CN107808514B

CN107808514B - Communication method and device for automatic driving fleet

Info

Publication number: CN107808514B
Application number: CN201710978972.1A
Authority: CN
Inventors: 李文锐; 吴楠
Original assignee: Beijing Tusimple Technology Co Ltd
Current assignee: Beijing Tusimple Technology Co Ltd
Priority date: 2017-10-19
Filing date: 2017-10-19
Publication date: 2021-01-08
Anticipated expiration: 2037-10-19
Also published as: CN107808514A

Abstract

The invention discloses a communication method and a communication device for an automatic driving motorcade, which aim to solve the technical problem of poor communication reliability of vehicles in the automatic driving motorcade in the prior art. The application, be provided with DSRC and VLC on every car in automatic driving motorcade, the method includes: monitoring the available states of DSRC and VLC of the own vehicle; transmitting vehicle travel information by the DSRC of the own vehicle when it is monitored that the DSRC is available; when it is monitored that the DSRC is not available and the VLC is available, the vehicle travel information is transmitted through the VLC of the own vehicle. By adopting the technical scheme of the invention, the reliability and the success rate of the communication between the vehicles in the automatic driving fleet can be improved.

Description

Communication method and device for automatic driving fleet

Technical Field

The invention relates to the field of automatic driving, in particular to an automatic driving motorcade communication method and an automatic driving motorcade communication device.

Background

With the development of automatic driving technology and car networking technology, automatic driving fleet is possible in application scenarios (such as highways) where traffic environment is relatively simple. All vehicles in the automatic driving fleet have automatic driving capability, and the rear vehicles can closely follow the front vehicles in sequence. In order to ensure the safe driving of each unmanned vehicle in the automatic driving fleet, it is very important that each unmanned vehicle timely knows the driving conditions of other vehicles in the fleet.

Because DSRC (Dedicated Short Range Communications) is an efficient wireless communication technology, it can realize the identification and two-way communication of moving objects under high-speed motion in a specific small area, DSRC can realize wireless communication with end-to-end delay of 300 m-1000 m at maximum and less than 100ms, and can not be obstructed by sight line, based on the advantages of DSRC, the technicians in this field can think most easily that the communication between vehicles is realized through DSRC in an automatic driving fleet, and the respective vehicle driving information is transmitted between vehicles through DSRC, so that after the vehicles receive the vehicle driving information of other vehicles in the automatic driving fleet, the vehicles can make more accurate, timely and safe decision information by integrating the vehicle driving information of themselves and the driving information of other vehicles, so as to accurately and safely control the self vehicle to drive.

However, the communication bandwidth of the DSRC is relatively small (generally 3Mbps), a large amount of data (such as audio and video data) cannot be transmitted, and when a problem occurs in the DSRC, vehicle driving information cannot be transmitted between vehicles in an automatic driving fleet, so that each vehicle cannot comprehensively make an accurate decision and control on vehicle driving information of other vehicles in the automatic driving fleet, and even a vehicle may make an incorrect decision, thereby causing a serious safety accident. Therefore, how to ensure the safety and reliability of the automatic driving of each vehicle in the automatic driving fleet is important, and a safe and reliable vehicle-to-vehicle communication technology is not disclosed at present.

Disclosure of Invention

In view of the above problems, the present invention provides a method and an apparatus for communicating an autonomous vehicle fleet to provide a reliable communication technology for information transmission between vehicles in the autonomous vehicle fleet, so as to improve reliability and success rate of vehicle-to-vehicle communication.

In an embodiment of the present invention, on the one hand, a Communication method for an autonomous driving fleet is provided, where each vehicle in the autonomous driving fleet is provided with a DSRC and a VLC (Visible Light Communication technology), and the following steps are performed for each vehicle:

monitoring the available states of DSRC and VLC of the own vehicle;

transmitting vehicle travel information by the DSRC of the own vehicle when it is monitored that the DSRC is available;

when it is monitored that the DSRC is not available and the VLC is available, the vehicle travel information is transmitted through the VLC of the own vehicle.

In another aspect, an embodiment of the present invention provides an autonomous driving fleet communication device, where each vehicle in the autonomous driving fleet is provided with the communication device, and each vehicle in the fleet is provided with a DSRC and a VLC, the communication device includes a communication control unit, a DSRC communication component, and a VLC communication component, where:

the communication control unit monitors the available states of the DSRC and VLC of the own vehicle;

controlling the DSRC communications component to transmit vehicle travel information when the DSRC is monitored as available;

when it is monitored that the DSRC is not available and the VLC is available, the VLC communication component is controlled to transmit vehicle travel information.

The technical scheme of the invention is that each vehicle of an automatic driving fleet is provided with two communication technologies of DSRC and VLC, when the DSRC is available, the DSRC transmits the vehicle running information, and when the DSRC is unavailable and the VLC is available, the VLC transmits the vehicle running information. By adopting the technical scheme of the invention, on one hand, when the DSRC is available, the DSRC has the advantages of small shielding influence and low time delay, so that the DSRC can be used for quickly transmitting the vehicle running information of each vehicle between vehicles, so that the vehicles can timely acquire the vehicle running information of other vehicles in the automatic driving fleet; on the other hand, when the DSRC is not available, the vehicle running information of the vehicle can be continuously transmitted through the VLC with a redundant design, and because the VLC utilizes a communication technology for realizing information transmission by using bright and dark flashing signals emitted by objects such as fluorescent lamps or LEDs (Light Emitting diodes), the frequency of visible Light is between 400THz (wavelength 780nm) and 800THz (wavelength 375nm), and when the LED lamps are used, 500Mbit/s can be reached, namely the vehicle running information of the vehicle can be quickly transmitted by adopting the VLC, therefore, the technical scheme of the invention can also continuously transmit the vehicle running information through the VLC when the DSRC is not available, and further ensures the reliability of the vehicle running information transmission between vehicles.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.

