CN110365444A - The wireless real-time transmission and reception system of road information data - Google Patents
The wireless real-time transmission and reception system of road information data Download PDFInfo
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- CN110365444A CN110365444A CN201810253033.5A CN201810253033A CN110365444A CN 110365444 A CN110365444 A CN 110365444A CN 201810253033 A CN201810253033 A CN 201810253033A CN 110365444 A CN110365444 A CN 110365444A
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- road information
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
- H04L1/0006—Systems modifying transmission characteristics according to link quality, e.g. power backoff by adapting the transmission format
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
- H04L1/0056—Systems characterized by the type of code used
- H04L1/0061—Error detection codes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
Abstract
A kind of wireless real-time transmission and reception system of road information data, it include: several acquisitions-transmission system for being set to road side and the reception system for being set to vehicle interior, wherein: acquisition-transmission system includes: data acquisition unit, data processing unit and transmission unit, reception system includes: receiving unit, network unit and data comprehensive unit, wherein: the data acquisition unit of cycle operation is from output after sensor or network acquisition initial data to data processing unit, data processing unit is to primary data analysis processing, road information data frame is obtained after scrambled and is exported to transmission unit, transmission unit circulation is modulated after processing road information data frame and is broadcasted with mode of frequency regulation, receiving unit circulation is successively demodulated after receiving broadcast singal, road information is obtained after decoding process and is exported to number According to comprehensive unit, network unit receives decoding process from service platform and exports to data decoding unit, and aggregation of data unit is exported to vehicle control system after receiving road information to carry out vehicle driving control.
Description
Technical field
The present invention relates to a kind of technology of field of traffic safety, specifically a kind of road information data it is wireless in real time
Transmission and reception system.
Background technique
Increasingly mature with automatic Pilot technology, demand of the vehicle to road environment information also increasingly increases, vehicle pair
Road environment information it is more demanding, be embodied in: requirement of real-time is high, data volume is big, required precision is high.Existing roadside
Access device data volume is big, more than accessing user in the case where, not can guarantee time delay in the range of requiring, can not achieve information
Transmit the seamless connection of system-wide section.
Summary of the invention
The present invention In view of the above shortcomings of the prior art, propose a kind of road information data wireless real-time transmission and
Reception system.
The present invention is achieved by the following technical solutions:
The present invention includes: several acquisitions-transmission system for being set to road side and the reception for being set to vehicle interior
System, in which: acquisition-transmission system includes: data acquisition unit, data processing unit and transmission unit, and reception system includes:
Receiving unit, network unit and data comprehensive unit, in which: the data acquisition unit of cycle operation is acquired from sensor or network
To data processing unit, data processing unit handles primary data analysis, obtains after scrambled for output after initial data
Road information data frame is simultaneously exported to transmission unit, and transmission unit circulation is modulated after processing with frequency modulation road information data frame
Mode is broadcasted, and receiving unit circulation is successively demodulated after receiving broadcast singal, obtains road information after decoding process simultaneously
Output to aggregation of data unit, network unit receives decoding process from service platform and exports to data decoding unit, and data are comprehensive
It closes after unit receives road information and exports to vehicle control system to carry out vehicle driving control.
The data acquisition unit includes: data acquisition module and network module, in which: data acquisition module, which receives, to be come
It from the initial data of sensor and exports to data processing module, network module receives the road information for carrying out automatic network and exports extremely
Data processing module.
The respective covering path corresponding region of each acquisition-transmission system transmission unit, adjacent system tranmitting frequency is different,
And the collected road information of acquisition unit institute being made of in the alignment processing region several sensors, every sensor acquisition
Road information will at least be pooled to some transmission unit where it after data processing unit is handled, so that the sensing
The acquisition range of device can cover all road areas, and transmission unit signal can cover all road areas.
The road information includes static object information and dynamic object information, in which: static object refers to: road roadside
The prompts mark such as boundary, shunting line position and entrance, turning, the warning marks such as no parking；Dynamic object refers to: signal
Lamp, temporary Traffic Signs etc. and vehicle location, speed, geometric dimension, Obstacle Position, geometric dimension etc..These information
It is characterized in that the moment is changing, collection period must be short enough, such as 100ms.
