CN107808514A - A kind of automatic Pilot fleet communications method and device - Google Patents
A kind of automatic Pilot fleet communications method and device Download PDFInfo
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- CN107808514A CN107808514A CN201710978972.1A CN201710978972A CN107808514A CN 107808514 A CN107808514 A CN 107808514A CN 201710978972 A CN201710978972 A CN 201710978972A CN 107808514 A CN107808514 A CN 107808514A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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Abstract
The present invention discloses a kind of automatic Pilot fleet communications method and device, to solve the technical problem of truck traffic poor reliability in automatic Pilot fleet in the prior art.The application, DSRC and VLC is provided with each car in automatic Pilot fleet, method includes：Monitor the DSRC and VLC of vehicle upstate；When monitor DSRC it is available when, the DSRC for passing through vehicle transmits vehicle traveling information；When monitoring that DSRC is unavailable, VLC is available, the VLC for passing through vehicle transmits vehicle traveling information.Using technical solution of the present invention, it is possible to increase the reliability and success rate to be communicated in automatic Pilot fleet between car and car.
Description
Technical field
The present invention relates to automatic Pilot field, more particularly to a kind of automatic Pilot fleet communications method, a kind of automatic Pilot
Fleet communications device.
Background technology
With the development of automatic Pilot technology and car networking technology, the relatively simple application scenarios of traffic environment (such as
Highway), automatic Pilot fleet is then possibly realized.All vehicles are respectively provided with automatic Pilot ability in automatic Pilot fleet,
Rear car can be followed closely successively under the leading of head car.To ensure the safety traffic of each vehicle in automatic Pilot fleet, each nothing
People's vehicle knows that the driving situation of other vehicles in fleet is then extremely important in time.
Because DSRC (Dedicated Short Range Communications, DSRC technology) is a kind of
Efficient wireless communication technology, it can realize identification in specific smaller area to the mobile target under high-speed motion and double
To communication, DSRC can realize maximum 300m~1000m, end-to-end delay be less than 100ms radio communication, and can not be by
Sight is blocked, and the advantages of based on DSRC, those skilled in the art are easiest to expect to realize by DSRC in automatic Pilot fleet
Communication between car and car, respective vehicle traveling information is transmitted by DSRC between car and car, so that vehicle is receiving certainly
In dynamic driving fleet after the vehicle traveling information of other vehicles, the vehicle traveling information and other vehicles of itself can be integrated
Driving information make it is more accurate, in time, the decision information of safety, travelled with accurate, security control vehicle.
But DSRC communication bandwidth is smaller (generally 3Mbps), can not transmit big data quantity (such as audio, video data),
Also, when DSRC is when going wrong, will cause that vehicle traveling information can not be transmitted in automatic Pilot fleet between car and car,
So as to cause each vehicle can not comprehensive automation drive fleet in other vehicles vehicle traveling information make accurately decision-making and
Control, in some instances it may even be possible to cause vehicle to do the decision-making that makes mistake so as to cause serious security incident.Therefore, how to ensure certainly
The dynamic safety and reliability for driving each Vehicular automatic driving in fleet, then safe and reliable truck traffic technology is then to pass
It is important, and at present reliable truck traffic technology is not disclosed.
The content of the invention
In view of the above problems, the present invention provides a kind of automatic Pilot fleet communications method and device, is automatic Pilot fleet
Information transfer between middle car and car provides the reliably communication technology, to improve the reliability of truck traffic and success rate.
The embodiment of the present invention, a kind of automatic Pilot fleet communications method is on the one hand provided, it is every in automatic Pilot fleet
DSRC and VLC (Visible Light Communication, it is seen that optical communication technique) are provided with car, for each car
Perform following steps：
Monitor the DSRC and VLC of vehicle upstate；
When monitor DSRC it is available when, the DSRC for passing through vehicle transmits vehicle traveling information；
When monitoring that DSRC is unavailable, VLC is available, the VLC for passing through vehicle transmits vehicle traveling information.
The embodiment of the present invention, on the other hand provides a kind of automatic Pilot fleet communications device, each in automatic Pilot fleet
The communicator is provided with car, and is provided with DSRC and VLC in fleet in each car, the communicator includes communication and controlled
Unit, DSRC communication components and VLC communication components processed, wherein：
The DSRC and VLC of communication control unit monitoring vehicle upstate；
When monitor DSRC it is available when, control DSRC communication component transmission vehicle traveling informations；
When monitoring that DSRC is unavailable, VLC is available, control VLC communication component transmission vehicle traveling informations.
Technical solution of the present invention, two kinds of communication technologys of DSRC and VLC are provided with each car of automatic Pilot fleet, when
The transmission of vehicle traveling information is carried out when DSRC is available by the DSRC, when DSRC is unavailable, VLC is available, is entered by the VLC
The transmission of row vehicle traveling information.Using technical solution of the present invention, on the one hand, when DSRC can use, hidden because DSRC has
Gear influences the advantages of small, time delay is low, therefore can quickly transmit the vehicle row of each vehicle between car and car using DSRC
Information is sailed, so that vehicle can know the vehicle traveling information of other vehicles in automatic Pilot fleet in time；On the other hand, when
When DSRC is unavailable, it can also continue to transmit the vehicle traveling information of vehicle by the VLC of Redundancy Design, because VLC utilizes fluorescence
The light and shade flash signal that the object such as lamp or LED (Light Emitting Diode, light emitting diode) is sent realize information pass
The defeated communication technology, it is seen that the frequency of light uses LED between 400THz (wavelength 780nm) to 800THz (wavelength 375nm)
During lamp, then 500Mbit/s can be reached, i.e., the vehicle traveling information of vehicle, therefore, this hair also can be quickly transmitted using VLC
Bright technical scheme can also continue the transmission of vehicle traveling information when DSRC is unavailable by VLC, further ensure that car
The reliability of vehicle traveling information is transmitted between car.
Brief description of the drawings
Accompanying drawing is used for providing a further understanding of the present invention, and a part for constitution instruction, the reality with the present invention
Apply example to be used to explain the present invention together, be not construed as limiting the invention.
Fig. 1 is the structural representation for being provided with fleet's control system and communicator in the embodiment of the present invention on vehicle；
Fig. 2 is the schematic diagram of automatic Pilot fleet in the embodiment of the present invention；
Fig. 3 is one of structural representation of automatic Pilot fleet communications device in the embodiment of the present invention；
Fig. 4 is two of the structural representation of automatic Pilot fleet communications device in the embodiment of the present invention；
Fig. 5 is the instantiation of automatic Pilot fleet in the embodiment of the present invention；
Fig. 6 is one of flow chart of communication means of automatic Pilot fleet in the embodiment of the present invention；
Fig. 7 is two of the flow chart of the communication means of automatic Pilot fleet in the embodiment of the present invention；
Fig. 8 is three of the flow chart of the communication means of automatic Pilot fleet in the embodiment of the present invention；
Fig. 9 is four of the flow chart of the communication means of automatic Pilot fleet in the embodiment of the present invention；
Figure 10 is five of the flow chart of the communication means of automatic Pilot fleet in the embodiment of the present invention.
Embodiment
In order that those skilled in the art more fully understand the technical scheme in the present invention, below in conjunction with of the invention real
The accompanying drawing in example is applied, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described implementation
Example only part of the embodiment of the present invention, rather than whole embodiments.It is common based on the embodiment in the present invention, this area
The every other embodiment that technical staff is obtained under the premise of creative work is not made, should all belong to protection of the present invention
Scope.
