CN107172147B - Node information acquisition device, inter-vehicle topology acquisition device, and method - Google Patents
Node information acquisition device, inter-vehicle topology acquisition device, and method Download PDFInfo
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- CN107172147B CN107172147B CN201710341421.4A CN201710341421A CN107172147B CN 107172147 B CN107172147 B CN 107172147B CN 201710341421 A CN201710341421 A CN 201710341421A CN 107172147 B CN107172147 B CN 107172147B
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- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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Abstract
The embodiment of the invention provides a node information acquisition device, an inter-vehicle topological structure acquisition device and a method. The node information acquisition device includes: an image acquisition unit configured to acquire image information of a nearby vehicle adjacent to the node vehicle; a distance detection unit configured to measure a distance and an orientation between the node vehicle and the nearby vehicle; a positioning unit configured to acquire position information of the node vehicle; a processor unit configured to recognize an identity of the nearby vehicle from the image information of the nearby vehicle, and configured to construct node information from the identity, the distance and the orientation, and the position information. According to the embodiment of the invention, the topological structure between vehicles in road driving can be acquired so as to support more vehicle networking applications.
Description
Technical Field
The invention relates to a vehicle technology, in particular to a node information acquisition device, an inter-vehicle topological structure acquisition device and a method.
Background
With the development of vehicle electrification and digitization, more and more vehicles have a network connection function. Various connection technologies between vehicles, between vehicles and infrastructures, or between vehicles and people have been widely developed based on various network connection functions, and various types of information can be mutually transmitted between objects (vehicles, infrastructures, people). In transmitting information, the sender needs to select the recipient's identity, e.g., vehicle license number, vehicle electronic identification (e.g., uniquely assigned network address), etc., to ensure that the information is properly communicated and received. Thus, a channel for transmitting information cannot be established between vehicles that have not exchanged identification information, which limits network applications between vehicles. For example, when a dangerous situation is observed in a front vehicle, since it is not known which vehicles are around and further not known information such as the identities of the surrounding vehicles, it is not possible to warn the surrounding "strange" vehicles through the network between the vehicles, and it is not possible to effectively prevent the occurrence of a consecutive accident.
Disclosure of Invention
The embodiment of the invention provides a node information acquisition device, an inter-vehicle topological structure acquisition device and a method, which are used for identifying vehicle identities and establishing a relation between adjacent vehicles running on a road so as to support network application between the vehicles.
According to a first aspect, an embodiment of the present invention provides a node information acquisition apparatus, wherein the node information includes an identity, a location, an identity of a nearby vehicle, and a distance and an orientation of the nearby vehicle with respect to the node vehicle. The node information acquisition device includes: an image acquisition unit configured to acquire image information of a nearby vehicle adjacent to the node vehicle; a distance detection unit configured to measure a distance and an orientation between the node vehicle and the nearby vehicle; a positioning unit configured to acquire position information of the node vehicle; a processor unit configured to recognize an identity of the nearby vehicle from the image information of the nearby vehicle, and configured to construct node information from the identity, the distance and the orientation, and the position information.
In an embodiment of the invention, the identity comprises a vehicle license plate number.
In an embodiment of the present invention, the node information acquiring apparatus further includes: a display unit configured to graphically display the node information to a user.
According to a second aspect, embodiments of the present invention provide an inter-vehicle topology obtaining apparatus. The inter-vehicle topology structure acquisition device comprises a network server and a plurality of the node information acquisition devices. The node information acquisition apparatus further includes a network communication unit. The network server communicates with network communication units of node information acquisition devices of a plurality of node vehicles, and is configured to: receiving a plurality of node information from network communication units of a plurality of node information acquisition devices; acquiring the topological structures among the vehicles of a plurality of vehicles according to the information of the nodes; and transmitting the inter-vehicle topology to the network communication units of the plurality of node information acquisition devices.
In embodiments of the invention, the identity includes a vehicle license plate number, as well as an electronic identification of the vehicle. The processor unit is configured to acquire a vehicle license number of the nearby vehicle from the image information of the nearby vehicle. The network server is further configured to: acquiring electronic identity recognition of the vehicle according to the license plate number of the vehicle; and is configured to attach vehicle electronic identification to the inter-vehicle topology.
In an embodiment of the present invention, the node information acquiring apparatus further includes: a display unit configured to display the inter-vehicle topology to a user.
