CN109461321A - Automatic Pilot fence update method, system, equipment and storage medium - Google Patents
Automatic Pilot fence update method, system, equipment and storage medium Download PDFInfo
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- CN109461321A CN109461321A CN201811604264.2A CN201811604264A CN109461321A CN 109461321 A CN109461321 A CN 109461321A CN 201811604264 A CN201811604264 A CN 201811604264A CN 109461321 A CN109461321 A CN 109461321A
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- Prior art keywords
- fence
- region
- vehicle
- status change
- notice
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/207—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles with respect to certain areas, e.g. forbidden or allowed areas with possible alerting when inside or outside boundaries
Abstract
The present invention provides a kind of automatic Pilot fence update method, system, equipment and storage mediums, this method comprises: marking the fence state in the region on local area map when the travelable Status Change of a vehicle detection a to region；Fence Status Change is notified other vehicles being sent in preset range by the vehicle；After other vehicles receive the fence Status Change notice of vehicle transmission, Confidence Analysis is carried out to the information, marks the fence state in the region on local area map after, while information chain is distributed to surrounding vehicles.By using the solution of the present invention, provide a kind of scheme that the distributed automatic Pilot fence based on truck traffic updates, central node is eliminated the reliance on, to reduce or remove the communication bandwidth that central node updates, guarantees fence real-time update in automatic driving vehicle running region；The reliability in time of fence and travelable regional service is enhanced, the navigation performance of automatic driving vehicle is improved.
Description
Technical field
The present invention relates to vehicle networking technical field more particularly to a kind of automatic Pilot fence update method, system, set
Standby and storage medium.
Background technique
With the development of society, automatic driving vehicle increasingly has been favored by people.Following car lane road will
There are more and more automatic driving vehicles, on the one hand the travelable region of automatic driving vehicle derives from laws and regulations regulation, separately
On the one hand it need to consider whether travelled environment exceeds the limit of power of automatic driving control system.Current automatic Pilot electronics
Fence system is mainly used for the range that regulation automatic driving vehicle can travel, and fence service generally passes through centromere
The communications of point and child node are very strong to center nodal dependencies.
Summary of the invention
For the problems of the prior art, the purpose of the present invention is to provide a kind of, and the distribution based on truck traffic is automatic
Fence update method, system, equipment and storage medium are driven, central node is eliminated the reliance on, and region electricity may be implemented
Sub- fence real-time update.
The embodiment of the present invention provides a kind of automatic Pilot fence update method, and described method includes following steps:
When the travelable Status Change of S100: one vehicle detection a to region, the region is marked on local area map
Fence state；
S200: fence Status Change is notified other vehicles being sent in preset range, the fence state by the vehicle
Notification of Changes includes the fence state from vehicle information He the region；
S300: after other vehicles receive the fence Status Change notice of vehicle transmission, confidence level is carried out to the information
Analysis, marks the fence state in the region, while information chain is distributed to surrounding vehicles after on local area map.
Optionally, the step S100, includes the following steps:
When the travelable Status Change of S101: one vehicle detection a to region, the type that can travel Status Change is judged, such as
The fruit region is changed to traveling-prohibited area by can travel region, then continues step S102, if the region is by that can not travel area
Domain is changed to can travel region, then continues step S103；
S102: the fence state that the vehicle marks the region on local area map is to have fence；
S103: the vehicle marks the fence state in the region on local area map as no fence.
Optionally, the step S300, includes the following steps:
S301: other vehicles receive the fence Status Change notice of vehicle transmission；
S302: judge whether the letter that the fence Status Change for receiving the region that another vehicle is sent is notified or received
Cease chain in there are another vehicle send the region fence Status Change notice, if it is, continue step S303, otherwise after
Continuous step S304；
S303: integrating all fence Status Changes notice in the region, determines enclosing for the region using ballot decision-making mechanism
Columns state, if it is possible to which the fence state for determining unique region then continues step S305, if unique be somebody's turn to do can not be determined
The fence state in region then keeps in the fence Status Change notice of vehicle transmission；
S304: it is notified according to the fence Status Change that the vehicle is sent, determines the fence state in the region, then proceed to walk
Rapid S305, or fence Status Change notice is kept in, it modifies without the fence state to the region；
S305: the fence state in the region is marked on local area map；
S306: the information chain comprising all message is distributed to surrounding vehicles.
Optionally, further include following steps between step S301 and step S302:
Judge the vehicle for sending fence Status Change notice whether in trust list；
If it is, continuing step S304；
Otherwise, continue step S302.
