CN109003467B

CN109003467B - Method, device and system for preventing vehicle collision

Info

Publication number: CN109003467B
Application number: CN201710423540.4A
Authority: CN
Inventors: 聂永丰
Original assignee: Huawei Cloud Computing Technologies Co Ltd
Current assignee: Huawei Cloud Computing Technologies Co Ltd
Priority date: 2017-06-07
Filing date: 2017-06-07
Publication date: 2022-09-02
Anticipated expiration: 2037-06-07
Also published as: CN109003467A

Abstract

The application discloses a method, a device and a system for preventing vehicle collision, relates to the technical field of intelligent traffic, and solves the problem that the traffic passing efficiency of a road intersection cannot be improved in the prior art. The specific scheme is as follows: the V2X server acquires vehicle information of vehicles in the jurisdiction area; the V2X server calculates the first time and the second time of each vehicle according to the vehicle information and the geographical position information of the jurisdiction; the V2X server determines that the first time periods of two or more vehicles are intersected, then determines that the two or more vehicles are in collision risk, and the V2X server adjusts the first time of the two or more vehicles in collision risk, so that the first time periods of any two adjusted vehicles are not intersected; the V2X server sends first control information to the first time-adjusted vehicle, instructing the first time-adjusted vehicle to adjust the vehicle speed and driving into the intersection at the adjusted first time.

Description

Method, device and system for preventing vehicle collision

Technical Field

The embodiment of the invention relates to the technical field of intelligent traffic, in particular to a method, a device and a system for preventing vehicle collision.

Background

Road intersections (also called intersections) are basic nodes where different roads intersect on the same plane, and are areas with multiple traffic accidents. Particularly, at a road intersection without traffic signal lamp control, great potential safety hazards exist, and the passing efficiency of vehicles is also influenced. Therefore, it is necessary to provide a scheduling control method to solve the traffic safety and efficiency problems of a road intersection without traffic signal control.

In the prior art, the vehicle judges whether collision risk exists or not based on the position of the vehicle and received environmental information, and gives early warning reminding or emergency braking.

However, in the conventional technical scheme, the requirement on the ability of acquiring environmental information of the vehicle and making a decision and controlling the vehicle based on the environmental information is high, and the problem of vehicle collision can only be avoided, and the traffic efficiency of the road intersection cannot be improved.

Disclosure of Invention

The embodiment of the invention provides a method, a device and a system for preventing vehicle collision, which solve the problem that the traffic passing efficiency of a road intersection cannot be improved in the prior art.

In order to achieve the purpose, the embodiment of the invention adopts the following technical scheme:

in a first aspect, an embodiment of the present invention provides a method for preventing a vehicle collision, including: the method comprises the steps that a V2X server obtains vehicle information of vehicles in a jurisdiction area of a V2X server, wherein the vehicle information is used for calculating first time when the vehicles drive into an intersection in the jurisdiction area of the V2X server and second time when the vehicles leave the intersection; the V2X server calculates the first time and the second time of each vehicle according to the vehicle information of the vehicles and the geographical position information of the jurisdiction area; the V2X server determines that two or more vehicles have collision risks if the intersection exists in a first time period of the two or more vehicles, wherein the first time period is a time period between the first time and the second time; the V2X server adjusting the first time of two or more vehicles with collision risks so that the first time periods of any two vehicles in the two or more adjusted vehicles do not have intersection; the V2X server sends first control information to the first time-adjusted vehicle, instructing the first time-adjusted vehicle to adjust the vehicle speed and driving into the intersection at the adjusted first time.

The embodiment of the invention provides a method for preventing vehicle collision, which comprises the steps of obtaining vehicle information of vehicles in a jurisdiction area of a V2X server through a V2X server, calculating a first time and a second time of each vehicle in the jurisdiction area of the V2X server, wherein the first time is the time when the vehicle enters an intersection, and the second time is the time when the vehicle exits the intersection, so if a time period (namely the first time period) between the first time and the second time of any two or more vehicles has an intersection, namely two or more vehicles with the intersection in the first time period are simultaneously positioned at the intersection in the first time period, the collision risk is possible, and therefore, in order to avoid the collision of any two vehicles in the two or more vehicles with the intersection in the first time period, the V2X server sends first control information to the vehicle with the adjusted first time, the first time adjusted vehicle only needs to adjust the vehicle speed to enable the vehicle to reach the intersection according to the adjusted first time, compared with the situation that the vehicle needs to stop and the like to start to run in the traditional technical scheme, the traffic efficiency can be improved, and fuel can be saved.

With reference to the first aspect, in a first possible implementation manner of the first aspect, the vehicle information includes a driving direction of the vehicle, and the V2X server determines that the two or more vehicles intersect in the first time period, and then determines that the two or more vehicles are at a collision risk, further including: the V2X server determines that there is a possibility of a collision in the directions of travel of two or more vehicles, and determines that there is a risk of collision for the two or more vehicles. By combining the driving directions of the two or more vehicles with intersection in the first time period, whether the two or more vehicles with intersection in the first time period have collision risks or not can be judged more accurately. In this way, if there is no possibility of collision in the traveling directions of the two or more vehicles whose first period intersects, the V2X server may not transmit the first control information to the two or more vehicles whose first period intersects.

With reference to the first aspect or the first possible implementation manner of the first aspect, in any one of the second possible implementation manner of the first aspect, the vehicle information further includes lanes in which the vehicles travel, and the V2X server determines that an intersection exists between first time periods of two or more vehicles, and then determines that there is a collision risk between the two or more vehicles, further including: the V2X server determines that two or more vehicles are traveling in the same lane, and determines that two or more vehicles are at risk of collision. The driving lanes of the two or more vehicles with intersection in the first time period are combined, so that the possibility that the two or more vehicles with intersection in the first time period have collision risks is low if the two or more vehicles with intersection in the first time period drive on different lanes, and therefore whether the vehicles have collision risks or not can be determined more accurately by combining the driving lanes of the vehicles, and the speed of the vehicles with collision risks can be effectively adjusted to prevent collision.

With reference to any one of the first aspect to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the vehicle information of the vehicle at least includes a location of the vehicle and a vehicle speed of the vehicle at a current time, and the V2X server calculates the first time and the second time of each vehicle according to the vehicle information of the vehicle and geographic location information of the jurisdiction, including: the V2X server acquires the distance between each vehicle and the position of the entrance line and the distance between each vehicle and the position of the exit line according to the position of each vehicle, the position of the entrance line of the intersection and the position of the exit line of the intersection; the V2X server calculates the first time of each vehicle according to the distance between each vehicle and the position of the entrance line and the speed of each vehicle at the current moment; the V2X server calculates a second time for each vehicle based on the distance between each vehicle and the location of the exit line and the respective vehicle speed at the current time for each vehicle. According to the speed of the vehicle at the current moment, the distance between the vehicle and the position of the entrance line, the distance between the vehicle and the position of the exit line and a displacement formula combining uniform linear motion, the first time and the second time of each vehicle can be accurately calculated.

With reference to any one of the first aspect to any one of the third possible implementation manners of the first aspect, in a fourth possible implementation manner of the first aspect, the adjusting, by the V2X server, first times of two or more vehicles at risk of collision so that there is no intersection between the adjusted first times of the two or more vehicles includes: the V2X server takes the second time of the previous vehicle of the two or more vehicles with collision risks as the first time after adjustment of the next vehicle of the two or more vehicles with collision risks, so that there is no intersection in the first time period of the adjusted vehicles with collision risks, wherein the first time of the previous vehicle is earlier than the first time of the next vehicle. The second time when the front vehicle leaves the intersection is taken as the driving time of the rear vehicle in the vehicles with collision risks, so that two or more than two vehicles with intersection in the first time period can reach the intersection in different time periods, and the vehicles are prevented from colliding.

With reference to any one of the first aspect to the fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the first control information includes: before the target vehicle speed and the V2X server send the first control information to the vehicle adjusted at the first time, the method provided in the embodiment of the present invention further includes: the V2X server calculates a target vehicle speed of the vehicle adjusted at the first time according to the distance between the position of the vehicle adjusted at the first time and the position of the entrance line and the time difference between the current time of the vehicle adjusted at the first time and the first target time, wherein the first target time is the first time after the vehicle adjusted at the first time is adjusted. According to the distance between the position of the vehicle at the current moment and the position of the entrance line and the time difference between the current moment of the vehicle adjusted at the first time and the first target time, the target vehicle speed of the vehicle adjusted at the first time can be accurately obtained.

With reference to any one of the first aspect to the fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, the first control information includes a first target time, and the first target time is a vehicle adjusted first time determined by the V2X server and adjusted at the first time. By carrying the first target time in the first control information, the vehicle adjusted at the first time can determine the adjusted target vehicle speed of the vehicle adjusted at the first time according to the time difference between the time of the current time and the first target time and the distance between the current time of the vehicle adjusted at the first time and the position of the entrance line after receiving the first control information, and reaches the intersection according to the first target time.

With reference to any one of the first aspect to the sixth possible implementation manner of the first aspect, in a seventh possible implementation manner of the first aspect, the method provided by the embodiment of the present invention further includes: the V2X server determines that there is no risk of collision between any two of the two or more vehicles, and transmits a second control message for instructing the vehicle to travel at the vehicle speed at the present time to the two or more vehicles for which there is no risk of collision. Upon determining that there is no risk of collision, a second control message is sent to the vehicles so that each vehicle can follow the speed of the vehicle at the current time.

With reference to any one of the first aspect to the seventh possible implementation manner of the first aspect, in an eighth possible implementation manner of the first aspect, the determining, by the V2X server, that two or more vehicles do not have a collision risk includes: the V2X server determines that there is no intersection in the first time periods of all vehicles, and then determines that there is no collision risk in two or more vehicles; or the V2X server determines that two or more vehicles with intersection in the first time period travel in different lanes, and determines that two or more vehicles do not have collision risks; alternatively, the V2X server determines that there is no risk of collision for the driving directions of two or more vehicles, and then determines that there is no risk of collision for the two or more vehicles. The V2X server can accurately judge whether the vehicle has collision risk by combining the driving direction of the vehicle, the driving lane and whether the first time period has intersection.

With reference to any one of the first aspect to the eighth possible implementation manner of the first aspect, in a ninth possible implementation manner of the first aspect, the acquiring, by the V2X server, vehicle information of vehicles in a jurisdiction of the V2X server includes: the V2X server receives a first message which is sent by the vehicle and comprises vehicle information, and the V2X server acquires the vehicle information of the vehicle according to the first message. The V2X server can accurately calculate the first time and the second time of each vehicle by acquiring the vehicle information of the vehicles in order to determine whether two or more vehicles are at risk of collision.

With reference to any one of the first aspect to the ninth possible implementation manner of the first aspect, in a tenth possible implementation manner of the first aspect, before the V2X server receives the first message sent by the vehicle, a method provided in an embodiment of the present invention further includes: the V2X server obtaining an indication message indicating that the location of the vehicle is within the jurisdiction; the V2X server sends a second message to the vehicle instructing the vehicle to report vehicle information. After receiving the second message that the position of the vehicle is in the jurisdiction, the V2X can timely acquire the vehicle information of the vehicle in its jurisdiction by actively sending the second message to the vehicle.

With reference to any one of the first aspect to any one of the tenth possible implementation manners of the first aspect, in an eleventh possible implementation manner of the first aspect, before the V2X server receives the first message sent by the vehicle, a method provided by an embodiment of the present invention further includes: and the V2X server sends a third message including the geographical location information of the jurisdiction area to the vehicles in the jurisdiction area of the V2X server, wherein the third message is used for reporting the vehicle information of the vehicles to the V2X server when the vehicles determine that the locations of the vehicles are in the jurisdiction area. The V2X server may actively send its own vehicle information to the V2X server by sending the third message so that the V2X server calculates whether two or more vehicles are at risk of collision based on the received vehicle information when determining that its location is within the jurisdiction.

With reference to any one of the first aspect to the eleventh possible implementation manner of the first aspect, in a twelfth possible implementation manner of the first aspect, the method provided by the embodiment of the present invention further includes: when the V2X server determines that the first vehicle leaves the jurisdiction area, the jurisdiction area of the target V2X server is sent to the first vehicle and/or the vehicle information of the first vehicle, which is acquired last time by the V2X server, is sent to the target V2X server, the target V2X server is an area where the first vehicle is about to enter, the target V2X server is used for the first vehicle to determine whether the position of the first vehicle is located in the target V2X server, and the first vehicle is any one of all vehicles. When the V2X server determines that the first vehicle leaves the jurisdiction, the V2X server sends the jurisdiction of the target V2X server to the first vehicle or sends the vehicle information of the first vehicle to the target V2X server, so that the target V2X server can timely acquire the vehicle information of the first vehicle.

With reference to any one of the first aspect to any one of the twelfth possible implementation manners of the first aspect, in a thirteenth possible implementation manner of the first aspect, the determining, by the V2X server, that the first vehicle leaves the jurisdiction includes: when the V2X server determines that the location of the first vehicle is outside the jurisdiction, the V2X server determines that the first vehicle leaves the jurisdiction; alternatively, the V2X server receives a fourth message sent by the first vehicle indicating that the location of the first vehicle is outside of the jurisdiction; the V2X server determines that the first vehicle leaves the jurisdiction based on the fourth message. The V2X server may determine whether the vehicle position of the first vehicle is outside the jurisdiction area in combination with the vehicle information of the first vehicle, or may determine whether the vehicle position of the first vehicle is outside the jurisdiction area according to the fourth message sent by the first vehicle, so that the V2X server may send the information of the target V2X server to the first vehicle in time or send the vehicle information of the first vehicle obtained last time to the target V2X server.

