and vehicle of the common environmental information of collaboration and/or autonomous driving | |
| US11568741B2 (en) | Communication device, control method thereof, and communication system including the same | |
| CN104937649A (en) | Road information receiving system and receiving method | |
| CN108230718B (en) | Traffic flow dynamic guiding method based on region block | |
| CN112441087A (en) | Train control system and train control method | |
| US20200410868A1 (en) | Method for adjusting the speed of vehicles moving in a convoy | |
| Marilisa et al. | C-ITS communication: an insight on the current research activities in the European Union | |
| CN106781554A (en) | Intelligent traffic signal control system | |
| Fu et al. | A network-level connected autonomous driving evaluation platform implementing C-V2X technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170426 |
|
| RJ01 | Rejection of invention patent application after publication |