Preferably to manage and ensuring the normal operation of each vehicle in automatic Pilot fleet, in the embodiment of the present invention, such as Fig. 1
It is shown, the fleet's control system and communicator of communication connection are provided with each car in automatic Pilot fleet.Fleet is controlled
System processed can at least realize following functions：
Function 1, obtain vehicle vehicle traveling information and/or audio, video data, and by the vehicle traveling information and/
Or audio, video data is sent to communicator.Fleet's control system periodically obtain vehicle vehicle traveling information and/
Or audio, video data and it is sent to communicator.Fleet's control system and vehicle-mounted end sensor (such as video camera, laser radar,
Millimetre-wave radar, alignment sensor, acceleration sensor etc.) connection, and with car control equipment (brake monitor, acceleration controller,
Direction controller etc.) connection, to obtain vehicle traveling information and/or audio, video data.
Function 2, the vehicle traveling according to other vehicles in the vehicle traveling information of vehicle and automatic automatic Pilot team
Information and/or audio, video data, make the decision information of control vehicle traveling, and control itself car according to the decision information
Traveling.
Function 3, formulate fleet's traveling strategy.
Fleet's control system is communicated by the communicator with other vehicles, for example, fleet's control system passes through
The communicator transmits the vehicle traveling information/audio, video data of itself to other vehicles, and, pass through the communicator
Receive vehicle traveling information/audio, video data of other vehicles.Correspondingly, communicator is by the vehicle of other vehicles received
Driving information/audio, video data is sent to fleet's control system, and, itself car that communicator sends automatic Pilot fleet
Vehicle traveling information/audio, video data be sent to other vehicles.The present invention is improved for communicator, communicator
Belong to the innovative technology of the application, therefore, the communicator in the embodiment of the present invention is described in detail herein below.
Automatic Pilot fleet in the embodiment of the present invention can be truck caravan, fleet of cars, bus fleets, bus
Fleet, tricycle fleet, electric car fleet, motorcycle fleet, tourism and leisure car fleet, excavator fleet, airborne vehicle team, rail
Electric car fleet, vessel fleet, avicade, watering fleet etc., the application does not do considered critical.Automatic Pilot fleet can also be
The fleet being made up of the vehicle of one or more of type：Car, truck, motorcycle, bus, bus etc., the application
Do not make considered critical.
Embodiment one
As shown in Fig. 2 it is provided with automatic Pilot fleet communications device (the application in each car in automatic Pilot fleet
Herein below is represented with communicator 1), each car supports two kinds of communication technologys of DSRC and VLC, the car in automatic Pilot fleet with
Respective vehicle traveling information is transmitted by respective communicator 1 between car and receives the vehicle traveling information of other vehicles.
Referring to Fig. 3, for the structural representation of communicator 1 in the embodiment of the present invention, the communicator 1 includes Control on Communication
Unit 11, DSRC communication components 12 and VLC communication components 13, wherein communication control unit 11 respectively with DSRC communication components 12 and
VLC communication components 13 communicate to connect.
The structure of communicator 1 is described in detail below.
Communication control unit 11, the upstate of DSRC and VLC for monitoring vehicle；It can use when monitoring DSRC
When, control DSRC communication components 12 transmit vehicle traveling information；When monitoring that DSRC is unavailable, VLC is available, control VLC leads to
Believe that component 13 transmits vehicle traveling information.
In the embodiment of the present invention, the vehicle traveling information includes one or more of：Vehicle location information (such as
Longitude, latitude, height above sea level where vehicle etc.), dimension information (such as the length of vehicle, width, height etc.), velocity information (example
Such as speed, direction), acceleration information (such as longitudinal acceleration, transverse acceleration), steering information (such as steering wheel angle,
Front wheel steering angle etc.), (such as braking is stepped on for throttle information (such as gear information, accelerator pedal position information etc.) and braking information
Board position information, parked state information etc.).
In the embodiment of the present invention, when each vehicle sends the vehicle traveling information of vehicle, in the vehicle traveling information
Carry vehicle corresponding to identity information and timestamp, the identity information can be vehicle license plate number or in advance
Numbering for the vehicle layout or other can uniquely represent the information of vehicle, the application does not make considered critical.The present invention
Embodiment, identity information corresponding to all vehicles in automatic Pilot fleet is stored with the communicator of each vehicle in advance.
In the embodiment of the present invention, communication control unit 11 can monitor the available of the DSRC and VLC of vehicle in real time
State, can also periodically monitor the DSRC and VLC of vehicle upstate, and the application does not make considered critical.
Preferably, in the embodiment of the present invention, communication control unit 11 monitors the DSRC of vehicle upstate, specifically
Can by but be not limited only to following two modes and realize：
Mode 1, communication control unit 11 control DSRC communication components 12, and according to preset period 1, (period 1 takes
Value can flexibly be set according to the actual requirements, and the application does not make considered critical), periodically send vehicle heartbeat message
With the heartbeat message for receiving other vehicles in automatic Pilot fleet；At the end of current period, judge whether not receive arbitrarily
The heartbeat message of one other vehicle；If then determining that itself DSRC is unavailable, if otherwise determining, itself DSRC can use.That is mode
1, if the heartbeat message of any one other vehicles is not received by by DSRC in a cycle, it is determined that the DSRC of itself
It is unavailable.
Mode 2, communication control unit 11 control DSRC communication components 12 periodically to be sent according to the preset period 1
The heartbeat message of vehicle and the heartbeat message for receiving other vehicles in fleet；At the end of current period, judge whether to connect
Receive the heartbeat message of every other vehicle；If then determining that itself DSRC can use, if otherwise determining, itself DSRC is unavailable.I.e.
Mode 2, the heartbeat message for only receiving every other vehicle by DSRC in a cycle just can determine that itself DSRC can
With.
In the embodiment of the present invention, all vehicles in automatic Pilot fleet are starting point according to first week using same time point
Phase sends the heartbeat message of vehicle periodically by DSRC.
Preferably, in the embodiment of the present invention, communication control unit 11 monitors the VLC of vehicle upstate, specifically
Including：Communication control unit 11 controls VCL communication components 13, and according to preset second round, (value of second round can basis
Actual demand is flexibly set, and the application does not make considered critical), periodically into fleet, Adjacent vehicles send the heart of vehicle
Jump message and receive the heartbeat message that the Adjacent vehicles are sent；At the end of current period, judge whether to receive it is all its
The heartbeat message of his vehicle；If then determining that itself VLC can use, if otherwise determining, itself VLC is unavailable.
In the embodiment of the present invention, all vehicles in automatic Pilot fleet are starting point according to second week using same time point
Phase sends the heartbeat message of vehicle periodically by VLC.
It is therefore, first because first bus does not have adjacent front truck for the first bus in automatic Pilot fleet in the embodiment of the present invention
Car periodically sends the heartbeat message of itself according to second round to adjacent rear car, and receives other vehicles from adjacent rear car
Heartbeat message.For the trailer in automatic Pilot fleet, because trailer does not have adjacent rear car, therefore, trailer is according to second week
Phase periodically sends the heartbeat message of itself to adjacent front truck, and the heartbeat message of other vehicles is received from adjacent front truck.
