CN109582018A - The intelligent driving method, apparatus and system of four-dimensional framework based on block chain - Google Patents
The intelligent driving method, apparatus and system of four-dimensional framework based on block chain Download PDFInfo
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- CN109582018A CN109582018A CN201811473624.XA CN201811473624A CN109582018A CN 109582018 A CN109582018 A CN 109582018A CN 201811473624 A CN201811473624 A CN 201811473624A CN 109582018 A CN109582018 A CN 109582018A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
Abstract
Intelligent driving method provided by the invention, joined in traditional intelligent driving method data upload with feed back and with region majority according to coupling the step of, specifically, data, the related roads data of other collected vehicles in the set planning path of vehicle condition data and target vehicle of target vehicle itself are integrated, and combine road data, cartographic information etc., integrative feedback is to the target vehicle in automatic Pilot, reach system and can predict in advance during future travel it can happen that, purpose that high accurate intelligent drives is realized with this.Intelligent driving method provided by the invention can effectively reduce data erroneous judgement bring risk since by the way of multiple collection points, more fully, information is more accurate for data.Meanwhile compared with the prior art and product, upper upgrading difficulty is small, and cost is relatively low, without a large amount of more exchange devices.
Description
Technical field
The present invention relates to the intelligence under intelligent driving field more particularly to a kind of four-dimensional architecture mode based on block chain to drive
Sail method, apparatus and system.
Technical background
With the growth of high-precision map and intelligent guidance system, either people go on a journey, topographic(al) reconnaissance or traffic prison
Pipe, it is greatly convenient all to have obtained.Existing four large satellite navigation system of the world is the global positioning system (GPS) in the U.S., Russia
Global Navigation Satellite System (GLONASS), the Galilean satellite positioning system of European Space Agency and the Beidou of China of Ross are led
Boat global position system.
For high-precision road-map used in high precisely mobile driving, its relevant research also has very much, example at present
Such as data are acquired along specific circuit by being equipped with the collecting vehicle of GPS-RTK；Use side of the laser radar in conjunction with wide-angle camera
Method extracts road information, in addition 10cm precision can then be reached by being equipped with high-precision Global Satellite Navigation System (GNSS), but this
Acquisition scheme higher cost.The research of high-precision road navigation map data is used in DAS (Driver Assistant System) and automatic Pilot field
It is more, such as according to the research of high-precision road navigation map progress information behavior and vehicle location, in auxiliary driving and automatically
Grinding for automatic Pilot lane locus guiding method is carried out in control loop using high-precision road navigation map information and on it
Study carefully.Also researcher proposes to lead using the method for inexpensive sensor creation lane grade map by global positioning system+inertia
Boat system (GPS/INS) close coupling is positioned, and relevant map information is obtained from orthophotoquad.
The unit of mapping and the production of being engaged in high-precision electronic map both at home and abroad at present also gradually increases.In Google and
In the development process of the pilotless automobile of Daimler, high-precision electronic map is all important component part.It is 2015, difficult to understand
Enlightening, BMW, Daimler join together 3,100,000,000 dollars of purchase Nokia Here maps of furnishing funds for, for research and development high-precision road guide
Figure is prepared.2015, high-precision road navigation map was applied to special scenes, and the 3 of BMW in 2011 are Track
Trainer, 2014, the RS7 of Audi utilized high-precision road navigation map technology in Laguna Seca and Hockenheim
Racing track is successfully run through.
The generally existing disadvantages described above of existing Vehicular automatic driving technology and deficiency:
(1) the data acquisition cost of existing high-precision intelligent navigation map is high, and the approach for acquiring data is few.
(2) renewal frequency of existing high-precision intelligent navigation map is low, can be seldom with the section of real-time display traffic information,
It cannot accomplish all standing of all road conditions information.
(3) navigation accuracy of existing high-precision intelligent navigation map is low, can't fully meet unpiloted use and want
It asks.
(4) for existing intelligent driving system security level with regard to low, hacker attacks altered data risk is higher.
Summary of the invention
The present patent application provides the intelligent driving method, apparatus under a kind of four-dimensional architecture mode based on block chain and is
System, can improve unpiloted accuracy in the case where cost is relatively low.
In a first aspect, the application provides a kind of intelligent driving method under the four-dimensional architecture mode based on block chain, it is described
Intelligent driving method includes:
S1: activation system instructs planning driving path according to the input of user；
S2: unlocking vehicle dynamical system；
S3: call vehicle intelligent sensor acquire the first vehicle condition data, will collect vehicle condition data are uploaded to cloud in real time
Hold server；
S4: receiving the path data of cloud server transmission, with acquired on the onboard sensor described first
Vehicle condition data are integrated, and generate intelligent driving data, the path data includes: other vehicles on the planning driving path
The highway traffic data of the second vehicle condition data and the planning driving path that upload；
S5: handling the intelligent driving data, controls automobile power, steering and system according to data processed result
It is dynamic, carry out accurate intelligent driving.