With reference to any one of the first aspect to any one of the thirteenth possible implementation manners of the first aspect, in a fourteenth possible implementation manner of the first aspect, before the sending, by the V2X server, the jurisdiction of the target V2X server to the first vehicle and/or sending, to the target V2X server, the vehicle information of the first vehicle, which is obtained last time by the V2X server, to the first vehicle when the V2X server determines that the first vehicle leaves the jurisdiction, the method provided in the embodiment of the present invention further includes: the V2X server acquires the jurisdiction of all V2X servers in one network with the V2X server; the V2X server selects a jurisdiction where the first vehicle is to enter from the jurisdiction of the V2X server according to the jurisdiction of all the V2X servers and the driving direction of the first vehicle; the V2X server takes the V2X server of the jurisdiction into which the first vehicle is about to drive as the target V2X server. By combining the direction of travel of the first vehicle and the jurisdiction of all V2X servers within a network with the V2X server, the target V2X server can be accurately determined.

With reference to any one of the first aspect to the fourteenth possible implementation manner of the first aspect, in a fifteenth possible implementation manner of the first aspect, the V2X server is deployed on a road side unit RSU.

In a second aspect, an embodiment of the present invention provides a method for preventing a vehicle collision, including: the vehicle receives first control information which is sent by the V2X server and used for indicating the vehicle to drive into an intersection in the jurisdiction area of the V2X server after the vehicle speed is adjusted; and the vehicle adjusts the speed of the vehicle according to the first control information.

With reference to the second aspect, in a first possible implementation manner of the second aspect, the adjusting, by the vehicle, the vehicle speed according to the first control information includes: the method comprises the steps that a vehicle acquires geographical position information of a jurisdiction area, wherein the geographical position information at least comprises an entrance line position of an intersection; the vehicle calculates the distance between the position of the vehicle at the current moment and the position of the driving line; the vehicle calculates the target speed of the vehicle according to the distance between the position of the vehicle and the position of the entrance line at the current moment and the time difference between the current moment and the first target time; the vehicle takes the target vehicle speed as the vehicle speed after the vehicle is adjusted.

With reference to the second aspect or any one of the first possible implementation manner of the second aspect, in a second possible implementation manner of the second aspect, the first control information includes a target vehicle speed, and the vehicle adjusts the vehicle speed of the vehicle according to the first control information, and the method further includes: the vehicle takes the target vehicle speed acquired from the first control information as the adjusted target vehicle speed of the vehicle.

With reference to any one of the second aspect to the second possible implementation manner of the second aspect, in a third possible implementation manner of the second aspect, before the vehicle receives the first control information sent by the V2X server, the method provided by the embodiment of the present invention further includes: the vehicle sends vehicle information to the V2X server for the V2X server to calculate a first time at which the vehicle enters an intersection within the jurisdiction of the V2X server and a second time at which the vehicle leaves the intersection.

With reference to any one of the second aspect to the third possible implementation manner of the second aspect, in a fourth possible implementation manner of the second aspect, the sending, by the vehicle, the vehicle information of the vehicle to the V2X server includes: the vehicle receives a second message sent by the V2X server and used for instructing the vehicle to send vehicle information of the vehicle to the V2X server; the vehicle sends the vehicle information of the vehicle to the V2X server according to the second message, or the vehicle receives a third message sent by the V2X server, wherein the third message comprises the geographical location information of the jurisdiction area of the V2X server, and the third message is used for reporting the vehicle information of the vehicle to the V2X server when the vehicle determines that the location of the vehicle is located in the jurisdiction area; the vehicle reports the vehicle information of the vehicle to the V2X server when the vehicle determines that the location of the vehicle is within the jurisdiction.

With reference to any one of the second aspect to the fourth possible implementation manner of the second aspect, in a fifth possible implementation manner of the second aspect, the method provided by the embodiment of the present invention further includes: the vehicle receives the jurisdiction of the target V2X server sent by the V2X server, and the target V2X server is the V2X server of the jurisdiction into which the vehicle will enter.

With reference to any one of the second aspect to the fifth possible implementation manner of the second aspect, in a sixth possible implementation manner of the second aspect, the method provided by the embodiment of the present invention further includes: the vehicle sends a fourth message to the V2X server indicating that the location of the vehicle is outside of the jurisdiction.

With reference to any one of the second aspect to the sixth possible implementation manner of the second aspect, in a seventh possible implementation manner of the second aspect, the vehicle information includes: one or more of the driving direction of the vehicle, the position of the vehicle, the lane in which the vehicle is located, and the speed of the vehicle.

In a third aspect, an embodiment of the present invention provides a server, including: the acquiring unit is used for acquiring vehicle information of vehicles in the jurisdiction area of the V2X server, wherein the vehicle information is used for calculating the first time when the vehicles drive into the intersection in the jurisdiction area of the V2X server and the second time when the vehicles leave the intersection; the calculating unit is used for calculating the first time and the second time of each vehicle according to the vehicle information of the vehicles and the geographical position information of the jurisdiction area; the determining unit is used for determining that the two or more vehicles have collision risks if the intersection exists in the first time period of the two or more vehicles, and the first time period is a time period between the first time and the second time; the adjusting unit is used for adjusting the first time of two or more vehicles with collision risks so that no intersection exists in the first time periods of any two vehicles in the two or more adjusted vehicles; and the sending unit is used for sending first control information which is used for indicating the vehicle adjusted at the first time to adjust the vehicle speed and driving into the intersection according to the adjusted first time to the vehicle adjusted at the first time.

With reference to the third aspect, in a first possible implementation manner of the third aspect, the vehicle information includes a driving direction of the vehicle, and the determining unit is further configured to determine that there is a possibility of collision between two or more vehicles in the driving directions, and then determine that there is a risk of collision between the two or more vehicles.

With reference to the third aspect or the first possible implementation manner of the third aspect, in any one of the second possible implementation manner of the third aspect, the vehicle information further includes a lane in which the vehicle travels, and the determining unit is further configured to determine that two or more vehicles travel in the same lane, and then determine that the two or more vehicles have a collision risk.

With reference to any one of the third aspect to the second possible implementation manner of the third aspect, in a third possible implementation manner of the third aspect, the vehicle information of the vehicle at least includes a position of the vehicle and a vehicle speed of the vehicle at a current time, and the acquiring unit is configured to acquire a distance between each vehicle and the entry line position and a distance between each vehicle and the exit line position according to a respective position of each vehicle, an entry line position of an intersection, and an exit line position of the intersection; the calculation unit is specifically configured to: calculating the respective first time of each vehicle according to the distance between each vehicle and the position of the entrance line and the respective speed of each vehicle at the current moment; and the second time of each vehicle is calculated according to the distance between each vehicle and the position of the exit line and the respective vehicle speed of the current moment of each vehicle.

With reference to any one of the third to third possible implementation manners of the third aspect, in a fourth possible implementation manner of the third aspect, the adjusting unit is specifically configured to use a second time of a preceding vehicle of any two of the two or more vehicles at risk of collision as a first time after adjustment of a following vehicle of any two of the two or more vehicles at risk of collision, so that there is no intersection in the first time period of any two of the vehicles at risk of collision after adjustment, and the first time of the preceding vehicle is earlier than the first time of the following vehicle.

With reference to any one of the third aspect to the fourth possible implementation manner of the third aspect, in a fifth possible implementation manner of the third aspect, the first control information includes a target vehicle speed, and the obtaining unit is further configured to obtain the target vehicle speed of the vehicle adjusted at the first time according to a distance between the position of the vehicle adjusted at the first time and the position of the entry line and a time difference between a current time of the vehicle adjusted at the first time and the first target time, where the first target time is the first time after the vehicle adjusted at the first time is adjusted.

With reference to any one of the third aspect to the fifth possible implementation manner of the third aspect, in a sixth possible implementation manner of the third aspect, the first control information includes a first target time, and the first target time is a vehicle-adjusted first time after the first time determined by the V2X server is adjusted.

With reference to any one of the third aspect to the sixth possible implementation manner of the third aspect, in a seventh possible implementation manner of the third aspect, the sending unit is further configured to send, to two or more vehicles without a collision risk if it is determined that there is no collision risk between any two vehicles of the two or more vehicles, a second control message for instructing the vehicle to travel at the vehicle speed at the current time.

With reference to any one of the third to seventh possible implementation manners of the third aspect, in an eighth possible implementation manner of the third aspect, the determining unit is further configured to determine that there is no intersection between the first time periods of all the vehicles, and then determine that there is no collision risk between any two vehicles of the two or more vehicles; or the determining unit is further configured to determine that any two vehicles of the two or more vehicles travel in different lanes, and then determine that there is no collision risk in any two vehicles of the two or more vehicles; or the determining unit is further configured to determine that there is no collision risk in the traveling directions of any two vehicles of the two or more vehicles, and then determine that there is no collision risk in any two vehicles of the two or more vehicles.

With reference to any one of the third to eighth possible implementation manners of the third aspect, in a ninth possible implementation manner of the third aspect, the V2X server provided in the embodiment of the present invention further includes: the vehicle information acquisition device comprises a receiving unit and an acquisition unit, wherein the receiving unit is used for receiving a first message which is sent by a vehicle and comprises vehicle information of the vehicle, and the acquisition unit is also used for acquiring the vehicle information of the vehicle according to the first message.

With reference to any one of the third aspect to the ninth possible implementation manner of the third aspect, in a tenth possible implementation manner of the third aspect, the obtaining unit provided in the embodiment of the present invention is further configured to obtain an indication message used for indicating that the location of the vehicle is within the jurisdiction; and the sending unit is also used for sending a second message for indicating the vehicle to report the vehicle information to the vehicle.

With reference to any one of the third aspect to the tenth possible implementation manner of the third aspect, in an eleventh possible implementation manner of the third aspect, the sending unit is further configured to send a third message including geographic location information of the jurisdiction area to vehicles located in the jurisdiction area of the V2X server, where the third message is used for reporting vehicle information of the vehicle to the V2X server when the vehicle determines that the location of the vehicle is located in the jurisdiction area.

With reference to any one of the third to eleventh possible implementation manners of the third aspect, in a twelfth possible implementation manner of the third aspect, the sending unit provided in the embodiment of the present invention is further configured to send, to the first vehicle, the jurisdiction of the target V2X server and/or send, to the target V2X server, the vehicle information of the first vehicle that is obtained last time by the V2X server when the first vehicle leaves the jurisdiction, where the target V2X server is an area where the first vehicle is about to enter, and the target V2X server is used by the first vehicle to determine whether the location of the first vehicle is located in the target V2X server, where the first vehicle is any one of all vehicles.

With reference to any one of the third to twelfth possible implementation manners of the third aspect, in a thirteenth possible implementation manner of the third aspect, the determining unit is specifically configured to: determining that the first vehicle leaves the jurisdiction when the position of the first vehicle is determined to be outside the jurisdiction; or the receiving unit is further used for receiving a fourth message which is sent by the first vehicle and used for indicating that the position of the first vehicle is outside the jurisdiction area; and the determining unit is specifically used for determining that the first vehicle leaves the jurisdiction area according to the fourth message.

With reference to any one of the third to thirteenth possible implementation manners of the third aspect, in a fourteenth possible implementation manner of the third aspect, the obtaining unit is further configured to obtain jurisdiction areas of all V2X servers in a network with the V2X server; the determining unit is further used for selecting the jurisdiction area to which the first vehicle is to be driven from the jurisdiction areas of the V2X servers according to the jurisdiction areas of all the V2X servers and the driving direction of the first vehicle, and the V2X server of the jurisdiction area to which the first vehicle is to be driven is used as the target V2X server.

With reference to any one of the third to fourteenth possible implementation manners of the third aspect, in a fifteenth possible implementation manner of the third aspect, the V2X server is deployed on a road side unit RSU.

In a fourth aspect, an embodiment of the present invention provides a V2X server, including a memory, a processor, a bus, and a communication interface, where the memory stores codes and data, the processor is connected to the memory via the bus, the processor is configured to obtain vehicle information of vehicles in a jurisdiction of the V2X server via the communication interface, the vehicle information being used for calculating a first time when the vehicles enter an intersection in the jurisdiction of the V2X server and a second time when the vehicles leave the intersection, and the processor is further configured to run the codes in the memory so that the V2X server calculates a first time and a second time of each vehicle according to the vehicle information of the vehicles and geographical location information of the jurisdiction, and is configured to determine that two or more vehicles have a collision risk if there is an intersection in the first time periods of the two or more vehicles, the first time periods being time periods between the first time and the second time, and the processor is further used for sending first control information to the vehicle adjusted at the first time through the communication interface, wherein the first control information is used for indicating the vehicle adjusted at the first time to adjust the vehicle speed and drive into the intersection according to the adjusted first time.

With reference to the fourth aspect, in a first possible implementation manner of the fourth aspect, the processor is specifically configured to determine that there is a possibility of collision in the traveling directions of two or more vehicles, and then determine that there is a risk of collision in the two or more vehicles.

With reference to the fourth aspect or the first possible implementation manner of the fourth aspect, in a second possible implementation manner of the fourth aspect, the vehicle information further includes a lane in which the vehicle travels, and the processor is further configured to determine that two or more vehicles travel in the same lane, and then determine that the two or more vehicles have a collision risk.