For the middle car vehicle of non-trailer (non-first bus) in automatic driving vehicle, due to middle car have adjacent front truck and it is adjacent after
Car, therefore, middle car periodically send the heartbeat message of itself according to second round to adjacent front truck and adjacent rear car, and
All preceding heartbeats to vehicle (being located at all vehicles before the middle car i.e. in automatic Pilot fleet) are received from adjacent front truck
Message, and receive all backward vehicles from adjacent rear car and (be located at all cars after the middle car i.e. in automatic Pilot fleet
) heartbeat message.
In the embodiment of the present invention, when each vehicle sends the heartbeat message of vehicle, the car is carried in the heartbeat message
Corresponding identity information and timestamp, the identity information can be the license plate number of vehicle or be that the vehicle is compiled in advance
The numbering of row or other can uniquely represent the information of vehicle, the application does not make considered critical.
In the embodiment of the present invention, communication control unit 11 controls DSRC communication components 12 to transmit vehicle traveling information, specifically
It may include：Control other vehicles into automatic Pilot fleet of DSRC communication components 12 send the vehicle traveling information of vehicle with
And receive the vehicle traveling information of other vehicles.
In the embodiment of the present invention, control VLC communication components 13 transmit vehicle traveling information, are specially：Control VLC communication sets
The Adjacent vehicles into automatic Pilot fleet of part 13 send the vehicle traveling information of vehicle and forward the vehicle row of other vehicles
Information is sailed, and control VLC communication components 13 receive the vehicle traveling information of other vehicles from the Adjacent vehicles.
In the embodiment of the present invention, the first bus in automatic Pilot fleet is because without adjacent front truck, therefore, first bus passes through itself
VLC communication components 13 send the vehicle traveling information of vehicle to adjacent rear car, and receive other vehicles from adjacent rear car
Vehicle traveling information.Trailer in automatic Pilot fleet is because without adjacent rear car, therefore, trailer passes through itself VLC communication set
Part 13 sends the vehicle traveling information of vehicle to adjacent front truck, and the vehicle traveling of other vehicles is received from adjacent front truck
Information.The existing adjacent front truck of middle car in automatic Pilot fleet also has adjacent rear car, and therefore, middle car is led to by itself VLC
Believe that component 13 sends the vehicle traveling information of vehicle to adjacent front truck and adjacent rear car respectively, and received from adjacent front truck
To the vehicle traveling information of vehicle before all, and the vehicle traveling information from all backward vehicles of adjacent rear car reception.
In the embodiment of the present invention, communication control unit 11 can carry car to be sent by being sent to DSRC communication components 12
The transmission of driving information (can be that the vehicle traveling information of vehicle can also be the vehicle traveling information of other vehicles)
Instruction, to control DSRC communication components 12 to send the vehicle traveling information to be sent.Communication control unit 11 can pass through to
DSRC communication components 12, which are sent, receives instruction, and letter is travelled to control DSRC communication components 12 to receive the vehicle of other vehicles transmission
Breath.
In the embodiment of the present invention, communication control unit 11 can carry car to be sent by being sent to VLC communication components 13
The transmission of driving information (can be that the vehicle traveling information of vehicle can also be the vehicle traveling information of other vehicles)
Instruction, to control VLC communication components 13 to send the vehicle traveling information to be sent to Adjacent vehicles.Communication control unit 11 can
Instruction is received by being sent to VLC communication components 13, to control VLC communication components 13 from adjacent vehicle receiver vehicle traveling information
(vehicle traveling information can be the Adjacent vehicles itself vehicle traveling information or the Adjacent vehicles forwarding its
The vehicle traveling information of his vehicle).
Preferably, make more that accurately decision information, communication control unit 11 are being supervised further to improve each vehicle
When controlling VLC and can use, also further control VLC communication components 13 transmit audio, video data (audio, video data can be vehicle-mounted biography
The view data and/or voice data of sensor collection).That is, described communication control unit 11 is further used for：When monitoring VLC
When available, the VLC communication components 13 are controlled further to transmit audio, video data.
In the embodiment of the present invention, control the VLC communication components 13 further to transmit audio, video data, specifically include：Control
VLC communication components 13 processed Adjacent vehicles into automatic Pilot fleet send the audio, video data of vehicle and forward other vehicles
Audio, video data, and control VLC communication components 13 receive the audio, video data of other vehicles from the Adjacent vehicles.
First bus in automatic Pilot fleet is due to without adjacent front truck, and therefore, first bus is by itself VLC communication component 13 to phase
Adjacent rear car sends the audio, video data of vehicle, and the audio, video data of other vehicles is received from adjacent rear car.Automatically drive
The trailer in fleet is sailed because without adjacent rear car, therefore, trailer sends itself by itself VLC communication component 13 to adjacent front truck
The audio, video data of vehicle, and receive from adjacent front truck the audio, video data of other vehicles.Centre in automatic Pilot fleet
The existing adjacent front truck of car also has adjacent rear car, and therefore, middle car is by itself VLC communication component 13 respectively to adjacent front truck and phase
Adjacent rear car sends the audio, video data of vehicle, and receives all preceding audio, video datas to vehicle from adjacent front truck, with
And the audio, video data of all backward vehicles is received from adjacent rear car.
In the embodiment of the present invention, communication control unit 11 can carry sound to be sent by being sent to VLC communication components 13
The transmission instruction of video data (can be that the audio, video data of vehicle can also be the audio, video data of other vehicles), with
VLC communication components 13 are controlled to send the audio, video data to be sent to Adjacent vehicles.Communication control unit 11 can be by VLC
Communication component 13, which is sent, receives instruction, to control VLC communication components 13 from adjacent vehicle receiver audio, video data (audio frequency and video number
The audio frequency and video number of other vehicles forwarded according to the audio, video data or Adjacent vehicles that can be the Adjacent vehicles itself
According to).
In the embodiment of the present invention, following transmission means is set for VLC communication components 13 in advance：VLC communication components 13 will be certainly
Vehicle traveling information/audio, video data of body vehicle is sent respectively to adjacent front truck and adjacent rear car；And VLC communication components
13 when receiving vehicle traveling information/audio, video data that adjacent front truck is sent, by the vehicle traveling information/audio, video data
Fleet's control system of vehicle is sent to and by the vehicle traveling information/audio, video data by communication control unit 11
It is sent to adjacent rear car；And VLC communication components 13 are receiving vehicle traveling information/audio frequency and video number of adjacent rear car transmission
According to when, by the vehicle traveling information/audio, video data by communication control unit 11 be sent to vehicle fleet control system
Unite and the vehicle traveling information/audio, video data is sent to adjacent front truck.
In the embodiment of the present invention, following transmission means is set for DSRC communication components 12 in advance：Will be certainly by broadcast mode
The vehicle traveling information of body vehicle is broadcasted, so that the DSRC communication components of other vehicles receive the vehicle traveling of vehicle
Information；And receive the vehicle traveling information of other vehicles of the DSRC communication components broadcast of other vehicles.
Preferably, the stability and reliability of data are transmitted between all vehicles to further ensure that, when automatic Pilot car
When the DSRC of Some vehicles is unavailable in team, DSRC of Some vehicles are available, can by but to be not limited only to following two modes true
The success rate of data transfer between guarantor's vehicle.
All vehicles of mode 1, control transmit vehicle traveling information when communicating next time by VLC.