Optionally, the information chain includes the information of vehicles for sending information chain, the corresponding region of each fence change message
Information and fence state, vehicle initially record the time and it is expected that effective time of the fence Status Change message.
Optionally, it is described information chain is distributed to surrounding vehicles after, further include following steps:
It after surrounding vehicles receive information chain, is compared with the information chain of self record, updates the information of self record
Chain；
Vehicle periodically eliminates the fence Status Change message in information chain more than estimated effective time.
Optionally, road information acquisition equipment is installed, the method also includes following steps on each vehicle:
Every the preset travel time or every preset travel mileage, each vehicle obtains the road information acquisition equipment
Data are acquired, the travelable state of front region is judged according to the acquisition data.
Optionally, the road information acquisition equipment includes at least one in camera, laser radar and infrared detector
Kind.
Optionally, in the step S100, after vehicle marks the fence state in the region on local area map, also
Include the following steps:
The vehicle judges the fence Status Change type in the region, the fence Status Change type include newly-increased fence and
Remove fence；
If the fence Status Change type in the region is newly-increased fence, the newly-increased fence class in the region is further determined that
Type, the newly-increased fence type includes temporary fence and long-term fence；
If the newly-increased fence type in the region is long-term fence, which notifies the newly-increased long-term fence in the region
Be sent to cloud server, the cloud server is configured to receive increase long-term fence notice newly after, update cloud storage ground
The fence in the region in figure, and store broadcast when map is updated beyond the clouds and notify all vehicles.
Optionally, it in the step S100, further determines that the newly-increased fence type in the region, includes the following steps:
Judge the reason of region increases fence newly；
If the region increases the reason of fence newly as traffic sign is forbidden, road service system, road construction or without car lane,
Then the newly-increased fence in the region is long-term fence；
If the region increases the reason of fence newly as the forbidden or congestion in road of traffic police commander, the newly-increased fence in the region is
Temporary fence.
Optionally, the cloud server receives increase long-term fence notice newly after, judge whether to receive traffic control department
Road condition corresponding with the region notice sent, and road condition notice increases long-term fence notice newly with this and there is weight
It closes；
If it is, the cloud server, which is stored beyond the clouds in map, adds long-term fence for the region；
Otherwise, the cloud server judges whether to receive the new growth in the region of at least two different vehicles transmission
Otherwise phase fence notice stores this and increases long-term fence notice newly if it is, adding long-term fence in the region；
The newly-increased long-term fence notice that the cloud server receives before preset time deletes current time.
Optionally, the method also includes following steps:
Be provided in one vehicle detection to area map long-term fence region be changed to can travel region when, by release grow
Phase fence notice is sent to the cloud server, and the cloud server is configured to receive the long-term fence notice of the releasing
Afterwards, it updates cloud and stores map.
The embodiment of the present invention also provides a kind of automatic Pilot fence more new system, applied to the automatic Pilot electricity
Sub- fence update method is provided in each vehicle the system comprises multiple vehicles
Zone state detection module, for detecting the travelable state in region locating for vehicle；
Vehicle vehicle communication module, for when detecting the travelable Status Change in a region, fence Status Change to be notified
Other vehicles being sent in preset range, and receive the fence Status Change notice of other vehicles transmission；
Area map update module, when for detecting the travelable Status Change in a region, on local area map
Mark the fence state in the region, and receive other vehicles transmission fence Status Change notice after, in local zone
The fence state in the region is marked on figure.
The embodiment of the present invention also provides a kind of automatic Pilot fence more new equipment, comprising:
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor is configured to enclose via the execution executable instruction to execute the automatic Pilot electronics
The step of column update method.
The embodiment of the present invention also provides a kind of computer readable storage medium, and for storing program, described program is performed
Described in Shi Shixian the step of automatic Pilot fence update method.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Automatic Pilot fence update method, system, equipment and storage medium provided by the present invention have following excellent
Point:
The present invention solves the problems of the prior art, provide a kind of decentralization distribution based on truck traffic from
It moves and drives the technical solution that fence updates, eliminate the reliance on central node, to reduce or remove the logical of central node update
Believe bandwidth, guarantees fence real-time update in automatic driving vehicle running region；Each vehicle is detecting fence
Other vehicles can be shared with after Status Change, and after each vehicle carries out Credibility judgement and records fence Status Change, it can
Will include that the information chains of all message is sent to surrounding vehicles, to guarantee each vehicle under the premise of guaranteeing that message is accurate
Information it is consistent, and can prevent vehicle from arbitrarily distorting the content recorded in information chain；Therefore the technical program enhances electricity
Sub- fence and the reliability in time of travelable regional service, improve the navigation performance of automatic driving vehicle, suitable for pushing away on a large scale
Wide application.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon.