Further, the intelligent driving data are handled, is specifically included: in conjunction with GPS positioning system and existing road
Road map simulates condition of road surface locating for vehicle in real time.
Further, the input instruction includes: origin and target location.
Further, the first vehicle condition data include: static data and dynamic data, wherein the static packet
It includes: road traffic facility, lane net, road network data and safe auxiliary data；The dynamic data includes: real-time dynamic object
With non real-time dynamic object.
Second aspect, the present invention provides the intelligent driving device under a kind of four-dimensional architecture mode based on block chain, special
Sign is that the intelligent driving device includes:
System starting module: being used for activation system, instructs planning driving path according to the input of user；
Dynamic start module: it is used for unlocking vehicle dynamical system；
Onboard sensor module: for calling vehicle intelligent sensor to acquire the first vehicle condition data, vehicle condition will be collected to obtain
Data are uploaded to cloud server in real time；
Data processing module: for receiving the path data of the cloud server transmission, on the onboard sensor
The first vehicle condition data of acquisition are integrated, and intelligent driving data are generated, and the path data includes: the planning traveling
The highway traffic data of other vehicles upload on path the second vehicle condition data and the planning driving path；
Intelligent control module: for handling the intelligent driving data, automobile is controlled according to data processed result
Power, steering and braking carry out accurate intelligent driving.
The third aspect, the present invention also provides the intelligent driving system under a kind of four-dimensional architecture mode based on block chain,
It is characterized in that, cloud server and the intelligent driving system include any intelligent driving dress of above-mentioned second aspect
It sets, wherein the intelligent driving device is used to execute any intelligent driving method of above-mentioned first aspect, the cloud clothes
Business device is for storing the first vehicle condition data, the second vehicle condition data and the highway traffic data.
Compared with prior art, the advantageous effects for the technical solution that the embodiment of the present application is proposed include:
Traditional intelligent driving method includes: three network navigation, autonomous driving and manual intervention links, and the present invention provides
Intelligent driving method, joined in traditional intelligent driving method data and upload and feed back and with region majority according to coupling
Step, specifically, by the set planning path of vehicle condition data and target vehicle of target vehicle itself it is collected other
Data, the related roads data of vehicle are integrated, and combine road data, cartographic information etc., and integrative feedback is to automatic Pilot
In target vehicle, reach system can predict in advance during future travel it can happen that, it is high-precision to realize with this
The purpose that quasi intelligent drives.Intelligent driving method provided by the invention is since by the way of multiple collection points, data are more complete
Face, information is more accurate, can effectively reduce data erroneous judgement bring risk.Meanwhile compared with the prior art and product, rise
Grade difficulty is small, and cost is relatively low, without a large amount of more exchange devices.In addition, all data realize target vehicle, insurance company, Ge Jijiao
Pipe portion door and intelligent driving system service provider store respectively, realize can not distorting for data with block chain gearing technology, improve
The safety of target vehicle automatic Pilot.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is technology, attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is that a kind of intelligent driving method for four-dimensional architecture mode based on region unit that the embodiment of the present application one provides is shown
It is intended to；
Fig. 2 is the process of the intelligent driving system for the four-dimensional architecture mode based on region unit that the embodiment of the present application one provides
Schematic diagram；
Fig. 3 is the road of the intelligent driving system for the four-dimensional architecture mode based on region unit that the embodiment of the present application one provides
The principle standard drawing of basic data acquisition；
Fig. 4 is the road of the intelligent driving system for the four-dimensional architecture mode based on region unit that the embodiment of the present application one provides
Sensor and onboard sensor data collecting standard figure；
Fig. 5 is a kind of intelligent driving device pair for four-dimensional architecture mode based on region unit that the embodiment of the present application two provides
The structural schematic diagram answered.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention is purged, is complete
Site preparation description, it is clear that described embodiment is only invention a part of the embodiment, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, the scope of the present invention is belonged to.
In the following, technical solution shown in the application is described in detail by specific embodiment.Under it should be noted that
These specific embodiments of face can be combined with each other, may be in certain embodiments for the same or similar concept or process
It repeats no more.
Embodiment 1
The application provides a kind of intelligent driving method under the four-dimensional architecture mode based on block chain, the intelligent driving side
Method includes:
S1: activation system instructs planning driving path according to the input of user；
S2: unlocking vehicle dynamical system；
S3: call vehicle intelligent sensor acquire the first vehicle condition data, will collect vehicle condition data are uploaded to cloud in real time
Hold server；
S4: receiving the path data of cloud server transmission, with acquired on the onboard sensor described first
Vehicle condition data are integrated, and generate intelligent driving data, the path data includes: other vehicles on the planning driving path
The highway traffic data of the second vehicle condition data and the planning driving path that upload；
S5: handling the intelligent driving data, controls automobile power, steering and system according to data processed result
It is dynamic, carry out accurate intelligent driving.