Mode 2, the control unavailable vehicles of DSRC transmit vehicle traveling information when communicating next time by VLC；Control
DSRC can continue through DSRC transmission vehicle traveling informations with vehicle when communicating next time, and when the DSRC can use vehicle
When the DSRC of Adjacent vehicles is unavailable, the DSRC can send vehicle traveling information to Adjacent vehicles by VLC with vehicle and lead to
VLC is crossed from adjacent vehicle receiver vehicle traveling information.
In mode 1, the communication control unit 11 is further used for：When monitoring in the automatic Pilot fleet at least
When the DSRC of one car is unavailable, the VLC communication components 13 are controlled to transmit vehicle traveling information when communicating next time.
In mode 2, the communication control unit 11 is further used for：When the DSRC for monitoring vehicle is available and phase
When the DSRC of adjacent vehicle is unavailable, when communicating next time, then：DSRC communication components 12 are controlled to send the vehicle row of vehicle
Sail information and receive the vehicle traveling information of other available vehicles of DSRC；And control VLC communication components 13 are to described adjacent
Vehicle sends the vehicle traveling information of vehicle and forwards the vehicle traveling information of other vehicles；And control VLC communication sets
Part 13 receives the vehicle traveling information of other vehicles from the Adjacent vehicles.
Preferably, in the embodiment of the present invention, communication control unit 11 is further used for：As the DSRC for monitoring vehicle
With VLC it is unavailable when, carry out communication mistake alarm.
In the embodiment of the present invention, it can be that progress audio alert or progress word show to carry out communication mistake alarm
Show alarm, can also be triggering alarm lamp flicker alarm, specific type of alarm the application does not do considered critical.
Preferably, as shown in figure 4, in the embodiment of the present invention, DSRC communication components 12 include DSRC communication units and DSRC
Antenna, DSRC communication units receive and dispatch vehicle traveling information by the DSRC antennas；VLC communication components 13 include it is preceding to lamp, it is preceding
To lamp transmitter unit, forward direction lamp receiving unit, backward lamp, backward lamp transmitter unit and backward lamp receiving unit, wherein forward direction lamp
Transmitter unit and forward direction lamp receiving unit can be arranged on before to lamp inside, backward lamp transmitter unit and backward lamp receiving unit can
To be arranged on inside backward lamp.
Control the Adjacent vehicles into automatic Pilot fleet of VLC communication components 13 send vehicle vehicle traveling information and
The vehicle traveling information of other vehicles is forwarded, is specially：The forward direction lamp transmitter unit of vehicle is controlled to be sent by preceding to lamp
The vehicle traveling information of vehicle；And the back light transmitter unit of vehicle is controlled to send vehicle to lamp by rear
Vehicle traveling information；And the forward direction lamp transmitter unit of vehicle is controlled to forward what adjacent rear car was sent to adjacent front truck
Vehicle traveling information；And control the rear car for forwarding adjacent front truck to send to adjacent rear car to lamp transmitter unit of vehicle
Driving information.
Preferably, the forward direction lamp transmitter unit of vehicle is controlled to travel letter by the preceding vehicle for sending vehicle to lamp
Breath, it is specially：Control the forward direction lamp transmitter unit of vehicle that the vehicle traveling information of vehicle is modulated into binary system letter
Number, and it is preceding to binary signal described in lamp flash transmission by controlling；
Control vehicle back light transmitter unit by it is rear to lamp send vehicle vehicle traveling information, specifically
For：The vehicle traveling information of vehicle is modulated into binary signal by the backward lamp transmitter unit of control vehicle, and is led to
Cross and control binary signal described in backward lamp flash transmission.
In the embodiment of the present invention, forward direction lamp transmitter unit includes modulator, controller and driver, modulator by itself
Vehicle traveling information is modulated into binary signal, is flashed before being controlled by the power switch of controller control driver to lamp to incite somebody to action
Binary signal is launched.
In the embodiment of the present invention, backward lamp transmitter unit includes modulator, controller and driver, modulator by itself
Vehicle traveling information is modulated into binary signal, controls backward lamp flicker to incite somebody to action by the power switch of controller control driver
Binary signal is launched.
Preferably, in the embodiment of the present invention, control VLC communication components receive the vehicle of other vehicles from the Adjacent vehicles
Driving information, specifically include：
The forward direction lamp receiving unit of vehicle is controlled to receive the rear vehicle row sent to lamp transmitter unit of adjacent front truck
Sail information；And control the car of the rear forward direction lamp transmitter unit transmission that adjacent rear car is received to lamp receiving unit of vehicle
Driving information.
In the embodiment of the present invention, forward direction lamp receiving unit includes demodulator and photosensitive device, and (photosensitive device for example can be
Photodiode), the optical signal received from the backward lamp transmitter unit of adjacent front truck is converted into electric signal by photosensitive device, then
Vehicle traveling information is demodulated from electric signal by demodulator.
In the embodiment of the present invention, backward lamp receiving unit includes demodulator and photosensitive device, and photosensitive device will be after adjacent
The optical signal that the forward direction lamp transmitter unit of car receives is converted into electric signal, then demodulates vehicle row from electric signal by demodulator
Sail information.
The Adjacent vehicles into automatic Pilot fleet of VLC communication components 13 are controlled to send the audio, video data of vehicle and turn
The audio, video data of other vehicles is sent out, is specifically included：The forward direction lamp transmitter unit of vehicle is controlled to be sent certainly to lamp by preceding
The audio, video data of body vehicle；And the back light transmitter unit of vehicle is controlled to pass through the rear sound for sending vehicle to lamp
Video data；And the audio frequency and video for controlling the forward direction lamp transmitter unit of vehicle to forward adjacent rear car to send to adjacent front truck
Data；And control the rear audio, video data for forwarding adjacent front truck to send to adjacent rear car to lamp transmitter unit of vehicle.
Control VLC communication components 13 receive the audio, video data of other vehicles by the VLC of itself from the Adjacent vehicles,
Specifically include：The forward direction lamp receiving unit of vehicle is controlled to receive the rear audio frequency and video sent to lamp transmitter unit of adjacent front truck
Data；And the sound of the rear forward direction lamp transmitter unit transmission for receiving adjacent rear car to lamp receiving unit of vehicle is controlled to regard
Frequency evidence.
Preferably, in the embodiment of the present invention, the forward direction lamp in automatic Pilot fleet in each vehicle can be vehicle itself
Headlight or it is additionally installed at vehicle front (for example, vehicle front at the top of, vehicle front bottom) and is exclusively used in VLC communications
LED or fluorescent lamp；After backward lamp can be the clearance lamps (i.e. taillight) of vehicle itself or be additionally installed at vehicle
End (for example, rear vehicle end top, rear vehicle end bottom) is exclusively used in the LED or fluorescent lamp of VLC communications.
In the embodiment of the present invention, (value of period 3 can be according to actual need according to the period 3 for communication control unit 11
Flexible setting is asked, the application does not make considered critical) periodically control DSRC communication component 12/VLC communication components 13 to be transferred from
The vehicle traveling information of body vehicle.Period 1 be able to can also be differed with second round with identical, period 1 and second week
The value of phase is the positive integer times of period 3.