With reference to any one of the fourth aspect to the second possible implementation manner of the fourth aspect, in a third possible implementation manner of the fourth aspect, the vehicle information at least includes a position of the vehicle and a vehicle speed of the vehicle at a current time, and the processor is configured to obtain a distance between each vehicle and the position of the entry line and a distance between each vehicle and the position of the exit line according to a respective position of each vehicle, the position of the entry line of the intersection, and the position of the exit line of the intersection; the first time of each vehicle is calculated according to the distance between each vehicle and the position of the entrance line and the speed of each vehicle at the current moment; and the second time of each vehicle is calculated according to the distance between each vehicle and the position of the exit line and the respective vehicle speed of the current moment of each vehicle.

With reference to any one of the fourth to the third possible implementation manners of the fourth aspect, in a fourth possible implementation manner of the fourth aspect, the processor is further configured to use the second time of a preceding vehicle of any two of the two or more vehicles at risk of collision as the adjusted first target time of a following vehicle of any two of the two or more vehicles at risk of collision, so that there is no intersection in the first time period of any two of the adjusted vehicles at risk of collision, and the first time of the preceding vehicle is earlier than the first time of the following vehicle.

With reference to any one of the fourth possible implementation manners of the fourth aspect to the fourth aspect, in a fifth possible implementation manner of the fourth aspect, the first control information includes: the processor is further configured to calculate the target vehicle speed of the vehicle adjusted at the first time according to the distance between the position of the vehicle adjusted at the first time and the position of the entry line and the time difference between the current time of the vehicle adjusted at the first time and the first target time, where the first target time is the first time after the vehicle adjusted at the first time is adjusted.

With reference to any one of the fourth to fifth possible implementation manners of the fourth aspect, in a sixth possible implementation manner of the fourth aspect, the first control information includes a first target time, and the first target time is an adjusted first time of each of the vehicles whose first times are adjusted and determined by the V2X server.

With reference to any one of the sixth possible implementation manners of the fourth aspect to the fourth aspect, in a seventh possible implementation manner of the fourth aspect, the processor is further configured to determine that there is no collision risk between any two vehicles of the two or more vehicles, and send a second control message for instructing the vehicle to travel at the vehicle speed at the current time to the two or more vehicles without collision risk.

With reference to any one of the seventh possible implementation manners of the fourth aspect to the fourth aspect, in an eighth possible implementation manner of the fourth aspect, the processor is further configured to determine that there is no intersection between the first time periods of all the vehicles, and then determine that there is no collision risk between any two vehicles of the two or more vehicles; or the processor is further configured to determine that any two vehicles of the two or more vehicles are traveling in different lanes, and then determine that there is no collision risk for any two vehicles of the two or more vehicles; or the processor is further configured to determine that there is no collision risk in the traveling direction of any two vehicles of the two or more vehicles, and then determine that there is no collision risk in any two vehicles of the two or more vehicles.

With reference to any one of the eighth possible implementation manners of the fourth aspect to the fourth aspect, in a ninth possible implementation manner of the fourth aspect, the processor is further configured to receive, through the communication interface, a first message that includes vehicle information of the vehicle and is sent by the vehicle.

With reference to any one of the fourth aspect to the ninth possible implementation manner of the fourth aspect, in a tenth possible implementation manner of the fourth aspect, the processor is further configured to obtain, through the communication interface, an indication message for indicating that the location of the vehicle is within the jurisdiction; and sending a second message for instructing the vehicle to report the vehicle information to the vehicle through the communication interface.

With reference to any one of the fourth aspect to the tenth possible implementation manner of the fourth aspect, in an eleventh possible implementation manner of the fourth aspect, the processor is further configured to send, through the communication interface, a third message including geographic location information of the jurisdiction area to vehicles located in the jurisdiction area of the V2X server, where the third message is used for reporting vehicle information of the vehicle to the V2X server when the vehicle determines that the location of the vehicle is located in the jurisdiction area.

With reference to any one of the fourth to eleventh possible implementation manners of the fourth aspect, in a twelfth possible implementation manner of the fourth aspect, the processor is further configured to send, to the first vehicle through the communication interface, the jurisdiction of the target V2X server and/or the vehicle information of the first vehicle, which is obtained last time by the V2X server, to the first vehicle and/or to the target V2X server when it is determined that the first vehicle leaves the jurisdiction, where the target V2X server is an area where the first vehicle is about to enter, and the target V2X server is used by the first vehicle to determine whether the location of the first vehicle is located in the target V2X server, where the first vehicle is any one of all vehicles.

With reference to any one of the twelfth possible implementation manners of the fourth aspect to the fourth aspect, in a thirteenth possible implementation manner of the fourth aspect, the processor is further configured to determine that the first vehicle leaves the jurisdiction when the location of the first vehicle is determined to be outside the jurisdiction; or, the processor is further configured to receive, through the communication interface, a fourth message sent by the first vehicle indicating that the location of the first vehicle is outside the jurisdiction; the processor is further configured to determine that the first vehicle leaves the jurisdiction based on the fourth message.

With reference to any one of the thirteenth possible implementation manners of the fourth aspect to the fourth aspect, in a fourteenth possible implementation manner of the fourth aspect, the processor is further configured to obtain, through the communication interface, jurisdictions of all V2X servers in one network with the V2X server; the processor is further used for selecting the jurisdiction area to which the first vehicle is about to drive from the jurisdiction areas of the V2X servers according to the jurisdiction areas of all the V2X servers and the driving direction of the first vehicle; the processor is further configured to use the V2X server of the jurisdiction into which the first vehicle is to be driven as the target V2X server.

In a fifth aspect, an embodiment of the present invention provides a vehicle, including: the system comprises an environment perception system, a central decision-making system, a communication system and a bottom layer control system, wherein the environment perception system is used for acquiring vehicle information of a vehicle; the communication system is communicated with the V2X server and is used for receiving first control information sent by the V2X server, and the first control information is used for instructing the vehicle to adjust the speed of the vehicle to drive into an intersection in the jurisdiction area of the V2X server;

the central decision-making system is used for calculating the target speed of the vehicle according to the first control information;

and the bottom layer control system is used for adjusting the speed of the vehicle to the target speed and driving according to the target speed.

With reference to the fifth aspect, in a first possible implementation manner of the fifth aspect, the communication system is further configured to obtain geographic position information of the jurisdiction area, where the geographic position information at least includes a position of an entrance line of the intersection; the central decision system is specifically used for calculating the distance between the position of the vehicle at the current moment and the position of the entrance line, and calculating the target vehicle speed of the vehicle according to the distance between the position of the vehicle at the current moment and the position of the entrance line and the time difference between the current moment and the first target time.

With reference to the fifth aspect or the first possible implementation manner of the fifth aspect, in a second possible implementation manner of the fifth aspect, the first control information includes a target vehicle speed, and the central decision system is specifically configured to use the target vehicle speed acquired from the first control information as an adjusted target vehicle speed of the vehicle.

With reference to any one of the fifth aspect to the second possible implementation manner of the fifth aspect, in a third possible implementation manner of the fifth aspect, the communication system is further configured to send vehicle information of the vehicle to the V2X server, where the vehicle information is used for the V2X server to calculate a first time when the vehicle enters the intersection and a second time when the vehicle leaves the intersection in the jurisdiction of the V2X server.

With reference to any one of the fifth aspect to the third possible implementation manner of the fifth aspect, in a fourth possible implementation manner of the fifth aspect, the communication system is specifically configured to receive a second message sent by the V2X server, where the second message is used to instruct the vehicle to send vehicle information of the vehicle to the V2X server; the communication system is specifically configured to receive a third message that is sent by the V2X server and includes geographical location information of a jurisdiction area of the V2X server, where the third message is used for reporting vehicle information of the vehicle to the V2X server when the vehicle determines that the location of the vehicle is within the jurisdiction area; and the communication system is also used for reporting the vehicle information of the vehicle to the V2X server when the central decision-making system determines that the position of the vehicle is in the jurisdiction.

With reference to any one of the fourth possible implementation manners of the fifth aspect to the fifth aspect, in a fifth possible implementation manner of the fifth aspect, the communication system is further configured to receive a jurisdiction of the target V2X server sent by the V2X server, and the target V2X server is a V2X server of a jurisdiction into which the vehicle will enter.

With reference to any one of the fifth aspect to the fifth possible implementation manner of the fifth aspect, in a sixth possible implementation manner of the fifth aspect, the communication system is further configured to send, to the V2X server, a second message indicating that the location of the vehicle is outside the jurisdiction when the central decision system determines that the location of the vehicle is outside the jurisdiction.

In a sixth aspect, an embodiment of the present invention provides a transportation system, including: at least one V2X server, each V2X server of the at least one V2X server corresponding to a jurisdiction, and one or more vehicles located in the jurisdiction of the V2X server, wherein the V2X server is configured to execute the method for preventing vehicle collision as described in any one of the first aspect to the fifteenth possible implementation manner of the first aspect, and the vehicle is configured to execute the method for preventing vehicle collision as described in any one of the second aspect to the seventh possible implementation manner of the second aspect.

In a seventh aspect, an embodiment of the present invention provides a computer storage medium, which includes instructions that, when executed on a V2X server, cause the V2X server to execute the method for preventing a vehicle collision as described in any one of the first to the fifteenth possible implementation manners of the first aspect.

In an eighth aspect, an embodiment of the present invention provides a computer storage medium, which includes instructions that, when executed on a vehicle, cause the vehicle to perform the method for preventing a vehicle collision as described in any one of the second to fifth possible implementation manners of the second aspect.

In a ninth aspect, an embodiment of the present invention provides a computer program product, where the computer program product includes computer executable instructions, and the computer executable instructions are stored in a computer readable storage medium; the at least one processor of the V2X server may read the computer-executable instructions from the computer-readable storage medium, the execution of the computer-executable instructions by the at least one processor causing the V2X server to implement the method for preventing a vehicle collision described in any one of the first aspect to the fifteenth possible implementation manner of the first aspect.

In a tenth aspect, an embodiment of the present invention provides a computer program product, where the computer program product includes computer executable instructions, and the computer executable instructions are stored in a computer readable storage medium; the at least one processor of the vehicle may read the computer-executable instructions from the computer-readable storage medium, and the execution of the computer-executable instructions by the at least one processor causes the vehicle to implement the method for preventing a collision of a vehicle as described in any one of the second aspect to the seventh possible implementation manner of the second aspect.

It is understood that any one of the above-provided vehicle collision prevention methods, the V2X server, the vehicle, the computer storage medium or the computer program product is used to execute the above-provided vehicle collision prevention method, and therefore, the beneficial effects achieved by the method can be referred to the beneficial effects in the above-provided vehicle collision prevention method, and will not be described in detail herein.

Drawings

Fig. 1 is a scenario in which a method for preventing a vehicle collision according to an embodiment of the present invention is applied;

fig. 2 is a schematic composition diagram of an intersection according to an embodiment of the present invention;

FIG. 3 is a simplified diagram of a system architecture for a method for preventing a vehicle collision according to an embodiment of the present invention;

fig. 4 is a schematic composition diagram of a V2X server according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present invention;

FIG. 6 is a first flowchart of a method for preventing a vehicle collision according to an embodiment of the present invention;

FIG. 7 is a second flowchart of a method for preventing a vehicle collision according to an embodiment of the present invention;

FIG. 8 is a flowchart of a third method for preventing a vehicle collision according to an embodiment of the present invention;

FIG. 9 is a schematic illustration of a vehicle positioned at an intersection according to an embodiment of the present invention;

FIG. 10 is a first schematic diagram illustrating a vehicle at risk of collision according to an embodiment of the present invention;

FIG. 11 is a second schematic diagram illustrating a risk of collision of a vehicle according to an embodiment of the present invention;

FIG. 12 is a fourth flowchart of a method for preventing a vehicle collision according to an embodiment of the present invention;

FIG. 13 is a fifth flowchart of a method for preventing a vehicle collision according to an embodiment of the present invention;

FIG. 14 is a schematic view of a vehicle provided by an embodiment of the present invention without risk of collision;

fig. 15 is a schematic composition diagram of a V2X server according to an embodiment of the present invention;

fig. 16 is a schematic composition diagram of another V2X server according to an embodiment of the present invention.

Detailed Description

The development of technologies such as wireless communication, vehicle remote control, sensor-based driving assistance systems, cloud platforms, edge computing and the like, and vehicle-road cooperation gradually becomes a research hotspot in the field of cooperative intelligent transportation. The vehicle-road cooperation is realized by adopting advanced wireless communication, internet and other technologies, vehicle-vehicle and vehicle-road dynamic real-time information interaction is carried out in all directions, vehicle speed guidance is realized on the basis of dynamic traffic information acquisition and fusion, active safety control and road cooperative management are realized, effective cooperation of vehicles and road traffic conditions is fully realized, traffic safety is guaranteed, traffic efficiency is improved, and a safe, efficient and environment-friendly road traffic system is formed.

In the traditional technical scheme, whether collision risks exist or not is judged by a vehicle based on the position of the vehicle and received environment information, early warning reminding is given or emergency braking is switched on, so that the requirement on the capacity of acquiring vehicle information of a road intersection by an intelligent traffic module and making a decision and controlling the vehicle based on the environment information is high, and meanwhile, the traffic efficiency of the road intersection cannot be solved. When passing through the intersections, the automatically driven vehicles can only actively prevent collision based on the sensors of the vehicles, so that the problems of potential safety hazards and traffic efficiency exist.