Further, intelligent driving method provided by the present application requires specifically, target vehicle target vehicle power
Sensor can obtain related audio visual signal and information, target vehicle acquires the real-time acquisition uploaded with cloud data of data
It arranges, and passes through feedback information servomechanism corresponding with cognition calculating control.
The target vehicle power is orthodox car dynamical system, just refers to the power for generating engine, by a system
The power of column transmits, and finally passes to the entire mechanical arrangement process of wheel.
The onboard sensor module of the target vehicle is existing millimeter microwave radar, and camera, infrared radar is based on
The Homelink of GPS, ultrasonic sensor, the existing vehicle intelligent sensor such as Doppler radar.
The cloud data processing mainly passes through vehicle-mounted interconnection with feedback and realizes jointly with server sand-table simulation, all numbers
Factually show this vehicle, insurance company, traffic control departments at different levels and intelligent driving system service provider respectively store, real with block chain technology
Existing data can not distort.
Further, the intelligent driving data are handled, is specifically included: in conjunction with GPS positioning system and existing road
Road map simulates condition of road surface locating for vehicle in real time.
Further, the input instruction includes: origin and target location.
Specifically, by one install this system automobile for, it is assumed that the vehicle will from A automatic Pilot to B, such as Fig. 2
Shown process flow operation system: the onboard sensor of target vehicle calls the data for acquiring vehicle surrounding traffic environment at this very moment,
The route planned simultaneously according to GPS calls the data that other vehicles of this system are equally mounted on related roads and road electricity
The road data of sub- monitoring device shooting, all data upload to cloud and carry out being stored in processing, and the data handled well are anti-
The vehicle is understood in feedback, to realize that road ahead situation can be known in advance during from A being driven to the ground B in the vehicle.
If front has a truck out of control to drive in the wrong direction at this time, and target vehicle can know front in advance outside several kilometers
The emergency case of appearance, system immediately begin to plan road conditions again, it is ensured that the efficiently and accurately of driving.Simultaneously above-mentioned
Data can also upload in the processor of insurance company, traffic control department at different levels, intelligent driving system service provider etc., and then with block
Can not distorting for chain technical guarantee data, realizes the safety of system.
Further, as shown in figure 3, the first vehicle condition data include: static data and dynamic data, wherein described
Static data includes: road traffic facility, lane net, road network data and safe auxiliary data；The dynamic data includes: real
When dynamic object and non real-time dynamic object.
Further, as shown in figure 4, the road network data specifically includes road category, such as highway, city are fast
The road informations such as fast road, bridge, tunnel.
Further, the lane network data includes lane information and lane attribute information；Wherein, lane information includes:
Lane line, lane line road tie point etc., lane attribute include: quantity, type, lane limitation etc..
Further, safe auxiliary data includes the data such as road construction, illustratively, as road curvature, vertical and horizontal gradient,
The information such as course.
Further, road traffic facility includes the data such as traffic sign, trackside facility, fixed atural object.
Traditional intelligent driving method includes: three network navigation, autonomous driving and manual intervention links, and the present invention provides
Intelligent driving method, joined in traditional intelligent driving method data and upload and feed back and with region majority according to coupling
Step, specifically, by the set planning path of vehicle condition data and target vehicle of target vehicle itself it is collected other
Data, the related roads data of vehicle are integrated, and combine road data, cartographic information etc., and integrative feedback is to automatic Pilot
In target vehicle, reach system can predict in advance during future travel it can happen that, it is high-precision to realize with this
The purpose that quasi intelligent drives.Intelligent driving method provided by the invention is since by the way of multiple collection points, data are more complete
Face, information is more accurate, can effectively reduce data erroneous judgement bring risk.Meanwhile compared with the prior art and product, rise
Grade difficulty is small, and cost is relatively low, without a large amount of more exchange devices.In addition, all data realize target vehicle, insurance company, Ge Jijiao
Pipe portion door and intelligent driving system service provider store respectively, realize can not distorting for data with block chain gearing technology, improve
The safety of target vehicle automatic Pilot.