Preferably, the period 1 is identical with second round in the embodiment of the present invention, the communication control unit in all vehicles
11 using upstate of the identical time point as starting point using the VLC and DSRC of unified cycle monitoring vehicle；It is and logical
Believe that (value of period 3 can flexibly be set control unit 11 according to the actual requirements according to the period 3 using foregoing time point as starting point
Put, the application does not make considered critical) periodically control DSRC communication component 12/VLC communication components 13 to transmit vehicle
Vehicle traveling information.Generally, period 1/second round is the positive integer times of period 3.
For ease of skilled artisan understands that technical solution of the present invention, below with a specific example to the technology of the present invention
Scheme is described.
As shown in fig. 5, it is assumed that automatic Pilot fleet includes vehicle A, vehicle B, vehicle C and vehicle D successively, in vehicle A, car
It is (including communication control unit A0, DSRC communication component A1, preceding that corresponding communicator A is provided with B, vehicle C and vehicle D
To lamp A2, forward direction lamp transmitter unit A3, forward direction lamp receiving unit A4, backward lamp transmitter unit A5 and backward lamp receiving unit A6,
Backward lamp A7), communicator B (including communication control unit B0, DSRC communication component B1, forward direction lamp B2, forward direction lamp transmitter unit
B3, forward direction lamp receiving unit B4, backward lamp transmitter unit B5 and backward lamp receiving unit B6, backward lamp B7), communicator C (bag
Include communication control unit C0, DSRC communication component C1, forward direction lamp C2, forward direction lamp transmitter unit C3, forward direction lamp receiving unit C4, after
To lamp transmitter unit C5 and backward lamp receiving unit C6, backward lamp C7) and communicator D (including communication control unit D0, DSRC
Communication component D1, forward direction lamp D2, forward direction lamp transmitter unit D3, forward direction lamp receiving unit D4, backward lamp transmitter unit D5 and backward
Lamp receiving unit D6, backward lamp D7).Using sometime point t, (time point t monitors DSRC, VLC as communication control unit 11
The initial time of a cycle of upstate) exemplified by, now each Control on Communication list 11 controls the DRSC of respective vehicle to lead to respectively
Letter component 12 transmits the vehicle traveling information of respective vehicle, communication control unit A0, communication control unit B0, communication control unit
DSRC communication component A1, DSRC communication component B1, DSRC communication components C1 of C0 and communication control unit D0 control vehicles
The heartbeat message of vehicle is sent with DSRC communication components D1；If at the end of current period, it is assumed that communication control unit A0
Vehicle C and vehicle D heartbeat message are received, communication control unit B0 is not received by the heartbeat message of any one car, leads to
Letter control unit C0 receives vehicle A and vehicle D heartbeat message, and communication control unit D0 receives vehicle A and vehicle the C heart
Jump message；It can then determine that current period vehicle A, vehicle C and vehicle D DSRC can use, vehicle B DSRC is unavailable；Work as biography
When next cycle of the vehicle traveling information of defeated vehicle starts, vehicle A, vehicle B, vehicle C are described with two examples respectively
Vehicle traveling information transmission is carried out with vehicle D.
In example one, when the next cycle for the vehicle traveling information for transmitting vehicle starts, vehicle B passes through VLC
Vehicle traveling information is transmitted, vehicle A, vehicle C and vehicle D continue through DSRC transmission vehicle traveling informations.Vehicle A, vehicle C and
Vehicle D can obtain mutual vehicle traveling information by DSRC；Vehicle A is sent vehicle A vehicle traveling information by VLC
Give vehicle B, vehicle C that vehicle A, vehicle C and vehicle D vehicle traveling information are sent into vehicle B by VLC；Vehicle B by itself
Vehicle traveling information is transferred to vehicle A and vehicle C by VLC；Vehicle B vehicle is travelled letter by vehicle A/ vehicles C by DSRC
Breath is sent to vehicle D.Now, the vehicle of all vehicles can be obtained in the cycle, vehicle A, vehicle B, vehicle C and vehicle D
Driving information.
In example two, when the next cycle of vehicle traveling information for transmitting vehicle starts, vehicle A, vehicle B,
Vehicle C and vehicle D transmit vehicle traveling information by VLC.Vehicle A launches vehicle by backward lamp transmitter unit A5
Vehicle traveling information, and vehicle B, vehicle C are received from vehicle B forward direction lamp transmitter unit B3 by backward lamp receiving unit A6
With vehicle D vehicle traveling information；Vehicle D by it is preceding to lamp transmitter unit D3 send vehicle vehicle traveling information, with
And vehicle A, vehicle B and vehicle C vehicle row are received by the preceding backward lamp transmitter unit C5 to lamp receiving unit D4 from vehicle C
Sail information；Vehicle B launches vehicle B, vehicle C and vehicle D vehicle traveling information to lamp transmitter unit B3 by preceding, and passes through
Backward lamp transmitter unit B5 transmitting vehicle A and vehicle B vehicle traveling informations, and by preceding to lamp receiving unit B4 from vehicle A
Backward lamp transmitter unit A5 receive vehicle A vehicle traveling information, and by backward lamp receiving unit B6 before vehicle C
Vehicle C and vehicle D vehicle traveling information is received to lamp transmitter unit C3；Vehicle C is by preceding to lamp transmitter unit C3 car launchers
C and vehicle D vehicle traveling information, and launch by backward lamp transmitter unit C5 vehicle C, vehicle A and vehicle B vehicle
Driving information, and receive vehicle A's and vehicle B by the preceding backward lamp transmitter unit B5 to lamp receiving unit C4 from vehicle B
Vehicle traveling information, and the vehicle row by backward lamp receiving unit C6 from the vehicle D reception vehicle of forward emitted cells D 3 D
Sail information.
Embodiment two
A kind of automatic Pilot fleet communications device identical design provided based on previous embodiment one, the embodiment of the present invention
Two provide a kind of automatic Pilot fleet communications method, and this method is applied to each car in automatic Pilot fleet, and drives automatically
Sail and DSRC and VLC are provided with each car in fleet, shown in methods described Fig. 6, including：
Step 101, monitor vehicle DSRC and VLC upstate.
Step 102, when monitor DSRC it is available when, the DSRC for passing through vehicle transmits vehicle traveling information.
Step 103, when monitoring that DSRC is unavailable, VLC is available, the VLC for passing through vehicle transmits vehicle traveling letter
Breath.
There is no strict priority execution sequence in the embodiment of the present invention, between step 102 and step 103, can first carry out
Step 102 performs step 103 again, can also first carry out step 103 and perform step 102 again.
In the embodiment of the present invention, the vehicle traveling information includes one or more of：Vehicle location information (such as
Longitude, latitude, height above sea level where vehicle etc.), dimension information (such as the length of vehicle, width, height etc.), velocity information (example
Such as speed, direction), acceleration information (such as longitudinal acceleration, transverse acceleration), steering information (such as steering wheel angle,
Front wheel steering angle etc.), (such as braking is stepped on for throttle information (such as gear information, accelerator pedal position information etc.) and braking information
Board position information, parked state information etc.).
Preferably, methods described flow can also further comprise step 104, the step 104 and step 102, step 103 it
Between there is no strict priority execution sequence, as shown in Figure 7：
Step 104, when monitor VLC it is available when, the VLC for passing through vehicle transmits audio, video data.
In the embodiment of the present invention, abovementioned steps 104 transmit audio, video data by the VLC of vehicle, specifically include：It is logical
The VLC of the vehicle Adjacent vehicles into automatic Pilot fleet are crossed to send the audio, video data of vehicle and forward other vehicles
Audio, video data, and the audio, video data of other vehicles is received by the VLC of vehicle from the Adjacent vehicles.