FIG. 1 is a schematic diagram of a vehicle equipped with a fleet control system and a communication device according to an embodiment of the present invention;

FIG. 2 is a schematic illustration of an autonomous vehicle fleet in an embodiment of the present invention;

FIG. 3 is a schematic diagram of an embodiment of an autonomous vehicle fleet communication device in accordance with the present invention;

FIG. 4 is a second schematic structural diagram of an autonomous vehicle fleet communication device in accordance with an embodiment of the present invention;

FIG. 5 is a specific example of an autonomous vehicle fleet in an embodiment of the present invention;

FIG. 6 is a flow chart of a method of communicating for autonomous driving a fleet of vehicles in accordance with an embodiment of the present invention;

FIG. 7 is a second flowchart of a method of communicating for autonomous driving a fleet of vehicles in accordance with an embodiment of the present invention;

FIG. 8 is a third flowchart of a method of communicating for autonomous driving a fleet of vehicles in accordance with an embodiment of the present invention;

FIG. 9 is a fourth flowchart of a method of communicating for autonomous vehicle fleets in accordance with an embodiment of the present invention;

fig. 10 is a fifth flowchart of a communication method for an autonomous vehicle fleet according to an embodiment of the present invention.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In order to better manage and ensure the normal operation of each vehicle in the automatic driving fleet, in the embodiment of the invention, as shown in fig. 1, a fleet control system and a communication device which are in communication connection are arranged on each vehicle in the automatic driving fleet. The fleet control system is capable of at least the following functions:

the function 1 is to acquire vehicle running information and/or audio/video data of a vehicle and to transmit the vehicle running information and/or the audio/video data to a communication device. The fleet control system periodically acquires vehicle running information and/or audio and video data of the own vehicle and sends the vehicle running information and/or the audio and video data to the communication device. The fleet control system is connected with vehicle-mounted sensors (such as a camera, a laser radar, a millimeter wave radar, a positioning sensor, an acceleration sensor and the like) and vehicle control equipment (a brake controller, an acceleration controller, a direction controller and the like) to acquire vehicle running information and/or audio and video data.

And the function 2 is used for making decision information for controlling the running of the vehicle according to the vehicle running information of the vehicle and the vehicle running information and/or audio and video data of other vehicles in the automatic driving team, and controlling the vehicle to run according to the decision information.

And 3, establishing a motorcade traveling strategy.

The fleet control system communicates with other vehicles through the communication device, for example, the fleet control system transmits vehicle driving information/audio and video data of itself to other vehicles through the communication device, and receives vehicle driving information/audio and video data of other vehicles through the communication device. Accordingly, the communication means transmits the received vehicle travel information/audio/video data of the other vehicle to the fleet control system, and the communication means transmits the vehicle travel information/audio/video data of the own vehicle transmitted by the autonomous fleet to the other vehicle. The present invention is directed to an improvement of a communication apparatus belonging to the innovative technology of the present application, and therefore, the following describes a communication apparatus in an embodiment of the present invention in detail.

The automatic driving fleet of the embodiment of the invention can be a truck fleet, a car fleet, a bus fleet, a tricycle fleet, an electric car fleet, a motorcycle fleet, a recreational vehicle fleet, an excavator fleet, an aircraft fleet, a tram fleet, a ship fleet, an airplane fleet, a water spraying fleet, etc., and the application is not strictly limited. The autonomous vehicle fleet may also be a fleet of vehicles of one or more of the following types: cars, trucks, motorcycles, buses, and the like, and the application is not limited strictly.

Example one

As shown in fig. 2, an autonomous vehicle fleet communication device (hereinafter, referred to as a communication device 1) is provided in each vehicle in the autonomous vehicle fleet, each vehicle supports both DSRC and VLC communication technologies, and vehicle-to-vehicle communication in the autonomous vehicle fleet transmits vehicle travel information thereof and receives vehicle travel information of other vehicles through the respective communication devices 1.

Referring to fig. 3, which is a schematic structural diagram of the communication device 1 in the embodiment of the present invention, the communication device 1 includes a communication control unit 11, a DSRC communication component 12, and a VLC communication component 13, wherein the communication control unit 11 is in communication connection with the DSRC communication component 12 and the VLC communication component 13, respectively.

The structure of the communication apparatus 1 will be described in detail below.

A communication control unit 11 for monitoring the available states of the DSRC and VLC of the own vehicle; controlling the DSRC communications component 12 to transmit vehicle travel information when it is monitored that DSRC is available; when it is monitored that the DSRC is not available and the VLC is available, the VLC communication component 13 is controlled to transmit the vehicle travel information.

In an embodiment of the present invention, the vehicle driving information includes one or more of the following: the vehicle information includes, for example, location information of the vehicle (e.g., longitude, latitude, altitude, etc. where the vehicle is located), size information (e.g., length, width, height, etc. of the vehicle), speed information (e.g., speed, direction), acceleration information (e.g., longitudinal acceleration, lateral acceleration), steering wheel information (e.g., steering wheel angle, front wheel steering angle, etc.), accelerator information (e.g., shift position information, accelerator pedal position information, etc.), and brake information (e.g., brake pedal position information, parking state information, etc.).

In the embodiment of the present invention, when each vehicle sends the vehicle driving information of its own vehicle, the vehicle driving information carries the identity information and the timestamp corresponding to its own vehicle, and the identity information may be a license plate number of the vehicle, a number pre-arranged for the vehicle, or other information that can uniquely represent the vehicle, which is not strictly limited in the present application. In the embodiment of the invention, the identity information corresponding to all vehicles in the automatic driving fleet is stored in the communication device of each vehicle in advance.

In the embodiment of the present invention, the communication control unit 11 may monitor the available states of the DSRC and VLC of the own vehicle in real time, or may periodically monitor the available states of the DSRC and VLC of the own vehicle, which is not strictly limited in the present application.

Preferably, in the embodiment of the present invention, the communication control unit 11 monitors the available state of the DSRC of the own vehicle, and may specifically be implemented by, but not limited to, the following two ways:

in the mode 1, the communication control unit 11 controls the DSRC communication component 12 to periodically send heartbeat messages of own vehicles and receive heartbeat messages of other vehicles in the automatic driving fleet according to a preset first period (the value of the first period can be flexibly set according to actual requirements, and the application is not strictly limited); when the current period is over, judging whether the heartbeat message of any other vehicle is not received; if so, determining that the self DSRC is not available, otherwise determining that the self DSRC is available. In other words, in the method 1, if the heartbeat message of any other vehicle is not received by the DSRC in one period, it is determined that the DSRC of the own vehicle is unavailable.

In the mode 2, the communication control unit 11 controls the DSRC communication component 12 to periodically send heartbeat messages of the own vehicle and receive heartbeat messages of other vehicles in the fleet according to a preset first period; when the current period is finished, judging whether heartbeat messages of all other vehicles are received or not; if so, determining that the self DSRC is available, otherwise, determining that the self DSRC is unavailable. That is, in the mode 2, only heartbeat messages of all other vehicles are received through the DSRC in one period can the own DSRC be determined to be available.

In the embodiment of the invention, all vehicles in the automatic driving fleet periodically send heartbeat messages of own vehicles through the DSRC according to a first period by taking the same time point as a starting point.

