CN108981738A - Automobile assistant driving air navigation aid - Google Patents
Automobile assistant driving air navigation aid Download PDFInfo
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- CN108981738A CN108981738A CN201810583183.2A CN201810583183A CN108981738A CN 108981738 A CN108981738 A CN 108981738A CN 201810583183 A CN201810583183 A CN 201810583183A CN 108981738 A CN108981738 A CN 108981738A
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- control centre
- node
- car running
- running computer
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
Abstract
The invention discloses a kind of automobile assistant driving air navigation aid, including system initialization, user issues handshake to control centre 2 by car running computer 1, control centre 2 issues answer signal after being normally received, if user receives answer signal, turn in next step, to be otherwise judged as failure；The present invention substantially increases driving efficiency and travel safety, guarantees that vehicle grasps corresponding road information；Propose more accurate vehicle navigation map, can real-time update map, provide more accurate reliable route and map for vehicle driving, improve communication quality, be not easily susceptible to the influence that vehicle flowrate frequently changes, navigation transmission is reliable in real time.
Description
Technical field
The invention belongs to automobile assistant driving technical fields.More particularly to a kind of automobile assistant driving air navigation aid.
Background technique
The auxiliary driving technology of automobile has wide prospect and very high practical value, has also obtained many large sizes at present
The favor of vehicle manufacture enterprise, wherein navigating for auxiliary drives is an essential important technology, vehicle must be to week
Enclosing road information and environmental information has accurate understanding.But the auxiliary driving navigation of existing automobile has mobile phone or vehicle mostly
It carries computer to complete alone, what is also had is networked, still, in the case where vehicle density is big, it is difficult to guarantee the reliable of message
Transmission and safety, cause practical application to be limited, and cannot take into account the real-time and reliability requirement of message transmission.
Summary of the invention
The purpose of the invention is to overcome above-mentioned deficiency to provide a kind of automobile assistant driving air navigation aid.
A kind of automobile assistant driving air navigation aid, comprising the following steps:
Step 1: system initialization, user issue handshake to control centre 2 by car running computer 1, and control centre 2 is just
Answer signal is issued after often receiving, if user receives answer signal, turns in next step, to be otherwise judged as failure；
Step 2: user inputs destination information, vehicle self-information and vehicle institute to control centre 2 by car running computer 1
The real-time position information at place；
Step 3: control centre 2 receives locating for destination information, vehicle self-information and vehicle that car running computer 1 transmits
Real-time position information carries out navigation programming to above- mentioned information, obtains multiple route plans, then by multiple route plan information backs
To car running computer 1；
Step 4: user selects one of route plan by car running computer 1, drives vehicle along the route plan row
It sails, automobile data recorder 3 acquires road environment information on the way in real time, and the collected information of road environment on the way is transmitted to driving
Computer 1, road environment information is transmitted to control centre 2 to car running computer 1 on the way；
Step 5: stored same of the real time information that car running computer 1 is transmitted in control centre 2 and control centre 2 itself
The environmental information of one road is compared；
Step 6: whether the road for judging that the road of running car and control centre 2 are sent is same road, if not
Same road then turns in next step, if it is same road, to go to step 9；
Step 7: newest road information is transmitted to control centre 2 by car running computer 1, makes the ring of the road in control centre 2
Border information is constantly updated；
Step 8: the real road that control centre 2 is walked according to vehicle planning travelling line and is transmitted to car running computer 1 again,
User travels according to the most recent layout that car running computer 1 provides；
Step 9: being travelled according to set navigation routine.
Further, specific further comprising the steps of in the step 1:
Step 11: when control centre 2 receives the handshake of the transmission of car running computer 1, being sent to the car running computer 1
Signature verification request；
Step 12: car running computer 1 sends verifying signature to control centre 2 and responds, and control centre 2 receives the car running computer
The verifying signature of 1 response, judge the verifying signature whether in control centre 2 to prestore signature identical, described in determining
Verifying signature with it is described prestore signature it is identical when, then turn next step, conversely, then going to step 14；
Step 13: control centre 2 receives the handshake, establishes connection with the car running computer 1；
Step 14: control centre 2 sends authentication error code to the car running computer 1, and car running computer 1 notifies user again
Response verification signature, control centre 2 record and store this connection error history.
