CN107464436A - Information processing method and device based on vehicle sub-clustering - Google Patents

Information processing method and device based on vehicle sub-clustering Download PDF

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Publication number
CN107464436A
CN107464436A CN201710650212.8A CN201710650212A CN107464436A CN 107464436 A CN107464436 A CN 107464436A CN 201710650212 A CN201710650212 A CN 201710650212A CN 107464436 A CN107464436 A CN 107464436A
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vehicle
information
collaborative sensing
mentioned
requesting party
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CN107464436B (en
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李玉宏
沈龙
王柏林
卢美莲
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Beijing University of Posts and Telecommunications
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Beijing University of Posts and Telecommunications
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle

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  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention provides a kind of information processing method and device based on vehicle sub-clustering, wherein method includes：Requesting party's vehicle sends the request of the first collaborative sensing to cluster head vehicle, asked in the first collaborative sensing request comprising the first position information residing for requesting party's vehicle and the mark of requesting party's vehicle, first collaborative sensing for asking the road environment information at the first position information；The first collaborative sensing response that requesting party vehicle receiver responder vehicle is sent, the first collaborative sensing response bag is containing the road environment information at the first position information, the road environment information is that the second collaborative sensing that responder's vehicle is sent according to the cluster head vehicle asks what is obtained, the mark comprising the first position information and requesting party's vehicle in the second collaborative sensing request；The control information of generation automatic driving vehicle is responded according to first collaborative sensing.

Description

Information processing method and device based on vehicle sub-clustering
Technical field
The present invention relates to autonomous driving vehicle technical field, more particularly to a kind of information processing method based on vehicle sub-clustering And device.
Background technology
Autonomous driving vehicle is that automatic planning travelling line simultaneously controls vapour after perceiving road environment by vehicle-mounted sensor-based system Car reaches the intelligent vehicle of intended destination.
Existing autonomous driving vehicle gathers the characteristic of its vehicle body surrounding environment, including detection road using onboard sensor Edge, detection traffic lane line, identification road sign or traffic lights etc., and be obtained from using gyroscope, accelerometer and altimeter The location information in body geographical position, further, pedestrian or barrier etc. are identified with reference to camera, radar and laser technology.It is existing The above- mentioned information that some autonomous driving vehicles perceive to obtain is transferred into vehicle-mounted computer, and vehicle-mounted computer is according to above- mentioned information generation pair The control information of this autonomous driving vehicle, and then control autonomous driving vehicle to be travelled according to above-mentioned control information.
However, by the way of prior art, the accuracy of the control information of the autonomous driving vehicle of acquisition is not high.
The content of the invention
The embodiments of the invention provide a kind of information processing method and device based on vehicle sub-clustering, to solve using existing The mode of technology, the problem of accuracy of the control information of the autonomous driving vehicle of acquisition is not high.
First aspect of the embodiment of the present invention provides a kind of information processing method based on vehicle sub-clustering, including：
The request of the first collaborative sensing is sent to cluster head vehicle, requesting party's vehicle institute is included in above-mentioned first collaborative sensing request The mark of the first position information at place and above-mentioned requesting party's vehicle, above-mentioned first collaborative sensing ask to be used to ask above-mentioned first Road environment information at confidence breath；
The first collaborative sensing response that responder's vehicle is sent is received, above-mentioned first collaborative sensing response bag contains above-mentioned first Road environment information at positional information, above-mentioned road environment information are that above-mentioned responder's vehicle is sent according to above-mentioned cluster head vehicle The request of the second collaborative sensing obtain, in the request of above-mentioned second collaborative sensing include above-mentioned first position information and above-mentioned request The mark of square vehicle；
The control information of generation automatic driving vehicle is responded according to above-mentioned first collaborative sensing.
Optionally, also include in above-mentioned first collaborative sensing request：Type information is perceived, is wrapped in above-mentioned perception type information Containing M perception type, above-mentioned M is the integer more than or equal to 2；Above-mentioned N number of perception is also included in above-mentioned second collaborative sensing request Type, above-mentioned N are the integer more than or equal to 1 and less than M；Specifically, above-mentioned perception type information is obtained by sensor；
The first collaborative sensing response that above-mentioned reception responder vehicle is sent, including：
Receive the first collaborative sensing response that at least two responder's vehicles are sent respectively, above-mentioned first collaborative sensing response In comprising road environment information corresponding to above-mentioned N number of perception type at above-mentioned first position information, at least two above-mentioned first Road environment information corresponding to type is perceived in collaborative sensing response comprising above-mentioned M at above-mentioned first position information altogether.
Optionally, also above-mentioned N number of perception type is obtained comprising above-mentioned responder's vehicle in above-mentioned first collaborative sensing response The location of the timestamp of corresponding road environment information and above-mentioned responder's vehicle information；
The above-mentioned control information that generation automatic driving vehicle is responded according to above-mentioned first collaborative sensing, including：
Temporal information according to the first collaborative sensing response that responder's vehicle is sent is received obtains with above-mentioned responder's vehicle Above-mentioned N number of timestamp for perceiving road environment information corresponding to type is taken, obtains very first time offset；
The location of first position information and above-mentioned responder's vehicle according to residing for above-mentioned requesting party's vehicle information, is obtained Take first position offset；
According to road corresponding to above-mentioned very first time offset, above-mentioned first position offset and above-mentioned M perception type Road environmental information, generate the control information of automatic driving vehicle.
Optionally, before above-mentioned transmission the first collaborative sensing request to cluster head vehicle, in addition to：
Broadcast the first hello packets, above-mentioned first hello packets include the mark of above-mentioned requesting party's vehicle and above-mentioned The driving information of requesting party's vehicle；
Receive that above-mentioned cluster head vehicle sends allows to add message, it is above-mentioned allow to add message be above-mentioned cluster head vehicle according to What the mark of above-mentioned requesting party's vehicle and the driving information of above-mentioned requesting party's vehicle determined；
Determination is sent to above-mentioned cluster head vehicle and adds message, and above-mentioned determination adds message to be allowed to add answering for message to be above-mentioned Answer.
Second aspect of the present invention provides a kind of information processing method based on vehicle sub-clustering, including：
The first collaborative sensing request that reception requesting party vehicle is sent, asked in above-mentioned first collaborative sensing request comprising above-mentioned The mark of first position information and above-mentioned requesting party's vehicle residing for the side's of asking vehicle, above-mentioned first collaborative sensing are asked for above-mentioned Requesting party's vehicle asks the road environment information at above-mentioned first position information；
Responder's vehicle is determined according to above-mentioned first position information, the second place information of above-mentioned responder's vehicle and above-mentioned The first position information match of the sensing range of responder's vehicle and above-mentioned requesting party's vehicle；
The request of the second collaborative sensing is sent to above-mentioned responder's vehicle, above-mentioned the is included in the request of above-mentioned second collaborative sensing The mark of one positional information and above-mentioned requesting party's vehicle, above-mentioned second collaborative sensing ask to be wrapped for above-mentioned responder's vehicle The first collaborative sensing response containing the road environment information at above-mentioned first position information, so that above-mentioned requesting party's vehicle is according to upper State the control information of the first collaborative sensing response generation automatic driving vehicle.
Optionally, also include in above-mentioned first collaborative sensing request：Type information is perceived, is wrapped in above-mentioned perception type information Containing M perception type, above-mentioned M is the integer more than or equal to 2；
Before above-mentioned transmission the second collaborative sensing request to responder's vehicle, in addition to：
The perception of above-mentioned P responder vehicle is obtained, different above-mentioned perceptions corresponds to different perception types； Above-mentioned P responder vehicle is to be determined according to above-mentioned first position information, and above-mentioned P is the integer more than or equal to 2；
P the second collaborative sensing requests are generated according to above-mentioned perception, wherein, i-th of above-mentioned responder's vehicle is corresponding Above-mentioned second collaborative sensing request bag contain NiIndividual above-mentioned perception type, N1+…+Ni+…+NP=M, above-mentioned i are more than or equal to 1 And the integer less than or equal to P.
Optionally, before the first collaborative sensing request that above-mentioned reception requesting party vehicle is sent, in addition to：
The first hello packets of above-mentioned requesting party's vehicle are received, above-mentioned first hello packets include above-mentioned requesting party The mark of vehicle and the driving information of above-mentioned requesting party's vehicle；
Determine to allow to add message according to the driving information of the mark of above-mentioned requesting party's vehicle and above-mentioned requesting party's vehicle；
Receive the determination that above-mentioned request vehicle is sent and add message, above-mentioned determination adds message to be allowed to add message to be above-mentioned Response.