Preferably, in the embodiment of the present invention, the monitoring of the available state of the VLC of the own vehicle by the communication control unit 11 specifically includes: the communication control unit 11 controls the VCL communication component 13 to periodically send heartbeat messages of the vehicle to adjacent vehicles in the fleet and receive heartbeat messages sent by the adjacent vehicles according to a preset second period (the value of the second period can be flexibly set according to actual requirements, and the application is not strictly limited); when the current period is finished, judging whether heartbeat messages of all other vehicles are received or not; if so, determining that the self VLC is available, otherwise, determining that the self VLC is unavailable.

In the embodiment of the invention, all vehicles in the automatic driving fleet periodically send heartbeat messages of the vehicles per se through VLC according to a second period by taking the same time point as a starting point.

In the embodiment of the invention, for the first vehicle in the automatic driving fleet, because the first vehicle does not have an adjacent front vehicle, the first vehicle periodically sends the heartbeat message of the first vehicle to an adjacent rear vehicle according to the second period, and receives the heartbeat messages of other vehicles from the adjacent rear vehicle. For the tail vehicle in the automatic driving fleet, the tail vehicle does not have an adjacent rear vehicle, so the tail vehicle periodically sends the heartbeat message of the tail vehicle to the adjacent front vehicle according to a second period, and receives the heartbeat messages of other vehicles from the adjacent front vehicle. For a middle vehicle (a vehicle other than a first vehicle and a vehicle other than a last vehicle) in the automatic driving vehicles, the middle vehicle periodically sends heartbeat messages of the middle vehicle to the adjacent front vehicle and the adjacent back vehicle according to a second period, receives heartbeat messages of all forward vehicles (namely all vehicles in the automatic driving fleet which are positioned in front of the middle vehicle) from the adjacent front vehicle, and receives heartbeat messages of all backward vehicles (namely all vehicles in the automatic driving fleet which are positioned behind the middle vehicle) from the adjacent back vehicle.

In the embodiment of the present invention, when each vehicle sends the heartbeat message of its own vehicle, the heartbeat message carries the identity information and the timestamp corresponding to the vehicle, and the identity information may be the license plate number of the vehicle, the number pre-arranged for the vehicle, or other information that can uniquely represent the vehicle, which is not strictly limited in this application.

In the embodiment of the present invention, the controlling unit 11 controls the DSRC communicating component 12 to transmit the vehicle traveling information, which may specifically include: the control DSRC communication component 12 transmits vehicle travel information of the own vehicle to other vehicles in the autonomous fleet and receives vehicle travel information of other vehicles.

In the embodiment of the present invention, the VLC communication module 13 is controlled to transmit the vehicle driving information, specifically: the VLC communication module 13 is controlled to transmit the vehicle travel information of the own vehicle and forward the vehicle travel information of the other vehicles to the adjacent vehicles in the autonomous vehicle fleet, and the VLC communication module 13 is controlled to receive the vehicle travel information of the other vehicles from the adjacent vehicles.

In the embodiment of the invention, the first vehicle in the automatic driving fleet has no adjacent front vehicle, so the first vehicle sends the vehicle running information of the first vehicle to the adjacent rear vehicle through the VLC communication component 13, and receives the vehicle running information of other vehicles from the adjacent rear vehicle. Since the tail car in the autonomous vehicle fleet has no adjacent rear car, the tail car transmits the vehicle travel information of the own vehicle to the adjacent front car through the own VLC communication module 13, and receives the vehicle travel information of the other vehicle from the adjacent front car. The intermediate vehicle in the autonomous vehicle fleet has both the adjacent preceding vehicle and the adjacent succeeding vehicle, and therefore, the intermediate vehicle transmits the vehicle travel information of the own vehicle to the adjacent preceding vehicle and the adjacent succeeding vehicle, respectively, through the own VLC communication module 13, and receives the vehicle travel information of all the preceding vehicles from the adjacent preceding vehicle and the vehicle travel information of all the succeeding vehicles from the adjacent succeeding vehicle.

In this embodiment of the present invention, the communication control unit 11 may send, to the DSRC communication component 12, a sending instruction carrying vehicle traveling information to be sent (may be vehicle traveling information of the own vehicle or vehicle traveling information of other vehicles), so as to control the DSRC communication component 12 to send the vehicle traveling information to be sent. The communication control unit 11 may control the DSRC communication element 12 to receive the vehicle travel information transmitted by another vehicle by transmitting a reception instruction to the DSRC communication element 12.

In the embodiment of the present invention, the communication control unit 11 may send a sending instruction carrying the vehicle driving information to be sent (may be the vehicle driving information of the own vehicle or the vehicle driving information of other vehicles) to the VLC communication component 13, so as to control the VLC communication component 13 to send the vehicle driving information to be sent to the adjacent vehicle. The communication control unit 11 may control the VLC communication means 13 to receive the vehicle running information (which may be the vehicle running information of the neighboring vehicle itself or the vehicle running information of another vehicle to which the neighboring vehicle has forwarded) from the neighboring vehicle by transmitting a reception instruction to the VLC communication means 13.

Preferably, in order to further improve the accuracy of decision information made by each vehicle, when monitoring that VLC is available, the communication control unit 11 further controls the VLC communication component 13 to transmit audio/video data (the audio/video data may be image data and/or audio data collected by an on-vehicle sensor). Namely, the communication control unit 11 is further configured to: and when the VLC is monitored to be available, controlling the VLC communication component 13 to further transmit the audio and video data.

In the embodiment of the present invention, controlling the VLC communication component 13 to further transmit audio/video data specifically includes: and controlling the VLC communication component 13 to send the audio and video data of the vehicle and forward the audio and video data of other vehicles to adjacent vehicles in the automatic driving fleet, and controlling the VLC communication component 13 to receive the audio and video data of other vehicles from the adjacent vehicles.

The first vehicle in the automatic driving fleet has no adjacent front vehicle, so the first vehicle sends the audio and video data of the first vehicle to the adjacent rear vehicle through the VLC communication component 13, and receives the audio and video data of other vehicles from the adjacent rear vehicle. The tail car in the automatic driving fleet has no adjacent rear car, so the tail car sends the audio and video data of the tail car to the adjacent front car through the VLC communication component 13, and receives the audio and video data of other vehicles from the adjacent front car. The intermediate vehicle in the automatic driving fleet has both an adjacent front vehicle and an adjacent rear vehicle, so that the intermediate vehicle sends the audio and video data of the intermediate vehicle to the adjacent front vehicle and the adjacent rear vehicle respectively through the VLC communication component 13, receives the audio and video data of all the front vehicles from the adjacent front vehicle, and receives the audio and video data of all the rear vehicles from the adjacent rear vehicle.