Embodiment 2
Second aspect, the present invention provide the intelligent driving device 100 under a kind of four-dimensional architecture mode based on block chain,
It is characterized in that, the intelligent driving device 100 includes:
System starting module 10: being used for activation system, instructs planning driving path according to the input of user；
Dynamic start module 20: it is used for unlocking vehicle dynamical system；
Onboard sensor module 30: for calling vehicle intelligent sensor to acquire the first vehicle condition data, vehicle will be collected to obtain
Condition data are uploaded to cloud server in real time；
Data processing module 40: for receiving the path data of the cloud server transmission, with the onboard sensor
The first vehicle condition data of upper acquisition are integrated, and intelligent driving data are generated, and the path data includes: the planning row
Sail the highway traffic data of other vehicles upload on path the second vehicle condition data and the planning driving path；
Intelligent control module 50: for handling the intelligent driving data, vapour is controlled according to data processed result
Vehicle power, steering and braking carry out accurate intelligent driving.
Embodiment 3
The present invention also provides the intelligent driving systems under a kind of four-dimensional architecture mode based on block chain, which is characterized in that
The intelligent driving system includes any intelligent driving device and cloud server in above-described embodiment 2, wherein described
Intelligent driving device is used to execute any intelligent driving method in above-described embodiment 1, and the cloud server is for depositing
Store up the first vehicle condition data, the second vehicle condition data and the highway traffic data.
The above specific embodiment has carried out further specifically the purpose of the present invention, technical scheme and beneficial effects
It is bright, it should be understood that the above is only a specific embodiment of the invention, the protection model that is not intended to limit the present invention
It encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (9)
1. a kind of intelligent driving method under four-dimensional architecture mode based on block chain, which is characterized in that the intelligent driving side
Method includes:
S1: activation system instructs planning driving path according to the input of user；
S2: target vehicle power system is opened；
S3: call onboard sensor acquire the first vehicle condition data, will collect vehicle condition data are uploaded to cloud server in real time；
S4: the path data of the cloud server transmission is received, with first vehicle condition acquired on the onboard sensor
Data are integrated, and intelligent driving data are generated, and the path data includes: other vehicles upload on the planning driving path
The second vehicle condition data and it is described planning driving path highway traffic data；
S5: handling the intelligent driving data, controls automobile power, steering and braking according to data processed result, into
Row accurate intelligent drives.
2. intelligent driving method as described in claim 1, which is characterized in that it is described to the intelligent driving data at
Reason, specifically includes: in conjunction with GPS positioning system and existing road map, being simulated in real time to condition of road surface locating for vehicle.
3. intelligent driving method as described in claim 1, which is characterized in that the input instruction includes: origin and mesh
Mark place.
4. intelligent driving method as described in claim 1, which is characterized in that the first vehicle condition data include: static data
And dynamic data, wherein the static data includes: road traffic facility, lane net, road network data and safe supplementary number
According to；The dynamic data includes: real-time dynamic object and non real-time dynamic object.
5. the intelligent driving device under a kind of four-dimensional architecture mode based on block chain, which is characterized in that the intelligent driving dress
It sets and includes:
System starting module: being used for activation system, instructs planning driving path according to the input of user；
Dynamic start module: it is used for unlocking vehicle dynamical system；
Onboard sensor module: for calling vehicle intelligent sensor to acquire the first vehicle condition data, vehicle condition data will be collected to obtain
It is uploaded to cloud server in real time；
Data processing module: it for receiving the path data of cloud server transmission, and is acquired on the onboard sensor
The first vehicle condition data integrated, generate intelligent driving data, the path data includes: the planning driving path
The highway traffic data of the second vehicle condition data and the planning driving path that other upper vehicles upload；
Intelligent control module: for handling the intelligent driving data, according to data processed result control automobile power,
It turns to and brakes, carry out accurate intelligent driving.
6. intelligent driving device as claimed in claim 5, which is characterized in that it is described to the intelligent driving data at
Reason, specifically includes: in conjunction with GPS positioning system and existing road map, being simulated in real time to condition of road surface locating for vehicle.
7. intelligent driving device as claimed in claim 5, which is characterized in that the input instruction includes: origin and mesh
Mark place.
8. intelligent driving device as claimed in claim 5, which is characterized in that the first vehicle condition data include: static data
And dynamic data, wherein the static data includes: road traffic facility, lane net, road network data and safe supplementary number
According to；The dynamic data includes: real-time dynamic object and non real-time dynamic object.
9. the intelligent driving system under a kind of four-dimensional architecture mode based on block chain, which is characterized in that the intelligent driving system
System includes any intelligent driving device of cloud server and the claims 5~8, wherein the intelligent driving
Device is used to execute any intelligent driving method of the claims 1~4, and the cloud server is described for storing
First vehicle condition data, the second vehicle condition data and the highway traffic data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811473624.XA CN109582018A (en) | 2018-12-04 | 2018-12-04 | The intelligent driving method, apparatus and system of four-dimensional framework based on block chain |
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| CN201811473624.XA CN109582018A (en) | 2018-12-04 | 2018-12-04 | The intelligent driving method, apparatus and system of four-dimensional framework based on block chain |
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Application publication date: 20190405 |