The static object information and dynamic object information includes at least name of the information, information characteristics, in which: information
Title can be by preset symbol or number, and information characteristics are position, speed, size, state etc..
The data processing unit includes: data processing module and data coding module, in which: data processing module connects
Road information therein is parsed and obtained after receiving initial data, road information data are exported to data coding module and are carried out
Scrambled, data coding module is to output after road information scrambled to transmission unit.
The scrambled refers to: in order to transfer data to specific user, ensureing data safety, data coding module
In the intended manner to the data encryption encoding operation to be transmitted, reception system is using corresponding mode to the data solution received
Code.Encryption method requires simply, and data volume is small, and calculation amount is small, does not influence the real-time transmission of data.One of method, using symmetrical
Encryption is exactly to make a reservation for a code data as public key, and the data that processor pair to be transmitted carry out position exclusive or cryptographic calculation, connect
It receives device and position exclusive or is carried out with same code data to the data received, decode information data.Code data is in a period of time
It is inside fixed, and section is variation in different times, it is given by network or given according to a certain algorithm.It can also adopt
With other encryption methods met the requirements.
The transmission unit includes: signal modulation module and signal emission module, in which: signal modulation module, which receives, to be compiled
Road information after code and to signal emission module, signal emission module uses after power control is handled for output after being modulated
Existing frequency modulation technology radio broadcasting.
Preferably, section can repeatedly send the data of existing period the transmission unit during idle time, to improve transmission
Reliability reduces the bit error rate.
The cycle operation refers to: data acquisition unit constantly acquires the initial data within the scope of this, data processing list
First constantly processing initial data obtains road information and to data encoding, and transmission unit is constantly by the data after coding with data frame
It is sent out for unit, reception system constantly receives, decodes the information received, to guarantee the information received any time all
It is effective in real time.Such as: data collecting module collected is transmitted to processing unit to a frame image, then proceedes to acquire next
Frame image is similarly handled, and according to newest frame image or recently, a few frame images are handled to obtain data processing unit
Road information, such as the multinomial information of road boundary, lane line, more vehicles, are formed a sequence and are sent to coding module,
Then next frame image is similarly handled, coding module takes one of them or several information datas to be compiled in order
Code, passes to transmission unit, then removes one, face or several information are similarly operated, until information hair all in sequence
It sees off.Transmission unit receives the data after coding just to launching after signal processing.
The data frame includes: frame head, data segment and postamble, in which: postamble includes at least a bit check position, each frame
At least one of transmission information data；Due to not needing to remain online using broadcast mode transmission information, and due to
This system information update is rapid, and information data is discrete, therefore has preferable fault-tolerant ability, even if individual frames are lost,
Too big influence there will not be on automobile navigation.
Preferably, in the data frame be added space segment information, it can be achieved that section identify, can also be according to vehicle GPS, base
Section identification is realized in the technologies such as position of standing firm and segments database inquiry.Segments database is the information bank of each space segment on road, it is pre- plant in
In reception system.
The data acquisition module includes but is not limited to: camera, laser range finder, ultrasonic radar, millimeter wave thunder
It reaches and obtains data, such as numerical map on the net from internet, also can receive the location information etc. of vehicle transmission, through number
According to processor, such as computer, after processing, required information data is formed.Road information data are discrete, therefore are used
Simple superposition carries out information with update mode and merges.
Technical effect
Compared with prior art, the technical effect of this system includes:
1) this system one direction transmits data, and reception system only receives data.Reception system receive data when also without
Authentication, only acquire-transmission system, reception system carry out identity when communicating by respective network module with service platform
Certification.Therefore, it in data transfer procedure, does not need reception system and keeps online.
2) this system using divides space segment acquire broadcast mode, there is no data query process, will not network congestion, improve
The reliability of data transmission, also ensures real-time.At 2.5 kilometers, discrete road information data volume is less than section distance
1Mb, data transfer rate 100Mbps, data transmission, receiving time are less than 30ms.
3) discrete road information data and high information update frequency, increase Fault Tolerance.Due to Doppler
The factors such as frequency displacement, environment cause error code, also only will affect individual information data, and information update frequency is high, will not be to traveling
It impacts.