In the embodiment of the present invention, the communication control unit 11 may send a sending instruction carrying audio/video data to be sent (which may be the audio/video data of the own vehicle or the audio/video data of other vehicles) to the VLC communication component 13, so as to control the VLC communication component 13 to send the audio/video data to be sent to the adjacent vehicle. The communication control unit 11 may send a receiving instruction to the VLC communication component 13 to control the VLC communication component 13 to receive the audio/video data from the adjacent vehicle (the audio/video data may be the audio/video data of the adjacent vehicle itself, or the audio/video data of another vehicle forwarded by the adjacent vehicle).

In the embodiment of the present invention, the following transmission modes are set for the VLC communication component 13 in advance: the VLC communication component 13 sends the vehicle running information/audio/video data of the vehicle to the adjacent front vehicle and the adjacent rear vehicle respectively; when receiving the vehicle running information/audio and video data sent by the adjacent front vehicle, the VLC communication component 13 sends the vehicle running information/audio and video data to the fleet control system of the vehicle itself through the communication control unit 11 and sends the vehicle running information/audio and video data to the adjacent rear vehicle; and when receiving the vehicle running information/audio and video data sent by the adjacent rear vehicle, the VLC communication component 13 sends the vehicle running information/audio and video data to the fleet control system of the own vehicle and sends the vehicle running information/audio and video data to the adjacent front vehicle through the communication control unit 11.

In the embodiment of the present invention, the following transmission modes are set in advance for the DSRC communication component 12: the vehicle running information of the vehicle is broadcasted in a broadcasting mode, so that the DSRC communication components of other vehicles receive the vehicle running information of the vehicle; and receiving vehicle travel information of the other vehicle broadcast by the DSRC communication component of the other vehicle.

Preferably, to further ensure stability and reliability of data transmission between all vehicles, when the DSRC of a part of vehicles is unavailable and the DSRC of a part of vehicles is available in the autonomous fleet, the success rate of data transmission between vehicles can be ensured by, but not limited to, the following two ways.

Mode 1, all vehicles are controlled to transmit vehicle running information through VLC at the next communication.

Mode 2, controlling the DSRC unavailable vehicle to transmit vehicle running information through VLC when the DSRC unavailable vehicle communicates next time; the DSRC-capable vehicle is controlled to continue transmitting vehicle travel information over the DSRC at the next communication, and when DSRC of a neighboring vehicle of the DSRC-capable vehicle is unavailable, the DSRC-capable vehicle transmits the vehicle travel information to the neighboring vehicle through the VLC and receives the vehicle travel information from the neighboring vehicle through the VLC.

In mode 1, the communication control unit 11 is further configured to: when the DSRC of at least one vehicle in the autonomous fleet is monitored to be unavailable, the VLC communication component 13 is controlled to transmit vehicle driving information at the next communication.

In mode 2, the communication control unit 11 is further configured to: when it is monitored that the DSRC of the own vehicle is available and the DSRC of the neighboring vehicle is not available, at the next communication, then: the control DSRC communication component 12 transmits the vehicle travel information of the own vehicle and receives the vehicle travel information of other vehicles available for DSRC; and, control the VLC communicating means 13 to transmit the vehicle running information of the own vehicle and the vehicle running information of the other vehicle to the adjacent vehicle; and, the VLC communication module 13 is controlled to receive the vehicle travel information of the other vehicle from the adjacent vehicle.

Preferably, in the embodiment of the present invention, the communication control unit 11 is further configured to: and when the DSRC and VLC of the vehicle are not available, performing communication error alarm.

In the embodiment of the invention, the alarm for the communication error can be a voice alarm, a character display alarm or a triggered alarm lamp flashing alarm, and the specific alarm mode is not strictly limited in the application.

Preferably, as shown in FIG. 4, in an embodiment of the present invention, the DSRC communication component 12 includes a DSRC communication unit and a DSRC antenna, and the DSRC communication unit transceives vehicle travel information via the DSRC antenna; VLC communication subassembly 13 is including preceding lamp, preceding lamp transmitting unit, preceding lamp receiving unit, backward lamp transmitting unit and backward lamp receiving unit, wherein preceding lamp transmitting unit and preceding lamp receiving unit can set up inside preceding lamp, backward lamp transmitting unit and backward lamp receiving unit can set up inside backward lamp.

The VLC communication module 13 is controlled to send the vehicle driving information of the vehicle and forward the vehicle driving information of other vehicles to the adjacent vehicles in the autonomous driving fleet, specifically: a forward lamp transmitting unit for controlling the vehicle sends the vehicle running information of the vehicle through a forward lamp; and a rear lamp emitting unit controlling the own vehicle to transmit vehicle running information of the own vehicle through a rear lamp; controlling a forward lamp transmitting unit of the vehicle to forward vehicle running information sent by an adjacent rear vehicle to an adjacent front vehicle; and controlling a rear lamp transmitting unit of the self vehicle to transmit the vehicle running information sent by the adjacent front vehicle to the adjacent rear vehicle.

Preferably, the forward lamp transmitting unit that controls the own vehicle transmits the vehicle travel information of the own vehicle through the forward lamp, specifically: the method comprises the steps that a forward lamp transmitting unit for controlling a vehicle modulates vehicle running information of the vehicle into a binary signal, and the binary signal is transmitted by controlling a forward lamp to flicker;

the rear lamp transmitting unit for controlling the self vehicle sends the vehicle running information of the self vehicle through the rear lamp, and the method specifically comprises the following steps: the method comprises the steps of controlling a rear lamp transmitting unit of a vehicle to modulate vehicle running information of the vehicle into a binary signal, and controlling a rear lamp to flicker and transmit the binary signal.

In the embodiment of the invention, the forward lamp transmitting unit comprises a modulator, a controller and a driver, the modulator modulates the vehicle running information of the modulator into a binary signal, and the controller controls a power supply switch of the driver to control the forward lamp to flicker so as to transmit the binary signal.

In the embodiment of the invention, the backward light transmitting unit comprises a modulator, a controller and a driver, the modulator modulates the vehicle running information of the modulator into a binary signal, and the controller controls a power supply switch of the driver to control the backward light to flicker so as to transmit the binary signal.

Preferably, in an embodiment of the present invention, the controlling the VLC communicating component to receive the vehicle travel information of the other vehicle from the neighboring vehicle specifically includes:

a forward lamp receiving unit for controlling the vehicle receives vehicle running information sent by a backward lamp transmitting unit of an adjacent front vehicle; and controlling a backward lamp receiving unit of the vehicle to receive the vehicle running information sent by a forward lamp transmitting unit of the adjacent backward vehicle.

In the embodiment of the invention, the forward lamp receiving unit comprises a demodulator and a photosensitive device (the photosensitive device can be a photosensitive diode for example), the photosensitive device converts the optical signal received from the backward lamp transmitting unit of the adjacent forward vehicle into an electric signal, and the demodulator demodulates the vehicle running information from the electric signal.