Fig. 1 is the flow chart of the automatic Pilot fence update method of one embodiment of the invention；
Fig. 2 is one embodiment of the invention according to the fence Status Change of other vehicles notice update local area map
Flow chart；
Fig. 3 is the structural schematic diagram of the automatic Pilot fence more new system of one embodiment of the invention；
Fig. 4 is the schematic diagram of the automatic Pilot fence more new equipment of one embodiment of the invention；
Fig. 5 is the schematic diagram of the computer readable storage medium of one embodiment of the invention.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to example set forth herein；On the contrary, thesing embodiments are provided so that the disclosure will more
Fully and completely, and by the design of example embodiment comprehensively it is communicated to those skilled in the art.Described feature, knot
Structure or characteristic can be incorporated in any suitable manner in one or more embodiments.
In addition, attached drawing is only the schematic illustrations of the disclosure, it is not necessarily drawn to scale.Identical attached drawing mark in figure
Note indicates same or similar part, thus will omit repetition thereof.Some block diagrams shown in the drawings are function
Energy entity, not necessarily must be corresponding with physically or logically independent entity.These function can be realized using software form
Energy entity, or these functional entitys are realized in one or more hardware modules or integrated circuit, or at heterogeneous networks and/or place
These functional entitys are realized in reason device device and/or microcontroller device.
As shown in Figure 1, in order to solve the above-mentioned technical problem, the embodiment of the present invention provides a kind of automatic Pilot fence more
New method, described method includes following steps:
When the travelable Status Change of S100: one vehicle detection a to region, the region is marked on local area map
Fence state；
S200: fence Status Change is notified other vehicles being sent in preset range, the fence state by the vehicle
Notification of Changes includes the fence state from vehicle information He the region；
S300: after other vehicles receive the fence Status Change notice of vehicle transmission, confidence level is carried out to the information
Analysis, marks the fence state in the region, while information chain is distributed to surrounding vehicles after on local area map.
Therefore, by using automatic Pilot fence update method of the invention, it is based on car networking, each vehicle is made
V2V communication modes can be passed through for distributed node one by one, between vehicle and realize communication connection；Fence is not only as a result,
Can the range that can travel of specification automatic driving vehicle in advance, with the development and maturation of automated driving system, fence
Which region the condition of automatic Pilot more can also be unsatisfactory in view of, and region is found by each distributed node
It can travel state change, realize that the dynamic of fence updates.Meanwhile this method is not necessarily to central node, relieves to centromere
The dependence of point, meets the navigation needs of surrounding automatic driving vehicle.
In this embodiment, road information acquisition equipment can be installed, the road information acquisition is set on each vehicle
Standby includes at least one of camera, laser radar and infrared detector.
The method also includes following steps:
Every the preset travel time or every preset travel mileage, each vehicle obtains the road information acquisition equipment
Data are acquired, the travelable state of front region is judged according to the acquisition data.
For example, vehicle can acquire the shooting image of vehicle different directions by camera, the traffic mark in image is identified
Whether will, traffic lights have that traffic police directs traffic, whether there are obstacles, whether to determine region corresponding to image
To can travel region.For example, traffic sign display front can not keep straight on, then front region can be determined as that area can not be travelled
Front region alternatively, detecting that there is a huge obstacle object in front, and is determined as traveling-prohibited area etc. by domain；It can also be with
It detects vehicle different directions by laser radar whether there are obstacles and the information such as the position of barrier, size, according to swashing
The detection data of optical radar come judge corresponding region whether be can travel region；It can also be detected by infrared detector different
Whether direction has multiple pedestrians, when detecting multiple pedestrians' aggregations and will affect traffic passage, corresponding region can be determined
For traveling-prohibited area etc..
Only list several feasible patterns of the travelable state in vehicle detection region herein, however, the present invention is not limited thereto,
It is also possible using other modes, all belong to the scope of protection of the present invention within.
During detection, for different travelable Status Change situations, also not to the change of fence
Together.I.e. in this embodiment, the step S100, may include steps of:
When the travelable Status Change of S101: one vehicle detection a to region, the type that can travel Status Change is judged, such as
The fruit region is changed to traveling-prohibited area by can travel region, then continues step S102, if the region is by that can not travel area
Domain is changed to can travel region, then continues step S103；
S102: the fence state that the vehicle marks the region on local area map is to have fence, i.e., in local
Increase fence on area map newly；
S103: the vehicle marks the fence state in the region for no fence, i.e., in local on local area map
The fence in the region is deleted on area map.