As shown in fig. 1, fig. 1 shows a traffic scene graph provided by the present application, fig. 1 shows a plurality of intersections (e.g., intersection 1, intersection 2, intersection 3, intersection 4, and intersection 5), and the present application divides the plurality of intersections shown in fig. 1 into a plurality of management control units (blocks), each Block corresponds to one jurisdiction (as shown in fig. 1, Block1 corresponds to jurisdiction 1, Block2 corresponds to jurisdiction 2), and each jurisdiction has at least one intersection (e.g., jurisdiction 1 includes intersection 1 and jurisdiction 2 includes intersection 2, it is understood that fig. 1 only shows that each jurisdiction includes one intersection, and in an actual process, one jurisdiction may include two or more intersections).

The method provided by the application can be applied to intersections without signal lamps and can also be applied to intersections with signal lamps, and the method is not limited to the method.

In the embodiment of the invention, each intersection is provided with one identifier, and the identifier of each intersection is used for uniquely identifying the intersection.

Wherein, each Block is an edge deployed Vehicle networking (V2X) Application Server (Application Server), which is also called as: each V2X server, each Block is used for adjusting the speed of vehicles in the jurisdiction area of the Block when the vehicles pass through the intersection in the jurisdiction area, each V2X server manages the vehicles in the corresponding jurisdiction area (for example, sends a message for adjusting the speed of the vehicles to the vehicles), each V2X server judges whether intersection exists in the time periods between the time when two or more vehicles enter the intersection and the time when the two or more vehicles exit the intersection according to the time when the two or more vehicles enter the intersection and the time when the vehicles exit the intersection, if intersection exists in the time periods between the time when the two or more vehicles enter the intersection and the time when the vehicles exit the intersection, the situation that the two or more vehicles are likely to simultaneously appear at the intersection in the time period between the time when the intersection exists and the time when the vehicles exit the intersection is indicated, and the two or more vehicles are likely to collide in the time period when the intersection exists, thus, after determining that there is an intersection between the time when two or more vehicles enter the intersection and the time when they exit the intersection, the V2X server coordinates the time when two or more vehicles at risk of collision enter the intersection so that there is no intersection between the time when two or more vehicles enter the intersection and the time when they exit the intersection after adjustment, which can ensure that there is no risk of collision for vehicles passing through the intersection at each time period. And the V2X server calculates the time of each vehicle entering the intersection, and calculates the target speed of each vehicle according to the time of entering the intersection or calculates the target speed by the vehicle according to the time of entering the intersection, so as to ensure that the vehicle can pass through the intersection safely and efficiently.

In the present application, two or more intersections may share one V2X server.

V2X in the embodiment of the present invention refers to a car networking technology, and even a technology for communicating everything that may be related to a Vehicle and a surrounding environment, V2X includes a Vehicle-to-Vehicle (V2V) technology for communicating with a surrounding Vehicle, a Vehicle-to-infrastructure (V2I) technology for communicating with a traffic facility such as a traffic light, and a V2P technology that may include communication between a smart phone of a Vehicle and a pedestrian, and the like.

Fig. 2 is a schematic diagram of a jurisdiction area provided in an embodiment of the present invention, and fig. 2 illustrates an intersection in a cross shape, for example, it can be understood that the intersection may also be in a t shape or another shape in an actual process, which is not limited in the embodiment of the present invention.

As shown in fig. 2, an intersection included in one jurisdiction area is usually a position where two or more roads intersect in the same plane. Typically an intersection comprises at least one entry line position and at least one exit line position, it being understood that exit line position and exit line position are generally relative concepts, with lane line positions closest to the vehicle in the direction of travel of the vehicle generally being determined as entry line positions and lane line positions further from the vehicle in the direction of travel of the vehicle generally being determined as exit line positions. Therefore, as shown in fig. 2, the present application only describes the entry line position and the exit line position with respect to the vehicle a and the vehicle B, and exemplarily, the lane line position X may be the entry line position of the vehicle a in the traveling direction of the vehicle a, the lane line position Y may be the exit line position of the vehicle a in the traveling direction of the vehicle a, the lane line position Y may be the entry line position of the vehicle B in the traveling direction of the vehicle B, and the exit line position of the vehicle B in the traveling direction of the vehicle B.

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Fig. 3 shows a simplified schematic diagram of a system architecture to which embodiments of the invention may be applied. As shown in fig. 3, the system architecture may include: one or more V2X servers (e.g., V2X server 1, V2X server 2, and V2X server 3), and vehicles located within the jurisdiction of each V2X server (e.g., Vehicle a located within the V2X server 1 jurisdiction, Vehicle B located within the V2X server 2 jurisdiction), the one or more V2X servers being located in a network therebetween, each V2X server being deployed on a Road Side Unit (RSU) (e.g., V2X server 1 being deployed on RSU a, V2X server 2 being deployed on RSU B).

Each V2X server is used to coordinate the speed of vehicles in its jurisdiction through an intersection in its jurisdiction to prevent collisions between two or more vehicles and to allow the vehicles to pass through the intersection in an orderly fashion without stopping.

Data interaction may occur between the one or more V2X servers, for example, the V2X server 1 sends the V2X server 2 geographical location information of the jurisdiction of the V2X server 1, as well as vehicle information of vehicles within the jurisdiction of the V2X server 1.

One road side unit is deployed near the intersection and used for collecting Map information of the intersection and geographic position information of the administration area and can communicate with other network element equipment to achieve information interaction. There is typically a V2X Application (Application) on the rsu so that the rsu can interact with the V2X server deployed on the rsu.

As shown in fig. 3, both the RSU and the vehicle in the present Application have a V2X Application (Application) that interacts with a V2X Application server, for example, as shown in fig. 3, RSU B has a V2X Application and vehicle a has a V2X Application.

Specifically, in the embodiment of the present invention, each V2X server may issue a command to a roadside unit where each V2X server is located through MAP (MAP) information, where the command is used to request the roadside unit to feed back geographical position information of each jurisdiction area and MAP information of an intersection, where the MAP information carries (a Timestamp, an identifier of the intersection, and a lane identifier), and after receiving the command, the RSU returns the MAP information to each corresponding V2X server through the MAP information, where the MAP information includes the Timestamp, the intersection ID, the lane ID, the position of an incoming line, and the position of an outgoing line. In this way, each V2X server receives the MAP information transmitted by the RSU, analyzes the exit line position and the entry line position of each lane in the MAP information, and initializes each jurisdiction area based on the exit line position and the entry line position of each lane of each V2X server.

In the embodiment of the invention, the plurality of V2X servers can send the geographical location information of each jurisdiction to other V2X servers through MAP information (Timestamp, intersection ID, lane ID, stopLine, entryLine), so that one V2X server can form a network with other adjacent V2X servers.

Wherein, the MAP information: the information of the intersection, the road section, the lane information, the connection relation between roads, the traffic sign information, the position of the entrance line, the position of the exit line, the boundary position of the jurisdiction area and the like.

In the embodiment of the invention, the vehicle information of the vehicle is exchanged between the vehicle and the V2X server by the Basic Safety Message (BSM) of the vehicle in the application layer protocol, and the MAP information of the intersection inside the park is exchanged between the Road Side Unit (RSU) and the V2X server by the MAP information in the application layer protocol.

The BSM is one of the most widely used application layer messages for exchanging safety status data between vehicles. The BSM is typically broadcast periodically according to a preset period. The preset period in this application is 500 ms.

As shown in fig. 2, in the embodiment of the present invention, the vehicle may generally perform data interaction between an Evolved UMTS Terrestrial Radio Access Network (E-UTRAN) and a core Network (e.g., MME, S/P-GW), a Home Subscriber Server (HSS), and a V2X Server.

The vehicle in the embodiment of the invention can not only collect the vehicle information (such as the vehicle speed, the driving direction, the driving lane, the identification of the vehicle, the longitude, the latitude and the altitude of the vehicle, the configuration information of the vehicle and the acceleration) of the vehicle through the sensors, but also send the collected vehicle information to the V2X server through the BSM, so that the V2X server can calculate the first time and the second time of the vehicle and adjust the vehicle speed of the vehicle. It also supports connecting network elements and V2X servers by communication.

Alternatively, the vehicle generally comprises: a vehicle communication unit, a vehicle sensor, and a vehicle electronic control unit.

The vehicle sensor is used for collecting the information to be measured and converting the collected information into an electric signal or other information in a required form according to a certain rule to be output so as to meet the requirements of information transmission, processing, storage, display, recording, control and the like. For example, vehicle information of the vehicle may be collected and the collected vehicle information may be transmitted to the vehicle communication unit through the BSM. Alternatively, the vehicle sensors typically include a speed sensor and an acceleration sensor.

And a vehicle communication unit for supporting the vehicle to communicate with the V2X server, to communicate with a vehicle electronic control unit inside the vehicle, and to communicate with the vehicle sensor, for example, to receive vehicle information transmitted from the vehicle sensor and to transmit the vehicle information to the V2X server through the BSM. Or the vehicle communication unit receives the message for collecting the vehicle information sent by the V2X server and sends the message for collecting the vehicle information to the vehicle sensor. The Vehicle communication unit realizes data exchange between an In Vehicle System (IVS) and a System operator by transmitting and receiving a wireless signal.

And the vehicle Electronic Control Unit (ECU) is used for calculating, processing and judging information input by the air flow meter and various sensors according to programs and data stored in the ECU, then outputting instructions and providing electric pulse signals with certain width for the oil injector to Control the oil injection quantity. The electric control unit consists of a microcomputer, an input circuit, an output circuit, a control circuit and the like.

The road side unit, the Vehicle communication unit in the Vehicle and the V2X server in the embodiment of the invention can perform information interaction through wireless networks such as the Internet of things and the Internet, and the road side unit, the Vehicle communication unit and the V2X server form a Vehicle-road coordination system (CVIS). The CVIS is that vehicle and road information is acquired based on technologies such as wireless communication and sensing detection, information interaction and sharing are carried out through vehicle-vehicle and vehicle-road communication, intelligent cooperation and cooperation between vehicles and infrastructure are achieved, and the purposes of optimizing utilization system resources, improving road traffic safety and relieving traffic congestion are achieved.

Fig. 4 is a schematic composition diagram of a server according to an embodiment of the present invention, and as shown in fig. 4, the server may include at least one processor 301, a memory 304, a communication interface 302, and a communication bus 303.

The following describes each component of the server in detail with reference to fig. 4:

the processor 301 is a control center of the server, and may be a single processor or a collective term for multiple processing elements. For example, the processor 301 is a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present invention, such as: one or more microprocessors (digital signal processors, DSPs), or one or more Field Programmable Gate Arrays (FPGAs).

The processor 301 may perform various functions of the server by running or executing software programs stored in the memory 304, and calling data stored in the memory 304, among other things.

In particular implementations, processor 301 may include one or more CPUs as one embodiment.

In one embodiment, the server may include a plurality of processors, and each of the processors may be a single-Core Processor (CPU) or a multi-Core Processor (CPU). A processor herein may refer to one or more devices, circuits, and/or processing cores that process data (e.g., computer program instructions).

The Memory 304 may be, but is not limited to, a Read-Only Memory (ROM) or other type of static storage device that can store static information and instructions, a Random Access Memory (RAM) or other type of dynamic storage device that can store information and instructions, an Electrically Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical Disc storage, optical Disc storage (including Compact Disc, laser Disc, optical Disc, digital versatile Disc, blu-ray Disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 304 may be self-contained and coupled to the processor 301 via a communication bus 303. The memory 304 may also be integrated with the processor 301.

The memory 304 is used for storing software programs for implementing the present invention, and is controlled by the processor 301.

The communication interface 302 may be any device, such as a transceiver, for communicating with other devices or communication Networks, such as ethernet, Radio Access Network (RAN), Wireless Local Area Networks (WLAN), etc. The communication interface 302 may include a receiving unit implementing a receiving function and a transmitting unit implementing a transmitting function.

The communication bus 303 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 4, but this does not indicate only one bus or one type of bus.

The device structure shown in fig. 4 does not constitute a limitation of the server and may include more components than those shown, or some components may be combined, or a different arrangement of components.

Fig. 5 is a schematic diagram of a vehicle according to an embodiment of the present invention, and as shown in fig. 5, the vehicle may include a central decision-making system 1703, an environmental awareness system 1701, a communication system 1702, and an underlying control system 1704. The central decision system 1703 includes a path planning unit, a navigation unit, a path tracking unit, and an information fusion unit, and the environment awareness system 1701 is configured to collect vehicle information of a vehicle and communicate with the communication system 1702, for example, report the vehicle information of the vehicle to the communication system 1702. The environment sensing System 1701 mainly includes a camera, a laser radar, a millimeter wave radar, a Global Positioning System (GPS), and the like.

The central decision system 1703 is a vehicle local machine or a cloud platform, if the central decision system 1703 is the vehicle local machine, the decision is executed on a vehicle networking standard terminal (T-BOX), and if the central decision system 1703 is the cloud platform, the central decision system communicates with the outside through the T-Box.

The underlying control systems 1704 include braking and driving, electric power steering, automatic transmissions, electronic stability systems, and the like.

The vehicle-mounted T-BOX terminal Can deeply read vehicle Can bus data and a private protocol, the T-BOX terminal is provided with an OBD module with dual-core processing and a CPU framework with dual-core processing, the T-BOX terminal respectively collects bus data and private protocol reverse control related to vehicle buses Dcan, Kcan and PTcan, the data are transmitted to a cloud server through a GPRS network, and vehicle condition reports, driving reports, oil consumption statistics, fault reminding, violation inquiry, position tracks, driving behaviors, safety theft prevention, reservation service, remote vehicle finding, vehicle door, window, lamp, lock, horn, double flash, reflector folding, skylight, monitoring central control warning, airbag state and the like are provided.