In an embodiment of the invention, the network communication unit is further configured to: obtain social information from other vehicles or the network server, and obtain an identity of the originating vehicle contained in the social information, the display unit further configured to: the originating vehicle is identified in the displayed inter-vehicle topology.
In an embodiment of the invention, the display unit is further configured to: the user is allowed to select any vehicle in the inter-vehicle topology displayed by the display unit as a destination vehicle.
In an embodiment of the invention, the network communication unit is further configured to: accident or traffic information from other vehicles or a network server is acquired, and the identities of the relevant vehicles contained in the accident or traffic information are acquired. The display unit is further configured to: the associated vehicle is identified in the displayed inter-vehicle topology.
According to a third aspect, an embodiment of the present invention provides a node information acquisition method, wherein the node information includes an identity, a location, an identity of a nearby vehicle, and a distance and an orientation of the nearby vehicle with respect to the node vehicle. The node information acquisition method comprises the following steps: acquiring image information of a surrounding vehicle adjacent to the node vehicle to identify the identity of the surrounding vehicle; obtaining distance and direction information between the node vehicle and the surrounding vehicles; acquiring position information of node vehicles; and forming node information according to the identity, distance, direction and position information of the surrounding vehicles.
According to a fourth aspect, an embodiment of the present invention provides an inter-vehicle topology acquisition method, including: acquiring a plurality of node information by using the node information acquisition method; and establishing a list of node vehicles, sequentially traversing each node vehicle in the list, and drawing the node vehicles into an inter-vehicle topological structure.
In an embodiment of the invention, for each traversed node vehicle, the following steps are performed: i) a node vehicle, comprising: judging whether the node vehicles are drawn in the topological structure or not, if not, drawing the node vehicles in the topological structure according to the position information from the node vehicles, and if so, not drawing the node vehicles; ii) mapping all surrounding vehicles of the node vehicle, including: according to the information from the topological structure of the node vehicle, a list of surrounding vehicles of the node vehicle is established, and the surrounding vehicles in the list are traversed in sequence; wherein, for each traversed surrounding vehicle, the following steps are carried out: and judging whether the surrounding vehicle is drawn in the topological structure or not, if not, drawing the surrounding vehicle in the topological structure according to the node information, and if so, not drawing the surrounding vehicle.
In an embodiment of the invention, the identities in the node information include a vehicle license number, and a vehicle electronic identification. The inter-vehicle topology acquisition method further includes: recognizing the vehicle license number of the surrounding vehicle according to the image information of the surrounding vehicle; acquiring electronic identity recognition of the vehicle according to the license plate number of the vehicle; and attaching vehicle electronic identification to the inter-vehicle topology.
According to the node information acquisition device, the inter-vehicle topological structure acquisition device and the inter-vehicle topological structure acquisition method, the inter-vehicle topological structure can be acquired, so that more vehicle networking applications can be supported.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below, it being understood that the drawings described below relate only to some embodiments of the present invention and are not limiting thereof, wherein:
fig. 1 is a block diagram of a node information acquisition apparatus;
FIG. 2 is a schematic diagram of node information;
FIG. 3 is a schematic diagram of a process for obtaining node information;
FIG. 4 is a block diagram of an inter-vehicle topology acquisition apparatus for multiple vehicles;
FIG. 5 is a schematic illustration of a flow of captured inter-vehicle topologies of multiple vehicles;
FIG. 6 is a schematic diagram of a process for mapping node information of traversed node vehicles;
FIG. 7 is a schematic illustration of a topology corresponding to a plurality of vehicles traveling on a roadway;
fig. 8 is a schematic diagram of a process for mapping the topology of the portion of the vehicle in fig. 7.
Detailed Description
In order to make the technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, also belong to the scope of protection of the invention.