Further, the road environment information includes route, traffic lights, charge station information and crossing in road area
Deng.
Further, the vehicle self-information includes the information such as license plate number and vehicle.
Further, in step 14 step, control centre 2 record and store this connection error history specifically include with
Lower step:
Step 141: when car running computer 1 receives the record storage history of errors request of control centre 2, to control centre 2
Issue the instruction for calling storage message queue address；
Step 142: control centre 2 obtains instruction, provides the address of storage message queue, and using the address as described in
The fixing address of user is loaded into memory；
Step 143: control centre 2 stores the error signature of user's input, and counts the user's history input error
Number, and the number of the mistake is loaded into memory as the weight assignment of the user；
Step 144: when the type of error of the user received is identical with history before, control centre 2 is issued
Data delete early warning, remind whether user deletes the error signature；
Step 145: if user does not delete, identical mistake before control centre 2 replaces error signature update
It accidentally signs, and by the weight assignment+1 of the type of error；
Step 146: when waiting that user restarts car running computer 1 next time, control centre 2 according to weight assignment from big to small successively
The type of error of the user is ranked up, storage address is redistributed；
Step 147: car running computer 1 obtains the storage address redistributed from control centre 2, proceeds to respond to verifying signature.
Further, the control centre 2 includes multiple communication nodes 21, has multiple vehicles simultaneously into control in step 4
When the heart 2 inputs information, comprising the following steps:
Step 41: the acquisition in real time of each automobile data recorder 3 road environment information on the way, and by collected road ring on the way
Border information is transmitted to car running computer 1, and road environment information on the way is sent to nearest communication node 21 by car running computer 1, at this time
The vehicle and the communication node 21 adjacent node each other；
Step 42: receive one of communication node 21 of the message of car running computer 1 as source node to the message into
Row broadcast；
Step 43: remaining communication node 21 for receiving message finds the transmission section of this message in the adjacent node of oneself
Point, and be the state of message by the label of the sending node, the communication node 21 for receiving message calculates itself most
Big waiting time Tmax, and in maximum latency TmaxOne value T of interior random selectioniIt is set as the waiting time of itself, is gone forward side by side
Enter waiting process；
Step 44: waiting time shortest node is forward node, and for updating sending node, the node that remaining is waited is again
After the secondary message for receiving same road information, terminate the waiting process of oneself；
Step 45: whether forward node judges the maximum hop count of the message process less than 1；When the message is passed through most
Big to jump when being greater than 1, this message is sent to surroundings nodes by forward node, at this point, in step 43, and by this vertex ticks
For the state for receiving message, then turn in next step；
When the maximum hop count that the message is passed through is less than 1, the transmission of forward node upper hop sending node is acknowledged receipt of
Receipt, upper hop sending node will be self-marked as receiving the state of message；
Step 46: source node and forward node inspect periodically respective adjacent node after a message has been sent, if adjacent segments
The state of point is to receive the state of message, then no longer inspects periodically；Otherwise, continue to update sending node.
Further, maximum latency T described in step 43maxCalculation method are as follows:
If currently transmitted node is jf, node js is D as one of recipient, their distance；Node js's is logical
Row major grade is yxi, i is natural integer, yxiThe channel that can pass through at first is indicated when being 1；
Transmission power when sending node jf broadcasts the message is p, maximum transmission distance L, then the signal-to-noise ratio s of node js is counted
It is as follows to calculate formula:
Wherein α is a signal damped expoential, is constant, N0It refers to the noise power around node js, is constant；
The then maximum latency T of node jsmaxAre as follows:
Wherein, ρ indicates node VsThe node density of surrounding, ρ ∈ [0,1], k and β are scale factor, according to adjust
Numerical value makes TmaxFor positive integer value；The value that s is at least up to when Sz is normal communication is positive integer.