The floor control system 1704 supports connection of the control unit through a wireless communication technology, and after receiving the vehicle speed sent by the management control unit, the speed of the vehicle can be controlled through an Electronic Control Unit (ECU) of the vehicle.

Optionally, as shown in fig. 5, the vehicle further includes a human-machine interaction interface 1705, configured to prompt the driver to adjust the speed of the vehicle to the target vehicle speed, where this situation is applicable to a driving assistance scenario, that is, the central decision system 1703 displays the target vehicle speed acquired by the communication system 1702 or the target vehicle speed calculated according to the first target time on the human-machine interaction interface, so that the driver can adjust the speed of the vehicle through the target vehicle speed displayed on the human-machine interaction interface 1705.

It will be appreciated that in an autonomous driving scenario, the central decision system 1703 sends the target vehicle speed directly to the ground-level control system 1704 so that the ground-level control system 1704 adjusts the vehicle speed to the target vehicle speed.

The configuration of the apparatus shown in fig. 5 does not constitute a limitation of the vehicle and may include more or fewer components than those shown, or some of the components may be combined, or a different arrangement of components. And will not be described in detail herein.

Fig. 6 is a flowchart of a method for preventing a vehicle collision according to an embodiment of the present invention, and as shown in fig. 6, the method may include:

the S101 and V2X servers acquire vehicle information of vehicles in the jurisdiction area of the V2X server, and the vehicle information is used for calculating the first time when the vehicles enter the intersection in the jurisdiction area of the V2X server and the second time when the vehicles leave the intersection.

Specifically, the vehicle information of the vehicle in the embodiment of the present invention at least includes: the identity of the Vehicle (Vehicle ID), the Longitude (Longitude), the Latitude (Latitude), the altitude (Elevation), and the Vehicle Speed (Speed) of the Vehicle. The identification of the vehicle is used for uniquely determining the vehicle, for example, the identification can be a license plate number or a vehicle identification number of the vehicle, the identification is not limited in the application, and all information capable of uniquely identifying the vehicle can be used as the identification of the vehicle in the application.

Wherein, the V2X server determines the position of the vehicle according to the longitude, the latitude and the altitude in the vehicle information.

In the present application, the first time when the vehicle enters (arrives at) the intersection is time when the vehicle arrives at the entry line position of the intersection, and the second time when the vehicle leaves the intersection is time when the vehicle leaves the exit line position of the intersection.

S102, the V2X server calculates the first time and the second time of each vehicle according to the vehicle information of the vehicles and the geographical position information of the jurisdiction.

And S103, the V2X server determines that the first time periods of the two or more vehicles intersect, and determines that the two or more vehicles have the collision risk, wherein the first time period is a time period between the first time and the second time.

The intersection of the first time periods of two or more vehicles at least comprises the following two conditions: for example, the first time periods of the vehicle1 and the vehicle2 intersect each other, and in the case where the vehicle3 intersects the first time periods of the vehicle1 and the vehicle2, the first time periods of the vehicle1 and the vehicle2 and the vehicle3 may be considered to intersect each other, the first time periods of the vehicle2 and the vehicle3 may be considered to intersect each other, and in the case where the vehicle3 intersects only the first time period of the vehicle2, the first time periods of the vehicle1 and the vehicle2 may be considered to intersect each other, and the first time periods of the vehicle2 and the vehicle3 may intersect each other.

It is understood that the V2X server determines that there is an intersection in the first time period of two or more vehicles, i.e., it indicates that two or more vehicles will be present at the intersection at the same time in the time zone where there is an intersection, and thus there is a risk of collision of two or more vehicles.

Illustratively, for example, if the first time of the vehicle1 is 1 point 10 minutes 15 seconds, the second time is 1 point 10 minutes 25 seconds, the first time of the vehicle2 is 1 point 10 minutes 18 seconds, and the second time is 1 point 10 minutes 32 seconds, then the vehicle1 and the vehicle2 may be present at the intersection at the same time between 1 point 10 minutes 18 seconds and 1 point 10 minutes 25 seconds, and thus there is a risk of collision between the vehicle1 and the vehicle 2.

It is understood that in practice, the V2X server may sort the first time and the second time of each vehicle in a preset order (from early to late or from late to early) to obtain a time window including the first time and the second time of each vehicle. For example, [ vessel 1< t-in, t-out >, vessel 2< t-in, t-out >, vessel 3< t-in, t-out > … … ]. Wherein t-in represents a first time and t-out represents a second time.

It should be noted that, in the process of acquiring the time window by the V2X server, if there is a vehicle newly entering the jurisdiction of the V2X server, the V2X server calculates a first time and a second time of the newly entering vehicle, inserts the newly entering vehicle into the time window according to the first time of the newly entering vehicle in a preset time sequence, and updates the time window.

For example, if the newly entering Vehicle is Vehicle4, the first time of Vehicle4 is before Vehicle3, then the updated time window is [ Vehicle1< t-in, t-out >, Vehicle2< t-in, t-out >, Vehicle4< t-in, t-out >, Vehicle3< t-in, t-out > … … ].

The S104 and V2X server adjusts the first time of two or more vehicles with collision risks, so that the first time periods of any two vehicles of the two or more adjusted vehicles do not have intersection.

The absence of an intersection of the first time periods in this application means that there is no common time between the first time and the second time of one vehicle and the time between the first time and the second time of another vehicle, or the second time of one vehicle is the first time of another vehicle.

And S105, the V2X server sends first control information to the vehicle adjusted at the first time, wherein the first control information is used for indicating the vehicle adjusted at the first time to adjust the vehicle speed and drive into the intersection according to the adjusted first time.

It should be noted that, in the present application, the number of the vehicles adjusted at the first time may be one vehicle, or may also be two or more vehicles, and when the number of the vehicles adjusted at the first time is two or more vehicles, the first control information may simultaneously carry the first target time after each adjustment of all the vehicles adjusted at the first time, and the identifier of the vehicle corresponding to each first target time. In this way, after any vehicle adjusted at the first time receives the first control information, the own target vehicle speed or the first target time can be determined from the first control information according to the identification of the vehicle.

Of course, the V2X server may also send a first control message to each first time-adjusted vehicle, where the first control message for a first time-adjusted vehicle includes only the first target time or the target vehicle speed of the first time-adjusted vehicle. For example, the first control information received by the vehicle1 includes a first target time of the vehicle1 or a target vehicle speed of the vehicle 1.

S106, the vehicle receives the first control information sent by the V2X server.

And S107, adjusting the speed of the vehicle according to the first control information so that the vehicle can enter the intersection at the first time after adjustment.

The embodiment of the invention provides a method for preventing vehicle collision, which comprises the steps of obtaining vehicle information of vehicles in a jurisdiction area of a V2X server through a V2X server, calculating a first time and a second time of each vehicle in the jurisdiction area of the V2X server, wherein the first time is the time when the vehicle enters an intersection, and the second time is the time when the vehicle exits the intersection, so if a time period (namely the first time period) between the first time and the second time of any two or more vehicles has an intersection, namely two or more vehicles with the intersection in the first time period are simultaneously positioned at the intersection in the first time period, the collision risk is possible, and therefore, in order to avoid the collision of any two vehicles in the two or more vehicles with the intersection in the first time period, the V2X server sends first control information to the vehicle with the adjusted first time, the method and the device have the advantages that the vehicles adjusted at the first time are indicated to adjust respective speeds and drive into the intersection according to the adjusted first time, intersection does not exist in the first time periods of any two vehicles after adjustment, so that the vehicles can be prevented from appearing at the intersection in the same time period, and the risk of collision is avoided.

Optionally, step S101 in the present application may be implemented by:

the S1011, V2X server receives a first message sent by the vehicle, the first message including vehicle information of the vehicle.

And S1012, the V2X server acquires the vehicle information of the vehicles in the jurisdiction area of the V2X server according to the first message.

In the application, the V2X server may actively acquire the vehicle information of the vehicle in the jurisdiction of the V2X server, or the vehicle information may actively send to the V2X server, so that the V2X server acquires the vehicle information of the vehicle in the jurisdiction. The difference between the vehicle information actively acquired by the V2X server and the vehicle information actively reported by the vehicle exists in the specific practice process, so the following will describe the vehicle information acquired by the V2X server in the jurisdiction area in combination with the above two cases, respectively.

Optionally, as shown in fig. 7, in a case that the V2X server may actively obtain vehicle information of vehicles in the jurisdiction of the V2X server, before step S1011, the embodiment of the present invention further includes:

s1013, the V2X server obtains an indication message indicating that the location of the vehicle is within the jurisdiction.

Specifically, the indication message may be a V2X server corresponding to the jurisdiction where the vehicle is located before entering the jurisdiction of the V2X server (taking the first V2X server as an example).

Specifically, the indication message may include Vehicle ID, Latitude, Longitude, Elevation, Speed, and direction of travel (direction) of the Vehicle.

Optionally, the first V2X server sends the vehicle information of the vehicle to the V2X server through a Basic Safety Message (BSM) so that the V2X server monitors and manages the vehicles entering the V2X jurisdiction.

And S1014, the V2X server sends a second message to the vehicle according to the indication message, wherein the second message is used for indicating the vehicle to report the vehicle information.

Specifically, the V2X server sends the BSM carrying a Vehicle ID to the Vehicle communication unit of the Vehicle, where the Vehicle ID is used to instruct the Vehicle communication unit to acquire the Vehicle information collected by the environmental awareness system from the environmental awareness system of the Vehicle.

And S1015, the vehicle receives the second message sent by the V2X server.

Specifically, after receiving the BSM, the vehicle communication unit sends the BSM to the vehicle electronic control unit to acquire vehicle information, and the vehicle electronic control unit sends the BSM to instruct the vehicle sensor to acquire the vehicle information, and the vehicle sensor acquires the vehicle information and sends the vehicle information to the vehicle communication unit through the BSM (vehicle id, vehicle, long, Elevation, Speed, direction). The vehicle communication unit forwards the BSM message (vehicle id, Latitude, Longitude, Elevation, Speed, direction) to the V2X server.

And S1016, the vehicle sends a first message to the V2X server according to the second message, wherein the first message comprises the vehicle information of the vehicle.

Optionally, on the other hand, in the case that the vehicle actively sends the vehicle information to the V2X server, as shown in fig. 8, before step S1011, the method provided in the embodiment of the present invention further includes:

and the S1017 and V2X server sends a third message to the vehicle in the jurisdiction area of the V2X server, wherein the third message comprises the geographical location information of the jurisdiction area, and the third message is used for reporting the vehicle information of the vehicle to the V2X server when the vehicle determines that the location of the vehicle is in the jurisdiction area.

And S1018. the vehicle receives the third message sent by the V2X server.

S1019, reporting the vehicle information of the vehicle to the V2X server when the vehicle determines that the position of the vehicle is in the jurisdiction area.

Specifically, step S1019 is implemented by: s10191, when the central decision-making system determines that the position of the vehicle is located in the jurisdiction area, the central decision-making system informs the communication system to send the vehicle information of the vehicle to the V2X server, and S10192, the communication system sends the vehicle information of the vehicle to the V2X server.

Specifically, step S1019 may be implemented as follows: and when the vehicle is determined to be located in the jurisdiction area according to the position of the vehicle and the geographical position information of the jurisdiction area, actively acquiring the vehicle information of the vehicle and reporting the vehicle information to the V2X server.

Optionally, in the embodiment of the present invention, the vehicle information of the vehicle at least includes the position of the vehicle and the vehicle speed of the vehicle at the current time, and therefore step S102 in the embodiment of the present invention may be implemented by:

the S1021, V2X server acquires the distance between each vehicle and the position of the entry line and the distance between each vehicle and the position of the exit line from the intersection based on the respective positions of each vehicle, the position of the entry line at the intersection, and the position of the exit line at the intersection.

The S1022 and V2X server calculates the first time of each vehicle according to the distance between each vehicle and the position of the entrance line and the vehicle speed of each vehicle at the current moment.

The S1023 and V2X servers calculate respective second times of each vehicle based on the distance between each vehicle and the position of the exit line and the respective vehicle speed at the present time of each vehicle.

It is understood that the V2X server in this application determines the entry line position and the exit line position from MAP information obtained from RSUs deployed by the V2X server.

For example, as shown in fig. 9, the position of the vehicle a at the current time is at point B in fig. 9, the position of the entry line is X as shown in fig. 9, and the position of the exit line is Y as shown in fig. 9, then the V2X server may obtain the distance between the vehicle a and the entry line position as S1 ═ X-a from the position of the vehicle a and the entry line position X, and the V2X server may obtain the distance between the vehicle a and the exit line position as S2 ═ Y-a from the position of the vehicle a and the exit line position.

With reference to fig. 9, and the speed displacement formula, the first time T1 of vehicle a is S1/V1, where V1 is the vehicle speed of vehicle a at the current time, and the second time T2 of vehicle a is S2/V1.

It can be understood that, in the present application, how to calculate the first time and the second time of the vehicle is described only by taking the uniform motion of the vehicle as an example, and certainly, there may be an acceleration of the vehicle in the vehicle information reported by the vehicle in an actual process, in the present application, if the V2X server determines that the vehicle information reported by the vehicle further includes the acceleration of the vehicle, the V2X server should calculate the first time and the second time of each vehicle by combining the acceleration of the vehicle, and a specific calculation formula is not described herein again.