4) information update frequency depends on frequency acquisition, data processing unit performance and the data transmission speed of acquisition sensor
Rate.Such as: when sensor is laser radar, for collection period up to 100ms, data processing time is less than 10ms, data transmission,
Receiving time is less than 30ms, it is seen that the principal element for influencing information update frequency at this time is sensor.When sensor is video camera
When, for collection period up to 30ms, data processing time is not less than 200ms, and data transmission, receiving time are less than 30ms, it is seen that this
When influence information update frequency principal element be data handling procedure.System dynamic object information update frequency is 10Hz, when
Prolong and is less than 40ms.
Detailed description of the invention
Fig. 1 is an acquisition-transmission system of the invention and reception system schematic；
Fig. 2 is multiple acquisitions-transmission system and reception system schematic on embodiment road.
Specific embodiment
As shown in Figure 1, including for the present embodiment: as acquisition-transmission system data acquisition unit 1, data processing list
Member 2 and transmission unit 3 and as receive system receiving unit 4, network unit 5 and data comprehensive unit 6.
The data acquisition module of the data acquisition unit 1 includes video camera, laser radar and millimetre-wave radar, this reality
The image for applying the video camera acquisition in example is mainly used to obtain static object information, and resolution ratio is 14Mbyte pixel, and weather is fine
When acquisition 200m distance in image；Laser radar frequency acquisition is 10Hz, and the road point cloud data in acquisition 200m distance passes
To data processing module, obtain moving object in conjunction with processing result image, such as the vehicle of traveling, pedestrian, position, speed, big
The information such as small.In weather such as dense fog, sleet, millimetre-wave radar is used to detect the information such as road vehicle.May be used also by network
It is communicated with intelligent road traffic signal lamp, obtains traffic lights information.
The data processing unit 2 uses high-performance micro computer, and data processing module therein is to image analysis
Processing obtains the relative coordinate of road boundary, lane line, identifies road sign using machine learning, handles point cloud data analysis
After obtain moving object information, then by information taken form a sequence；Data coding module takes several Information Numbers in sequence
According to data block is connected into, with preset code data and the scrambled operation of data block position exclusive or.Data block after coding adds 4
The postamble composition data frame of the frame head of byte and a byte.Frame head includes the identification information of initial code and space segment, postamble packet
Containing a bit parity check position and end code.Several item datas carry out after data frame is transmitted to transmission unit 3, then under taking in data sequence
Same processing, until having handled total data.
The transmission unit 3 includes signal modulation module and signal emission module, if 8 in Fig. 2,9 are two adjacent
Acquisition-transmission system, carrier frequency is respectively that the transmission unit of the two frequency bins of 2.4GHz frequency range is separated by 2.5km, Mei Gefa
The signal covering radius for sending unit 3 is 2km, because being one-way transmission, single channel, transfer rate is not less than 100Mbps.It is incoming
Data be modulated to the radio frequency signal of assigned frequency, be sent to antenna through power control device and send.
In the present embodiment, reception system is set on vehicle, can also can receive what transmission unit 3 issued with network communication
Radio signal has two groups of receiving branch, i.e. receiving unit 4, can receive 8,9 two acquisition-transmission system transmittings respectively
The signal of frequency, the data after demodulating coding.
The network unit 5 of reception system receives code data from service platform, the data solution being output in receiving unit 4
Code module, the data bit XOR operation with receiving decode road information data.It can be connect simultaneously in two signal overlapping areas
Receive the signal of two frequencies.
The data merging treatment that the aggregation of data unit 6 of reception system receives each receiving module.Road information data are
By the discrete data of project point, such as the position of vehicle one, speed, size, the position of vehicle two, speed, size, traffic lights
Position, red light or green light etc..Vehicle is considered same project if in same position, and combinable is one, if not
Can then it increase in same position into total data sequence.After the period data finishes receiving, data sequence is output to application apparatus.
System data renewal frequency in the present embodiment is 10Hz, and time delay is less than 40ms.
Above-mentioned specific implementation can by those skilled in the art under the premise of without departing substantially from the principle of the invention and objective with difference
Mode carry out local directed complete set to it, protection scope of the present invention is subject to claims and not by above-mentioned specific implementation institute
Limit, each implementation within its scope is by the constraint of the present invention.