In the embodiment of the present invention, audio, video data can be the car that the onboard sensor being loaded on vehicle collects
Surrounding environment view data and/or voice data, can be by the information of the surrounding environment of vehicle by step 104
It is synchronized to other vehicles.
Preferably, step 105, step 105 and abovementioned steps 102, step can also be further comprised in Fig. 6, Fig. 7 methods described
There is no strict priority execution sequence between rapid 103 and step 104, as shown in Figure 8：
Step 105, when the DSRC for monitoring at least one car in the automatic Pilot fleet is unavailable, lead to next time
Vehicle traveling information is transmitted by the VLC of vehicle during letter.
Preferably, step 106~step 109, step can be also further comprised in the method flow shown in Fig. 6, Fig. 7
There is no strict priority execution sequence between 106~step 109 and abovementioned steps 102, step 103, step 104 and step 105,
As shown in Figure 9：
Step 106, when the DSRC for monitoring vehicle is available and the DSRC of Adjacent vehicles is unavailable, then next time
Step 107~step 109 is performed during communication.
Step 107, the vehicle traveling information for sending by the DSRC of vehicle vehicle and to receive DSRC available
The vehicle traveling information of other vehicles.
Step 108, the vehicle traveling information of vehicle is sent to the Adjacent vehicles by the VLC of vehicle and turned
Send out the vehicle traveling information of other vehicles.
Step 109, the vehicle traveling information that other vehicles are received by the VLC of vehicle from the Adjacent vehicles.
In the method flow shown in 6~Fig. 9 of earlier figures, it can also further comprise the steps 110, step 110 is with before
Stating does not have strict priority execution suitable between step 102, step 103, step 104 and step 105, step 106~step 109
Sequence, as shown in Figure 10：
Step 110, when monitoring the DSRC and VLC unavailable of vehicle, carry out communication mistake alarm.
Type of alarm can be found in the related content in embodiment one, will not be repeated here.
Preferably, in embodiments of the present invention, in the step 102, vehicle is transmitted by the DSRC of vehicle and travelled
Information, specifically include：By the DSRC of vehicle, into automatic Pilot fleet, other vehicles send the vehicle row of vehicle
Sail information and receive the vehicle traveling information of other vehicles.
Preferably, in embodiments of the present invention, in the step 103, vehicle traveling letter is transmitted by the VLC of vehicle
Breath, specifically includes step A1~step A2：Step A1, by the VLC of vehicle, into automatic Pilot fleet, Adjacent vehicles are sent out
Send the vehicle traveling information of vehicle and forward the vehicle traveling information of other vehicles；Step A2, the VLC of vehicle is passed through
The vehicle traveling information of other vehicles is received from the Adjacent vehicles.
Preferably, list is received before each car is provided with automatic Pilot fleet to lamp, forward direction lamp transmitter unit, forward direction lamp
First, backward lamp, backward lamp transmitter unit and backward lamp receiving unit, wherein forward direction lamp receiving unit and forward direction lamp transmitter unit can
It is may be provided at before being arranged on to lamp inside, backward lamp transmitter unit and backward lamp receiving unit inside backward lamp, abovementioned steps A1
Specifically it may include following steps A11~step A14：
Step A11, the forward direction lamp transmitter unit of vehicle is controlled to be travelled by the preceding vehicle for sending vehicle to lamp
Information.
Step A11 specific implementations can be as follows：The forward direction lamp transmitter unit of vehicle is controlled by the vehicle of vehicle
Driving information is modulated into binary signal, and preceding to binary signal described in lamp flash transmission by controlling.
Step A12, the back light transmitter unit of vehicle is controlled to travel letter by the rear vehicle for sending vehicle to lamp
Breath.
Step A12 specific implementations can be as follows：The backward lamp transmitter unit of vehicle is controlled by the vehicle of vehicle
Driving information is modulated into binary signal, and by controlling binary signal described in backward lamp flash transmission.
In the embodiment of the present invention, forward direction lamp transmitter unit includes modulator, controller and driver, modulator by itself
Vehicle traveling information is modulated into binary signal, is flashed before being controlled by the power switch of controller control driver to lamp to incite somebody to action
Binary signal is launched.
In the embodiment of the present invention, backward lamp transmitter unit includes modulator, controller and driver, modulator by itself
Vehicle traveling information is modulated into binary signal, controls backward lamp flicker to incite somebody to action by the power switch of controller control driver
Binary signal is launched.
Step A13, the vehicle for controlling the forward direction lamp transmitter unit of vehicle to forward adjacent rear car to send to adjacent front truck
Driving information.
Step A14, the rear vehicle for forwarding adjacent front truck to send to adjacent rear car to lamp transmitter unit of vehicle is controlled
Driving information.
In the embodiment of the present invention, abovementioned steps A2 specifically may include step A21~step A22, wherein：Step A21, control
The forward direction lamp receiving unit of vehicle receives the rear vehicle traveling information sent to lamp transmitter unit of adjacent front truck；Step
The vehicle that A22, the rear forward direction lamp transmitter unit to the adjacent rear car of lamp receiving unit reception of control vehicle are sent travels letter
Breath.
In the embodiment of the present invention, forward direction lamp receiving unit includes demodulator and photosensitive device, and (photosensitive device for example can be
Photodiode), the optical signal received from the backward lamp transmitter unit of adjacent front truck is converted into electric signal by photosensitive device, then
Vehicle traveling information is demodulated from electric signal by demodulator.
In the embodiment of the present invention, backward lamp receiving unit includes demodulator and photosensitive device, and photosensitive device will be after adjacent
The optical signal that the forward direction lamp transmitter unit of car receives is converted into electric signal, then demodulates vehicle row from electric signal by demodulator
Sail information.
Preferably, in the embodiment of the present invention, the forward direction lamp in automatic Pilot fleet in each vehicle can be vehicle itself
Headlight or it is additionally installed at vehicle front (for example, vehicle front at the top of, vehicle front bottom) and is exclusively used in VLC communications
LED or fluorescent lamp.
Backward lamp can be the clearance lamps (i.e. taillight) of vehicle itself or be additionally installed at rear vehicle end (for example,
Rear vehicle end top, rear vehicle end bottom) it is exclusively used in the LED or fluorescent lamp of VLC communications.
Preferably, in the embodiment of the present invention, in abovementioned steps 101, the DSRC of vehicle upstate is monitored, specifically
It can be realized by following two modes：
Mode 1, according to the preset period 1, heartbeat message and the reception of vehicle are sent periodically by DSRC
The heartbeat message of other vehicles in automatic Pilot fleet；At the end of current period, judge whether not receive any one other
The heartbeat message of vehicle；If then determining that itself DSRC is unavailable, if otherwise determining, itself DSRC can use.
Mode 2, according to the preset period 1, heartbeat message and the reception of vehicle are sent periodically by DSRC
The heartbeat message of other vehicles in automatic Pilot fleet；At the end of current period, judge whether to receive every other vehicle
Heartbeat message；If then determining that itself DSRC can use, if otherwise determining, itself DSRC is unavailable.