In the embodiment of the invention, the backward light receiving unit comprises a demodulator and a photosensitive device, the photosensitive device converts the optical signals received from the forward light emitting unit of the adjacent backward vehicle into electric signals, and the demodulator demodulates the vehicle running information from the electric signals.

The VLC communication component 13 is controlled to send the audio and video data of the vehicle and forward the audio and video data of other vehicles to the adjacent vehicles in the automatic driving fleet, and the VLC communication component specifically includes: a forward lamp transmitting unit for controlling the vehicle to transmit the audio and video data of the vehicle through a forward lamp; the rear lamp transmitting unit of the vehicle is controlled to transmit the audio and video data of the vehicle through the rear lamp; controlling a forward lamp transmitting unit of the vehicle to forward audio and video data sent by an adjacent rear vehicle to an adjacent front vehicle; and controlling a rear lamp transmitting unit of the vehicle to transmit the audio and video data sent by the adjacent front vehicle to the adjacent rear vehicle.

The control VLC communication component 13 receives audio and video data of other vehicles from the adjacent vehicle through its VLC, and specifically includes: a forward lamp receiving unit of a vehicle is controlled to receive audio and video data sent by a backward lamp transmitting unit of an adjacent forward vehicle; and controlling a backward lamp receiving unit of the vehicle to receive the audio and video data sent by a forward lamp transmitting unit of the adjacent rear vehicle.

Preferably, in the embodiment of the present invention, the forward light in each vehicle in the autonomous driving fleet may be a headlight of the vehicle itself, or may be an LED light or a fluorescent light additionally installed at the front end of the vehicle (e.g., the top of the front end of the vehicle, the bottom of the front end of the vehicle) and dedicated for VLC communication; the rear direction lamp may be a vehicle's own outline marker lamp (i.e., tail lamp), or may be an LED lamp or a fluorescent lamp additionally installed at the rear end of the vehicle (e.g., top of the rear end of the vehicle, bottom of the rear end of the vehicle) dedicated to VLC communication.

In the embodiment of the present invention, the communication control unit 11 periodically controls the DSRC communication unit 12/VLC communication unit 13 to transmit the vehicle travel information of the own vehicle according to the third period (the value of the third period may be flexibly set according to actual needs, and the present application is not strictly limited). The first period and the second period may be the same or different, and the values of the first period and the second period are positive integer multiples of the third period.

Preferably, in the embodiment of the present invention, the first cycle is the same as the second cycle, and the communication control units 11 in all the vehicles monitor the available states of the VLC and DSRC of the own vehicle with a uniform cycle starting from the same point in time; and the communication control unit 11 periodically controls the DSRC communicating unit 12/VLC communicating unit 13 to transmit the vehicle travel information of the own vehicle according to a third period (the value of the third period may be flexibly set according to actual needs, and the present application is not strictly limited) starting from the aforementioned time point. Typically, the first period/second period is a positive integer multiple of the third period.

In order to facilitate the understanding of the technical solutions of the present invention by those skilled in the art, the technical solutions of the present invention are described below with a specific example.

As shown in fig. 5, assuming that the autonomous driving fleet includes a vehicle a, a vehicle B, a vehicle C, and a vehicle D in sequence, respective communication devices a (including a communication control unit a0, a DSRC communication module a1, a forward lamp a2, a forward lamp transmitting unit a3, a forward lamp receiving unit a4, a backward lamp transmitting unit A5 and a backward lamp receiving unit A6, a backward lamp A7), communication devices B (including a communication control unit B0, a DSRC communication module B1, a forward lamp B2, a forward lamp transmitting unit B3, a forward lamp receiving unit B4, a backward lamp transmitting unit B5 and a backward lamp receiving unit B6, a backward lamp B7), communication devices C (including a communication control unit C0, a DSRC communication module C1, a forward lamp C2, a forward lamp transmitting unit C3, a forward lamp receiving unit C6342, a backward lamp transmitting unit C5, and a backward lamp receiving unit C6) are provided in the vehicles a, a vehicle a, a vehicle B, a vehicle C, and a vehicle D A rear lamp C7) and a communication device D (including a communication control unit D0, a DSRC communication component D1, a front lamp D2, a front lamp emitting unit D3, a front lamp receiving unit D4, a rear lamp emitting unit D5, a rear lamp receiving unit D6, a rear lamp D7). Taking a certain time point t (the time point t is the starting time of one period of the available state of the communication control unit 11 for monitoring the DSRC and VLC) as an example, at this time, each communication control unit 11 controls the DRSC communication component 12 of each vehicle to transmit the vehicle traveling information of each vehicle, and the communication control unit A0, the communication control unit B0, the communication control unit C0 and the communication control unit D0 control the DSRC communication component A1, the DSRC communication component B1, the DSRC communication component C1 and the DSRC communication component D1 of the own vehicle to transmit the heartbeat message of the own vehicle; if the current period is over, the communication control unit a0 is assumed to receive heartbeat messages of the vehicle C and the vehicle D, the communication control unit B0 does not receive the heartbeat message of any vehicle, the communication control unit C0 receives the heartbeat messages of the vehicle a and the vehicle D, and the communication control unit D0 receives the heartbeat messages of the vehicle a and the vehicle C; it may be determined that the DSRC of vehicle a, vehicle C, and vehicle D is available, and the DSRC of vehicle B is not available for the current cycle; when the next cycle of transmitting the vehicle travel information of the own vehicle starts, the vehicle a, the vehicle B, the vehicle C, and the vehicle D perform vehicle travel information transmission in two examples, respectively.

In example one, when the next cycle of transmitting the vehicle travel information of the own vehicle starts, the vehicle B transmits the vehicle travel information through the VLC, and the vehicle a, the vehicle C, and the vehicle D continue to transmit the vehicle travel information through the DSRC. The vehicle a, the vehicle C, and the vehicle D may acquire mutual vehicle travel information by the DSRC; the vehicle A transmits the vehicle running information of the vehicle A to the vehicle B through the VLC, and the vehicle C transmits the vehicle running information of the vehicle A, the vehicle C and the vehicle D to the vehicle B through the VLC; the vehicle B transmits the running information of the vehicle to the vehicle A and the vehicle C through the VLC; the vehicle a/vehicle C transmits the vehicle travel information of the vehicle B to the vehicle D through the DSRC. At this time, in this cycle, the vehicle a, the vehicle B, the vehicle C, and the vehicle D can each obtain the vehicle travel information of all the vehicles.