Optionally, the above method, in addition to：
The Cooperation controlling information of the second cluster head vehicle is received, above-mentioned Cooperation controlling information includes：Above-mentioned second cluster head vehicle Corresponding second car group reaches the second place after preset time period, and above-mentioned Cooperation controlling information is used to ask the first cluster head vehicle Corresponding first car group avoids said second position after above-mentioned preset time period；
To above-mentioned first car group broadcast them Cooperation controlling information, above-mentioned Cooperation controlling information is used in above-mentioned first car group Each vehicle the control information of above-mentioned automatic driving vehicle is generated according to above-mentioned Cooperation controlling information.
The third aspect of the embodiment of the present invention provides a kind of information processing method based on vehicle sub-clustering, including：
The second collaborative sensing request that cluster head vehicle is sent is received, requesting party's car is included in above-mentioned second collaborative sensing request The mark of first position information and above-mentioned requesting party's vehicle residing for, above-mentioned second collaborative sensing ask to be used for above-mentioned requesting party Vehicle asks the road environment information at above-mentioned first position information；
The response of the first collaborative sensing is generated, above-mentioned first collaborative sensing response bag is containing the road at above-mentioned first position information The mark of environmental information and above-mentioned requesting party's vehicle, above-mentioned road environment information are to ask to obtain according to above-mentioned first collaborative sensing 's；
Above-mentioned first collaborative sensing response is sent, above-mentioned first collaborative sensing is responded for the generation of above-mentioned requesting party's vehicle certainly The dynamic control information for driving vehicle.
Optionally, also include in above-mentioned second collaborative sensing request：Type information is perceived, is wrapped in above-mentioned perception type information Containing N number of perception type, above-mentioned N is the integer more than or equal to 1；
The above-mentioned collaborative sensing of generation first response, including：
Generation includes above-mentioned N number of the first association for perceiving road environment information corresponding to type at above-mentioned first position information Make to perceive response.
Fourth aspect of the embodiment of the present invention provides a kind of information processor based on vehicle sub-clustering, including：
First sending module, above-mentioned first sending module is used to send the request of the first collaborative sensing to cluster head vehicle, above-mentioned It is above-mentioned comprising the first position information and the mark of above-mentioned requesting party's vehicle residing for requesting party's vehicle in the request of first collaborative sensing First collaborative sensing is asked for asking the road environment information at above-mentioned first position information；
First receiving module, the first collaborative sensing that above-mentioned first receiving module is used to receive the transmission of responder's vehicle ring Should, above-mentioned first collaborative sensing response bag is containing the road environment information at above-mentioned first position information, above-mentioned road environment information The second collaborative sensing sent for above-mentioned responder's vehicle according to above-mentioned cluster head vehicle asks what is obtained, above-mentioned second collaborative sensing Mark comprising above-mentioned first position information and above-mentioned requesting party's vehicle in request；
Generation module, above-mentioned generation module are used for the control that generation automatic driving vehicle is responded according to above-mentioned first collaborative sensing Information processed.
Optionally, also include in above-mentioned first collaborative sensing request：Type information is perceived, is wrapped in above-mentioned perception type information Containing M perception type, above-mentioned M is the integer more than or equal to 2；Above-mentioned N number of perception is also included in above-mentioned second collaborative sensing request Type, above-mentioned N are the integer more than or equal to 1 and less than M；
Above-mentioned first sending module includes receiving unit, and above-mentioned receiving unit is used to receive at least two responder's vehicles point The the first collaborative sensing response not sent, the above-mentioned N at above-mentioned first position information is included in above-mentioned first collaborative sensing response Road environment information corresponding to individual perception type, above-mentioned first position is included altogether at least two above-mentioned first collaborative sensing responses Above-mentioned M at information perceives road environment information corresponding to type.
Optionally, also above-mentioned N number of perception type is obtained comprising above-mentioned responder's vehicle in above-mentioned first collaborative sensing response The location of the timestamp of corresponding road environment information and above-mentioned responder's vehicle information；
Above-mentioned generation module includes：First acquisition unit, second acquisition unit and generation unit；
Above-mentioned first acquisition unit is used to be believed according to the time for receiving the first collaborative sensing response that responder's vehicle is sent Breath obtains above-mentioned N number of timestamp for perceiving the corresponding road environment information of type, the acquisition very first time with above-mentioned responder's vehicle Offset；
Above-mentioned second acquisition unit is used for first position information and above-mentioned responder according to residing for above-mentioned requesting party's vehicle The location of vehicle information, obtain first position offset；
Above-mentioned generation unit is according to above-mentioned very first time offset, above-mentioned first position offset and above-mentioned M perception Road environment information corresponding to type, generate the control information of automatic driving vehicle.
Optionally, above-mentioned device, in addition to：
Sending module, above-mentioned sending module are used to send the first hello packets, and above-mentioned first hello packets include The mark of above-mentioned requesting party's vehicle and the driving information of above-mentioned requesting party's vehicle；
Second receiving module, above-mentioned second receiving module are used to receiving that above-mentioned cluster head vehicle to send allows to add message, It is above-mentioned to allow to add mark and the traveling of above-mentioned requesting party vehicle of the message for above-mentioned cluster head vehicle according to above-mentioned requesting party's vehicle What information determined；
Second sending module, above-mentioned second sending module, which is used to send to above-mentioned cluster head vehicle, to be determined to add message, above-mentioned It is determined that message is added as the above-mentioned response for allowing to add message.
The aspect of the embodiment of the present invention the 5th provides a kind of information processor based on vehicle sub-clustering, including：
First receiving module, the first collaborative sensing that above-mentioned first receiving module is used to receive the transmission of requesting party's vehicle please Ask, the first position information residing for above-mentioned requesting party's vehicle and above-mentioned requesting party's vehicle are included in above-mentioned first collaborative sensing request Mark, above-mentioned first collaborative sensing asks to ask the road environment at above-mentioned first position information for above-mentioned requesting party's vehicle Information；
First determining module, above-mentioned first determining module are used to determine responder's vehicle according to above-mentioned first position information, The sensing range of the second place information of above-mentioned responder's vehicle and above-mentioned responder's vehicle and the first of above-mentioned requesting party's vehicle Positional information matches；
Sending module, above-mentioned sending module are used to send the request of the second collaborative sensing to above-mentioned responder's vehicle, and above-mentioned the The mark comprising above-mentioned first position information and above-mentioned requesting party's vehicle, above-mentioned second collaborative sensing please in the request of two collaborative sensings Ask and the first collaborative sensing sound comprising the road environment information at above-mentioned first position information is obtained for above-mentioned responder's vehicle Should, so that above-mentioned requesting party's vehicle responds the control information of generation automatic driving vehicle according to above-mentioned first collaborative sensing.
Optionally, also include in above-mentioned first collaborative sensing request：Type information is perceived, is wrapped in above-mentioned perception type information Containing M perception type, above-mentioned M is the integer more than or equal to 2；
Also include：
Acquisition module, above-mentioned acquisition module are used for the perception for obtaining above-mentioned P responder vehicle, different above-mentioned senses The ability of knowing corresponds to different perception types；Above-mentioned P responder vehicle is to be determined according to above-mentioned first position information, and above-mentioned P is Integer more than or equal to 2；
Generation module, above-mentioned generation module are used to generate P the second collaborative sensing requests according to above-mentioned perception, its In, above-mentioned second collaborative sensing request bag contains N corresponding to i-th of above-mentioned responder's vehicleiIndividual above-mentioned perception type, N1+…+Ni +…+NP=M, above-mentioned i are the integer more than or equal to 1 and less than or equal to P.
Optionally, above-mentioned device, in addition to：
Second receiving module, above-mentioned second receiving module are used for the first hello packets for receiving above-mentioned requesting party's vehicle, Above-mentioned first hello packets include the mark of above-mentioned requesting party's vehicle and the driving information of above-mentioned requesting party's vehicle；
Second determining module, above-mentioned second determining module are used for mark and above-mentioned requesting party according to above-mentioned requesting party's vehicle The driving information of vehicle determines to allow to add message；
Above-mentioned second receiving module is additionally operable to receive the determination addition message that above-mentioned request vehicle is sent, and above-mentioned determination adds Message is the above-mentioned response for allowing to add message.
Optionally, above-mentioned device, in addition to：
3rd receiving module, above-mentioned 3rd receiving module is used for the Cooperation controlling information for receiving the second cluster head vehicle, above-mentioned Cooperation controlling information includes：The second car group reaches the second place after preset time period corresponding to above-mentioned second cluster head vehicle, on State Cooperation controlling information be used for ask the first cluster head vehicle corresponding to the first car group above-mentioned the is avoided after above-mentioned preset time period Two positions；
Sending module, above-mentioned sending module are used to send above-mentioned Cooperation controlling information, above-mentioned cooperation to above-mentioned first car group Each vehicle that control information is used in above-mentioned first car group generates above-mentioned automatic driving vehicle according to above-mentioned Cooperation controlling information Control information.