Fig. 1 is a block diagram for a node information acquisition apparatus. As shown in fig. 1, the node information acquiring means 10 is provided on the node vehicle as a topological node, and the node information includes the identity, the position, the identity of the nearby vehicle, and the distance and the orientation of the nearby vehicle with respect to the node vehicle. The node information acquisition apparatus 10 includes: an image acquisition unit 101, a distance detection unit 102, a positioning unit 103 and a processor unit 104. The image pickup unit 101 is configured to acquire image information of a nearby vehicle adjacent to the node vehicle. The image capturing unit 101 may be any photographing device. The distance detection unit 102 is configured to measure the distance and the orientation between the node vehicle and the nearby vehicle, and the distance detection unit 102 may be any distance measurement device, such as an ultrasonic radar, a laser radar, or the like. The distance measuring device may be a radar having a scanning function so as to detect the direction and distance of the surrounding vehicle. The distance measuring device may have only one-way distance measuring capability, and in this case, a plurality of distance measuring devices may be mounted in a predetermined orientation of the vehicle to acquire distance information of the surrounding vehicle in a fixed orientation. By way of example, such distance and orientation information may include: right ahead, 10 meters; 20 m right behind; left front, 10 meters, etc. The positioning unit 103 is configured to acquire position information of the node vehicle, and the positioning device may use any positioning technology. For example, the positioning device may be a satellite positioning terminal that determines the position information of the node vehicle by communicating with one or more of a GPS satellite, a GLONASS satellite, a "beidou" satellite, and a "galileo" satellite. Of course, the positioning device may also use information from the ground infrastructure for positioning. And a processor unit 104 configured to identify the identity of the nearby vehicle based on the image information of the nearby vehicle. Any image processing hardware, software, or combination thereof may be included in the processor unit 104 to identify the identity of the surrounding vehicle from the image information. The identity may include a vehicle license number as a determined identification of the vehicle, and may also include other ancillary information such as color, make, model (e.g., car, bus, truck), and so forth. The processor unit 104 is further configured to construct node information from the identity, distance and orientation, and the location information.
According to the node information acquisition apparatus 10 described above, the topology between individual vehicles can be acquired, vehicles traveling on a road can be in one-to-one correspondence with electronic vehicle identification individuals in a communication network, which can support more internet-of-vehicles applications.
Furthermore, the image acquisition unit 101 may also be configured to acquire graphical information of the surroundings of the node vehicle for assisted positioning of the vehicle. For example, the collected information may be used to confirm the lane, direction of travel, etc. in which the vehicle is located.
Fig. 2 is a schematic diagram of acquired node information. As shown in the left part of fig. 2, the vehicles a, B, C travel on the road at a short distance. The vehicle a is provided with a node information acquisition device 10. The node information acquisition means 10 collects node information of the node vehicle a, and based on the information, the topology between the vehicle a and its surrounding vehicles B, C as shown in the right part of fig. 2 can be obtained.
Fig. 3 shows a flow of a method of obtaining the topology. As shown in fig. 3, in step S301, image information of a nearby vehicle surrounding a node vehicle is acquired to identify the identity of the nearby vehicle. The image capturing unit 101 in the node information acquiring apparatus 10 on the vehicle a acquires images of the vehicles B and C, and performs image recognition by the processor unit 104 to acquire identities of the vehicles B and C, which may include vehicle license numbers. As an example, the vehicle license numbers of the vehicles B, C may be B2222, C3333, respectively.
In step S302, distance and orientation information between the node vehicle and the nearby vehicle is acquired. The distance detection unit 102 in the node information acquisition device 10 on the vehicle a detects the distance and orientation of the vehicles B, C with respect to the vehicle a. As an example, the following information may be obtained: the vehicle B is positioned at the front left of the vehicle A and 30 meters; vehicle C is located 20 meters, at the front right of vehicle a.
In step S303, the position information of the node vehicle is acquired. The positioning unit 103 in the node information acquisition device 10 on the vehicle a acquires the position of the vehicle a. As AN example, the position of the vehicle a may be represented by longitude AN and latitude AE, and AN AE may be any actually measured numerical value.
In step S304, node information is formed from the identity, distance, and orientation of the nearby vehicle, and the position information. The processor unit 104 in the node information acquisition device 10 on the vehicle a acquires information of the node from the data acquired in steps S301 to S303. The information of the node may include information of the vehicle a and the nearby vehicles, and the obtained node information may be as shown in table 1, as an example.
Table 1 node information example
| Node vehicle | Vehicle A | License plate number: a1111 | Position: AN, AE |
| Peripheral vehicle | Vehicle B | License plate number: b2222 | Position: front left, 30 m |
| Peripheral vehicle | Vehicle C | License plate number: c3333 | Position: right front, 20 m |
The node information shown in table 1 may be used to plot the topology shown in fig. 2. According to the device and the method for acquiring the topological structure between the vehicles, the topological structure between the vehicles can be acquired to support more vehicle networking applications. In this way, more accurate information may be transmitted between adjacent vehicles.