Further, other vehicles, can be according to ballot decision in the fence Status Change notice for receiving the region
Mechanism determines the confidence level of the message.As shown in Fig. 2, the step S300, includes the following steps:
S301: other vehicles receive the fence Status Change notice in the region of vehicle transmission；
S302: other vehicles judge whether to receive the fence Status Change notice in the region that another vehicle is sent or connect
The fence Status Change notice in the region sent in the information chain received there are another vehicle, if it is, continuing step
Otherwise S303 continues step S304；
S303: integrating all fence Status Changes notice in the region, determines enclosing for the region using ballot decision-making mechanism
Columns state, if it is possible to which the fence state for determining unique region then continues step S305, if unique be somebody's turn to do can not be determined
The fence state in region then keeps in the fence Status Change notice of vehicle transmission；
Such as there are two the fence Status Change notices that vehicle sends the region respectively, if the fence that two vehicles are sent
Status Change notice is consistent, then can determine the authenticity of fence Status Change notice.If the two is inconsistent, nothing
Method determines authenticity, which can be notified to keep in, wait the area for receiving the transmission of other vehicles next time
When the fence Status Change notice in domain, then judged；
I.e. if a unique fence state can be determined according to ballot decision-making mechanism, which is determined as
The fence state in the region keeps in fence Status Change notice if can not determine, waiting receives other vehicles next time
When the fence Status Change notice in the region sent, then judged；
S304: it is notified according to the fence Status Change that the vehicle is sent, determines the fence state in the region, then proceed to walk
Rapid S305, or fence Status Change notice is kept in, it modifies without the fence state to the region；
S305: the fence state in the region is marked on local area map；
S306: the information chain comprising all message is distributed to surrounding vehicles.
Optionally, further include following steps between step S301 and step S302:
Judge the vehicle for sending fence Status Change notice whether in trust list；
If it is, continuing step S304；
Otherwise, continue step S302.
Therefore, it when a vehicle receives the notice of the fence Status Change from another vehicle, is received in voting algorithm
The condition of message includes: the source vehicle that same message has 2 or 2 or more, includes 2 kinds or more in any information chain
Analog information, which is that the message that user issues in trust list (such as disappears from official, map supply quotient's publication
Breath).Ensure the accuracy of message by this kind of voting algorithm.
In this embodiment, the information chain includes the information of vehicles for sending information chain, each fence change message correspondence
Area information and fence state, vehicle initially record the time and it is expected that effective time of the fence Status Change message.
It is described information chain is distributed to surrounding vehicles after, further include following steps:
It after surrounding vehicles receive information chain, is compared with the information chain of self record, updates the information of self record
Chain；
Vehicle periodically eliminates the fence Status Change message in information chain more than estimated effective time.
The invention proposes a kind of fence update schemes of decentralization based on block chain mechanism as a result, realize
Information chain it is shared, the unnecessary specific position that drives to of some vehicles can know the fence state of the position, more
Add and facilitate the preparatory customizing navigation route of vehicle, avoids traveling-prohibited area.Meanwhile machine is shared by using distributed information chain
System and voting algorithm, greatly strengthen the confidence level of vehicle shared information, and can prevent vehicle from arbitrarily distorting letter privately
Cease the content of chain.
In this embodiment, the method also includes following steps:
Each vehicle deletes the fence Status Change notice received before current time, i.e. vehicle every preset time
Notification of Changes expired before is emptied at regular intervals, to guarantee to receive a new fence Status Change logical
When knowing, the timeliness for other fence Status Changes notice being compared with fence Status Change notice, enhancing ballot decision
The confidence level of mechanism.
By using the automatic Pilot fence update method of the embodiment, it can be updated in each vehicle and be stored with iteration
Area map, i.e. iteration updates the electronic enclosure system content stored in each vehicle, ensures that each automatic driving vehicle is gathered around
There are most believable ambient electron fence and travelable area information, each automatic driving vehicle can be according to newest fence
Information realization optimum path planning.
In embodiment, it can also be further introduced into cloud server, entire electronic map on a large scale is safeguarded.
In order to reduce the traffic and treating capacity of cloud server, fence can be divided into temporary fence and long-term in vehicle end
Fence, temporary fence refer to because causing partial region that can not travel the case where temporary road conditions accident or traffic control,
Travelable region can be reverted to after set fortuitous event is eliminated, fence Status Change may relatively frequently, for a long time
Fence refers to the fence at the traveling-prohibited area formed because of long-term traffic programme or the state of road conditions script, generally
The change of fence state is not had within the long time.