The aspect of the embodiment of the present invention the 6th provides a kind of information processor based on vehicle sub-clustering, including：
Receiving module, the second collaborative sensing that above-mentioned receiving module is used to receive the transmission of cluster head vehicle are asked, and above-mentioned second Comprising the first position information and the mark of above-mentioned requesting party's vehicle residing for requesting party's vehicle in collaborative sensing request, above-mentioned second Collaborative sensing asks to ask the road environment information at above-mentioned first position information for above-mentioned requesting party's vehicle；
Generation module, above-mentioned generation module are used to generate the response of the first collaborative sensing, above-mentioned first collaborative sensing response bag Mark containing the road environment information at above-mentioned first position information and above-mentioned requesting party's vehicle, above-mentioned road environment information are root Obtained according to the request of above-mentioned first collaborative sensing；
Sending module, above-mentioned sending module are used to send above-mentioned first collaborative sensing response, and above-mentioned first collaborative sensing rings Control information applied to above-mentioned requesting party's vehicle generation automatic driving vehicle.
Optionally, also include in above-mentioned first collaborative sensing request：Type information is perceived, is wrapped in above-mentioned perception type information Containing N number of perception type, above-mentioned N is the integer more than or equal to 1；
Above-mentioned generation module is specifically used for generation comprising corresponding to above-mentioned N number of perception type at above-mentioned first position information The first collaborative sensing response of road environment information.
Information processing method provided in an embodiment of the present invention based on vehicle sub-clustering, including：First is sent to cluster head vehicle Collaborative sensing is asked, and the first position information residing for requesting party's vehicle and the request are included in the first collaborative sensing request The mark of square vehicle, first collaborative sensing are asked for asking the road environment information at the first position information；Connect The first collaborative sensing response that responder's vehicle is sent is received, the first collaborative sensing response bag is containing at the first position information Road environment information, the road environment information be responder's vehicle according to the cluster head vehicle sends second cooperate Perceive what request obtained, the mark comprising the first position information and requesting party's vehicle in the second collaborative sensing request Know；The control information of generation automatic driving vehicle is responded according to first collaborative sensing.It is provided in an embodiment of the present invention to be based on It can not know first position in requesting party's vehicle corresponding to cluster head vehicle in car group in the information processing method of vehicle sub-clustering During road environment information (such as the traffic information) at place, asked by sending collaborative sensing to cluster head vehicle, and pass through cluster head car By above-mentioned collaborative sensing request send to responder's vehicle, the road at the information of first position is being known by responder's vehicle Environmental information (such as traffic information), so as to solve due to the road environment information (example at first position itself can not be obtained Such as traffic information) and caused by the control information accuracy of automatic driving vehicle that generates it is not high the problem of.The embodiment of the present invention By the information exchange between vehicle, and then the control information of the high automatic driving vehicle of accuracy is generated, can solve to use The mode of prior art, the problem of accuracy of the control information of the autonomous driving vehicle of acquisition is not high.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing There is the required accompanying drawing used in technology description to do one and simply introduce, it should be apparent that, drawings in the following description are this hairs Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the information exchange flow signal of information processing method and device embodiment one of the present invention based on vehicle sub-clustering Figure；
Fig. 2 is another schematic flow sheet of information processing method and device embodiment one of the present invention based on vehicle sub-clustering；
Fig. 3 is another schematic flow sheet of information processing method and device embodiment one of the present invention based on vehicle sub-clustering；
Fig. 4 is the another schematic flow sheet of information processing method and device embodiment one of the present invention based on vehicle sub-clustering；
Fig. 5 is the information exchange flow signal of information processing method and device embodiment two of the present invention based on vehicle sub-clustering Figure；
Fig. 6 is another schematic diagram of information processing method and device embodiment two of the present invention based on vehicle sub-clustering；
Fig. 7 is the structural representation of the information processor of the invention based on vehicle sub-clustering；
Fig. 8 is another structural representation of the information processor of the invention based on vehicle sub-clustering；
Fig. 9 is another structural representation of the information processor of the invention based on vehicle sub-clustering.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are every other acquired under the premise of creative work is not made Embodiment, belong to the scope of protection of the invention.
Term " first ", " second ", " the 3rd " in description and claims of this specification and above-mentioned accompanying drawing and/or (if present)s such as " the 4 " is for distinguishing similar object, without for describing specific order or precedence.Should The data that the understanding so uses can exchange in the appropriate case, so as to embodiments of the invention described herein, such as can Enough orders with addition to those for illustrating or describing herein are implemented.In addition, term " comprising " and " having " and they Any deformation, it is intended that cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, being System, product or equipment are not necessarily limited to those steps or the unit clearly listed, but may include not list clearly or For the intrinsic other steps of these processes, method, product or equipment or unit.
Autonomous driving vehicle uses the side for the characteristic for gathering its vehicle body surrounding environment using onboard sensor in the prior art Formula, the problem of accuracy of the control information of the autonomous driving vehicle of acquisition is not high, in turn resulting in autonomous driving vehicle can not be high It is motor-driven that effect ground carries out automobile.
Car group corresponding to cluster head vehicle is in information processing method provided in an embodiment of the present invention based on vehicle sub-clustering When interior requesting party's vehicle can not know road environment information (such as traffic information) at first position, by cluster head vehicle Collaborative sensing request is sent, and is sent the request of above-mentioned collaborative sensing to responder's vehicle by cluster head vehicle, is passing through response Square vehicle knows the road environment information (such as traffic information) at the information of first position, so as to solve because itself can not be obtained Take the road environment information (such as traffic information) at first position and caused by the control information of automatic driving vehicle that generates The problem of accuracy is not high.The embodiment of the present invention is generated high automatic of accuracy and driven by the information exchange between vehicle The control information of vehicle is sailed, can be solved by the way of prior art, the essence of the control information of the autonomous driving vehicle of acquisition The problem of exactness is not high.
It is provided by the invention that technical scheme is described in detail with specifically embodiment below.This is several below Individual specific embodiment can be combined with each other, may be no longer superfluous in some embodiments for same or analogous concept or process State.
Fig. 1 is the information exchange flow signal of information processing method and device embodiment one of the present invention based on vehicle sub-clustering Figure.Information processing method provided in an embodiment of the present invention based on vehicle sub-clustering is applied to automatic Pilot vapour of the traveling on road Car, such as automatic driving vehicle etc., solved by the method for collaborative sensing because itself obtains the week in a certain place between vehicle Collarette border (such as traffic information) is had any problem, and causes the accuracy of the control information of the autonomous driving vehicle of acquisition is not high to ask Topic.In the present embodiment, using requesting party's vehicle as send collaborative sensing request automatic driving vehicle, using responder's vehicle as Solves the automatic driving vehicle of above-mentioned collaborative sensing request.The car group added with reference to figure 1, vehicle where cluster head vehicle, and please The side's of asking vehicle is according to collaborative sensing acquisition request information and then the specific implementation process of the control information of generation automatic driving vehicle Including herein below.
Step 101：Generate the first hello packets.
Specifically, travelled provided in an embodiment of the present invention based in the information processing method of vehicle sub-clustering on road Any vehicle tool can generate the first hello packets, in the present embodiment, illustrated by taking requesting party's vehicle 11 as an example.
Optionally, a kind of achievable mode of the first hello packets is as shown in table 1：
Table 1
Wherein, requesting party's vehicles identifications (Identification, abbreviation ID) are each autonomous driving vehicle (the present embodiment In be requesting party's vehicle) unique mark, using 32 bits represent.
Cluster head vehicle ID：Requesting party's vehicle is null before not yet adding car group corresponding to cluster head vehicle, adds cluster head car Be exactly cluster head vehicle ID after corresponding car group, using the expression of 32 bits.
Direction of advance is the current direction of advance of requesting party's vehicle, is represented using 8 bits.
Destination (longitude and latitude) is the transit square degree in the geographical position that requesting party's vehicle needs the final destination reached, Represented using 22*2 bits, wherein 22 expression longitudes, 22 expression latitudes；Specifically, in every 22 bit, Front two represents direction (such as east longitude/west longitude), and latter 20 are numerical part.
Current geographic position (longitude and latitude) is the transit square degree of requesting party's vehicle current geographic position, current for positioning Path ID, equally represented using 22*2 bits.
Speed is the current translational speed of requesting party's vehicle, is represented using 16 bits.