In example two, when the next cycle of transmitting the vehicle travel information of the own vehicle starts, the vehicle a, the vehicle B, the vehicle C, and the vehicle D each transmit the vehicle travel information by VLC. The vehicle a transmits the vehicle travel information of the own vehicle through the back light transmitting unit a5, and receives the vehicle travel information of the vehicle B, the vehicle C, and the vehicle D from the front light transmitting unit B3 of the vehicle B through the back light receiving unit a 6; the vehicle D transmits the vehicle travel information of the own vehicle through the forward lamp transmitting unit D3, and receives the vehicle travel information of the vehicles a, B, and C from the rear lamp transmitting unit C5 of the vehicle C through the forward lamp receiving unit D4; the vehicle B transmits the vehicle travel information of the vehicle B, the vehicle C, and the vehicle D through the forward lamp transmitting unit B3, and transmits the vehicle a and the vehicle B vehicle travel information through the backward lamp transmitting unit B5, and receives the vehicle travel information of the vehicle a from the backward lamp transmitting unit a5 of the vehicle a through the forward lamp receiving unit B4, and receives the vehicle travel information of the vehicle C and the vehicle D from the forward lamp transmitting unit C3 of the vehicle C through the backward lamp receiving unit B6; the vehicle C transmits the vehicle travel information of the vehicle C and the vehicle D through the forward lamp transmitting unit C3, and transmits the vehicle travel information of the vehicle C, the vehicle a, and the vehicle B through the rear lamp transmitting unit C5, and receives the vehicle travel information of the vehicle a and the vehicle B from the rear lamp transmitting unit B5 of the vehicle B through the forward lamp receiving unit C4, and receives the vehicle travel information of the vehicle D from the forward lamp transmitting unit D3 of the vehicle D through the rear lamp receiving unit C6.

Example two

Based on the same concept of the communication device for the autonomous driving fleet provided by the first embodiment, a second embodiment of the present invention provides a communication method for an autonomous driving fleet, which is applied to each vehicle in the autonomous driving fleet, and each vehicle in the autonomous driving fleet is provided with a DSRC and a VLC, where the method shown in fig. 6 includes:

and step 101, monitoring the available states of the DSRC and the VLC of the vehicle.

And 102, when the DSRC is available, transmitting the vehicle running information through the DSRC of the own vehicle.

And 103, when the DSRC is not available and the VLC is available, transmitting the vehicle running information through the VLC of the own vehicle.

In the embodiment of the present invention, there is no strict sequence between step 102 and step 103, and step 102 may be executed first and then step 103 may be executed, or step 103 may be executed first and then step 102 may be executed.

Preferably, the method flow may further include step 104, and there is no strict execution order between step 104 and

steps

102 and 103, as shown in fig. 7:

and 104, when the VLC is available, transmitting audio and video data through the VLC of the vehicle.

In the embodiment of the present invention, the step 104 of transmitting the audio/video data through the VLC of the vehicle specifically includes: the method comprises the steps of sending audio and video data of a vehicle to adjacent vehicles in an automatic driving fleet and forwarding audio and video data of other vehicles through VLC of the vehicle, and receiving audio and video data of other vehicles from the adjacent vehicles through VLC of the vehicle.

In the embodiment of the present invention, the audio/video data may be image data and/or audio data of the surrounding environment of the vehicle, which is acquired by a vehicle-mounted sensor mounted on the vehicle, and the information of the surrounding environment of the vehicle can be synchronized to other vehicles through step 104.

Preferably, the method shown in fig. 6 and fig. 7 may further include step 105, where there is no strict order of execution between step 105 and the foregoing step 102, step 103, and step 104, as shown in fig. 8:

and 105, when the DSRC of at least one vehicle in the automatic driving fleet is monitored to be unavailable, transmitting the vehicle running information through the VLC of the vehicle at the next communication.

Preferably, the method flows shown in fig. 6 and fig. 7 may further include step 106 to step 109, and there is no strict sequence between step 106 to step 109 and the foregoing step 102, step 103, step 104, and step 105, as shown in fig. 9:

and 106, when the DSRC of the vehicle is available and the DSRC of the adjacent vehicle is unavailable, executing the steps 107 to 109 in the next communication.

Step 107, the vehicle travel information of the own vehicle and the vehicle travel information of the other vehicle available for the received DSRC are transmitted by the DSRC of the own vehicle.

And step 108, transmitting the vehicle running information of the vehicle and forwarding the vehicle running information of other vehicles to the adjacent vehicle through the VLC of the vehicle.

Step 109, vehicle travel information of the other vehicle is received from the neighboring vehicle through the VLC of the own vehicle.

In the method flows shown in fig. 6 to fig. 9, the following step 110 may be further included, and there is no strict sequence between the step 110 and the

steps

102, 103, 104 and 105, and 106 to 109, as shown in fig. 10:

and step 110, when the DSRC and VLC of the vehicle are not available, performing communication error alarm.

For the alarm manner, reference may be made to relevant contents in the first embodiment, and details are not described herein.

Preferably, in the embodiment of the present invention, in the step 102, the transmitting the vehicle travel information by the DSRC of the own vehicle specifically includes: the vehicle travel information of the own vehicle is transmitted to other vehicles in the autonomous vehicle fleet and the vehicle travel information of the other vehicles is received through the DSRC of the own vehicle.

Preferably, in the embodiment of the present invention, in the step 103, the transmitting the vehicle driving information through the VLC of the own vehicle specifically includes steps a1 to a 2: step A1, sending the vehicle running information of the vehicle and forwarding the vehicle running information of other vehicles to adjacent vehicles in the automatic driving fleet through the VLC of the vehicle; step a2, vehicle travel information of the other vehicle is received from the neighboring vehicle by the VLC of the own vehicle.

Preferably, each vehicle in the autonomous driving fleet is provided with a forward lamp, a forward lamp transmitting unit, a forward lamp receiving unit, a backward lamp transmitting unit and a backward lamp receiving unit, wherein the forward lamp receiving unit and the forward lamp transmitting unit can be arranged inside the forward lamp, and the backward lamp transmitting unit and the backward lamp receiving unit can be arranged inside the backward lamp, and the step a1 may specifically include the following steps a11 to a 14:

and step A11, controlling a forward lamp transmitting unit of the self vehicle to transmit the vehicle running information of the self vehicle through a forward lamp.

The step a11 can be specifically realized as follows: the method comprises the steps of controlling a forward lamp transmitting unit of a vehicle to modulate vehicle running information of the vehicle into a binary signal, and controlling a forward lamp to flicker to transmit the binary signal.

Step a12, the back light emitting unit of the own vehicle is controlled to send the vehicle travel information of the own vehicle through the back light.

The step a12 can be specifically realized as follows: the method comprises the steps of controlling a rear lamp transmitting unit of a vehicle to modulate vehicle running information of the vehicle into a binary signal, and controlling a rear lamp to flicker and transmit the binary signal.