For example, in one application, if vehicle a finds that the brake lights of vehicle B are not on, the following information may be sent: "originator: a1111; a receiver: b2222; the position relation is as follows: b2222 was located at the front left of a1111, 30 meters; the text is as follows: the brake light of B2222 is not on ". The information may be text information or voice information. The information may be sent in any way, for example, if vehicle a and vehicle B are connected to the same data network (e.g., a wide area network, a local area network, etc.) and a point-to-point communication link is established, the information may be sent directly to vehicle B. If the vehicles a and B can transmit or receive the general broadcast information using only the predetermined broadcast frequency without using the data network, the vehicle a can simply transmit the above information to the outside on the predetermined broadcast frequency without specifying the reception target. Vehicle B acquires this information at the corresponding broadcast frequency. In any way, as long as the vehicle B receives the warning information, the source of the warning information can be known, which is beneficial to the vehicle B to judge the truth degree of the warning information and take corresponding measures.
It should be understood that, in the drawings, the sequential block diagram is used for convenience of description, but the embodiment of the present invention is not limited thereto, and the sequence between the steps may be adjusted according to actual needs.
Fig. 4 is a block diagram of an inter-vehicle topology acquisition apparatus of a plurality of vehicles. As shown in fig. 4, the inter-vehicle topology obtaining apparatus includes a network server 20, and a plurality of the above-described node information obtaining apparatuses 10. The node information acquisition apparatus 10 further includes a network communication unit 105. The network server 20 communicates with the network communication unit 105 of the node information acquisition devices 10 of the plurality of node vehicles, and is configured to: receiving a plurality of node information from the network communication unit 105 of the plurality of node information acquisition devices 10; acquiring the topological structures among the vehicles of a plurality of vehicles according to the information of the nodes; and transmits the inter-vehicle topology to the network communication unit 105 of the plurality of node information acquisition devices 10. In an embodiment of the present invention, the network server 20 may obtain a plurality of node information to obtain the inter-vehicle topology of a plurality of vehicles. More efficient services may also be provided to more vehicles with the greater computing power and database support of the network server 20.
In an embodiment of the present invention, the identity in the node information may include a vehicle license number, and a vehicle electronic identification. The processor unit 104 of the node information acquiring apparatus 10 may be further configured to acquire the vehicle license number of the nearby vehicle from the image information of the nearby vehicle. The network server 20 may also be configured to: acquiring electronic identity recognition of the vehicle according to the license plate number of the vehicle; and attaching vehicle electronic identification to the inter-vehicle topology. The correspondence between the vehicle license number and the vehicle electronic identification may be stored in the network server 20 for easy access. As an example, the web server 20 may also access the database of the relevant management department in a specified manner to obtain more comprehensive data, if necessary. By using the electronic identification information, the vehicles can cross the region limitation and carry out rapid and accurate communication in the vehicle internet.
FIG. 5 is a schematic illustration of a flow of captured inter-vehicle topologies of multiple vehicles. As shown in fig. 5, the drawing process includes: s501, acquiring a plurality of node information; s502, a list of node vehicles is established, each node vehicle in the list is traversed sequentially, and the node vehicles are drawn into a topological structure between the vehicles. Further, as shown in fig. 6, in step S502, for each traversed node vehicle, the following steps may be performed: s5021, the node vehicle mapping method includes: judging whether the node vehicles are drawn in the topological structure or not, if not, drawing the node vehicles in the topological structure according to the position information from the node vehicles, and if so, not drawing the node vehicles; s5022, drawing all surrounding vehicles of the node vehicle, and comprising: according to the information from the topological structure of the node vehicle, a list of surrounding vehicles of the node vehicle is established, and the surrounding vehicles in the list are traversed in sequence; wherein, for each traversed surrounding vehicle, the following steps are carried out: and judging whether the surrounding vehicle is drawn in the topological structure or not, if not, drawing the surrounding vehicle in the topological structure according to the node information, and if so, not drawing the surrounding vehicle.
Fig. 7 is a schematic diagram of a topology corresponding to a plurality of vehicles traveling on a road. As one example, a vehicle a, a vehicle B, a vehicle C, and their surrounding vehicles, for example, a vehicle D, a vehicle E, and the like are cited. As shown in fig. 7, in the topology structure drawn by the network server 20, even vehicles far away, such as the vehicle D and the vehicle E, can conveniently establish communication connection. As an example, the arrows in FIG. 7 mark the flow of a portion of the information that may be present.