Advantageous effect of the present invention is as follows:
Driving efficiency and travel safety are substantially increased, guarantees that vehicle grasps corresponding road information；It proposes more
Accurate vehicle navigation map, can real-time update map, provide more accurate reliable route and map for vehicle driving, mention
High communication quality, is not easily susceptible to the influence that vehicle flowrate frequently changes, and navigation transmission is reliable in real time.
Detailed description of the invention
Fig. 1 is system schematic of the invention.
Specific embodiment
Below in conjunction with specific embodiment, the present invention is further illustrated:
A kind of automobile assistant driving air navigation aid, comprising the following steps:
Step 1: system initialization, user issue handshake to control centre 2 by car running computer 1, and control centre 2 is just
Answer signal is issued after often receiving, if user receives answer signal, turns in next step, to be otherwise judged as failure；
Step 2: user inputs destination information, vehicle self-information and vehicle institute to control centre 2 by car running computer 1
The real-time position information at place；
Step 3: control centre 2 receives locating for destination information, vehicle self-information and vehicle that car running computer 1 transmits
Real-time position information carries out navigation programming to above- mentioned information, obtains multiple route plans, then by multiple route plan information backs
To car running computer 1；
Step 4: user selects one of route plan by car running computer 1, drives vehicle along the route plan row
It sails, automobile data recorder 3 acquires road environment information on the way in real time, and the collected information of road environment on the way is transmitted to driving
Computer 1, road environment information is transmitted to control centre 2 to car running computer 1 on the way；
Step 5: stored same of the real time information that car running computer 1 is transmitted in control centre 2 and control centre 2 itself
The environmental information of one road is compared；
Step 6: whether the road for judging that the road of running car and control centre 2 are sent is same road, if not
Same road then turns in next step, if it is same road, to go to step 9；
Step 7: newest road information is transmitted to control centre 2 by car running computer 1, makes the ring of the road in control centre 2
Border information is constantly updated；
Step 8: the real road that control centre 2 is walked according to vehicle planning travelling line and is transmitted to car running computer 1 again,
User travels according to the most recent layout that car running computer 1 provides；
Step 9: being travelled according to set navigation routine.
It is specific further comprising the steps of in the step 1:
Step 11: when control centre 2 receives the handshake of the transmission of car running computer 1, being sent to the car running computer 1
Signature verification request；
Step 12: car running computer 1 sends verifying signature to control centre 2 and responds, and control centre 2 receives the car running computer
The verifying signature of 1 response, judge the verifying signature whether in control centre 2 to prestore signature identical, described in determining
Verifying signature with it is described prestore signature it is identical when, then turn next step, conversely, then going to step 14；
Step 13: control centre 2 receives the handshake, establishes connection with the car running computer 1；
Step 14: control centre 2 sends authentication error code to the car running computer 1, and car running computer 1 notifies user again
Response verification signature, control centre 2 record and store this connection error history.
The road environment information includes route, traffic lights, charge station information and crossing etc. in road area.
The vehicle self-information includes the information such as license plate number and vehicle.
In step 14 step, control centre 2 record and store this connection error history specifically includes the following steps:
Step 141: when car running computer 1 receives the record storage history of errors request of control centre 2, to control centre 2
Issue the instruction for calling storage message queue address；
Step 142: control centre 2 obtains instruction, provides the address of storage message queue, and using the address as described in
The fixing address of user is loaded into memory；
Step 143: control centre 2 stores the error signature of user's input, and counts the user's history input error
Number, and the number of the mistake is loaded into memory as the weight assignment of the user；
Step 144: when the type of error of the user received is identical with history before, control centre 2 is issued
Data delete early warning, remind whether user deletes the error signature；
Step 145: if user does not delete, identical mistake before control centre 2 replaces error signature update
It accidentally signs, and by the weight assignment+1 of the type of error；
Step 146: when waiting that user restarts car running computer 1 next time, control centre 2 according to weight assignment from big to small successively
The type of error of the user is ranked up, storage address is redistributed；
Step 147: car running computer 1 obtains the storage address redistributed from control centre 2, proceeds to respond to verifying signature.