Preferably, in the embodiment of the present invention, in abovementioned steps 101, the VLC of vehicle upstate is monitored, specifically
Including：According to preset second round, periodically by VLC, into automatic Pilot fleet, Adjacent vehicles send vehicle
Heartbeat message and the heartbeat message for receiving the Adjacent vehicles transmission；At the end of current period, judge whether to receive all
The heartbeat message of vehicle；If then determining that itself VLC can use, if otherwise determining, itself VLC is unavailable.
Preferably, the period 1 is identical with second round in the embodiment of the present invention, is used by starting point of identical time point
The VLC and DSRC of unified cycle monitoring vehicle upstate；Also, it is starting point according to the 3rd week using foregoing time point
Phase (value of period 3 can flexibly be set according to the actual requirements, and the application does not make considered critical) periodically passes through itself
The vehicle traveling information of DSRC or VLC transmission vehicles.Generally, period 1/second round is the period 3
Positive integer times.
The general principle of the present invention is described above in association with specific embodiment, however, it is desirable to, it is noted that general to this area
For logical technical staff, it is to be understood that the whole either any steps or part of methods and apparatus of the present invention can be any
In computing device (including processor, storage medium etc.) or the network of computing device, with hardware firmware, software or they
Combination is realized that this is that those of ordinary skill in the art use the basic of them in the case where having read the explanation of the present invention
What programming skill can be achieved with.
One of ordinary skill in the art will appreciate that all or part of step for realizing above-described embodiment method carrying is can
To instruct the hardware of correlation to complete by program, described program can be stored in a kind of computer-readable recording medium,
The program upon execution, including one or a combination set of the step of embodiment of the method.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, can also
That unit is individually physically present, can also two or more units be integrated in a module.Above-mentioned integrated mould
Block can both be realized in the form of hardware, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and as independent production marketing or in use, can also be stored in a computer
In read/write memory medium.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can use the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the present invention can use the computer for wherein including computer usable program code in one or more
The shape for the computer program product that usable storage medium is implemented on (including but is not limited to magnetic disk storage and optical memory etc.)
Formula.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processors of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Although having been described for the above embodiment of the present invention, those skilled in the art once know basic creation
Property concept, then can make other change and modification to these embodiments.So appended claims are intended to be construed to include
State embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (26)
- A kind of 1. automatic Pilot fleet communications method, it is characterised in that be provided with each car in automatic Pilot fleet specially With short-range communication technology DSRC and visible light communication technology VLC, following steps are performed for each car：Monitor the DSRC and VLC of vehicle upstate；When monitor DSRC it is available when, the DSRC for passing through vehicle transmits vehicle traveling information；When monitoring that DSRC is unavailable, VLC is available, the VLC for passing through vehicle transmits vehicle traveling information.
- 2. according to the method for claim 1, it is characterised in that methods described also includes：When monitor VLC it is available when, the VLC for passing through vehicle transmits audio, video data.
- 3. according to the method for claim 1, it is characterised in that methods described also includes：When the DSRC for monitoring at least one car in the automatic Pilot fleet is unavailable, control vehicle leads to next time Vehicle traveling information is transmitted by the VLC of vehicle during letter.
- 4. according to the method for claim 1, it is characterised in that methods described also includes：When monitoring vehicle When DSRC can use and the DSRC of Adjacent vehicles is unavailable, when communicating next time, then：The vehicle traveling information of vehicle is sent by the DSRC of vehicle and receives the car of other available vehicles of DSRC Driving information；And the vehicle traveling information of vehicle is sent to the Adjacent vehicles by the VLC of vehicle and forwards other The vehicle traveling information of vehicle；And the vehicle traveling information of other vehicles is received from the Adjacent vehicles by the VLC of vehicle.
- 5. according to the method for claim 1, it is characterised in that methods described also includes：When monitoring the DSRC and VLC unavailable of vehicle, communication mistake alarm is carried out.
- 6. according to the method described in Claims 1 to 5 any one, it is characterised in that pass through the DSRC transmission vehicles of vehicle Driving information, is specifically included：By the DSRC of vehicle, into automatic Pilot fleet, other vehicles send vehicle Vehicle traveling information and the vehicle traveling information for receiving other vehicles；Vehicle traveling information is transmitted by the VLC of vehicle, specifically included：By the VLC of vehicle to automatic Pilot car Adjacent vehicles send the vehicle traveling information of vehicle and forward the vehicle traveling information of other vehicles in team, and by certainly The VLC of body vehicle receives the vehicle traveling information of other vehicles from the Adjacent vehicles.
- 7. according to the method for claim 6, it is characterised in that to lamp, preceding before each car is provided with automatic Pilot fleet To lamp transmitter unit, forward direction lamp receiving unit, backward lamp, backward lamp transmitter unit and backward lamp receiving unit；Pass through itself car VLC into automatic Pilot fleet Adjacent vehicles send vehicle vehicle traveling information and forward other vehicles vehicle Driving information, specifically include：The forward direction lamp transmitter unit of vehicle is controlled to pass through the preceding vehicle traveling information for sending vehicle to lamp；And the back light transmitter unit of vehicle is controlled to pass through the rear vehicle traveling information for sending vehicle to lamp；And the vehicle for controlling the forward direction lamp transmitter unit of vehicle to forward adjacent rear car to send to adjacent front truck travels letter Breath；And the rear of vehicle is controlled to travel letter to the vehicle that lamp transmitter unit forwards adjacent front truck to send to adjacent rear car Breath.
- 8. according to the method for claim 7, it is characterised in that control the forward direction lamp transmitter unit of vehicle to send itself The vehicle traveling information of vehicle, is specifically included：The forward direction lamp transmitter unit of vehicle is controlled to travel the vehicle of vehicle Modulates information into binary signal, and by before controlling to binary signal described in lamp flash transmission；The rear vehicle traveling information that vehicle is sent to lamp transmitter unit of vehicle is controlled, is specifically included：Control itself The vehicle traveling information of vehicle is modulated into binary signal by the backward lamp transmitter unit of vehicle, and by controlling backward lamp Binary signal described in flash transmission.
- 9. according to the method for claim 7, it is characterised in that received by the VLC of vehicle from the Adjacent vehicles The vehicle traveling information of other vehicles, is specifically included：The forward direction lamp receiving unit of vehicle is controlled to receive the rear vehicle traveling letter sent to lamp transmitter unit of adjacent front truck Breath；And control the vehicle row of the rear forward direction lamp transmitter unit transmission that adjacent rear car is received to lamp receiving unit of vehicle Sail information.
- 10. according to the method for claim 7, it is characterised in that the forward direction lamp is the headlight of vehicle or is advance The LED lamp or fluorescent lamp of VLC communications are exclusively used in installed in vehicle front；The backward lamp is the clearance lamps of vehicle or is to be pre-installed in the LED or glimmering that rear vehicle end is exclusively used in VLC communications Light lamp.
- 11. according to the method described in Claims 1 to 5 any one, it is characterised in that monitor the available of the DSRC of vehicle State, specifically include：According to the preset period 1, heartbeat message and the reception of vehicle are sent periodically by the DSRC of vehicle The heartbeat message of other vehicles in automatic Pilot fleet；At the end of current period, judge whether not receive the heartbeat message of any one other vehicles；If then determine certainly Body vehicle DSRC is unavailable, if otherwise determining, the DSRC of vehicle can use；Or at the end of current period, judge whether to receive the heartbeat message of every other vehicle；If then determine itself The DSRC of vehicle can use, if otherwise determining, the DSRC of vehicle is unavailable.