Vehicle can determine the type of newly-increased fence by judging the reason of region increases fence newly；For example, if should
Region increases the reason of fence newly as traffic sign is forbidden, road service system, road construction or without car lane, then the region is newly-increased
Fence is long-term fence；If the region increase newly fence the reason of for traffic police command forbidden or congestion in road, the region it is new
Increasing fence is temporary fence.
It, can be only by very low long-term of fence Status Change frequency in order to reduce the traffic and treating capacity of cloud server
The change conditions of fence feed back to cloud server, and temporary fence mainly carries out information between vehicle and near its circumference vehicle
Exchange.
In this embodiment, in the step S100, vehicle marks the fence state in the region on local area map
Later, further include following steps:
The vehicle judges the fence Status Change type in the region, the fence Status Change type include newly-increased fence and
Remove fence；
If the fence Status Change type in the region is newly-increased fence, the newly-increased fence class in the region is further determined that
Type, the newly-increased fence type includes temporary fence and long-term fence；
If the newly-increased fence type in the region is long-term fence, which notifies the newly-increased long-term fence in the region
Be sent to cloud server, the cloud server is configured to receive increase long-term fence notice newly after, update cloud storage ground
The fence in the region in figure, and store broadcast when map is updated beyond the clouds and notify all vehicles.
Further, the cloud server receives increase long-term fence notice newly after, it can be determined that whether receive friendship
Road condition corresponding with the region notice that pipe portion door is sent, and road condition notice increases long-term fence notice newly with this and deposits
It is being overlapped；
The road condition notice that traffic control department is sent herein may include congestion in road state, traffic police that traffic control department is sent
The notice that directs traffic, traffic signal light condition report, road maintenance report, traffic sign Notification of Changes etc. are intervened, if
Long-term fence notice is increased newly with this exist and be overlapped, i.e. the region for increasing long-term fence newly the report that has received such as road maintenance
Announcement, traffic sign are changed to the report etc. that the region can not travel, it is determined that this increases the confidence level of long-term fence message newly.
If it is, the cloud server, which is stored beyond the clouds in map, adds long-term fence for the region；
Otherwise, the cloud server judges whether to receive the new growth in the region of at least two different vehicles transmission
Otherwise phase fence notice stores this and increases long-term fence notice newly if it is, adding long-term fence in the region；
The newly-increased long-term fence notice that the cloud server receives before preset time deletes current time, is protected
Card increases the timeliness of long-term fence notice newly, avoid the newly-increased long-term fence notice for newly receiving one with for a long time before it is logical
Know and is compared, the reliability of enhancement information.
Further, the method also includes following steps:
Be provided in one vehicle detection to area map long-term fence region be changed to can travel region when, by release grow
Phase fence notice is sent to the cloud server, and the cloud server is configured to receive the long-term fence notice of the releasing
Afterwards, it updates cloud and stores map.
Similarly, before cloud server will release long-term fence, can also first judge whether to receive traffic control department hair
Road condition corresponding with the region notice sent, according to road condition notice and the long-term fence of releasing of other vehicles transmission
Whether notice, comprehensive descision release the long-term fence in the region.
As shown in figure 3, the embodiment of the present invention also provides a kind of automatic Pilot fence more new system, applied to described
Automatic Pilot fence update method is provided in each vehicle the system comprises multiple vehicles
Zone state detection module 100, for detecting the travelable state in region locating for vehicle；
Vehicle vehicle communication module 200, for when detecting the travelable Status Change in a region, fence Status Change to be led to
Know other vehicles being sent in preset range, and receives the fence Status Change notice of other vehicles transmission；
Area map update module 300, when for detecting the travelable Status Change in a region, in local area map
It is upper mark the region fence state, and receive other vehicles transmission fence Status Change notice after, in local zone
The fence state in the region is marked on map.
The embodiment of the present invention also provides a kind of automatic Pilot fence more new equipment, including processor；Memory, wherein
It is stored with the executable instruction of the processor；Wherein, the processor is configured to hold via the executable instruction is executed
The step of automatic Pilot fence update method described in row.
Person of ordinary skill in the field it is understood that various aspects of the invention can be implemented as system, method or
Program product.Therefore, various aspects of the invention can be embodied in the following forms, it may be assumed that complete hardware embodiment, complete
The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here
Referred to as " circuit ", " module " or " platform ".
The electronic equipment 600 of this embodiment according to the present invention is described referring to Fig. 4.The electronics that Fig. 4 is shown
Equipment 600 is only an example, should not function to the embodiment of the present invention and use scope bring any restrictions.