The network server 20 maps the topology shown in fig. 7 and sends it to each vehicle. The network server 20 can send the corresponding graph of the topology structure to obtain a uniform display effect on different vehicles. The network server 20 may also send data corresponding to the topology, and the processor on the vehicle may restore the graph of the topology, which may reduce data traffic and fully utilize the processing power of the vehicle itself. The data corresponding to the topology structure can be stored and managed in the form of a linked list and the like. It should be understood that the network server 20 need only send the minimal data required to restore the topology, and need not send all of the node information to every vehicle.
In addition, the network server 20 may selectively transmit the topology according to the requirements of the vehicle. This may be configured in the network server 20, or in the vehicle. For example, a user of the vehicle may wish to stop receiving topology or only receive information about nearby vehicles within a specified range. As one example, a user of vehicle B may only be interested in a closer distance vehicle, e.g., vehicle a, vehicle C, vehicle E, while shielding a relatively farther distance vehicle, e.g., vehicle D.
Fig. 8 is a schematic diagram of a process for mapping the topology of the portion of the vehicle in fig. 7. The above-described plotting process is further explained below, still taking vehicle a, vehicle B, and vehicle C as examples, in conjunction with fig. 8. In step S501, node information of the vehicle a, the vehicle B, and the vehicle C is acquired, the node information of the vehicle B is shown in table 2, the node information of the vehicle C is shown in table 3, and a set of a plurality of node information is shown in table 4.
TABLE 2 node information example for vehicle B
| Node vehicle | Vehicle B | License plate number: b2222 | Position: BN, BE |
| Peripheral vehicle | Vehicle A | License plate number: a1111 | Position: rear right, 30 m |
| Peripheral vehicle | Vehicle C | License plate number: c3333 | Position: right side, 10 m |
TABLE 3 node information example for vehicle C
| Node vehicle | Vehicle C | License plate number: c3333 | Position: CN, CE |
| Peripheral vehicle | Vehicle A | License plate number: a1111 | Position: left rear, 20 m |
| Peripheral vehicle | Vehicle B | License plate number: b2222 | Position: left side, 10 m |
TABLE 4 topology of multiple vehicles
In step S502, the network server 20 may map the topology of the plurality of vehicles according to the information of table 4. Vehicle a may be traversed to first, at which time vehicle a is first plotted at location (AN, AE) because it was not. Then, drawing is performed for the nearby vehicle B and the nearby vehicle C of the vehicle a. The nearby vehicle B is not drawn, and therefore, the vehicle B is drawn in accordance with the position of the vehicle a and the relative relationship of the vehicle a and the vehicle B. The nearby vehicle C is not drawn either, and therefore the vehicle C is drawn according to the position of the vehicle a and the relative relationship of the vehicle a and the vehicle C. The graph obtained at this time is identical to that shown on the right side in fig. 2. The leftmost side of fig. 8 shows the corresponding topology among the 3 node information.
Then, node vehicle B is traversed and node vehicle B has been mapped. The relative relationship of vehicle a and vehicle B has been plotted. However, the relative relationship of the vehicle C and the vehicle B has not been plotted yet, and therefore, the vehicle C is plotted. The upper right part of fig. 8 shows the topology at this time.
Finally, traversing to the node vehicle C, the node vehicle C is already drawn, and the relative relationship between the vehicle A, the vehicle B and the vehicle C is already drawn without new drawing. This results in the topology shown in the lower right portion of fig. 8, which can be sent to vehicle a, vehicle B, and vehicle C to support more complex network applications.
In embodiments of the invention, traversing node vehicles in turn can also enable redundant functionality of the system. For example, in the case where node vehicle B fails to provide node information, the same topology can be obtained after traversing node vehicles a and C.
Additionally, the identity in the node information may include a vehicle license number, as well as vehicle electronic identification. The inter-vehicle topology acquisition method may further include: recognizing the vehicle license number of the surrounding vehicle according to the image information of the surrounding vehicle; acquiring electronic identity recognition of the vehicle according to the license plate number of the vehicle; and attaching vehicle electronic identification to the inter-vehicle topology. At this time, table 5 can be obtained. As one example, as shown in table 5, the electronic identification may include a network address.