In current map model of the routing information where requesting party's vehicle, every road uses unique mark mark (32 Bit), routing information includes the vehicle and arrives at the series of road ID numberings for needing to pass sequentially through, Chief Information Officer X times for 32 is spent, wherein X is the integer more than or equal to 1.
Perceive type information and be used for the environmental information that requesting party's vehicle knows current geographic position, with according to current geographic position The environmental information put generates the control information to automatic driving vehicle (such as requesting party's vehicle itself), using 8*Z positions binary system Number represents that wherein Z is the integer more than or equal to 1.
Sensor parameters represent that the sensor, which is used to obtain, perceives type information, wherein Q using 16*Q bits For the integer more than or equal to 1.
Step 102：Broadcast the first hello packets.
Further, requesting party's vehicle is not added before car group corresponding to cluster head vehicle, periodic broadcast above-mentioned first Hello packets, and the first hello packets have default communication range (being, for example, 1-Hop).
Step 103：The first hello packets are received, according to the mark of requesting party's vehicle and the driving information of requesting party's vehicle It is determined that allow to add message.
Specifically, after on the first hello packets with default communication range of requesting party's vehicle broadcast, requesting party Information relationship between vehicle and cluster head vehicle, it is specific as shown in Fig. 2 Fig. 2 is the information processing side of the invention based on vehicle sub-clustering Another schematic flow sheet of method and device embodiment one.
With reference to figure 2, step 21：Requesting party's vehicle sends the first hello packets.Step 22：First hello packets It whether there is cluster head vehicle in communication context.If it is not present, step 23：Requesting party's vehicle as the second cluster head vehicle receiver its The 2nd hello packets that his vehicle is sent.If in the presence of step 24：Cluster head vehicle carries out phase according to the first hello packets Judge like mobility model.Step 25：The judged result of cluster head vehicle meets its car group for the content of the first hello packets Corresponding mobility model, then perform step 27：Cluster head vehicle is sent to requesting party's vehicle to be allowed to add message.If cluster head vehicle Judged result is unsatisfactory for mobility model corresponding to its car group for the content of the first hello packets, then performs step 26：Cluster head car Abandon the first hello packets.Wherein because car group traveling corresponding to cluster head vehicle constantly moves on road, because This, different car groups corresponds to different and mobility model.
More specifically, Fig. 3 is the another of information processing method and device embodiment one of the present invention based on vehicle sub-clustering Schematic flow sheet.With reference to figure 3 be cluster head vehicle judge the first hello packets whether meet its car group corresponding to mobility model A kind of specific implementation.
With reference to figure 3, first, cluster head vehicle performs step 31 according to the first hello packets：The advance of requesting party's vehicle Reversely whether match.If so, step 32 is then performed to step 36.Wherein step：Cluster head vehicle is according in the first hello packets Geographical location information Location Request side vehicle where path ID.Step 33：Above-mentioned path ID whether with mobility model Routing information matches.If so, then perform step 34：Velocity information of the cluster head vehicle in the first hello packets, it is determined that please The future travel routing information of the side's of asking vehicle.Step 35：Judge the future travel routing information and mobility model of requesting party's vehicle Relevant information coordinate.If so, then perform step 36：Cluster head vehicle dispatches a car to send to request to be allowed to add message.And if sentence Disconnected step 31, step 33 or step 35 are no, must perform step 37：Abandon the first hello packets.
It should be noted that in this step 103, the first hello numbers that cluster head vehicle 12 is sent in requesting party's vehicle 11 According in the communication range of bag, the first hello packets have passed through the matching judgment of cluster head vehicle 12, also, cluster head vehicle 12 is held Row step 104：Have sent to requesting party's vehicle 11 allows to add message.
Step 105：First according to receiving allows to add message, and generation determines to add message.
Specifically, in the communication range for the first hello packets that requesting party's vehicle 11 is broadcast out, at least two clusters be present Head vehicle, and allow to add message to the transmission of requesting party's vehicle 11.Now, requesting party's vehicle 11 reply that it is received the One allows to add message, performs step 106, and first received to it allows cluster head vehicle 12 corresponding to addition message to send out Determination is sent to add message.
As a kind of achievable mode, Fig. 4 is that information processing method and device of the present invention based on vehicle sub-clustering are implemented The another schematic flow sheet of example one.With reference to the information exchange figure that figure 4 is cluster head vehicle and requesting party's vehicle.Specifically, join simultaneously Table 1 is examined, requesting party's vehicle 11 sends the first hello packets to cluster head vehicle 12：{ID_a,null,{P1,P2,P3}, Destinatiaon_a, N, velocity_a, Location_a }, cluster head vehicle 12 is sent to requesting party's vehicle 11 to be allowed to add Message:{ ID_a, ID_b, 00000000,00000000 }, further, requesting party's vehicle 11 send to cluster head vehicle 12 and determined Add message:{ID_a,ID_b,00000001,00000000}.
Optionally, it is allowed to add message or determine that a kind of achievable mode of access message is as shown in table 2：
Table 2
Requesting party's vehicle ID Cluster head vehicle ID Message status Car group maintenance state
32 bit binary datas 32 bit binary datas 8 bit binary datas 8 bit binary datas
Wherein, requesting party's vehicle ID is identified with ID_a in the present embodiment, and cluster head vehicle ID is identified with ID_b.Message status： Represent to need cluster head vehicle to requesting party's vehicle message back using 00000000/00000001 mark, 00000000, 00000001 expression requesting party's vehicle, which has been received by first that cluster head vehicle is sent, to be allowed to add message.Car group maintenance state：Adopt With 00000000/000000001 mark, 00000000 is meaningless, and 00000001 represents to need requesting party's vehicle ID to retransmit Hello packets enter group maintenance of driving a vehicle.
With reference to figure 1, by above-mentioned steps 101 to step 106, requesting party's vehicle 11 is successfully joined corresponding to cluster head vehicle 12 Car group.Further, cluster head vehicle 12 stores the information formation vehicle (member) of the hello packets of all vehicles in its car group Information list (each member's information of vehicles is as shown in table 3 in car group), because the destination of each vehicle and routing information may In the presence of change, therefore, cluster head vehicle 12 need to carry out the renewal of hello packet informations in real time to arrange car group vehicle (member) information Table is safeguarded.
Table 3
Wherein, member's vehicle ID is the unique mark of vehicle (member) in car group, is represented using 32 bits.
Routing information is that every road uses unique mark mark in the current map model in car group where vehicle (member) Will (32 bit), routing information include the vehicle and arrive at the series of road ID numberings for needing to pass sequentially through, Message length is Y times of 32, and wherein Y is the integer more than or equal to 1.
Explanation of the car group maintenance state with corresponding to list item in table 2 is identical, will not be repeated here.
In table 3 in car group in the explanation of other list items of vehicle (member) and table 1 requesting party's vehicle the first hello data It is identical that the explanation of list item is corresponded in bag, will not be repeated here.
Specifically, the achievable mode that cluster head vehicle 12 is safeguarded to car group is as follows：Cluster head vehicle is periodically to its group Interior vehicle is broadcast the message, and after vehicle (member) receives message in car group, respective Hello packets (example is sent to cluster head vehicle Hello packets if vehicles identifications are s are { ID_s, ID_b, { P1, P2, P3 }, Destinatiaon_s, N, velocity_ s,Location_s}).Cluster head vehicle includes the Hello packets of real time information according to each vehicle in car group, and judging again should Whether vehicle (member) also currently is compliant with into cluster condition.In above-mentioned car group vehicle (member) information list maintenance process, cluster head Vehicle 12 can enter the renewal of ranks according to each data message in the Hello packets received, and then complete corresponding to car group Mobility model parameter renewal, ensure that mobility model represents the following motor-driven rows of most of vehicles (member) all the time For.
Optionally, if cluster head vehicle does not receive the Hello packets of vehicle (member) transmission, by corresponding vehicle (member) relevant information is deleted from vehicle (member) information list.
Further, when cluster head vehicle 12 reaches its destination, if the only surplus cluster head vehicle of its car group member, release should Car group.Exist in Ruo Qiche groups in the presence of other vehicles (member), then find out a new cluster head in vehicle (member) in car group Vehicle, cluster head vehicle selection principle are：Its routing information and the maximal degree of coincidence of co-route information in car group；And by vehicle (member) information list and mobility model parameter pass to new cluster head vehicle and safeguarded.It can be avoided using above-mentioned strategy The frequently succession of cluster head vehicle, reduce corresponding overhead.
By step 101 to step 106, by relatively independent autonomous driving vehicle in the present embodiment, by being believed based on path Breath and the vehicle sub-clustering of destination, the adjacent vehicle with similar mobility model in geographical position is assigned into corresponding same cluster head In the car group of vehicle.