In the embodiment of the present invention, the vehicle information reported by the vehicles may not have the driving direction of the vehicle, and therefore, when the vehicle information reported by the vehicles does not have the driving direction, the V2X server may determine that there is a collision risk for two or more vehicles as long as it determines that there is an intersection in the first time periods of the two vehicles, so that the first times of the two or more vehicles in the first time periods with the intersection may be adjusted, so that there is no intersection in the first time periods of the two or more vehicles after the adjustment, and in this case, only one vehicle passes through the intersection in one time period.

However, in practice, even if the first time periods of two or more vehicles intersect, if the traveling directions of the two or more vehicles are different or are located in different lanes, there is no possibility that the two or more vehicles will collide. Therefore, in order to enable a plurality of vehicles to pass through the intersection in one time period, when determining whether two or more vehicles have a collision risk, in the case of determining that the first time periods of the two or more vehicles intersect, it is further necessary to determine that the two or more vehicles have the collision risk by combining the driving directions of the vehicles and the driving lanes, and therefore, for example, step S103 in the present application may be implemented by:

in an actual process, vehicle information reported by some vehicles includes a vehicle driving direction, so whether two or more vehicles having intersection in the first time period have collision risks or not can be further determined by combining the driving directions of the vehicles, and therefore, the step S103 can be implemented in a manner that the S103a and the V2X server determine that the driving directions of two or more vehicles have collision possibilities, and then determine that the two or more vehicles have collision risks.

The embodiment of the present invention is not limited to the possibility of collision in the traveling direction of the vehicle, and may specifically determine, in combination with the actual situation, for example, as shown in fig. 10, that there is an intersection in the first time period of the vehicle a and the vehicle B, the vehicle a travels from north to south (straight travel), and the vehicle B travels from south to north (straight travel), so that, in the case where there is an intersection in the first time period of the vehicle a and the vehicle B, there is a possibility of collision between the vehicle a and the vehicle B. For another example, as shown in fig. 11, if the traveling direction of the vehicle a is turning from north to west and the traveling direction of the vehicle B is turning from west to north to left, there is a possibility that the vehicle a and the vehicle B collide with each other.

It should be noted that when two or more vehicles have collision risks in their traveling directions, the following scenarios are included: in the case where two or more vehicles are located on the same lane and the traveling directions of the vehicles are opposite to each other in the case where one, two or more vehicles travel straight (as shown in fig. 10); alternatively, the two, or more vehicles in the scene two are in different lanes, but the traveling directions of any two vehicles are opposite, which is applicable to the case of turning the vehicle (as shown in fig. 11), and the two or more vehicles in the scene three and the first time period intersect each other and are located in the same lane, and the traveling directions of the two or more vehicles are the same. The mode of judging whether the vehicle has collision risk is combined with the actual situation specifically, and the details are not repeated herein.

Meanwhile, when two or more vehicles have opposite traveling directions but are located in different lanes, there is no collision risk between the two or more vehicles.

Further, it may also be determined whether the vehicle has a collision risk in combination with a driving lane of the vehicle, and therefore, step S103 may also be specifically implemented by: s103b and the V2X server determine that two or more vehicles run in the same lane, and then determine that the two or more vehicles have collision risks.

It can be understood that, when the intersection is a single lane in the present application, it may be determined that two or two vehicles having an intersection in the first time period have a collision risk only by determining whether the first time periods of the two or two vehicles have an intersection. When the intersection is a multi-lane (two lanes or more than three lanes), the driving direction of the vehicle and the lane where the vehicle is located should be combined in order to more accurately judge whether two vehicles with intersection exist in the first time period collide.

The V2X server may determine the lane where the vehicle is traveling according to the position reported by the vehicle, the identification of the lane in the jurisdiction area, and the geographic location of the lane.

The driving direction in the embodiment of the invention comprises information such as straight driving, left turning, right turning and the like.

Optionally, step S104 in this application may be implemented by: the S104a and the V2X server take the second time of the front vehicle in any two of the vehicles with the collision risks as the first time after adjustment of the rear vehicle in any two of the vehicles with the collision risks, so that the first time periods of any two of the vehicles with the collision risks after adjustment do not have intersection, and the first time of the front vehicle is earlier than the first time of the rear vehicle.

It should be noted that, in the present application, the second time of the previous vehicle may be: the V2X server calculates the second time of the previous vehicle according to the distance between the previous vehicle and the position of the exit line and by combining the vehicle speed of the previous vehicle, and the second time of the previous vehicle may be: and the sum of the first target time and the time when the vehicle runs from the position of the entrance line to the position of the exit line according to the preset speed, wherein the preset speed is calculated by the time period between the distance between the position of the vehicle at the current moment and the position of the entrance line and the time period between the current moment and the first target time.

In the first case, the preceding vehicle is typically the first earliest vehicle of the two or more vehicles that intersect during the first time period. The second case is generally applicable to a first earliest vehicle of two or more vehicles whose preceding vehicles do not intersect during the first time period.

That is, when the previous vehicle is not the vehicle with the earliest first time among the two or more vehicles having the intersection in the first time period, the second time of the previous vehicle is: the sum of the first target time and a time taken for the vehicle to travel from the entry line position to the exit line position.

Illustratively, the first time periods of the vehicles a, B and C intersect, and the first time periods of the vehicles a, B and C entering are respectively T _a 1、T _b 1 and T _c 1, and T _a 1 is earlier than T _b 1，T _b 1 is earlier than T _c 1, and the second times of vehicle a, vehicle B, and vehicle C are: t is _a 2、T _b 2 and T _c 2. Thus, the V2X server may map the second time T of the vehicle A _a 2, determining the first time for the vehicle B to enter the intersection after adjustment, and according to the time T for the vehicle B to enter the position of the entering lane _a 2, and the current time of the vehicle B and T _a 2, calculating the adjusted vehicle speed of the vehicle B, and acquiring a second time T 'for the vehicle B to leave the exit line position according to the adjusted vehicle speed' _b 2, and comparing the second time T 'of the vehicle B' _b 2 is determined as the first time after the vehicle C adjustment.

Second time T of vehicle B _b 2, determining the first time for the vehicle C to enter the intersection after adjustment. Therefore, the vehicle B arrives at the intersection after the vehicle A leaves the intersection, so that collision between the vehicle A and the vehicle B can be avoided, and on the other hand, the vehicle C arrives at the intersection after the vehicle B leaves the intersection, so that collision between the vehicle B and the vehicle C can be avoided, collision between the vehicle C and the vehicle A can be avoided, and collision risks of two or more than two vehicles with intersection in the first time period can be avoided.

In this application, the V2X server may calculate a target vehicle speed of the vehicle adjusted at the first time, and send the target vehicle speed to the vehicle adjusted at the first time, so that the vehicle adjusted at the first time travels according to the respective target vehicle speed. The vehicle speed adjusting method includes that the vehicle reaches the intersection at the first target time according to the first target time, the V2X server only sends the first adjusted target time to the vehicle adjusted at the first time, and the vehicle speed of the vehicle adjusted at the first time is adjusted according to the first target time and the distance between the current position and the position of the entry line, so that the vehicle reaches the intersection at the first target time according to the adjusted vehicle speed.

It is understood that, regardless of whether the V2X server calculates the target vehicle speed of the first-time-adjusted vehicle or the first-time-adjusted vehicles each calculate their own target vehicle speed according to the first target time, the first-time-adjusted vehicle needs to decelerate from the current-time speed to the target vehicle speed and travel to the entry line position according to the target vehicle speed after receiving the target vehicle speed.

For example, the vehicle may run at a constant speed according to the target vehicle speed or may run after the acceleration is reduced.

Of course, the driving time of the following vehicle may be used as the driving time of the preceding vehicle, so that the V2X server calculates the adjusted vehicle speed of the preceding vehicle according to the adjusted driving time of the preceding vehicle (i.e. the driving time of the following vehicle), the time interval between the time of the preceding vehicle and the adjusted driving time at the current time, and the distance between the preceding vehicle and the driving line position.

In the case where the target vehicle speed is calculated by the V2X server, the present application, before step S105, as shown in fig. 12, provides a method further comprising the steps of:

and S108, the V2X server calculates the target vehicle speed of the vehicle adjusted at the first time according to the distance between the position of the vehicle adjusted at the first time and the position of the access line and the time difference between the current time of the vehicle adjusted at the first time and the first target time, wherein the first target time is the first time after the vehicle adjusted at the first time is adjusted.

Specifically, when the number of the first-time-adjusted vehicles is plural, the V2X server needs to calculate the respective adjusted target vehicle speeds of the first-time-adjusted vehicles according to the distance between the position of each first-time-adjusted vehicle and the respective position of the distance-entering line, and the time difference between the current time of each first-time-adjusted vehicle and the respective corresponding first target time.

For example, as shown in fig. 11, if the vehicles adjusted at the first time are the vehicles a and B, the V2X server obtains the distance between the position of the vehicle a and the position of the entry line, and obtains the target vehicle speed of the vehicle a according to the time difference between the first target time of the vehicle a and the current time, and the V2X server obtains the distance between the position of the vehicle B and the position of the entry line, and obtains the target vehicle speed of the vehicle B according to the time difference between the first target time of the vehicle B and the current time.

The corresponding step S107 may be implemented by:

s107a, the vehicle adjusts the vehicle speed of the vehicle to the target vehicle speed so that the vehicle enters the intersection at the first target time, with the target vehicle speed acquired from the first control information being the vehicle adjusted vehicle speed.

In the case that the vehicle calculates the adjusted vehicle speed, the first control information includes a first target time, where the first target time is the adjusted first time of the vehicle determined by the V2X server as the first time, and specifically, the first target time may include a plurality of first target sub-times, each of the first target sub-times corresponds to an identifier of the vehicle adjusted at the first time, and one of the first target sub-times is used to indicate that the vehicle indicated by the identifier associated with the first target sub-time travels to the intersection according to the first target sub-time.

It is understood that, whether the first control message carries the target vehicle speed or the first target time, the V2X server in the present application may send the first control information to each vehicle, where the first control information includes only the respective target vehicle speed or/and the first target time of each vehicle, or may send the first control information to all vehicles, where the first control information includes the first target time and/or the target vehicle speed of all vehicles with the first time period adjusted, in this case, the first target time and the target vehicle speed need to be associated with an identifier of the vehicle, so that the vehicle, when receiving the control message including a plurality of first target times and/or target vehicle speeds, may determine the respective first target time and/or the target vehicle speed from the first control information according to the identifier of the vehicle.

As shown in fig. 13, therefore, step S107 in the present application can be specifically implemented by:

s1071b, the vehicle acquires the geographical position information of the jurisdiction area, wherein the geographical position information at least comprises the position of the entrance line of the intersection.

Specifically, in the present application, the vehicle may obtain the geographic location information of the currently located jurisdiction from a V2X server corresponding to a jurisdiction before the currently located jurisdiction of the vehicle, or may obtain the geographic location information of the currently located jurisdiction from a V2X server of the currently located jurisdiction, where the present application does not limit the manner in which the vehicle obtains the geographic location information of the jurisdiction.

Specifically, the geographical location information includes Timestamp, intersection ID, lane ID, entry line location (entryiline), and exit line location (stopLine).

S1072b, the vehicle calculates a distance between the position of the vehicle and the position of the entry line at the present time.

And S1073b, calculating the target speed of the vehicle according to the distance between the position of the vehicle and the position of the entrance line at the current time and the time difference between the current time and the first target time.

S1074b specifies the target vehicle speed as the vehicle speed after the vehicle adjustment.

Optionally, since in the actual process, there may be two or more vehicles without collision risk, the method provided by the present application further includes:

and S109, the V2X server determines that no collision risk exists between two or more vehicles, and then sends a second control message to the two or more vehicles without collision risk, wherein the second control message is used for indicating the vehicles to run according to the speed of the current time.

Since the vehicle needs to acquire MAP information in the case where the target vehicle speed is calculated by the vehicle, the vehicle calculation performance needs to be consumed, and therefore, the target vehicle speed is normally calculated by the V2X server and transmitted to the vehicle.

Optionally, before step S109, the method provided by the present application further includes:

and the S110 and V2X server determines that the first time periods of all vehicles do not have intersection, and determines that the collision risk does not exist between two or more vehicles.

It will be appreciated that there is no intersection of the first time periods for all vehicles, i.e. it means that all vehicles arrive at the intersection at different time periods, and therefore there is no risk of collision.

Alternatively, before step S109, the method provided by the present application further includes:

and S111, the V2X server determines that any two vehicles in the two or more vehicles with intersection in the first time period run in different lanes, and determines that no collision risk exists between any two vehicles in the two or more vehicles.

Since in practice there is an intersection between the first time periods of two or more vehicles, but the vehicles a and B are traveling in different lanes, there is no risk of collision between the vehicles a and B. In this case, even if there is a collision risk in the traveling directions of the vehicle a and the vehicle B, it can be determined that there is no collision risk in the vehicle a and the vehicle B if the vehicle a and the vehicle B are located in different lanes. For example, as shown in fig. 14, the vehicle a travels on the lane 1, the vehicle B travels on the lane 2, and the traveling directions of the vehicle a and the vehicle B are opposite, so that there may be no collision risk between the vehicle a and the vehicle B even if there is intersection between the vehicle a and the vehicle B in the first period of time.

and S112, the V2X server determines that the traveling directions of any two vehicles in the two or more vehicles with intersection in the first time period do not have collision risks, and then determines that any two vehicles in the two or more vehicles do not have collision risks.