TABLE 5 Multi-vehicle topology with electronic identification information
Fig. 8 shows the acquisition process of the topologies of the vehicles a, B, C in fig. 7, and so on, the entire topology described in fig. 7 can be obtained. It is also apparent that the number of vehicles in FIG. 7 is not a limitation of the present invention.
In the embodiment of the invention, the relative positional relationship between a plurality of vehicles can be obtained without increasing the accuracy of the positioning data. It should be appreciated that in the above description, the position data of any one vehicle (e.g., AN, AE of vehicle A) can be used without affecting the final topology. Of course, higher accuracy positioning data may be preferentially used, e.g., positioning data of a vehicle incorporating terrestrial assisted positioning may be preferentially used relative to using only a satellite positioning system. In this case, the accuracy of the positioning data of one vehicle is improved, and the positioning accuracy of a plurality of vehicles can be further improved.
More specific applications are exemplified below.
Returning to fig. 4, as an example, the node information acquiring apparatus 10 further includes: a display unit 106 configured to display the inter-vehicle topology to a user. In one application, the network communication unit 105 is further configured to: social information from other vehicles or the network server 20 is obtained, and the identity of the originating vehicle contained in the social information is obtained. The display unit 106 may also be configured to: the originating vehicle is marked in the displayed inter-vehicle topology, and the user is allowed to select any vehicle in the inter-vehicle topology displayed by the display unit 106 as the terminating vehicle. The display unit 106 may have a touch screen. For example, the user of vehicle a may make a touch on the display unit 106 in vehicle a to select vehicle B as the destination to send information to vehicle B. The information may be text information or voice information. After the vehicle B receives the information of the vehicle a, the display unit 106 displays the text of the information, and at the same time, the vehicle B also marks the vehicle a as the originating vehicle in the inter-vehicle topology.
In another application, the network communication unit 105 is further configured to: the accident or traffic information from other vehicles or the network server 20 is acquired, and the identities of the relevant vehicles included in the accident or traffic information are acquired. The display unit 106 is further configured to: the associated vehicle is identified in the displayed inter-vehicle topology.
In a traffic system, how to timely and effectively inform a running vehicle of a forward accident or road conditions to avoid further accidents is an important concern. The unified transmission of simple information such as "accident ahead" to vehicles behind the accident site does not provide effective prevention. The inter-vehicle topology may help solve the problem, for example, after the vehicle B fails or an accident occurs, the network server 20 may accurately inform the vehicles C and a to take evasive measures. In the case where the vehicles a, C are equipped with the automated driving system, it is also possible for the automated driving system to directly operate the vehicles for avoidance. This is particularly helpful in preventing a rear-end collision in severe weather. Vehicles close to the accident scene can be warned in time, and the warning information can include distance information with the accident scene, and the information can be visually displayed in the display unit 106, so that the driver can be more vigilant and take measures in time.
In another application, the topology information can also facilitate rapid knowledge of the information of the accident vehicle by the traffic management department. For example, when the license plate of the vehicle B is damaged due to an accident, the relevant information such as the picture, the license plate number and the like of the vehicle B can still be retrieved from the network server 20 or the neighboring vehicle. Thus, the process of field accident treatment can be accelerated.
According to the node information acquisition device, the inter-vehicle topological structure acquisition device and the method, the vehicle identity can be identified, the relation between adjacent vehicles running on a road can be established, and the inter-vehicle topological structure can be acquired, so that brand-new vehicle networking application can be supported or the existing application can be improved.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (9)
1. An inter-vehicle topology acquisition apparatus, characterized by comprising: a network server and a plurality of node information acquisition devices;
wherein the node information comprises the identity and the position of the node vehicle, the identity of the surrounding vehicle, and the distance and the orientation of the surrounding vehicle relative to the node vehicle;
wherein, the node information acquisition device includes:
an image acquisition unit configured to acquire image information of a nearby vehicle adjacent to the node vehicle;
a distance detection unit configured to measure a distance and an orientation between the node vehicle and the nearby vehicle;
a positioning unit configured to acquire position information of the node vehicle;
a processor unit configured to recognize an identity of the nearby vehicle from the image information of the nearby vehicle, and configured to construct node information from the identity, the distance and the orientation, and the position information;
the node information acquisition device further comprises a network communication unit;
wherein the network server communicates with network communication units of the node information acquisition devices of a plurality of node vehicles, and is configured to:
receiving a plurality of node information from network communication units of a plurality of the node information acquisition devices;
acquiring topological structures among the vehicles of a plurality of vehicles according to the information of the nodes; and
transmitting the inter-vehicle topology to network communication units of a plurality of the node information acquisition devices.