As shown in figure 4, electronic equipment 600 is showed in the form of universal computing device.The combination of electronic equipment 600 can wrap
Include but be not limited to: at least one processing unit 610, at least one storage unit 620, connection different platform combination (including storage
Unit 620 and processing unit 610) bus 630, display unit 640 etc..
Wherein, the storage unit is stored with program code, and said program code can be held by the processing unit 610
Row, so that the processing unit 610 executes described in this specification above-mentioned electronic prescription circulation processing method part according to this
The step of inventing various illustrative embodiments.For example, the processing unit 610 can execute step as shown in fig. 1.
The storage unit 620 may include the readable medium of volatile memory cell form, such as random access memory
Unit (RAM) 6201 and/or cache memory unit 6202 can further include read-only memory unit (ROM) 6203.
The storage unit 620 can also include program/practical work with one group of (at least one) program module 6205
Tool 6204, such program module 6205 includes but is not limited to: operating system, one or more application program, other programs
It may include the realization of network environment in module and program data, each of these examples or certain combination.
Bus 630 can be to indicate one of a few class bus structures or a variety of, including storage unit bus or storage
Cell controller, peripheral bus, graphics acceleration port, processing unit use any bus structures in a variety of bus structures
Local bus.
Electronic equipment 600 can also be with one or more external equipments 700 (such as keyboard, sensing equipment, bluetooth equipment
Deng) communication, can also be enabled a user to one or more equipment interact with the electronic equipment 600 communicate, and/or with make
Any equipment (such as the router, modulation /demodulation that the electronic equipment 600 can be communicated with one or more of the other calculating equipment
Device etc.) communication.This communication can be carried out by input/output (I/O) interface 650.Also, electronic equipment 600 can be with
By network adapter 660 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network,
Such as internet) communication.Network adapter 660 can be communicated by bus 630 with other modules of electronic equipment 600.It should
Understand, although not shown in the drawings, other hardware and/or software module can be used in conjunction with electronic equipment 600, including but unlimited
In: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and number
According to backup storage platform etc..
The embodiment of the present invention also provides a kind of computer readable storage medium, and for storing program, described program is performed
Described in Shi Shixian the step of automatic Pilot fence update method.In some possible embodiments, of the invention each
A aspect is also implemented as a kind of form of program product comprising program code, when described program product is in terminal device
When upper operation, said program code is for making the terminal device execute this specification above-mentioned electronic prescription circulation processing method portion
Point described according to the present invention various illustrative embodiments the step of.
Refering to what is shown in Fig. 5, describing the program product for realizing the above method of embodiment according to the present invention
800, can using portable compact disc read only memory (CD-ROM) and including program code, and can in terminal device,
Such as it is run on PC.However, program product of the invention is without being limited thereto, in this document, readable storage medium storing program for executing can be with
To be any include or the tangible medium of storage program, the program can be commanded execution system, device or device use or
It is in connection.
Described program product can be using any combination of one or more readable mediums.Readable medium can be readable letter
Number medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can be but be not limited to electricity, magnetic, optical, electromagnetic, infrared ray or
System, device or the device of semiconductor, or any above combination.The more specific example of readable storage medium storing program for executing is (non exhaustive
List) include: electrical connection with one or more conducting wires, portable disc, hard disk, random access memory (RAM), read-only
Memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory
(CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
The computer readable storage medium may include in a base band or the data as the propagation of carrier wave a part are believed
Number, wherein carrying readable program code.The data-signal of this propagation can take various forms, including but not limited to electromagnetism
Signal, optical signal or above-mentioned any appropriate combination.Readable storage medium storing program for executing can also be any other than readable storage medium storing program for executing
Readable medium, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or
Person's program in connection.The program code for including on readable storage medium storing program for executing can transmit with any suitable medium, packet
Include but be not limited to wireless, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
The program for executing operation of the present invention can be write with any combination of one or more programming languages
Code, described program design language include object oriented program language-Java, C++ etc., further include conventional
Procedural programming language-such as " C " language or similar programming language.Program code can be fully in user
It calculates and executes in equipment, partly executes on a user device, being executed as an independent software package, partially in user's calculating
Upper side point is executed on a remote computing or is executed in remote computing device or server completely.It is being related to far
Journey calculates in the situation of equipment, and remote computing device can pass through the network of any kind, including local area network (LAN) or wide area network
(WAN), it is connected to user calculating equipment, or, it may be connected to external computing device (such as utilize ISP
To be connected by internet).