Step 111：When perceiving the road environment information at first position has obstacle, generation the first collaborative sensing request.
Specifically, when the sensor hardware of requesting party's vehicle 11 can not perceive the road environment information (example at first position Such as road information), requesting party's vehicle 11 generates collaborative sensing request, and the institute of requesting party's vehicle 11 is included in the request of the first collaborative sensing (mark of vehicle is certainly to the first position information (such as ID of road where first position) and the mark of requesting party's vehicle 11 at place The dynamic unique designation for driving vehicle), and the first collaborative sensing is asked for asking the road ring at the first position information Environment information.
Step 112：The request of the first collaborative sensing is sent to cluster head vehicle.
It should be noted that requesting party's vehicle 11 is when corresponding to cluster head vehicle 12 in car group, just can be to the cluster head Vehicle 12 sends the first collaborative sensing request.If requesting party's vehicle 11 can not find suitable cluster head vehicle and successfully enter Cluster, then requesting party's vehicle needs to perform urgent reply program, continues to exercise according to the selection of actual traffic information, or keep to the side The motor-driven behaviors such as stopping, and periodically the first Hello data packet requests of broadcast enter cluster in above process.
Step 113：Responder's vehicle is determined according to the first position information, the second place information of responder's vehicle and The sensing range of responder's vehicle and the first position information match of requesting party's vehicle.
Specifically, first position information of the cluster head vehicle 12 in the first hello packets, in the car of its real-time servicing Responder's vehicle 13 with first position information match is found in (member) information list.Wherein, the vehicle of real-time servicing (member) information list includes the real-time position information of each vehicle of car group and the implementation sensing range of each vehicle.Enter one The first position of step ground, the second place information of responder's vehicle 13 and the sensing range of responder's vehicle 13 and requesting party's vehicle Information match.
Step 114：The request of the second collaborative sensing is sent to responder's vehicle.
Wherein, the second collaborative sensing request bag information containing first position and the mark of requesting party's vehicle.
Step 115：The response of the first collaborative sensing is generated, the first collaborative sensing response bag contains the first position information The mark of the road environment information at place and requesting party's vehicle, the road environment information are according to second collaborative sensing What request obtained.
Specifically, responder's vehicle 13 asks to perceive the road ring at the information of first position according to second collaborative sensing Environment information, generation the first collaborative sensing response.First collaborative sensing response bag, which contains, is used for the requesting party that requesting party's vehicle 11 receives The mark of vehicle, also include the road environment information at the first position information for the demand of requesting party's vehicle 11.
Further, responder's vehicle 13 performs step 116, sends the response of the first collaborative sensing.Felt according to the first cooperation Know the mark for requesting party's vehicle that response bag contains, requesting party's vehicle 11 receives above-mentioned first collaborative sensing response.
Step 117：The control information of generation automatic driving vehicle is responded according to first collaborative sensing.
Requesting party's vehicle 11 is believed according to the road environment at the first position information included in the response of the first collaborative sensing The control information of breath generation automatic driving vehicle.
Specifically, requesting party's vehicle 11 is tested for the first cooperation induced response received in preset time period Card, if checking is not by order to ensure the security of automatic driving vehicle, then abandoning above-mentioned the first cooperation sensing received and ringing Should；If being verified, the mode of the control information of generation automatic driving vehicle is responded according to the first collaborative sensing.
More specifically, driven automatically as a kind of achievable generated according to the response of the first collaborative sensing of requesting party's vehicle 11 The mode of the control information of vehicle is sailed, including：The first association that requesting party's vehicle 11 is sent according to the responder's vehicle 13 received Make to perceive the time that the temporal information responded obtains the road environment information at above-mentioned first position with responder's vehicle 13 Stamp, obtain very first time offset；Also, first position information of the requesting party's vehicle 11 according to residing for requesting party's vehicle 11 With the location of responder's vehicle 13 information, first position offset is obtained；Further, according to the very first time Road environment information at offset, the first position offset and the first position information, generate automatic Pilot car Control information.So as to it further increase the accuracy of the control information of autonomous driving vehicle.
It is in the information processing method based on vehicle sub-clustering that the present embodiment provides corresponding to cluster head vehicle in car group When requesting party's vehicle can not know road environment information (such as traffic information) at first position, by being sent to cluster head vehicle Collaborative sensing is asked, and is sent the request of above-mentioned collaborative sensing to responder's vehicle by cluster head vehicle, is passing through responder's car The road environment information (such as traffic information) at the information of first position is known, so as to solve due to itself can not be obtained The road environment information (such as traffic information) of one opening position and caused by the control information of automatic driving vehicle that generates it is accurate The problem of property is not high.The present embodiment generates the high automatic driving vehicle of accuracy by the information exchange between vehicle Control information, can solve by the way of prior art, the accuracy of the control information of the autonomous driving vehicle of acquisition is not high The problem of.
Fig. 5 is the information exchange flow signal of information processing method and device embodiment two of the present invention based on vehicle sub-clustering Figure.The present embodiment is carried out on the basis of embodiment one, and with reference to figure 5, the present embodiment specifically also includes herein below.
Wherein, step 212：First position information, requesting party residing for first collaborative sensing request bag vehicle containing requesting party The mark of vehicle perceives type information, and M perception type is included in the perception type information, and the M is whole more than or equal to 2 Number.Then on the basis of embodiment one, the first collaborative sensing request that cluster head vehicle 12 receives also includes：Mark perceives type Information, and M perception type is included in the perception type information.For example, the perception type refers specifically to：Perceive red Type of the type of green light situation, the type for perceiving weather condition or perceived distance roadside distance etc..
After the first collaborative sensing request in the receiving step 212 of cluster head vehicle 12, determine to respond according to first position information Square vehicle, according to responder's vehicle for getting be then perception, wherein different perceptions correspond to it is different Type, such as the real-time perception ability of first responder's vehicle 131 are perceived to perceive traffic lights, second responder's vehicle Real-time perception ability is perception weather condition etc.；Cluster head vehicle 12 will receive according to the implementation perception of responder's vehicle The perception type information of the first collaborative sensing request be subdivided into M perception type, wherein above-mentioned M perception type and responder Corresponding to vehicle real-time perception ability.As a kind of enforceable mode, cluster head vehicle 12 performs step 213, step 213 ' with And step 213 ".
Step 213：P responder's vehicle, the second confidence of responder's vehicle are determined according to the first position information The first position information match of the sensing range of breath and responder's vehicle and requesting party's vehicle.
Step 213'：The perception of the P responder vehicle is obtained, different perceptions corresponds to different perception Type, the P are the integer more than or equal to 2.
Step 213 "：P the second collaborative sensing requests are generated according to perception, wherein i-th of responder's vehicle is corresponding The second collaborative sensing request bag contain NiIndividual perception type, N1+…+Ni+…+NP=M, i are more than or equal to 1 and less than or equal to P's Integer.
Further, cluster head vehicle 12 performs step 214, step 214 ' and step 214 " respectively by including after subdivision The the second collaborative sensing solicited message for having different perception types is sent to corresponding responder's vehicle.Such as：Step 214 is performed, First position information, the mark of requesting party's vehicle and N are included to be sent to first responder's vehicle 1311Individual perception type Second collaborative sensing is asked.Perform step 214 ', to be sent to i-th of responder's vehicle 132 comprising first position information, request The mark and N of square vehicleiIndividual the second collaborative sensing request for perceiving type.Perform step 214 ", with to the P responder's vehicle 133 transmissions include first position information, the mark of requesting party's vehicle and NPIndividual the second collaborative sensing request for perceiving type.
Further, first responder's vehicle 131, i-th of responder's vehicle 132 and the P responder's vehicle 133 perform step 215, step 215 respectively ' and step 215 ", to obtain first position letter according to respective real-time perception ability Road environment information corresponding to corresponding perception type at breath, generation the first collaborative sensing response.
Step 215：Generate the first collaborative sensing to respond, the N at the first collaborative sensing response bag information containing first position1It is individual It is to be asked according to collaborative sensing to perceive road environment information corresponding to type and the mark of the requesting party's vehicle road environment information Ask acquisition.
Step 215 '：Generate the first collaborative sensing to respond, the N at the first collaborative sensing response bag information containing first positioni Road environment information corresponding to individual perception type and the mark of the requesting party's vehicle road environment information are according to collaborative sensing What request obtained
Step 215 "：Generate the first collaborative sensing to respond, the N at the first collaborative sensing response bag information containing first positionP Road environment information corresponding to individual perception type and the mark of the requesting party's vehicle road environment information are according to collaborative sensing What request obtained.
