CN110570674A - Vehicle-road cooperative data interaction method and system, electronic equipment and readable storage medium - Google Patents
Vehicle-road cooperative data interaction method and system, electronic equipment and readable storage medium Download PDFInfo
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- CN110570674A CN110570674A CN201910843973.4A CN201910843973A CN110570674A CN 110570674 A CN110570674 A CN 110570674A CN 201910843973 A CN201910843973 A CN 201910843973A CN 110570674 A CN110570674 A CN 110570674A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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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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- 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
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
- G08G1/13—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station the indicator being in the form of a map
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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
- H04W4/02—Services making use of location information
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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]
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Abstract
The embodiment of the application provides a vehicle-road cooperative data interaction method, a system, a storage medium and electronic equipment, which are applied to a mobile edge computing platform, wherein the method comprises the following steps: receiving the fused road condition information reported after a plurality of road side units deployed on different roads respectively fuse the acquired road condition information for the first time; performing second fusion on the fused road condition information respectively reported by the multiple road side units according to a preset algorithm to generate three-dimensional dynamic map data; receiving a road condition request instruction sent by a vehicle-mounted unit through a pre-established transmission channel; determining target road condition information from the received fusion road condition information according to the position information and the request time information of the vehicle-mounted unit; determining target three-dimensional map data from the three-dimensional dynamic map data according to the target road condition information; sending the target three-dimensional map data to the vehicle-mounted unit; so as to assist the vehicle to make a corresponding vehicle driving strategy and ensure driving safety.
Description
Technical Field
the embodiment of the application relates to the technical field of automobiles, in particular to a method, a system, electronic equipment and a readable storage medium for vehicle-road cooperative data interaction.
Background
at present, the perception, decision and control stages of the automatic driving of the automobile are mainly realized by two technical routes of an autonomous driving technology and a networking driving technology. The 'autonomous' driving technology is based on a sensor technology, and the core of the driving technology is that the acquisition of surrounding environment information is realized through a sensor; the networking type driving technology is used for communicating with other vehicles, pedestrians, roadside traffic facilities and cloud servers by utilizing communication and networking technologies such as V2X and the like, information is fused and integrally decided through a cloud end and then is issued to the vehicles, and accordingly the cooperative control driving mode of vehicle-vehicle, vehicle-human and vehicle-roadside units is achieved.
although the 'autonomous' driving technology and the 'network connection type' driving technology can realize the automatic driving of the automobile, the development of only depending on respective single technology has certain limitation; for example: the performance of sensor equipment in the 'autonomous' driving technology can be influenced by different factors, the 'network connection type' driving technology is not developed and is immature, and the vehicle networking communication technology does not really fall to the ground, so that automobile manufacturers can introduce the novel technology slowly and carefully.
disclosure of Invention
The embodiment of the application provides a vehicle-road cooperative data interaction method, a vehicle-road cooperative data interaction system, an electronic device and a readable storage medium, so as to assist a vehicle to make a corresponding vehicle driving strategy and ensure driving safety.
The embodiment of the application provides a vehicle-road cooperative data interaction method in a first aspect, which is applied to a mobile edge computing platform, and the method comprises the following steps:
Receiving the fused road condition information reported after a plurality of road side units deployed on different roads respectively fuse the acquired road condition information for the first time; the road condition information is collected at the same time by the road side units every other preset first period;
Performing second fusion on the fused road condition information respectively reported by the multiple road side units according to a preset algorithm to generate three-dimensional dynamic map data;
Receiving a road condition request instruction sent by a vehicle-mounted unit through a pre-established transmission channel; the road condition request instruction carries position information and request time information of the vehicle-mounted unit;
determining target road condition information from the received road condition information according to the position information and the request time information of the vehicle-mounted unit;
Determining target three-dimensional map data from the three-dimensional dynamic map data according to the target road condition information;
and sending the target three-dimensional dynamic map data to the vehicle-mounted unit.
Optionally, before the receiving, through a pre-established transmission channel, the road condition request instruction sent by the vehicle-mounted unit, the method further includes:
Receiving a connection establishment request sent by the vehicle-mounted unit, wherein the connection establishment request carries identity information of the vehicle-mounted unit;
verifying the identity information of the vehicle-mounted unit;
the receiving of the road condition request instruction sent by the vehicle-mounted unit through the pre-established transmission channel includes:
And under the condition of verifying that the identity information is correct, establishing a transmission channel with the vehicle-mounted unit, and receiving the road condition request instruction sent by the vehicle-mounted unit through the transmission channel.