In conclusion compared with prior art, automatic Pilot fence update method provided by the present invention, system,
Equipment and storage medium have the advantage that
The present invention solves the problems of the prior art, provide a kind of decentralization distribution based on truck traffic from
It moves and drives the technical solution that fence updates, eliminate the reliance on central node, to reduce or remove the logical of central node update
Believe bandwidth, guarantees fence real-time update in automatic driving vehicle running region；Each vehicle is detecting fence
Other vehicles can be shared with after Status Change, and after each vehicle carries out Credibility judgement and records fence Status Change, it can
Will include that the information chains of all message is sent to surrounding vehicles, to guarantee each vehicle under the premise of guaranteeing that message is accurate
Information it is consistent, and can prevent vehicle from arbitrarily distorting the content recorded in information chain；Therefore the technical program enhances electricity
Sub- fence and the reliability in time of travelable regional service, improve the navigation performance of automatic driving vehicle, suitable for pushing away on a large scale
Wide application.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to of the invention
Protection scope.
Claims (15)
1. a kind of automatic Pilot fence update method, which comprises the steps of:
When the travelable Status Change of S100: one vehicle detection a to region, enclosing for the region is marked on local area map
Columns state；
S200: fence Status Change is notified other vehicles being sent in preset range, the fence Status Change by the vehicle
Notice includes the fence state from vehicle information He the region；
S300: after other vehicles receive the fence Status Change notice of vehicle transmission, carrying out Confidence Analysis to the information,
The fence state in the region is marked on local area map after, while information chain is distributed to surrounding vehicles.
2. automatic Pilot fence update method according to claim 1, which is characterized in that step S100, including such as
Lower step:
When the travelable Status Change of S101: one vehicle detection a to region, the type that can travel Status Change is judged, if should
Region is changed to traveling-prohibited area by can travel region, then continues step S102, if the region is become by traveling-prohibited area
More travelable region, then continue step S103；
S102: the fence state that the vehicle marks the region on local area map is to have fence；
S103: the vehicle marks the fence state in the region on local area map as no fence.
3. automatic Pilot fence update method according to claim 1, which is characterized in that step S300, including such as
Lower step:
S301: other vehicles receive the fence Status Change notice of vehicle transmission；
S302: judge whether the information chain that the fence Status Change for receiving the region that another vehicle is sent is notified or received
Otherwise the fence Status Change notice in the middle region sent there are another vehicle continues to walk if it is, continuing step S303
Rapid S304；
S303: all fence Status Changes notice in the region is integrated, the fence shape in the region is determined using ballot decision-making mechanism
State, if it is possible to which the fence state for determining unique region then continues step S305, if unique region can not be determined
Fence state, then keep in the vehicle transmission fence Status Change notice；
S304: it is notified according to the fence Status Change that the vehicle is sent, determines the fence state in the region, then proceed to step
S305, or fence Status Change notice is kept in, it modifies without the fence state to the region；
S305: the fence state in the region is marked on local area map；
S306: the information chain comprising all message is distributed to surrounding vehicles.
4. automatic Pilot fence update method according to claim 3, which is characterized in that step S301 and step
Further include following steps between S302:
Judge the vehicle for sending fence Status Change notice whether in trust list；
If it is, continuing step S304；
Otherwise, continue step S302.
5. automatic Pilot fence update method according to claim 1, which is characterized in that the information chain includes hair
The information of vehicles, the corresponding area information of each fence change message and fence state, vehicle of information chain is sent initially to record this and enclose
Time of column Status Change message and it is expected that effective time.
6. automatic Pilot fence update method according to claim 5, which is characterized in that described to distribute information chain
Further include following steps after surrounding vehicles:
It after surrounding vehicles receive information chain, is compared with the information chain of self record, updates the information chain of self record；
Vehicle periodically eliminates the fence Status Change message in information chain more than estimated effective time.
7. automatic Pilot fence update method according to claim 1, which is characterized in that be equipped on each vehicle
Road information acquires equipment, and the method also includes following steps:
Every the preset travel time or every preset travel mileage, each vehicle obtains the acquisition of the road information acquisition equipment
Data judge the travelable state of front region according to the acquisition data.
8. automatic Pilot fence update method according to claim 7, which is characterized in that the road information acquisition
Equipment includes at least one of camera, laser radar and infrared detector.
9. automatic Pilot fence update method according to claim 1, which is characterized in that in step S100, vehicle
Further include following steps after the fence state for marking the region on local area map:
The vehicle judges that the fence Status Change type in the region, the fence Status Change type include newly-increased fence and removal
Fence；
If the fence Status Change type in the region is newly-increased fence, the newly-increased fence type in the region is further determined that,
The newly-increased fence type includes temporary fence and long-term fence；
If the newly-increased fence type in the region is long-term fence, which sends the newly-increased long-term fence notice in the region
To cloud server, the cloud server is configured to receive increase long-term fence notice newly after, update in cloud storage map
The fence in the region, and store broadcast when map is updated beyond the clouds and notify all vehicles.