And step A13, controlling the forward lamp transmitting unit of the vehicle to transmit the vehicle running information sent by the adjacent rear vehicle to the adjacent front vehicle.

And step A14, controlling a rear lamp emitting unit of the self vehicle to transmit the vehicle running information sent by the adjacent front vehicle to the adjacent rear vehicle.

In an embodiment of the present invention, the step a2 may specifically include a step a21 to a step a22, wherein: step A21, controlling a forward lamp receiving unit of the vehicle to receive vehicle running information sent by a backward lamp transmitting unit of an adjacent front vehicle; and step A22, controlling the backward light receiving unit of the vehicle to receive the vehicle running information sent by the forward light emitting unit of the adjacent backward vehicle.

Preferably, in the embodiment of the present invention, the forward light in each vehicle in the autonomous driving fleet may be a headlight of the vehicle itself, or may be an LED light or a fluorescent light specially used for VLC communication additionally installed at the front end of the vehicle (e.g., top of the front end of the vehicle, bottom of the front end of the vehicle).

The rear direction lamp may be a vehicle's own outline marker lamp (i.e., tail lamp), or may be an LED lamp or a fluorescent lamp additionally installed at the rear end of the vehicle (e.g., top of the rear end of the vehicle, bottom of the rear end of the vehicle) dedicated to VLC communication.

Preferably, in the embodiment of the present invention, in the step 101, the available state of the DSRC of the own vehicle is monitored, which may be specifically implemented by the following two ways:

the method comprises the steps that 1, according to a preset first period, heartbeat messages of own vehicles are periodically sent through the DSRC and heartbeat messages of other vehicles in an automatic driving fleet are received; when the current period is over, judging whether the heartbeat message of any other vehicle is not received; if so, determining that the self DSRC is not available, otherwise determining that the self DSRC is available.

The method 2 is that according to a preset first period, heartbeat messages of own vehicles are periodically sent through the DSRC and heartbeat messages of other vehicles in the automatic driving fleet are received; when the current period is finished, judging whether heartbeat messages of all other vehicles are received or not; if so, determining that the self DSRC is available, otherwise, determining that the self DSRC is unavailable.

Preferably, in the embodiment of the present invention, in the step 101, the monitoring the available state of the VLC of the own vehicle specifically includes: according to a preset second period, periodically sending heartbeat messages of the vehicle to adjacent vehicles in the automatic driving fleet through VLC (visible light communication), and receiving the heartbeat messages sent by the adjacent vehicles; when the current period is finished, judging whether heartbeat messages of all vehicles are received or not; if so, determining that the self VLC is available, otherwise, determining that the self VLC is unavailable.

Preferably, in the embodiment of the present invention, the first period is the same as the second period, and the available states of the VLC and DSRC of the own vehicle are monitored with a uniform period starting from the same time point; and, the vehicle running information of the own vehicle is periodically transmitted by the own DSRC or VLC according to a third period (the value of the third period can be flexibly set according to actual needs, and the present application is not strictly limited) with the time point as a starting point. Typically, the first period/second period is a positive integer multiple of the third period.

While the principles of the invention have been described in connection with specific embodiments thereof, it should be noted that it will be understood by those skilled in the art that all or any of the steps or elements of the method and apparatus of the invention may be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or any combination thereof, which may be implemented by those skilled in the art using their basic programming skills after reading the description of the invention.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

In addition, each functional unit in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While the above embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the above-described embodiments and all such alterations and modifications as fall within the scope of the invention.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. An automatic driving motorcade communication method is characterized in that a dedicated short-range communication technology (DSRC) and a visible light communication technology (VLC) are arranged on each vehicle in the automatic driving motorcade, and the following steps are executed for each vehicle:

monitoring the available states of DSRC and VLC of the own vehicle;

when the DSRC is not available and the VLC is available, transmitting vehicle running information through the VLC of the own vehicle;

when it is monitored that the DSRC of the own vehicle is available and the DSRC of the neighboring vehicle is not available, at the next communication, then: transmitting vehicle travel information of the own vehicle and receiving vehicle travel information of other vehicles available for DSRC by the DSRC of the own vehicle; and transmitting vehicle travel information of the own vehicle and forwarding vehicle travel information of other vehicles to the neighboring vehicle through the VLC of the own vehicle; and receiving vehicle travel information of the other vehicle from the neighboring vehicle through the VLC of the own vehicle.

2. The method of claim 1, further comprising:

and when the VLC is monitored to be available, transmitting the audio and video data through the VLC of the vehicle.

3. The method of claim 1, further comprising:

and when the DSRC and VLC of the vehicle are not available, performing communication error alarm.

4. The method of any one of claims 1 to 3, wherein transmitting the vehicle travel information by the DSRC of the own vehicle specifically comprises: transmitting vehicle traveling information of the own vehicle to other vehicles in the autonomous vehicle fleet and receiving vehicle traveling information of the other vehicles through the DSRC of the own vehicle;

the method for transmitting the vehicle running information through the VLC of the own vehicle specifically comprises the following steps: the method comprises the steps of sending vehicle running information of the self vehicle and forwarding vehicle running information of other vehicles to adjacent vehicles in the automatic driving fleet through VLC of the self vehicle, and receiving the vehicle running information of the other vehicles from the adjacent vehicles through VLC of the self vehicle.

5. The method of claim 4, wherein each vehicle in the autonomous fleet of vehicles is provided with a forward light, a forward light emitting unit, a forward light receiving unit, a rear light emitting unit, and a rear light receiving unit; the method for transmitting the vehicle running information of the self vehicle and forwarding the vehicle running information of other vehicles to the adjacent vehicles in the automatic driving fleet through the VLC of the self vehicle specifically comprises the following steps:

a forward lamp transmitting unit for controlling the vehicle sends the vehicle running information of the vehicle through a forward lamp;

and a rear lamp emitting unit controlling the own vehicle to transmit vehicle running information of the own vehicle through a rear lamp;

controlling a forward lamp transmitting unit of the vehicle to forward vehicle running information sent by an adjacent rear vehicle to an adjacent front vehicle;

and controlling a rear lamp transmitting unit of the self vehicle to transmit the vehicle running information sent by the adjacent front vehicle to the adjacent rear vehicle.

6. The method according to claim 5, wherein controlling a headlight transmitting unit of the own vehicle to transmit vehicle travel information of the own vehicle specifically comprises: the method comprises the steps that a forward lamp transmitting unit for controlling a vehicle modulates vehicle running information of the vehicle into a binary signal, and the binary signal is transmitted by controlling a forward lamp to flicker;

the control of the rear lamp transmitting unit of the self vehicle to transmit the vehicle running information of the self vehicle specifically comprises the following steps: the method comprises the steps of controlling a rear lamp transmitting unit of a vehicle to modulate vehicle running information of the vehicle into a binary signal, and controlling a rear lamp to flicker and transmit the binary signal.