The control centre 2 includes multiple communication nodes 21, has multiple vehicles to input simultaneously to control centre 2 in step 4
When information, comprising the following steps:
Step 41: the acquisition in real time of each automobile data recorder 3 road environment information on the way, and by collected road ring on the way
Border information is transmitted to car running computer 1, and road environment information on the way is sent to nearest communication node 21 by car running computer 1, at this time
The vehicle and the communication node 21 adjacent node each other；
Step 42: receive one of communication node 21 of the message of car running computer 1 as source node to the message into
Row broadcast；
Step 43: remaining communication node 21 for receiving message finds the transmission section of this message in the adjacent node of oneself
Point, and be the state of message by the label of the sending node, the communication node 21 for receiving message calculates itself most
Big waiting time Tmax, and in maximum latency TmaxOne value T of interior random selectioniIt is set as the waiting time of itself, is gone forward side by side
Enter waiting process；
Step 44: waiting time shortest node is forward node, and for updating sending node, the node that remaining is waited is again
After the secondary message for receiving same road information, terminate the waiting process of oneself；
Step 45: whether forward node judges the maximum hop count of the message process less than 1；When the message is passed through most
Big to jump when being greater than 1, this message is sent to surroundings nodes by forward node, at this point, in step 43, and by this vertex ticks
For the state for receiving message, then turn in next step；
When the maximum hop count that the message is passed through is less than 1, the transmission of forward node upper hop sending node is acknowledged receipt of
Receipt, upper hop sending node will be self-marked as receiving the state of message；
Step 46: source node and forward node inspect periodically respective adjacent node after a message has been sent, if adjacent segments
The state of point is to receive the state of message, then no longer inspects periodically；Otherwise, continue to update sending node.
Maximum latency T described in step 43maxCalculation method are as follows:
If currently transmitted node is jf, node js is D as one of recipient, their distance；Node js's is logical
Row major grade is yxi, i is natural integer, yxiThe channel that can pass through at first is indicated when being 1；
Transmission power when sending node jf broadcasts the message is p, maximum transmission distance L, then the signal-to-noise ratio s of node js is counted
It is as follows to calculate formula:
Wherein α is a signal damped expoential, is constant, N0It refers to the noise power around node js, is constant；
The then maximum latency T of node jsmaxAre as follows:
Wherein, ρ indicates node VsThe node density of surrounding, ρ ∈ [0,1], k and β are scale factor, according to adjust
Numerical value makes TmaxFor positive integer value；The value that s is at least up to when Sz is normal communication is positive integer.
A kind of automobile assistant driving navigation system, including car running computer 1, control centre 2 and automobile data recorder 3, the row
Vehicle computer 1 carries out two-way communication, the signal output end and row of automobile data recorder 3 with control centre 2 by multiple communication nodes 21
The signal input part of vehicle computer 1 is connected, and car running computer 1 and automobile data recorder 3 are installed in the vehicle, and vehicle is more.
The control centre 2 includes:
It shakes hands responder module, for when car running computer 1 issues handshake to control centre 2, control centre 2 normally to be received
Answer signal is issued after；
Navigation programming module obtains multiple route plans, then multiple route plan information are returned for carrying out navigation programming
Reach car running computer 1；
Comparison module, real time information for transmitting car running computer 1 and control centre 2 itself it is stored same one
The environmental information of road is compared；
Road judgment module, for judge the road of running car and most starting be sent to car running computer 1 road whether
For same road；
Update module, for constantly updating the environmental information for storing road；
Correct module, real road for walking according to vehicle planning travelling line and is transmitted to car running computer 1 again.
The responder module of shaking hands includes following part:
Sending module is verified, for sending signature verification request to the car running computer 1；
Whether signature judgment module, the verifying signature responded for receiving the car running computer 1, judge the verifying signature
It is identical as signature is prestored；
Error code module, it is wrong for sending authentication error code to the car running computer 1, recording and storing this connection
Accidentally history.