- 12. according to the method described in Claims 1 to 5 any one, it is characterised in that monitor the available of the VLC of vehicle State, specifically include：According to preset second round, periodically by the VLC of vehicle, into automatic Pilot fleet, Adjacent vehicles are sent The heartbeat message of vehicle and the heartbeat message for receiving the Adjacent vehicles transmission；At the end of current period, judge whether to receive the heartbeat message of every other vehicle；If then determine vehicle VLC can use, if otherwise determine vehicle VLC it is unavailable.
- 13. according to the method for claim 1, it is characterised in that the vehicle traveling information includes one or more of： Location information, dimension information, velocity information, acceleration information, steering information, throttle information and the braking information of vehicle.
- 14. a kind of automatic Pilot fleet communications device, it is characterised in that be provided with automatic Pilot fleet in each car described logical T unit, and DSRC technology DSRC and visible light communication technology VLC are provided with automatic Pilot fleet in each car, The communicator includes communication control unit, DSRC communication components and VLC communication components, wherein：The DSRC and VLC of communication control unit monitoring vehicle upstate；When monitor DSRC it is available when, control DSRC communication component transmission vehicle traveling informations；When monitoring that DSRC is unavailable, VLC is available, control VLC communication component transmission vehicle traveling informations.
- 15. device according to claim 14, it is characterised in that the communication control unit is further used for：When monitor VLC it is available when, control the VLC communication components further to transmit audio, video data.
- 16. device according to claim 14, it is characterised in that the communication control unit is further used for：When the DSRC for monitoring at least one car in the automatic Pilot fleet is unavailable, when communicating next time described in control VLC communication components transmit vehicle traveling information.
- 17. device according to claim 14, it is characterised in that the communication control unit is further used for：When the DSRC for monitoring vehicle is available and the DSRC of Adjacent vehicles is unavailable, when communicating next time, then：Control DSRC communication components to send the vehicle traveling information of vehicle and receive the vehicle of other available vehicles of DSRC Driving information；And control VLC communication components send the vehicle traveling information of vehicle to the Adjacent vehicles and forward other cars Vehicle traveling information；And control VLC communication components receive the vehicle traveling information of other vehicles from the Adjacent vehicles.
- 18. device according to claim 14, it is characterised in that the communication control unit is further used for：When monitoring the DSRC and VLC unavailable of vehicle, communication mistake alarm is carried out.
- 19. according to the device described in claim 14~18 any one, it is characterised in that communication control unit controls DSRC leads to Believe component transmission vehicle traveling information, be specially：DSRC communication components other vehicles into automatic Pilot fleet are controlled to send certainly The vehicle traveling information of body vehicle and the vehicle traveling information for receiving other vehicles；Communication control unit controls VLC communication components transmit vehicle traveling information, are specially：VLC communication components are controlled to automatic Adjacent vehicles in fleet are driven to send the vehicle traveling information of vehicle and forward the vehicle traveling information of other vehicles, and Control VLC communication components receive the vehicle traveling information of other vehicles from the Adjacent vehicles.
- 20. device according to claim 19, it is characterised in that the VLC communication components include preceding to lamp, forward direction lamp hair Penetrate unit, forward direction lamp receiving unit, backward lamp, backward lamp transmitter unit and backward lamp receiving unit；VLC communication components Adjacent vehicles into automatic Pilot fleet are controlled to send the vehicle traveling information of vehicle and forward it The vehicle traveling information of his vehicle, it is specially：The forward direction lamp transmitter unit of vehicle is controlled to pass through the preceding vehicle traveling information for sending vehicle to lamp；And the back light transmitter unit of vehicle is controlled to pass through the rear vehicle traveling information for sending vehicle to lamp；And the vehicle for controlling the forward direction lamp transmitter unit of vehicle to forward adjacent rear car to send to adjacent front truck travels letter Breath；And the rear of vehicle is controlled to travel letter to the vehicle that lamp transmitter unit forwards adjacent front truck to send to adjacent rear car Breath.
- 21. device according to claim 20, it is characterised in that control vehicle forward direction lamp transmitter unit pass through it is preceding The vehicle traveling information of vehicle is sent to lamp, is specially：The forward direction lamp transmitter unit of vehicle is controlled by vehicle Vehicle traveling information be modulated into binary signal, and by before controlling to binary signal described in lamp flash transmission；Control vehicle back light transmitter unit by it is rear to lamp send vehicle vehicle traveling information, be specially：Control The vehicle traveling information of vehicle is modulated into binary signal by the backward lamp transmitter unit of vehicle processed, and passes through control Binary signal described in backward lamp flash transmission.
- 22. the device described according to right and requiring 19, it is characterised in that control VLC communication components connect from the Adjacent vehicles The vehicle traveling information of other vehicles is received, is specifically included：The forward direction lamp receiving unit of vehicle is controlled to receive the rear vehicle traveling letter sent to lamp transmitter unit of adjacent front truck Breath；And control the vehicle row of the rear forward direction lamp transmitter unit transmission that adjacent rear car is received to lamp receiving unit of vehicle Sail information.
- 23. device according to claim 19, it is characterised in that the forward direction lamp is the headlight of vehicle or is advance The LED lamp or fluorescent lamp of VLC communications are exclusively used in installed in vehicle front；The backward lamp is the clearance lamps of vehicle or is to be pre-installed in the LED or glimmering that rear vehicle end is exclusively used in VLC communications Light lamp.
- 24. according to the device described in claim 14~18 any one, it is characterised in that communication control unit monitors itself car DSRC upstate, specifically include：DSRC communication components are controlled according to the preset period 1, periodically send vehicle heartbeat message and received from The dynamic heartbeat message for driving other vehicles in fleet；At the end of current period, judge whether not receive the heartbeat message of any one other vehicles；If then determine certainly Body DSRC is unavailable, if otherwise determining, itself DSRC can use；Or at the end of current period, judge whether to receive the heartbeat message of every other vehicle；If then determine itself DSRC can use, if otherwise determining, itself DSRC is unavailable.
- 25. according to the device described in claim 14~18 any one, it is characterised in that communication control unit monitors itself car VLC upstate, specifically include：Controlling VLC communication components, periodically into automatic Pilot fleet, Adjacent vehicles are sent certainly according to preset second round The heartbeat message of body vehicle and the heartbeat message for receiving the Adjacent vehicles transmission；At the end of current period, judge whether to receive the heartbeat message of every other vehicle；If then determine that itself VLC can With if otherwise determining, itself VLC is unavailable.
- 26. device according to claim 14, it is characterised in that the vehicle traveling information includes following a kind of or more Kind：Location information, dimension information, velocity information, acceleration information, steering information, throttle information and the braking information of vehicle.
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| CN201710978972.1A CN107808514B (en) | 2017-10-19 | 2017-10-19 | Communication method and device for automatic driving fleet |
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| CN201710978972.1A CN107808514B (en) | 2017-10-19 | 2017-10-19 | Communication method and device for automatic driving fleet |
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| CN111462514A (en) * | 2020-03-23 | 2020-07-28 | 腾讯科技（深圳）有限公司 | Automatic driving control method and related device |
| CN115516537A (en) * | 2020-05-15 | 2022-12-23 | 三菱电机株式会社 | Communication control device, queue travel control device, communication system, and communication control method |
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