Since, in practice, although there is an intersection between the first time periods of two or more vehicles, there is no possibility of collision in the traveling directions of the vehicles a and B, there is no risk of collision between the vehicles a and B. For example, the driving direction of the vehicle a is a straight-ahead driving from south to B, the driving direction of the vehicle B is a straight-ahead driving from south to north, and the vehicle a and the vehicle B are not in one lane, that is, the vehicle a drives on the lane a and the vehicle B drives on the lane B, so there is no collision risk between the vehicle a and the vehicle B. For another example, vehicle a is turned from the east to the north and vehicle B is turned from the west to the north, so there is no risk of collision between vehicle a and vehicle B.

The method provided by the embodiment of the invention also comprises the following steps:

and when the S113 and V2X servers determine that the vehicle leaves the jurisdiction area, the jurisdiction area of the target V2X server is sent to the vehicle and/or the vehicle information of the vehicle which is acquired by the V2X server last time is sent to the target V2X server, the target V2X server is an area where the vehicle is about to enter, and the target V2X server is used for determining whether the position of the vehicle is located in the target V2X server.

S114, the vehicle receives the jurisdiction of the target V2X server sent by the V2X server, and the target V2X server is the V2X server of the jurisdiction into which the vehicle is going to enter.

Optionally, before step S113, the present application further includes:

and S115, when the V2X server determines that the position of the vehicle is outside the jurisdiction, the V2X server determines that the vehicle leaves the jurisdiction.

It is understood that the location of the vehicle outside of the jurisdiction means that the location of the vehicle is outside the boundaries of the jurisdiction as shown in FIG. 3.

Alternatively, before step S113, the present application further includes:

s116, the vehicle sends a fourth message to the V2X server, wherein the fourth message is used for indicating that the position of the vehicle is outside the jurisdiction.

And S117 and the V2X server receives the fourth message sent by the vehicle.

And S118, the V2X server determines that the vehicle leaves the jurisdiction according to the fourth message.

It is understood that the difference between the steps S115 and S116-S118 is that the V2X server in step S115 needs to obtain the vehicle information of the vehicle and determine whether the vehicle is located outside the geographic range of the jurisdiction according to the position of the vehicle, so that it is possible that the position of the vehicle obtained by the V2X server in the current period is located in the jurisdiction, but if the position of the vehicle is already located in the jurisdiction in the current period and the next period, since the vehicle information of the vehicle is reported once every preset period, the V2X server can determine that the position of the vehicle is located outside the jurisdiction only after the next period, so that the V2X server cannot determine that the vehicle is located outside the jurisdiction by standing up the horse when the position of the vehicle is located outside the jurisdiction, and report a second message that its position is located outside the jurisdiction by the vehicle, so that when the vehicle determines that its position is located outside the jurisdiction, the second message may be sent immediately to the V2X server so that the V2X server can determine in a timely manner that the location of the vehicle is outside the jurisdiction.

Optionally, before step S113, the present application further includes:

s119, the V2X server acquires the jurisdiction of all V2X servers in one network with the V2X server.

And the S120 and V2X servers select the jurisdiction where the vehicle is to be driven from the jurisdictions of all the V2X servers according to the jurisdiction of all the V2X servers and the driving direction of the vehicle.

Since the jurisdiction of one V2X server includes not only the geographic location information of the jurisdiction but also the orientation of the jurisdiction, the next jurisdiction to be entered after the vehicle leaves the current jurisdiction can be determined by combining the direction of travel of the vehicle and the orientation of each jurisdiction.

The S121 and V2X servers use the V2X server of the jurisdiction into which the vehicle is about to drive as the target V2X server.

It should be noted that, in the present application, all vehicles run at a constant speed.

The above-mentioned scheme provided by the embodiment of the present invention is introduced mainly from the perspective of interaction between network elements. It is understood that each network element, for example, the V2X server, includes corresponding hardware structures and/or software modules for performing each function in order to implement the above functions. Those of skill in the art will readily appreciate that the present invention can be implemented in hardware or a combination of hardware and computer software, in conjunction with the exemplary algorithm steps described in connection with the embodiments disclosed herein. Whether a function is performed as hardware or computer software drives hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The embodiments of the present invention may perform division of function modules on a server and a terminal according to the above method examples, for example, each function module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. It should be noted that, the division of the modules in the embodiment of the present invention is schematic, and is only a logic function division, and there may be another division manner in actual implementation.

In the case of dividing the function modules by corresponding functions, fig. 15 shows a schematic diagram of a possible composition of the V2X server mentioned above and in the embodiment, and as shown in fig. 15, the V2X server may include: an acquisition unit 71, a calculation unit 72, a determination unit 73, an adjustment unit 74, and a transmission unit 75.

The acquiring unit 71 is configured to support the V2X server to perform steps S101, S1012, S1013, S1021, and S119 in the foregoing embodiments.

A computing unit 72, configured to support the V2X server to execute steps S102, S1022, S1023, and S108 in the foregoing embodiments.

The determination unit 73 is configured to support the V2X server to perform steps S103 (specifically, S103a, S103b), S110, S111, S112, S115, and S118, S120, and S121 in the foregoing embodiment.

The adjusting unit 74 is configured to support the V2X server to execute step S104 (specifically, S104a) in the foregoing embodiment.

A sending unit 75 for supporting the V2X server to execute the steps S105, S1014, S1017, S109, S113 in the above embodiments.

In this embodiment of the present invention, as shown in fig. 15, the V2X server may further include: a receiving unit 76.

The receiving unit 76 is configured to support the V2X server to execute steps S1011 and S117 in the data processing method shown in fig. 9.

It should be noted that all relevant contents of each step related to the above method embodiment may be referred to the functional description of the corresponding functional module, and are not described herein again.

The V2X server provided by the embodiment of the invention is used for executing the method for preventing the vehicle collision, so that the same effect as the method for preventing the vehicle collision can be achieved.

In the case of a hardware implementation, the receiving unit 76 and the sending unit 75 shown in fig. 15 may be communication interfaces of the V2X server shown in fig. 4, and the obtaining unit 71, the calculating unit 72, the determining unit 73 and the adjusting unit 74 may be integrated on a processor of the V2X server shown in fig. 4.

In the case of integrated units, fig. 16 shows another possible schematic composition of the V2X server involved in the above embodiment. As shown in fig. 16, the V2X server includes: a processing module 81 and a communication module 82.

The processing module 81 is used for controlling and managing the operation of the server, for example, the processing module 81 is used for supporting the V2X server to execute the steps S101, S1012, S1013, S1021, and S119, S102, S1022, and S1023, S108, the step S103 (specifically, S103a, S103b), the step S110, S111, S112, S115, and the step S118, S120, and S121, S104 (specifically, S104a) in the above embodiments. And/or other processes for the techniques described herein. The communication module 82 is configured to support communication between the V2X server and other network entities, such as vehicle in fig. 5 and 6 or other V2X entity in fig. 2 or RSU, and may specifically perform steps S105, S1014, S1017, S109, S113, S1011, and S117. The V2X server may also include a storage module 83 for storing program codes and data for the V2X server. The specific execution sequence among the steps is detailed in the above embodiments, and is not described herein again.

The processing module 81 may be a processor or a controller. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. A processor may also be a combination of computing functions, e.g., comprising one or more microprocessors, a DSP and a microprocessor, or the like. The communication module 82 may be a transceiver, a transceiver circuit or a communication interface, etc. The storage module 83 may be a memory.

When the processing module 81 is a processor, the communication module 82 is a communication interface, and the storage module 83 is a memory, the server according to the embodiment of the present invention may be the V2X server shown in fig. 4.

In one aspect, the V2X server shown in fig. 4 provided by an embodiment of the present invention includes a memory, a processor, a bus, and a communication interface, where the memory stores codes and data, the processor is connected to the memory via the bus, the processor runs the codes in the memory to enable the V2X server to execute S101, S1012, S1013, S1021, and S119, S102, S1022, and S1023, S108, step S103 (specifically, S103a and S103b), S110, S111, S112, S115, and S118, S120, and S121, S104 (specifically, S104a), and the processor executes steps S105, S1014, S1017, S109, S113, S1011, and S117 via the communication interface. The specific execution sequence among the steps is detailed in the above embodiments, and is not described herein again.

On the other hand, the present application provides a vehicle as shown in fig. 5, wherein the environment sensing system 1701 is used for supporting the vehicle to acquire the vehicle information of the vehicle, the central decision system 1703 is used for supporting the implementation of the steps S107, S10191, S107a, S1072b, S1073b, S1074b in the above embodiment, and the communication system 1702 is used for supporting the vehicle to implement the steps S106, S1015, S1018, S1019(S10192), S1071b, S114, S116 in the above embodiment. The human-computer interaction interface or the bottom layer control system is used for adjusting the vehicle to the target vehicle speed according to the target vehicle speed.

In another aspect, an embodiment of the present invention provides a traffic system, including: at least one V2X server, each V2X server of the at least one V2X server is configured to manage one jurisdiction and one or more vehicles located in the jurisdiction of the V2X server, wherein the V2X server is configured to execute the method executed by the V2X server in the above embodiment, specifically, the method may be: s101, S1012, S1013, S1021 and S119, S102, S1022, and S1023, S108, step S103 (specifically, S103a, S103b), S110, S111, S112, S115, and S118, S120, and S121, S104 (specifically, S104a), and step S105, S1014, S1017, S109, S113, S1011, S117. The vehicle is used for executing the method executed by the vehicle in the above embodiment, and specifically, the method may be: vehicle information of the vehicle is acquired, S107, S10191, S107a, S1072b, S1073b, S1074b, S106, S1015, S1018, S1019(S10192), S1071b, S114, S116.

In another aspect, an embodiment of the present invention provides a computer storage medium, which includes instructions that, when executed on a V2X server, cause the V2X server to perform steps S101, S1012, S1013, S1021, and S119, S102, S1022, and S1023, S108, step S103 (specifically, S103a, S103b), step S110, S111, S112, S115, and S118, S120, and S121, S104 (specifically, S104a), and step S105, S1014, S1017, S109, S113, S1011, S117. And/or other processes performed by the V2X server for the techniques described herein. The specific execution sequence among the steps is detailed in the above embodiments, and is not described herein again.

In another aspect, embodiments of the present invention provide a computer storage medium including instructions that, when executed on a vehicle, cause the vehicle to perform acquiring vehicle information of the vehicle, and steps S107, S10191, S107a, S1072b, S1073b, S1074b, S106, S1015, S1018, S1019(S10192), S1071b, S114, S116.

In yet another aspect, an embodiment of the present invention provides a computer program product, which includes computer executable instructions stored in a computer readable storage medium; at least one processor in the V2X server may read the computer-executable instructions from the computer-readable storage medium, the at least one processor executing the computer-executable instructions causing the V2X server to implement steps S101, S1012, S1013, S1021, and S119, S102, S1022, and S1023, S108, step S103 (specifically, S103a, S103b), S110, S111, S112, S115, and S118, S120, and S121, S104 (specifically, S104a), and steps S105, S1014, S1017, S109, S113, S1011, S117 in the above embodiments. And/or other processes performed by the V2X server for the techniques described herein. It should be noted that, the specific execution sequence of the above steps may refer to the description in the above embodiments, and is not described herein again.

In yet another aspect, an embodiment of the present invention provides a computer program product, which includes computer executable instructions stored in a computer readable storage medium; the at least one processor in the vehicle may read the computer-executable instructions from the computer-readable storage medium, the at least one processor executing the computer-executable instructions to cause the vehicle to implement the acquiring of the vehicle information of the vehicle in the above embodiments, and steps S107, S10191, S107a, S1072b, S1073b, S1074b, S106, S1015, S1018, S1019(S10192), S1071b, S114, S116. And/or other processes performed by the vehicle for the techniques described herein. It should be noted that, the specific execution sequence of the above steps may refer to the description in the above embodiments, and is not described herein again.

The embodiment of the invention provides a traffic system, which obtains vehicle information of vehicles in a jurisdiction area of a V2X server through a V2X server, and calculates a first time and a second time of each vehicle in the jurisdiction area of the V2X server, wherein the first time is the time when the vehicle enters an intersection, and the second time is the time when the vehicle exits the intersection, so that if a time period (namely the first time period) between the first time and the second time of any two or more vehicles has an intersection, namely two or more vehicles with the intersection in the first time period are simultaneously positioned at the intersection in the first time period, the collision risk is possible, and therefore, in order to avoid the collision of the two or more vehicles with the intersection in the first time period, the V2X server sends first control information to a first vehicle in the two or more vehicles with the intersection in the first time period, the first vehicle is indicated to adjust the vehicle speed and drives into the intersection according to the first target time, and the first target time is the adjusted time of the first vehicle, and the first target time of the adjusted first vehicle does not intersect with the time periods of other vehicles in the two or more vehicles with the intersection in the first time period, so that the two or more vehicles with the intersection in the first time period can be enabled to appear at the intersection in different time periods, and the collision risk is avoided.