The error code module includes following part:
Call by location module, for providing the address of storage message queue, and consolidating using the address as the user
Determine address to be loaded into memory；
Weight assignment loading module, for storing the error signature of user's input, and it is wrong to count the user's history input
Number accidentally, and the number of the mistake is loaded into memory as the weight assignment of the user；
Data delete warning module, for when the type of error of the user received is identical with history before,
It issues data and deletes early warning, remind whether user deletes the error signature；
The error signature is updated identical mistake before replacing for not deleting as user by weight assignment update module
It accidentally signs, and by the weight assignment+1 of the type of error；
Sorting module, when restarting for car running computer 1, according to weight assignment from big to small successively to the wrong class of the user
Type is ranked up, and redistributes storage address.
Claims (7)
1. a kind of automobile assistant driving air navigation aid, it is characterised in that the following steps are included:
Step 1: system initialization, user issue handshake to control centre 2 by car running computer 1, and control centre 2 normally receives
Answer signal is issued after, if user receives answer signal, turns in next step, to be otherwise judged as failure；
Step 2: user is inputted locating for destination information, vehicle self-information and vehicle by car running computer 1 to control centre 2
Real-time position information；
Step 3: control centre 2 receives real-time locating for destination information, vehicle self-information and the vehicle that car running computer 1 transmits
Location information carries out navigation programming to above- mentioned information, obtains multiple route plans, then by multiple route plan information backs to row
Vehicle computer 1；
Step 4: user selects one of route plan by car running computer 1, drives vehicle and travels along the route plan, row
Vehicle recorder 3 acquires road environment information on the way in real time, and the collected information of road environment on the way is transmitted to car running computer
1, road environment information is transmitted to control centre 2 to car running computer 1 on the way；
Step 5: real time information that car running computer 1 is transmitted in control centre 2 and stored same one of control centre 2 itself
The environmental information of road is compared；
Step 6: whether the road for judging that the road of running car and control centre 2 are sent is same road, if not same
Road then turns in next step, if it is same road, to go to step 9；
Step 7: newest road information is transmitted to control centre 2 by car running computer 1, believes the environment of the road in control centre 2
Breath is constantly updated；
Step 8: the real road that control centre 2 is walked according to vehicle planning travelling line and is transmitted to car running computer 1, user again
The most recent layout traveling provided according to car running computer 1；
Step 9: being travelled according to set navigation routine.
2. automobile assistant driving air navigation aid according to claim 1, it is characterised in that specifically further include in the step 1
Following steps:
Step 11: when control centre 2 receives the handshake of the transmission of car running computer 1, sending and sign to the car running computer 1
Checking request；
Step 12: car running computer 1 sends verifying signature to control centre 2 and responds, and control centre 2 receives 1 sound of car running computer
The verifying signature answered, judge the verifying sign whether in control centre 2 to prestore signature identical, when determining the verifying
Signature with it is described prestore signature it is identical when, then turn next step, conversely, then going to step 14；
Step 13: control centre 2 receives the handshake, establishes connection with the car running computer 1；
Step 14: control centre 2 sends authentication error code to the car running computer 1, and car running computer 1 notifies user to respond again
Verifying signature, control centre 2 record and store this connection error history.
3. automobile assistant driving air navigation aid according to claim 2, it is characterised in that the road environment information includes line
Road, traffic lights, charge station information and crossing etc. in road area.
4. automobile assistant driving air navigation aid according to claim 3, it is characterised in that the vehicle self-information includes vehicle
The information such as trade mark code and vehicle.
5. automobile assistant driving air navigation aid according to claim 2, it is characterised in that in step 14 step, in control
The heart 2 record and store this connection error history specifically includes the following steps:
Step 141: when car running computer 1 receives the record storage history of errors request of control centre 2, being issued to control centre 2
Call the instruction of storage message queue address；
Step 142: control centre 2 obtains instruction, provides the address of storage message queue, and using the address as the user
Fixing address be loaded into memory；
Step 143: control centre 2 stores the error signature of user's input, and counts the number of the user's history input error,
And the number of the mistake is loaded into memory as the weight assignment of the user；
Step 144: when the type of error of the user received is identical with history before, control centre 2 issues data
Early warning is deleted, reminds whether user deletes the error signature；
Step 145: if user does not delete, the identical mistake label before the error signature is updated replacement of control centre 2
Name, and by the weight assignment+1 of the type of error；
Step 146: when waiting that user restarts car running computer 1 next time, control centre 2 is according to weight assignment from big to small successively to this
The type of error of user is ranked up, and redistributes storage address；
Step 147: car running computer 1 obtains the storage address redistributed from control centre 2, proceeds to respond to verifying signature.