Yet further, first responder's vehicle 131, i-th of responder's vehicle 132 and the P responder's vehicle 133 perform step 216, step 216 respectively ' and step 216 ", the first collaborative sensing response of each self-generating is sent and extremely please The side's of asking vehicle 11.
Step 217：The control information of generation automatic driving vehicle is responded according to first collaborative sensing.
Specifically, requesting party's vehicle 11 returned for above-mentioned responder's vehicle for being received in preset time period first Cooperation induced response is verified, if checking is not by order to ensure the security of automatic driving vehicle, then abandoning above-mentioned reception The the first cooperation induced response arrived；If being verified, the control of generation automatic driving vehicle is responded according to the first collaborative sensing The mode of information.
More specifically, as a kind of achievable verification mode, requesting party's vehicle 11 is in above-mentioned preset time period The first cooperation induced response that the different responder's vehicles received return is combined, and whether the information after checking combination is complete Whole, that is, the information after combining can solve the problems, such as that requesting party's vehicle knows road environment information, then it represents that be verified, otherwise Checking does not pass through.
For example, the situation that checking does not pass through can be that cluster head vehicle 12 asks what is determined according to the first collaborative sensing The situation that responder's vehicle can not all obtain road environment information corresponding to above-mentioned M perception type, or, checking are obstructed Situation about crossing can also be that responder's vehicle returns to the total of the perception type of requesting party's vehicle 11 in above-mentioned preset time period Number is less than M, and after causing requesting party's vehicle 11 to be combined the above-mentioned first cooperation induced response, the result is the above-mentioned first association Being combined as induced response cannot solve the problems, such as that requesting party's vehicle knows road environment information.
It should be noted that the situation that the checking of requesting party's vehicle does not pass through is not limited to two kinds of the example above, can be with ability Cause any situation that cannot solve the problems, such as that requesting party's vehicle knows road environment information in domain.
On the one hand, verified in requesting party's vehicle 11 not in the case of, requesting party's vehicle 11 is further attempted to by certainly Body knows road environment information, also, sends collaborative sensing request again；When can not still be received more than the second preset time period When collaborative sensing corresponding to road environment information corresponding to M perception type responds, above-mentioned requesting party's vehicle 11 takes urgent system Dynamic measure, to be further ensured that the security of automatic driving vehicle.
On the other hand, in the case where requesting party's vehicle 11 is verified, requesting party's vehicle 11 receives P responder's vehicle The the first collaborative sensing response sent respectively, comprising described at the first position information in the first collaborative sensing response NiRoad environment information corresponding to individual perception type, described first is included altogether at least two first collaborative sensing responses Described M at confidence breath perceives road environment information corresponding to type.
Optionally, another achievable mode as information processing method, including responder's vehicle, now, The perception type that cluster head vehicle 12 need not ask to include to the first collaborative sensing is finely divided, but directly the above-mentioned first cooperation Request is perceived to send to responder's vehicle.And responder's vehicle asks the first collaborative sensing of generation to respond according to the first collaborative sensing Return to requesting party's vehicle 11.
Optionally, as a kind of scene being likely to occur, cluster head vehicle 12 perceives the road environment information of a certain opening position When having obstacle, then collaborative sensing request corresponding to generation, further send to corresponding responder's vehicle, as corresponding responder After collaborative sensing response corresponding to vehicle generation, above-mentioned cluster head vehicle 12 is back to.
Optionally, the scene as alternatively possible appearance (verifies the specific manifestation shape that does not pass through for requesting party's vehicle 11 Formula), requesting party's vehicle 11 (including the road environment information for perceiving a certain opening position has the cluster head vehicle 12 of obstacle) is pre- first If corresponding to can not being received in the period during collaborative sensing response, above-mentioned requesting party's vehicle 11 (including perceive a certain opening position Road environment information have the cluster head vehicle 12 of obstacle) further attempt to by itself knowing road environment information, also, again Send collaborative sensing request；It is above-mentioned to ask when can not still receive corresponding collaborative sensing response more than the second preset time period The side's of asking vehicle 11 (including the road environment information for perceiving a certain opening position has the cluster head vehicle 12 of obstacle) takes brake hard Measure, to be further ensured that the security of automatic driving vehicle.
In the information processing method based on vehicle sub-clustering that the present embodiment provides, cluster head vehicle according to requesting party's vehicle with sending Collaborative sensing acquisition request responder's vehicle after, further obtain responder's vehicle real-time perception ability, according to real-time perception Ability is asked to segment to collaborative sensing, and the second collaborative sensing request for including different perception types after subdivision is sent extremely Corresponding responder's vehicle, by the way that collaborative sensing is asked into sectionalization so that each responder's vehicle obtains and its real-time perception The corresponding sensing type of ability, can improve the first collaborative sensing response accuracy, further, requesting party's vehicle according to The control information of the higher autonomous driving vehicle of first collaborative sensing response generation accuracy, makes it efficiently carry out automobile machine It is dynamic.
Further, since the vehicle sub-clustering based on routing information and destination, then with the path letter of the vehicle traveling in cluster Cease similar, most of vehicle can all be controlled one virtual track of generation by cluster head vehicle cooperative, led to again by identical section Cross the information in cluster head vehicle vehicle broadcast respective fictional track into car group so that vehicle travels on this virtual track in car group In.Cluster head vehicle grasps the motor-driven behavior of car group member, and cluster head vehicle is by controlling in car group vehicle by same road segment When walk the virtual track of same, " fleet " that member's vehicle picture connects together in cluster passes sequentially through.And then it can reduce certainly Dynamic driving carries out frequently lane change under conditions of communication is lacked, while improves the reliability of automatic Pilot, security And fluency, improve the comfortableness of passenger.
Further, Fig. 6 is that information processing method and device embodiment two another of the present invention based on vehicle sub-clustering show It is intended to.With reference to figure 6, different car groups (such as the first car group and second are there may be on same path (such as second road) Car group), so as to same path, there is also different virtual roads corresponding to different cluster head vehicles.Pass through the association between cluster head vehicle Adjust, different " fleet " traveling is in corresponding virtual track.With reference to figure 6, the corresponding first cluster head vehicle of the first car group, the second car The corresponding second cluster head vehicle of group, two cluster head vehicles can carry out following information exchange.
The Cooperation controlling information of first cluster head vehicle receiver the second cluster head vehicle, the Cooperation controlling information include：It is described Second car group corresponding to second cluster head vehicle reaches the second place after preset time period, and the Cooperation controlling information is used to ask The first car group avoids the second place after the preset time period corresponding to first cluster head vehicle；First cluster head vehicle is to institute State the first car group and broadcast the Cooperation controlling information, each vehicle root that the Cooperation controlling information is used in the first car group The control information of the automatic driving vehicle is generated according to the Cooperation controlling information.
With reference to figure 6, dispute crossing that the intersection of the first road and the second road is passes through the base that the present embodiment provides In the information processing method of vehicle sub-clustering, Cooperation controlling, the first car group pair are carried out using the information exchange between cluster head vehicle The first cluster head vehicle is answered, the second car group corresponds to the second cluster head vehicle, and vehicle is geographical in the cluster head vehicle combination car group of two car groups Position and the time is intended to pass through, based on the good respective virtual track of time advance coordinated allocation, reasonably distributes virtual track Afterwards, can be smooth when vehicle passes through dispute crossing in the cluster of two clusters pass through, reduces the safety that vehicle collision occurs Hidden danger.
The distribution of virtual road, is entered by cluster head vehicle in the information processing method based on vehicle sub-clustering that the present embodiment provides Row monitoring in real time, with moving integrally for car group, on the basis of cluster head vehicle travels most preceding vehicle by current vehicle group, grasps the car Traveling lane, with reference to the current virtual track of vehicle mobility model generation, by the way of broadcast, inform in car group into The information in member's vehicle virtual track., it is necessary to which the broadcast of cluster head vehicle finds adjacent cluster head vehicle during virtual track is generated, Controlled by the coordination between cluster head vehicle, non-interfering virtual track is generated based on the time.The distribution of virtual road is considered Routing information in units of cluster and ageing, virtual road is with before cluster and then advancing.Also, virtual track, which is finished, just releases Put, subsequently have new car group by that can continue to distribute according to need.
Fig. 7 is the structural representation of the information processor of the invention based on vehicle sub-clustering, and specifically Fig. 7 show request Structural representation corresponding to square vehicle, with reference to figure 7, including：Broadcast module 41, the first sending module 42, the second sending module 43, First receiving module 44, the second receiving module 45 and generation module 46.