Through the above description of the embodiments, it is clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be completed by different functional modules according to needs, that is, the internal structure of the device may be divided into different functional modules to complete all or part of the above described functions.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical functional division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another device, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may be one physical unit or a plurality of physical units, that is, may be located in one place, or may be distributed in a plurality of different places. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a readable storage medium. Based on such understanding, the technical solution of the embodiments of the present invention may essentially or partially contribute to the prior art, or all or part of the technical solution may be embodied in the form of a software product, where the software product is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, etc.) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A method of preventing a vehicle collision, comprising:

the method comprises the steps that a V2X server obtains vehicle information of vehicles in a jurisdiction area of the V2X server, wherein the vehicle information is used for calculating a first time when the vehicles enter an intersection in the jurisdiction area of the V2X server and a second time when the vehicles leave the intersection;

the V2X server calculating the first time and the second time of each vehicle according to the vehicle information of the vehicle and the geographical location information of the jurisdiction;

the V2X server determining that there is an intersection between first time periods of two or more vehicles and that there is a potential for a collision in the directions of travel of the two or more vehicles, determining that there is a risk of collision for the two or more vehicles, the first time period being a time period between the first time and the second time;

the V2X server adjusting a first time of the two or more vehicles at risk of collision such that there is no intersection of the adjusted first time periods of the two or more vehicles;

the V2X server sends first control information to a vehicle adjusted at a first time, wherein the first control information is used for indicating the vehicle adjusted at the first time to adjust the speed and drive into the intersection according to the first time after the vehicle is adjusted at the first time;

the first control information includes a first target time that is a vehicle adjusted first time determined by the V2X server at which the first time is adjusted.

2. The method of claim 1, wherein the vehicle information further includes a lane in which the vehicle is traveling, and wherein the V2X server determines that two or more vehicles are at risk of collision if it determines that there is an intersection of first time periods of the two or more vehicles, further comprising:

and the V2X server determines that the two or more vehicles run in the same lane, and determines that the two or more vehicles have collision risks.

3. The method of claim 1 or 2, wherein the vehicle information includes at least a location of a vehicle and a vehicle speed at a current time of the vehicle, and the V2X server calculates the first time and the second time for each vehicle based on the vehicle information of the vehicle and geographic location information of the jurisdiction, including:

the V2X server acquires the distance between each vehicle and the position of the entrance line and the distance between each vehicle and the position of the exit line according to the position of each vehicle, the position of the entrance line of the intersection and the position of the exit line of the intersection;

the V2X server calculates the respective first time of each vehicle according to the distance between each vehicle and the position of the entrance line and the respective speed of each vehicle at the current moment;

the V2X server calculates a second time of each vehicle according to the distance between each vehicle and the position of the exit line and the respective vehicle speed of each vehicle at the current moment.

4. The method of any of claims 1-3, wherein the V2X server adjusting the first time of the two or more vehicles at risk of collision such that there is no intersection of the adjusted first time periods of the two or more vehicles comprises:

the V2X server takes the second time of the preceding vehicle of any two of the vehicles with collision risks as the first time after adjustment of the following vehicle of any two of the vehicles with collision risks, so that there is no intersection in the first time period of the vehicles with collision risks after adjustment, and the first time of the preceding vehicle is earlier than the first time of the following vehicle.

5. The method according to any of claims 1-4, wherein the first control information comprises: before the V2X server sends the first control information to the vehicle adjusted at the first time, the method further includes:

and the V2X server calculates a target vehicle speed of the vehicle adjusted at the first time according to the distance between the position of the vehicle adjusted at the first time and the position of the access line and the time difference between the current time of the vehicle adjusted at the first time and the first target time, wherein the first target time is the first time after the vehicle adjusted at the first time is adjusted.

6. The method according to any one of claims 1-5, further comprising:

and the V2X server determines that no collision risk exists between two or more vehicles, and then sends a second control message to the two or more vehicles without collision risk, wherein the second control message is used for instructing the vehicles to run according to the speed of the current time.

7. The method of claim 6, wherein the V2X server determining that there is no risk of collision between two or more vehicles comprises:

the V2X server determining that there is no intersection of the first time periods of all vehicles, then determining that there is no risk of collision between two or more vehicles; alternatively, the first and second electrodes may be,

the V2X server determines that two or more vehicles with intersection in a first time period travel in different lanes, and determines that two or more vehicles with intersection in the first time period do not have collision risk; alternatively, the first and second electrodes may be,

and the V2X server determines that the traveling directions of the two or more vehicles with the intersection in the first time period are not in collision risk, and determines that the two or more vehicles with the intersection in the first time period are not in collision risk.

8. The method of any of claims 1-7, wherein the V2X server obtaining vehicle information for vehicles within the jurisdiction of the V2X server comprises:

the V2X server receiving a first message sent by the vehicle, the first message including vehicle information of the vehicle;

and the V2X server acquires the vehicle information of the vehicle according to the first message.

9. The method of claim 8, wherein prior to the V2X server receiving the first message sent by the vehicle, the method further comprises:

the V2X server obtaining an indication message indicating that the location of the vehicle is within the jurisdiction;

and the V2X server sends a second message to the vehicle according to the indication message, wherein the second message is used for indicating the vehicle to report the vehicle information.

10. The method of claim 8 or 9, wherein before the V2X server receives the first message sent by the vehicle, the method further comprises:

the V2X server sends a third message to a vehicle located in the jurisdiction of the V2X server, the third message including geographical location information of the jurisdiction, the third message being used for reporting the vehicle information of the vehicle to the V2X server when the vehicle determines that the location of the vehicle is located in the jurisdiction.

11. The method according to any one of claims 1-9, further comprising:

when the V2X server determines that a first vehicle leaves the jurisdiction, the jurisdiction of a target V2X server is sent to the first vehicle and/or vehicle information of the first vehicle obtained last time by the V2X server is sent to a target V2X server, the target V2X server is a V2X server corresponding to the jurisdiction where the first vehicle is about to enter, and the first vehicle is any one of all vehicles.

12. The method of claim 11, wherein the V2X server determining that a first vehicle leaves the jurisdiction, comprising:

when the V2X server determines that the position of the first vehicle is outside the jurisdiction, the V2X server determines that the first vehicle leaves the jurisdiction; alternatively, the first and second electrodes may be,

the V2X server receiving a fourth message sent by the first vehicle, the fourth message indicating that the location of the first vehicle is outside the jurisdiction;

the V2X server determines that the first vehicle leaves the jurisdiction based on the fourth message.

13. The method of claim 11 or 12, wherein before the V2X server determines that a first vehicle leaves the jurisdiction, sending the jurisdiction of a target V2X server to the first vehicle and/or sending the vehicle information of the first vehicle last acquired by the V2X server to the target V2X server, the method further comprises:

the V2X server obtaining the jurisdiction of all V2X servers within one network with the V2X server;

the V2X server selects the jurisdiction where the first vehicle is to drive from the jurisdictions of all the V2X servers according to the jurisdiction of all the V2X servers and the driving direction of the first vehicle;

the V2X server takes the V2X server of the jurisdiction into which the first vehicle is about to drive as the target V2X server.

14. The method of any of claims 1-13, wherein the V2X server is deployed on a Road Side Unit (RSU).

15. A method of preventing a vehicle collision, comprising:

the vehicle sends vehicle information of the vehicle to a V2X server, wherein the vehicle information is used for the V2X server to calculate a first time when the vehicle enters an intersection in a jurisdiction of the V2X server and a second time when the vehicle leaves the intersection;

the vehicle information is also used for determining that two or more vehicles have collision risks if the V2X server determines that an intersection exists in a first time period of the two or more vehicles and the traveling directions of the two or more vehicles are possible to collide, wherein the first time period is a time period between the first time and the second time;

the vehicle receives first control information sent by the V2X server, wherein the first control information is used for indicating that the vehicle drives into an intersection in the jurisdiction area of the V2X server after the vehicle speed is adjusted;

the vehicle adjusts the speed of the vehicle according to the first control information;

the first control information includes a first target time, and the first target time is a time when the vehicle enters the intersection.

16. The method of claim 15, wherein the vehicle adjusting the vehicle speed of the vehicle based on the first control information comprises:

the vehicle acquires geographical position information of the jurisdiction area, wherein the geographical position information at least comprises the position of an entrance line of the intersection;

the vehicle calculates the distance between the position of the vehicle and the position of the entrance line at the current moment;

the vehicle calculates a target vehicle speed of the vehicle according to the distance between the position of the vehicle and the position of the entrance line at the current moment and the time difference between the current moment and the first target time;

and the vehicle takes the target vehicle speed as the vehicle speed after the vehicle is adjusted.

17. The method according to claim 15 or 16, wherein the first control information includes a target vehicle speed, and the vehicle adjusts the vehicle speed of the vehicle according to the first control information, further comprising:

and the vehicle takes the target vehicle speed acquired from the first control information as the adjusted target vehicle speed of the vehicle.

18. The method of any one of claims 15-17, wherein the vehicle sending vehicle information of the vehicle to the V2X server comprises:

the vehicle receives a second message sent by the V2X server, wherein the second message is used for indicating the vehicle to report vehicle information of the vehicle;

the vehicle sending a first message to the V2X server according to the second message, the first message including vehicle information for the vehicle,

alternatively, the first and second electrodes may be,

the vehicle receiving a third message sent by the V2X server, the third message including geographic location information of a jurisdiction of the V2X server, the third message for sending a first message to the V2X server when the vehicle determines that the location of the vehicle is within the jurisdiction, the first message including vehicle information of the vehicle;

and reporting the vehicle information of the vehicle to the V2X server when the vehicle determines that the position of the vehicle is in the jurisdiction.

19. The method according to any one of claims 15-18, further comprising:

the vehicle receives the jurisdiction of the target V2X server sent by the V2X server, the target V2X server being the V2X server of the jurisdiction into which the vehicle is going to enter.

20. The method of any one of claims 15-19, further comprising:

the vehicle sends a fourth message to the V2X server indicating that the location of the vehicle is outside the jurisdiction.

21. The method according to any one of claims 15-20, wherein the vehicle information includes:

one or more of a direction of travel of the vehicle, a location of the vehicle, a lane of the vehicle, and a speed of the vehicle.

22. A V2X server, comprising a memory, a processor, a bus and a communication interface, the memory storing code and data, the processor connected to the memory via the bus, the processor executing the code in the memory to make the V2X server execute the method of preventing vehicle collision as claimed in any one of claims 1-14.

23. A vehicle, characterized in that the vehicle comprises: the system comprises an environment perception system, a central decision-making system, a communication system and a bottom layer control system, wherein the environment perception system is used for acquiring vehicle information of a vehicle; the communication system is used for communicating with a V2X server, and the communication system is used for sending vehicle information, obtained by the environment sensing system, of the vehicle to a V2X server, and the vehicle information is used for the V2X server to calculate a first time when the vehicle enters an intersection in the jurisdiction of the V2X server and a second time when the vehicle leaves the intersection; the vehicle information is also used for determining that two or more vehicles have collision risks if the V2X server determines that an intersection exists in a first time period of the two or more vehicles and the traveling directions of the two or more vehicles are possible to collide, wherein the first time period is a time period between the first time and the second time; the vehicle speed adjusting system is also used for receiving first control information sent by a V2X server, wherein the first control information is used for indicating the vehicle to drive into an intersection in the jurisdiction area of the V2X server after the vehicle speed is adjusted;

the bottom layer control system is used for adjusting the speed of the vehicle to the target speed and driving according to the target speed;

24. The vehicle of claim 23, wherein the communication system is further configured to obtain geographic location information for the jurisdiction, the geographic location information including at least an entry line location of the intersection;

the central decision system is specifically configured to calculate a distance between the position of the vehicle and the position of the entry line at the current time, and calculate a target vehicle speed of the vehicle according to the distance between the position of the vehicle and the position of the entry line at the current time and a time difference between the current time and the first target time.

25. The vehicle according to claim 23 or 24, wherein the first control information includes a target vehicle speed, and the central decision system is specifically configured to use the target vehicle speed obtained from the first control information as the adjusted target vehicle speed of the vehicle.

26. The vehicle of claim 25, wherein the communication system is specifically configured to receive a second message sent by the V2X server, and to send a first message to the V2X server based on the second message, the first message including vehicle information of the vehicle;

or, the communication system is specifically configured to receive a third message sent by the V2X server, where the third message includes geographic location information of a jurisdiction of the V2X server, and the third message is used to report vehicle information of the vehicle to the V2X server when the vehicle determines that the location of the vehicle is within the jurisdiction;

the communication system is further configured to send a first message to the V2X server when the central decision system determines that the location of the vehicle is within the jurisdiction, the first message including vehicle information for the vehicle.

27. The vehicle of any of claims 23-26, wherein the communication system is further configured to receive a jurisdiction of a target V2X server sent by the V2X server, the target V2X server being a V2X server of the jurisdiction into which the vehicle is to enter.

28. The vehicle of any of claims 23-27, wherein the communication system is further configured to send a fourth message to the V2X server indicating that the location of the vehicle is outside the jurisdiction when the central decision system determines that the location of the vehicle is outside the jurisdiction.

29. A transportation system, comprising: at least one V2X server, each V2X server of the at least one V2X server for managing one jurisdiction and vehicles located in the jurisdiction of the V2X server, wherein the V2X server is used for executing the method for preventing vehicle collision of any one of claims 1-14, and the vehicles are used for executing the method for preventing vehicle collision of any one of claims 15-21.

30. A computer storage medium comprising instructions that, when run on a V2X server, cause the V2X server to perform the method of preventing a vehicle collision of any one of claims 1-14; or, when the instructions are run on a vehicle, cause the vehicle to perform the method of preventing a vehicle collision of any one of claims 15-21.