7. The method according to claim 5, wherein receiving vehicle travel information of other vehicles from the neighboring vehicle through the VLC of the own vehicle specifically includes:

a forward lamp receiving unit for controlling the vehicle receives vehicle running information sent by a backward lamp transmitting unit of an adjacent front vehicle;

and controlling a backward lamp receiving unit of the vehicle to receive the vehicle running information sent by a forward lamp transmitting unit of the adjacent backward vehicle.

8. The method of claim 5, wherein the forward lamp is a headlamp of the vehicle or a Light Emitting Diode (LED) lamp or a fluorescent lamp pre-installed at the front end of the vehicle and dedicated for VLC communication;

the backward lamp is a vehicle outline marker lamp or an LED lamp or a fluorescent lamp which is pre-installed at the rear end of the vehicle and is specially used for VLC communication.

9. The method of any of claims 1 to 3, wherein monitoring the status of DSRC availability of the host vehicle comprises:

according to a preset first period, periodically sending heartbeat messages of the vehicle and receiving heartbeat messages of other vehicles in the automatic driving fleet through the DSRC of the vehicle;

when the current period is over, judging whether the heartbeat message of any other vehicle is not received; if so, determining that the DSRC of the vehicle is unavailable, otherwise, determining that the DSRC of the vehicle is available;

or judging whether heartbeat messages of all other vehicles are received or not when the current period is ended; if so, determining that the DSRC of the own vehicle is available, otherwise determining that the DSRC of the own vehicle is unavailable.

10. The method according to any one of claims 1 to 3, wherein monitoring the available state of the VLC of the own vehicle specifically comprises:

according to a preset second period, periodically sending heartbeat messages of the self vehicle to adjacent vehicles in the automatic driving fleet through VLC of the self vehicle and receiving the heartbeat messages sent by the adjacent vehicles;

when the current period is finished, judging whether heartbeat messages of all other vehicles are received or not; if so, determining that the VLC of the own vehicle is available, otherwise, determining that the VLC of the own vehicle is unavailable.

11. The method of claim 1, wherein the vehicle travel information comprises one or more of: positioning information, dimensional information, speed information, acceleration information, steering wheel information, throttle information, and braking information of the vehicle.

12. An autonomous driving fleet communication device, wherein each vehicle in an autonomous driving fleet is provided with said communication device, and each vehicle in an autonomous driving fleet is provided with dedicated short range communication technology DSRC and visible light communication technology VLC, said communication device comprising a communication control unit, a DSRC communication component and a VLC communication component, wherein:

when the DSRC is monitored to be unavailable and the VLC is monitored to be available, controlling the VLC communication component to transmit vehicle running information;

when it is monitored that the DSRC of the own vehicle is available and the DSRC of the neighboring vehicle is not available, at the next communication, then: controlling the DSRC communication component to transmit vehicle travel information of the own vehicle and to receive vehicle travel information of other vehicles available for DSRC; and controlling the VLC communication means to transmit the vehicle travel information of the own vehicle and the vehicle travel information of the other vehicle to the neighboring vehicle; and controlling the VLC communication component to receive vehicle travel information of the other vehicle from the neighboring vehicle.

13. The apparatus of claim 12, wherein the communication control unit is further configured to:

and when the VLC is monitored to be available, controlling the VLC communication component to further transmit the audio and video data.

14. The apparatus of claim 12, wherein the communication control unit is further configured to:

15. The apparatus of any of claims 12 to 14 wherein the communications control unit controls the DSRC communications component to transmit vehicle travel information, in particular: controlling the DSRC communication component to transmit vehicle travel information of the own vehicle to other vehicles in the autonomous fleet and to receive vehicle travel information of the other vehicles;

the communication control unit controls the VLC communication component to transmit vehicle running information, specifically: the VLC communication module is controlled to transmit the vehicle travel information of the own vehicle and forward the vehicle travel information of the other vehicles to adjacent vehicles in the autonomous fleet, and the VLC communication module is controlled to receive the vehicle travel information of the other vehicles from the adjacent vehicles.

16. The device of claim 15, wherein the VLC communications component comprises a forward light, a forward light transmitting unit, a forward light receiving unit, a backward light transmitting unit, and a backward light receiving unit;

the VLC communication component is controlled to send the vehicle running information of the vehicle and transmit the vehicle running information of other vehicles to adjacent vehicles in the automatic driving fleet, and the method specifically comprises the following steps:

17. The apparatus according to claim 16, wherein the forward lamp transmitting unit that controls the own vehicle transmits the vehicle travel information of the own vehicle through the forward lamp, specifically: the method comprises the steps that a forward lamp transmitting unit for controlling a vehicle modulates vehicle running information of the vehicle into a binary signal, and the binary signal is transmitted by controlling a forward lamp to flicker;

18. The apparatus of claim 15, wherein controlling the VLC communication module to receive vehicle travel information of the other vehicle from the neighboring vehicle comprises:

19. The device of claim 16, wherein the forward lamp is a headlamp of the vehicle or a Light Emitting Diode (LED) lamp or a fluorescent lamp pre-installed at the front end of the vehicle and dedicated for VLC communication;

20. The apparatus of any of claims 12 to 14, wherein the communication control unit monitors the status of DSRC availability of the own vehicle, and specifically comprises:

the DSRC communication component is controlled to periodically send heartbeat messages of own vehicles and receive heartbeat messages of other vehicles in the automatic driving fleet according to a preset first period;

when the current period is over, judging whether the heartbeat message of any other vehicle is not received; if so, determining that the self DSRC is unavailable, otherwise, determining that the self DSRC is available;

or judging whether heartbeat messages of all other vehicles are received or not when the current period is ended; if so, determining that the self DSRC is available, otherwise, determining that the self DSRC is unavailable.

21. The apparatus according to any one of claims 12 to 14, wherein the communication control unit monitors the available state of the VLC of the own vehicle, and specifically includes:

controlling a VLC communication component to periodically send heartbeat messages of self vehicles to adjacent vehicles in an automatic driving fleet and receive the heartbeat messages sent by the adjacent vehicles according to a preset second period;

when the current period is finished, judging whether heartbeat messages of all other vehicles are received or not; if so, determining that the self VLC is available, otherwise, determining that the self VLC is unavailable.

22. The apparatus of claim 12, wherein the vehicle travel information comprises one or more of: positioning information, dimensional information, speed information, acceleration information, steering wheel information, throttle information, and braking information of the vehicle.