10. automatic Pilot fence update method according to claim 9, which is characterized in that in step S100, into one
The newly-increased fence type for determining the region is walked, is included the following steps:
Judge the reason of region increases fence newly；
It, should if the region increases the reason of fence newly as traffic sign is forbidden, road service system, road construction or without car lane
The newly-increased fence in region is long-term fence；
If the region increases the reason of fence newly as the forbidden or congestion in road of traffic police commander, the newly-increased fence in the region is interim
Fence.
11. automatic Pilot fence update method according to claim 9, which is characterized in that the cloud server
It receives after increasing long-term fence notice newly, judges whether that the road condition corresponding with the region for receiving traffic control department transmission is logical
Know, and road condition notice increases long-term fence notice presence newly with this and is overlapped；
If it is, the cloud server, which is stored beyond the clouds in map, adds long-term fence for the region；
Otherwise, the cloud server judges whether that the newly-increased of the region for receiving the transmission of at least two different vehicles is enclosed for a long time
Otherwise column notice stores this and increases long-term fence notice newly if it is, adding long-term fence in the region；
The newly-increased long-term fence notice that the cloud server receives before preset time deletes current time.
12. automatic Pilot fence update method according to claim 9, which is characterized in that the method also includes
Following steps:
Be provided in one vehicle detection to area map long-term fence region be changed to can travel region when, by releasing enclose for a long time
Column notice is sent to the cloud server, and the cloud server is configured to after receiving the long-term fence notice of the releasing,
It updates cloud and stores map.
13. a kind of automatic Pilot fence more new system, which is characterized in that be applied to any one of claims 1 to 12 institute
The automatic Pilot fence update method stated is provided in each vehicle the system comprises multiple vehicles
Zone state detection module, for detecting the travelable state in region locating for vehicle；
Vehicle vehicle communication module, for when detecting the travelable Status Change in a region, fence Status Change being notified to send
Other vehicles in preset range, and receive the fence Status Change notice of other vehicles transmission；
Area map update module marks on local area map when for detecting the travelable Status Change in a region
The fence state in the region, and receive other vehicles transmission fence Status Change notice after, on local area map
Mark the fence state in the region.
14. a kind of automatic Pilot fence more new equipment characterized by comprising
Processor；
Memory, wherein being stored with the executable instruction of the processor；
Wherein, the processor is configured to come any one of perform claim requirement 1 to 12 institute via the execution executable instruction
The step of automatic Pilot fence update method stated.
15. a kind of computer readable storage medium, for storing program, which is characterized in that described program is performed realization power
Benefit require any one of 1 to 12 described in automatic Pilot fence update method the step of.
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| CN201811604264.2A CN109461321A (en) | 2018-12-26 | 2018-12-26 | Automatic Pilot fence update method, system, equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811604264.2A CN109461321A (en) | 2018-12-26 | 2018-12-26 | Automatic Pilot fence update method, system, equipment and storage medium |
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| CN109461321A true CN109461321A (en) | 2019-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811604264.2A Pending CN109461321A (en) | 2018-12-26 | 2018-12-26 | Automatic Pilot fence update method, system, equipment and storage medium |
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| CN109949572A (en) * | 2019-03-28 | 2019-06-28 | 宁夏聚安星信息服务有限公司 | Vehicle monitoring system and its monitoring method based on fence |
| CN110109458A (en) * | 2019-05-17 | 2019-08-09 | 爱驰汽车有限公司 | Vehicle-mounted automatic Pilot scheduling system, method, equipment and storage medium |
| CN110706307A (en) * | 2019-10-11 | 2020-01-17 | 江苏徐工工程机械研究院有限公司 | Electronic map construction method and device and storage medium |
| CN111371609A (en) * | 2020-02-28 | 2020-07-03 | 同济大学 | Internet of vehicles communication prediction method based on deep learning |
| CN111680730A (en) * | 2020-06-01 | 2020-09-18 | 中国第一汽车股份有限公司 | Method and device for generating geographic fence, computer equipment and storage medium |
| CN111866103A (en) * | 2020-07-08 | 2020-10-30 | 中国第一汽车股份有限公司 | Geo-fence determination method, geo-fence determination device, vehicle and medium |
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| CN114440904A (en) * | 2022-01-28 | 2022-05-06 | 中国第一汽车股份有限公司 | Geographic fence data updating method, device, medium and equipment |
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