6. automobile assistant driving air navigation aid according to claim 1, which is characterized in that the control centre 2 includes multiple
Communication node 21, when have multiple vehicles be performed simultaneously step 4 to control centre 2 input information when, comprising the following steps:
Step 41: each automobile data recorder 3 acquires road environment information on the way in real time, and collected road environment on the way is believed
Breath is transmitted to car running computer 1, and road environment information on the way is sent to nearest communication node 21 by car running computer 1, at this time the vehicle
With the communication node 21 adjacent node each other；
Step 42: the one of communication node 21 for receiving the message of car running computer 1 carries out extensively the message as source node
It broadcasts；
Step 43: remaining communication node 21 for receiving message finds the sending node of this message in the adjacent node of oneself, and
Label by the sending node was the state of message, and the communication node 21 for receiving message calculates the maximum of itself and waits
Time Tmax, and in maximum latency TmaxOne value T of interior random selectioniIt is set as the waiting time of itself, and enters and waits
Process；
Step 44: waiting time shortest node is forward node, and for updating sending node, remaining node waited is received again
To after the message of same road information, terminate the waiting process of oneself；
Step 45: whether forward node judges the maximum hop count of the message process less than 1；When the maximum jump that the message is passed through
When greater than 1, this message is sent to surroundings nodes by forward node, at this point, in step 43, and by this node labeled as connecing
The state of message was received, was then turned in next step；When the maximum hop count that the message is passed through is less than 1, forward node upper hop
Sending node sends the receipt acknowledged receipt of, and upper hop sending node will be self-marked as receiving the state of message；
Step 46: source node and forward node inspect periodically respective adjacent node after a message has been sent, if adjacent node
State is to receive the state of message, then no longer inspects periodically；Otherwise, continue to update sending node.
7. automobile assistant driving air navigation aid according to claim 6, it is characterised in that maximum described in step 43 waits
Time TmaxCalculation method are as follows:
If currently transmitted node is jf, node js is D as one of recipient, their distance；The passage of node js is excellent
First grade is yxi, i is natural integer, yxiThe channel that can pass through at first is indicated when being 1；
Transmission power when sending node jf broadcasts the message is p, maximum transmission distance L, then the signal-to-noise ratio s of node js calculates public
Formula is as follows:
Wherein α is a signal damped expoential, is constant, N0It refers to the noise power around node js, is constant；
The then maximum latency T of node jsmaxAre as follows:
Wherein, ρ indicates node VsThe node density of surrounding, ρ ∈ [0,1], k and β are scale factor, according to adjust numerical value
So that TmaxFor positive integer value；The value that s is at least up to when Sz is normal communication is positive integer.
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|---|---|---|---|
| CN201810583183.2A CN108981738A (en) | 2018-06-05 | 2018-06-05 | Automobile assistant driving air navigation aid |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810583183.2A CN108981738A (en) | 2018-06-05 | 2018-06-05 | Automobile assistant driving air navigation aid |
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| Publication Number | Publication Date |
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| CN108981738A true CN108981738A (en) | 2018-12-11 |
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ID=64540970
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113766460A (en) * | 2021-11-09 | 2021-12-07 | 北京易华录国际技术有限公司 | Communication control method and system for unmanned vehicle |
-
2018
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113766460A (en) * | 2021-11-09 | 2021-12-07 | 北京易华录国际技术有限公司 | Communication control method and system for unmanned vehicle |
| CN113766460B (en) * | 2021-11-09 | 2022-01-25 | 北京安录国际技术有限公司 | Communication control method and system for unmanned vehicle |
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