Specifically, above-mentioned first sending module 42 is used to ask to cluster head vehicle the first collaborative sensing of transmission, and above-mentioned first Comprising the first position information and the mark of above-mentioned requesting party's vehicle residing for requesting party's vehicle in collaborative sensing request, above-mentioned first Collaborative sensing is asked for asking the road environment information at above-mentioned first position information
Above-mentioned first receiving module 44 is used for the first collaborative sensing response for receiving the transmission of responder's vehicle, above-mentioned first association Make to perceive response bag containing the road environment information at above-mentioned first position information, above-mentioned road environment information is above-mentioned responder's car The second collaborative sensing sent according to above-mentioned cluster head vehicle asks what is obtained, comprising above-mentioned in the request of above-mentioned second collaborative sensing The mark of first position information and above-mentioned requesting party's vehicle.
Above-mentioned generation module 46 is used for the control information that generation automatic driving vehicle is responded according to above-mentioned first collaborative sensing.
Optionally, also include in above-mentioned first collaborative sensing request：Type information is perceived, is wrapped in above-mentioned perception type information Containing M perception type, above-mentioned M is the integer more than or equal to 2；Above-mentioned N number of perception is also included in above-mentioned second collaborative sensing request Type, above-mentioned N are the integer more than or equal to 1 and less than M；Specifically, above-mentioned perception type information is obtained by sensor；
Above-mentioned first sending module 44 includes receiving unit 441, and above-mentioned receiving unit 441 is used to receive at least two responses The first collaborative sensing response that square vehicle is sent respectively, comprising at above-mentioned first position information in above-mentioned first collaborative sensing response Above-mentioned N number of perception type corresponding to road environment information, altogether comprising above-mentioned at least two above-mentioned first collaborative sensings responses Above-mentioned M at the information of first position perceives road environment information corresponding to type.
Optionally, also above-mentioned N number of perception type is obtained comprising above-mentioned responder's vehicle in above-mentioned first collaborative sensing response The location of the timestamp of corresponding road environment information and above-mentioned responder's vehicle information；
Above-mentioned generation module 46 includes：First acquisition unit 461, second acquisition unit 462 and generation unit 463.
Specifically, above-mentioned first acquisition unit 461 is used for the first collaborative sensing sound sent according to responder's vehicle is received The temporal information answered and above-mentioned responder's vehicle obtain above-mentioned N number of timestamp for perceiving the corresponding road environment information of type, obtain Take very first time offset.
Above-mentioned second acquisition unit 462 is used for first position information and above-mentioned response according to residing for above-mentioned requesting party's vehicle The location of square vehicle information, obtain first position offset.
Above-mentioned generation unit 463 is according to above-mentioned very first time offset, above-mentioned first position offset and above-mentioned M sense Know road environment information corresponding to type, generate the control information of automatic driving vehicle.
Above-mentioned broadcast module 41 is used to broadcast the first hello packets, and above-mentioned first hello packets include above-mentioned request The mark of square vehicle and the driving information of above-mentioned requesting party's vehicle；
Above-mentioned second receiving module 43 is used to receiving that above-mentioned cluster head vehicle to send allows to add message, above-mentioned to allow to add Message is that above-mentioned cluster head vehicle determines according to the mark of above-mentioned requesting party's vehicle and the driving information of above-mentioned requesting party's vehicle；
Above-mentioned second sending module 44, which is used to send to above-mentioned cluster head vehicle, to be determined to add message, and above-mentioned determination adds message For the above-mentioned response for allowing to add message.
Part in the above-mentioned information processor based on vehicle sub-clustering, it accordingly can perform the institute of requesting party's vehicle 11 Show the technical scheme of embodiment of the method, its implementing principle and technical effect is similar, will not be repeated here.
Fig. 8 is another structural representation of the information processor of the invention based on vehicle sub-clustering.Specifically Fig. 8 is shown Structural representation corresponding to cluster head vehicle 12, with reference to figure 8, including：First receiving module 51, the second receiving module the 52, the 3rd connect Receive module 53, the first determining module 54, the second determining module 55, sending module 56, acquisition module 57, generation module 58 and wide Broadcasting module 59.
Specifically, above-mentioned first receiving module 51 is used for the first collaborative sensing request for receiving the transmission of requesting party's vehicle, on State in the request of the first collaborative sensing comprising the first position information and the mark of above-mentioned requesting party's vehicle residing for above-mentioned requesting party's vehicle Know, above-mentioned first collaborative sensing asks to ask the road environment letter at above-mentioned first position information for above-mentioned requesting party's vehicle Breath；
Above-mentioned first determining module 54 is used to determine responder's vehicle, above-mentioned responder's car according to above-mentioned first position information Second place information and above-mentioned responder's vehicle sensing range and above-mentioned requesting party's vehicle first position information phase Match somebody with somebody；
Above-mentioned sending module 56 is used to send the request of the second collaborative sensing, above-mentioned second cooperation sense to above-mentioned responder's vehicle Know the mark comprising above-mentioned first position information and above-mentioned requesting party's vehicle in request, above-mentioned second collaborative sensing asks to be used for State responder's vehicle and obtain the first collaborative sensing response comprising the road environment information at above-mentioned first position information, so that on State the control information that requesting party's vehicle responds generation automatic driving vehicle according to above-mentioned first collaborative sensing.
Optionally, also include in above-mentioned first collaborative sensing request：Type information is perceived, is wrapped in above-mentioned perception type information Containing M perception type, above-mentioned M is the integer more than or equal to 2；
Acquisition module 57 is used for the perception for obtaining above-mentioned P responder vehicle, and different above-mentioned perceptions is corresponding Different perception types；Above-mentioned P responder vehicle is to be determined according to above-mentioned first position information, and above-mentioned P is more than or equal to 2 Integer；
Above-mentioned generation module 58 is used to generate P the second collaborative sensing requests according to above-mentioned perception, wherein, i-th Above-mentioned second collaborative sensing request bag contains N corresponding to above-mentioned responder's vehicleiIndividual above-mentioned perception type, N1+…+Ni+…+NP= M, above-mentioned i are the integer more than or equal to 1 and less than or equal to P.
First hello packet of above-mentioned second receiving module 52 for receiving above-mentioned requesting party's vehicle, above-mentioned first Hello packets include the mark of above-mentioned requesting party's vehicle and the driving information of above-mentioned requesting party's vehicle；
Above-mentioned second determining module 55 is used for according to the mark of above-mentioned requesting party's vehicle and the traveling of above-mentioned requesting party's vehicle Information determines to allow to add message；
Above-mentioned second receiving module 52 is additionally operable to receive the determination addition message that above-mentioned request vehicle is sent, and above-mentioned determination adds Enter message for the above-mentioned response for allowing to add message.
Above-mentioned 3rd receiving module 53 is used for the Cooperation controlling information for receiving the second cluster head vehicle, above-mentioned Cooperation controlling information Including：Second car group corresponding to above-mentioned second cluster head vehicle reaches the second place, above-mentioned Cooperation controlling letter after preset time period Cease for asking the first car group corresponding to the first cluster head vehicle to avoid said second position after above-mentioned preset time period；
Above-mentioned broadcast module 59 is used for above-mentioned first car group broadcast them Cooperation controlling information, above-mentioned Cooperation controlling information The control that above-mentioned automatic driving vehicle is generated according to above-mentioned Cooperation controlling information for each vehicle in above-mentioned first car group is believed Breath.
Part in the above-mentioned information processor based on vehicle sub-clustering, accordingly it can perform shown in cluster head vehicle 12 The technical scheme of embodiment of the method, its implementing principle and technical effect is similar, will not be repeated here.
Fig. 9 is another structural representation of the information processor of the invention based on vehicle sub-clustering.Specifically Fig. 9 is shown Structural representation corresponding to responder's vehicle 13, with reference to figure 9, including：The aspect of the embodiment of the present invention the 6th provides one kind and is based on car The information processor of sub-clustering, including：Receiving module 61, generation module 62 and sending module 63.
Above-mentioned receiving module 61 is used for the second collaborative sensing request for receiving the transmission of cluster head vehicle, above-mentioned second collaborative sensing The first position information and the mark of above-mentioned requesting party's vehicle residing for requesting party's vehicle, above-mentioned second collaborative sensing are included in request Ask to ask the road environment information at above-mentioned first position information for above-mentioned requesting party's vehicle.
Above-mentioned generation module 62 is used to generate the response of the first collaborative sensing, and above-mentioned first collaborative sensing response bag is containing above-mentioned the The mark of road environment information and above-mentioned requesting party's vehicle at one positional information, above-mentioned road environment information are according to above-mentioned the The request of one collaborative sensing obtains；
Above-mentioned sending module 63 is used to sending the response of above-mentioned first collaborative sensing, above-mentioned first collaborative sensing respond for State the control information of requesting party's vehicle generation automatic driving vehicle.