2. The inter-vehicle topology acquisition device of claim 1, wherein said identities comprise a vehicle license plate number, and a vehicle electronic identification;
the processor unit is configured to acquire the vehicle license plate number of the nearby vehicle from the image information of the nearby vehicle;
the network server is configured to obtain the vehicle electronic identification from the vehicle license plate number and to append the vehicle electronic identification to the inter-vehicle topology.
3. The inter-vehicle topology structure acquisition apparatus according to claim 1, characterized in that said node information acquisition apparatus further comprises: a display unit configured to display the inter-vehicle topology to a user.
4. The inter-vehicle topology structure acquisition apparatus according to claim 3, wherein the network communication unit is further configured to: obtaining social information from other vehicles or a network server, and obtaining the identity of a sending vehicle contained in the social information;
the display unit is further configured to: identifying a calling vehicle in the displayed inter-vehicle topology.
5. The inter-vehicle topology structure acquisition device according to claim 4,
the display unit is further configured to: the user is allowed to select any vehicle in the inter-vehicle topology displayed by the display unit as a destination vehicle.
6. The inter-vehicle topology structure acquisition device according to claim 3,
the network communication unit is further configured to: acquiring accident or road condition information from other vehicles or a network server, and acquiring identities of related vehicles contained in the accident or road condition information;
the display unit is further configured to: the associated vehicle is identified in the displayed inter-vehicle topology.
7. An inter-vehicle topology acquisition method executed by the inter-vehicle topology acquisition apparatus according to any one of claims 1 to 6, characterized by comprising:
acquiring node information of a plurality of node vehicles; and
establishing a list of node vehicles, sequentially traversing each node vehicle in the list, and drawing the node vehicles into an inter-vehicle topological structure;
wherein, obtaining the node information comprises:
acquiring image information of a surrounding vehicle adjacent to the node vehicle to identify the identity of the surrounding vehicle;
obtaining distance and direction information between the node vehicle and the surrounding vehicles;
acquiring position information of node vehicles; and
and forming node information according to the identity, the distance and the direction of the surrounding vehicle and the position information.
8. The inter-vehicle topology acquisition method according to claim 7, characterized in that, for each traversed node vehicle, the following steps are performed:
i) a node vehicle, comprising:
judging whether the node vehicles are drawn in the topological structure or not, if not, drawing the node vehicles in the topological structure according to the position information from the node vehicles, and if so, not drawing the node vehicles;
ii) mapping all surrounding vehicles of the node vehicle, including:
according to the information from the topological structure of the node vehicle, a list of surrounding vehicles of the node vehicle is established, and the surrounding vehicles in the list are traversed in sequence; wherein, for each traversed surrounding vehicle, the following steps are carried out:
and judging whether the surrounding vehicle is drawn in the topological structure or not, if not, drawing the surrounding vehicle in the topological structure according to the node information, and if so, not drawing the surrounding vehicle.
9. The inter-vehicle topology obtaining method according to claim 7, wherein the identity in the node information includes a vehicle license number, and a vehicle electronic identification;
the inter-vehicle topology acquisition method further includes:
recognizing the vehicle license number of the surrounding vehicle according to the image information of the surrounding vehicle;
acquiring electronic identity recognition of the vehicle according to the license plate number of the vehicle; and is
Vehicle electronic identification is attached to the inter-vehicle topology.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710341421.4A CN107172147B (en) | 2017-05-16 | 2017-05-16 | Node information acquisition device, inter-vehicle topology acquisition device, and method |
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| CN110717457A (en) * | 2019-10-10 | 2020-01-21 | 郑州迈拓信息技术有限公司 | Pedestrian pose calculation method for vehicle |
| CN110677491B (en) * | 2019-10-10 | 2021-10-19 | 郑州迈拓信息技术有限公司 | Method for estimating position of vehicle |
| CN113064116B (en) | 2020-01-02 | 2024-01-30 | 京东方科技集团股份有限公司 | Vehicle positioning method and device and automobile |
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