Claims (10)
1. the wireless real-time transmission and reception system of a kind of road information data characterized by comprising be set to road side
Several acquisitions-transmission system and be set to the reception system of vehicle interior, in which: acquisition-transmission system includes: that data are adopted
Collecting unit, data processing unit and transmission unit, reception system includes: receiving unit, network unit and data comprehensive unit,
In: the data acquisition unit of cycle operation is from output after sensor or network acquisition initial data to data processing unit, data
Processing unit handles primary data analysis, road information data frame is obtained after scrambled and exports to transmission unit, sends
Unit circulation is modulated after processing road information data frame and is broadcasted with mode of frequency regulation, and receiving unit circulation receives broadcast
It is successively demodulated after signal, road information is obtained after decoding process and exported to aggregation of data unit, network unit is from service
Platform receives decoding process and exports to data decoding unit, and aggregation of data unit exports after receiving road information to vehicle control
System is to carry out vehicle driving control；The road information includes static object information and dynamic object information；It is static right
Image information and dynamic object information include at least name of the information, information characteristics.
2. system according to claim 1, characterized in that the data acquisition unit include: data acquisition module and
Network module, in which: data acquisition module is received from sensor raw data and exported to data processing module, network module
It receives the road information for carrying out automatic network and exports to data processing module.
3. system according to claim 1, characterized in that several acquisitions-transmission system concrete operations mode are as follows:
Adjacent system tranmitting frequency is different, the respective covering path corresponding region of each transmission unit, and if in the alignment processing region by
The collected road information of acquisition unit institute of dry sensor composition, the road information of every sensor acquisition pass through data processing list
Some transmission unit that be at least pooled to where it after member, enables the acquisition range of the sensor to cover all roads
Road region, transmission unit signal can also cover all road areas.
4. system according to claim 1, characterized in that the data processing unit include: data processing module and
Data coding module, in which: data processing module is parsed and obtained road information therein after receiving initial data, by road
Road information data, which is exported to data coding module, to be encoded, and output is single to sending after data coding module encodes road information
Member.
5. system according to claim 1, characterized in that the transmission unit includes: signal modulation module and signal
Transmitting module, in which: signal modulation module receives the road information after encoding and is exported after being modulated to signal emission module,
Signal emission module uses existing frequency-shift keying technology radio broadcasting after power control；
Section repeatedly sends the data of existing period to the transmission unit during idle time, to improve transmitting reliability, reduces and misses
Code rate.
6. system according to claim 1, characterized in that the cycle operation refers to: data acquisition unit is constantly adopted
Collect the initial data within the scope of this, data processing unit constantly handles initial data and obtains road information and to data encoding, hair
Unit is sent constantly to send out the data after coding as unit of data frame, reception system constantly receives, decodes and receives
Information, to guarantee that the information received any time is all effective in real time；
The data frame includes: frame head, data segment and postamble, in which: postamble includes at least a bit check position, each frame transmission
At least one information data.
7. system according to claim 6, characterized in that in the data frame be added space segment information, it can be achieved that
Section identification can also realize section identification according to the technologies such as vehicle GPS, base station location and segments database inquiry, and segments database is road
The information bank of upper each space segment, it is pre- to plant in reception system.
8. system according to claim 1, characterized in that the receiving unit is communicated with network or transmission unit, should
Multiple groups receiving branch built in receiving unit can receive the signal of the transmission frequency of all transmission units on road, demodulate coding
Data afterwards.
9. system according to claim 1, characterized in that the network unit receives decoding side from service platform
Method is output to the data decoder module of receiving unit, with the data operation received, decodes road information data.
10. system according to claim 1, characterized in that the aggregation of data unit received each receiving branch
Data merging treatment, specifically: road information data are the discrete datas by classification of the items, when vehicle is then thought in same position
It is same project, combinable is one, can be increased if not in same position into total data sequence, by data after the completion of merging
Sequence is output to application apparatus.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810253033.5A CN110365444A (en) | 2018-03-26 | 2018-03-26 | The wireless real-time transmission and reception system of road information data |
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| CN201810253033.5A CN110365444A (en) | 2018-03-26 | 2018-03-26 | The wireless real-time transmission and reception system of road information data |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114818916A (en) * | 2022-04-25 | 2022-07-29 | 电子科技大学 | Road target classification method based on millimeter wave radar multi-frame point cloud sequence |
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Application publication date: 20191022 |