Optionally, also include in above-mentioned first collaborative sensing request：Type information is perceived, is wrapped in above-mentioned perception type information Containing N number of perception type, above-mentioned N is the integer more than or equal to 1；
It is corresponding comprising above-mentioned N number of perception type at above-mentioned first position information that above-mentioned generation module 62 is specifically used for generation Road environment information the first collaborative sensing response.
Part in the above-mentioned information processor based on vehicle sub-clustering, it accordingly can perform responder's vehicle 131 The technical scheme of shown embodiment of the method, its implementing principle and technical effect is similar, will not be repeated here.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology The scope of scheme.

Claims (10)

  1. A kind of 1. information processing method based on vehicle sub-clustering, it is characterised in that including：
    The request of the first collaborative sensing is sent to cluster head vehicle, comprising residing for requesting party's vehicle in the first collaborative sensing request The mark of first position information and requesting party's vehicle, first collaborative sensing ask to be used to ask the first position to be believed Road environment information at breath；
    The first collaborative sensing response that responder's vehicle is sent is received, the first collaborative sensing response bag contains the first position Road environment information at information, the road environment information are that responder's vehicle is sent according to the cluster head vehicle The request of two collaborative sensings is obtained, and the first position information and requesting party's car are included in the second collaborative sensing request Mark；
    The control information of generation automatic driving vehicle is responded according to first collaborative sensing.
  2. 2. according to the method for claim 1, it is characterised in that also include in the first collaborative sensing request：Perceive class Type information, described perceive in type information perceive type comprising M, and the M is the integer more than or equal to 2；Second cooperation Perceive and N number of perception type is also included in request, the N is the integer more than or equal to 1 and less than M；
    The the first collaborative sensing response for receiving responder's vehicle and sending, including：
    The first collaborative sensing response that at least two responder's vehicles are sent respectively is received, is wrapped in the first collaborative sensing response Containing road environment information, at least two first cooperations corresponding to N number of perception type at the first position information Perceive in response and perceive road environment information corresponding to type comprising described M at the first position information altogether；
    Also road ring corresponding to N number of perception type is obtained in the first collaborative sensing response comprising responder's vehicle The location of the timestamp of environment information and responder's vehicle information；
    The control information that generation automatic driving vehicle is responded according to first collaborative sensing, including：
    Temporal information according to the first collaborative sensing response that responder's vehicle is sent is received obtains institute with responder's vehicle The timestamp of road environment information corresponding to N number of perception type is stated, obtains very first time offset；
    The location of first position information and responder's vehicle according to residing for requesting party's vehicle information, obtain the One position offset；
    According to road ring corresponding to the very first time offset, the first position offset and the M perception type Environment information, generate the control information of automatic driving vehicle.
  3. 3. according to the method for claim 2, it is characterised in that described to ask it to cluster head vehicle the first collaborative sensing of transmission Before, in addition to：
    The first hello packets are broadcasted, the first hello packets include the mark of requesting party's vehicle and the request The driving information of square vehicle；
    Receive that the cluster head vehicle sends allows to add message, and described to allow to add message be the cluster head vehicle according to What the mark of requesting party's vehicle and the driving information of requesting party's vehicle determined；
    Sent to the cluster head vehicle and determine to add message, it is described to determine to add message as the response for allowing to add message.
  4. A kind of 4. information processing method based on vehicle sub-clustering, it is characterised in that including：
    The first collaborative sensing request that requesting party's vehicle is sent is received, the requesting party is included in the first collaborative sensing request The mark of first position information and requesting party's vehicle residing for vehicle, first collaborative sensing ask to be used for the request Square vehicle asks the road environment information at the first position information；
    Responder's vehicle, the second place information of responder's vehicle and the response are determined according to the first position information The first position information match of the sensing range of square vehicle and requesting party's vehicle；
    The request of the second collaborative sensing is sent to responder's vehicle, described first is included in the second collaborative sensing request Confidence ceases and the mark of requesting party's vehicle, and second collaborative sensing, which asks to obtain for responder's vehicle, includes institute The first collaborative sensing response of the road environment information at the information of first position is stated, so that requesting party's vehicle is according to described the The control information of one collaborative sensing response generation automatic driving vehicle.
  5. 5. according to the method for claim 4, it is characterised in that also include in the first collaborative sensing request：Perceive class Type information, described perceive in type information perceive type comprising M, and the M is the integer more than or equal to 2；
    Before transmission the second collaborative sensing request to responder's vehicle, in addition to：
    The perception of the P responder vehicle is obtained, the different perceptions corresponds to different perception types；It is described P responder's vehicle is to be determined according to the first position information, and the P is the integer more than or equal to 2；
    P the second collaborative sensing requests are generated according to the perception, wherein, institute corresponding to i-th of responder's vehicle State the second collaborative sensing request bag and contain NiThe individual perception type, N1+…+Ni+…+NP=M, the i are more than or equal to 1 and small In the integer equal to P.
  6. A kind of 6. information processing method based on vehicle sub-clustering, it is characterised in that including：
    The second collaborative sensing request that cluster head vehicle is sent is received, requesting party's vehicle institute is included in the second collaborative sensing request The mark of the first position information at place and requesting party's vehicle, second collaborative sensing ask to be used for requesting party's vehicle Ask the road environment information at the first position information；
    The response of the first collaborative sensing is generated, the first collaborative sensing response bag is containing the road environment at the first position information The mark of information and requesting party's vehicle, the road environment information are to ask what is obtained according to first collaborative sensing；
    The first collaborative sensing response is sent, first collaborative sensing responds to be driven automatically for requesting party's vehicle generation Sail the control information of vehicle.
  7. 7. according to the method for claim 6, it is characterised in that also include in the second collaborative sensing request：Perceive class Type information, described perceive include N number of perception type in type information, the N is the integer more than or equal to 1；
    The generation the first collaborative sensing response, including：
    Generation includes N number of first cooperation sense for perceiving road environment information corresponding to type at the first position information Know response.
  8. A kind of 8. information processor based on vehicle sub-clustering, it is characterised in that including：
    First sending module, first sending module are used to ask to cluster head vehicle the first collaborative sensing of transmission, and described first Comprising the first position information and the mark of requesting party's vehicle residing for requesting party's vehicle in collaborative sensing request, described first Collaborative sensing is asked for asking the road environment information at the first position information；
    First receiving module, first receiving module are used for the first collaborative sensing response for receiving the transmission of responder's vehicle, institute The first collaborative sensing response bag is stated containing the road environment information at the first position information, the road environment information is described The second collaborative sensing that responder's vehicle is sent according to the cluster head vehicle asks what is obtained, in the second collaborative sensing request Mark comprising the first position information and requesting party's vehicle；
    Generation module, the control that the generation module is used to respond generation automatic driving vehicle according to first collaborative sensing are believed Breath.
  9. A kind of 9. information processor based on vehicle sub-clustering, it is characterised in that including：
    First receiving module, first receiving module are used for the first collaborative sensing request for receiving the transmission of requesting party's vehicle, institute State in the request of the first collaborative sensing comprising the first position information and the mark of requesting party's vehicle residing for requesting party's vehicle Know, first collaborative sensing asks to ask the road environment letter at the first position information for requesting party's vehicle Breath；
    First determining module, first determining module is used to determine responder's vehicle according to the first position information, described The first position of the sensing range of the second place information of responder's vehicle and responder's vehicle and requesting party's vehicle Information match；
    Sending module, the sending module are used to send the request of the second collaborative sensing, second association to responder's vehicle Make to perceive the mark comprising the first position information and requesting party's vehicle in request, the second collaborative sensing request is used The first collaborative sensing response comprising the road environment information at the first position information is obtained in responder's vehicle, with Requesting party's vehicle is set to respond the control information of generation automatic driving vehicle according to first collaborative sensing.
  10. A kind of 10. information processor based on vehicle sub-clustering, it is characterised in that including：
    Receiving module, the receiving module are used for the second collaborative sensing request for receiving the transmission of cluster head vehicle, second cooperation Perceive in request comprising the first position information and the mark of requesting party's vehicle residing for requesting party's vehicle, second cooperation Perceive the road environment information that request is used at requesting party's vehicle request first position information；
    Generation module, the generation module are used to generate the response of the first collaborative sensing, and the first collaborative sensing response bag contains institute The mark of the road environment information and requesting party's vehicle at the information of first position is stated, the road environment information is according to institute State what the request of the first collaborative sensing obtained；
    Sending module, the sending module are used to send the first collaborative sensing response, and the first collaborative sensing response is used In the control information of requesting party's vehicle generation automatic driving vehicle.
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