Optionally, the determining the target traffic information from the received fused traffic information according to the location information and the request time information of the on-board unit includes:
obtaining a road side unit subset in the road side units related to the position information according to the position information of the vehicle-mounted unit;
Determining the current cycle reported fused road condition information as the target road condition information under the condition that the request time information is matched with the cycle of the road side unit subset reporting the fused road condition information currently;
and under the condition that the request time information does not match the period of the road side unit subset for reporting the fused road condition information currently, determining the fused road condition information reported in the next period of the current period as the target road condition information.
optionally, after the target three-dimensional map data is transmitted to the on-board unit, the method further includes:
Receiving the road condition request instruction sent by the vehicle-mounted unit every a preset second period through a pre-established transmission channel; the road condition request instruction carries position information and request time information of the vehicle-mounted unit;
Sequentially determining the target road condition information from the received fusion road condition information according to the position information and the request time information which are dynamically changed by the vehicle-mounted unit;
Sequentially determining the target three-dimensional map data from the three-dimensional dynamic map data according to the sequentially determined target road condition information;
and sequentially sending the sequentially determined three-dimensional map data to the vehicle-mounted unit so as to display continuous three-dimensional dynamic data on the vehicle-mounted unit.
a second aspect of the embodiments of the present application provides a vehicle-road cooperative data interaction system, where the system at least includes: the system comprises a vehicle-mounted unit, a plurality of road side units deployed on different road surfaces and a mobile edge computing platform; the vehicle-mounted unit and the road side unit are respectively in communication connection with the mobile edge computing platform;
the road side units collect road condition information at the same time every other preset first period;
The road side units respectively perform first fusion on the acquired road condition information to generate fused road condition information;
the road side units report the fused road condition information to the mobile edge computing platform;
The mobile edge computing platform carries out second fusion on the fusion road condition information respectively reported by the multiple road side units according to a preset algorithm to generate three-dimensional dynamic map data;
the vehicle-mounted unit sends a road condition request instruction to the mobile edge computing platform through a pre-established transmission channel; the road condition request instruction carries position information and request time information of the vehicle-mounted unit;
The mobile edge computing platform determines target road condition information from the received fusion road condition information according to the position information and the request time information of the vehicle-mounted unit;
The mobile edge computing platform determines target three-dimensional map data from the three-dimensional dynamic map data according to the target road condition information;
And the mobile edge computing platform sends the target three-dimensional map data to the vehicle-mounted unit.
Optionally, the vehicle-mounted unit is further configured to send a connection establishment request to the mobile edge computing platform, where the connection establishment request carries identity information of the vehicle-mounted unit;
the mobile edge computing platform is further used for verifying the identity information;
and the mobile edge computing platform is also used for establishing a transmission channel with the vehicle-mounted unit under the condition of verifying that the identity information is correct, and receiving the road condition request instruction sent by the vehicle-mounted unit through the transmission channel.
optionally, the mobile edge computing platform is further configured to obtain, according to the location information of the on-board unit, a roadside unit subset of the plurality of roadside units associated with the location information;
The mobile edge computing platform is further configured to determine the fused road condition information reported in the current period as the target road condition information under the condition that the request time information is matched with the period in which the road side unit subset reports the fused road condition information currently;
the mobile edge computing platform is further configured to determine the fused road condition information reported in a next cycle of the current cycle as the target road condition information when the request time information does not match the cycle in which the road side unit subset currently reports the fused road condition information.
optionally, the vehicle-mounted unit is further configured to send the road condition request instruction to the mobile edge computing platform every other preset second period through a pre-established transmission channel; the road condition request instruction carries the position information and the request time information of the vehicle-mounted unit;
The mobile edge computing platform is further used for sequentially determining the target road condition information from the received fusion road condition information according to the position information and the request time information which are dynamically changed by the vehicle-mounted unit;
the mobile edge computing platform is further used for sequentially determining the target three-dimensional map data from the three-dimensional dynamic map data according to the sequentially determined target road condition information;
And the mobile edge computing platform is further used for sequentially sending the sequentially determined three-dimensional map data to the vehicle-mounted unit so as to display continuous three-dimensional map data on the vehicle-mounted unit.
Optionally, the system further comprises: a GPS module and an NTP server; GPS modules are arranged in the vehicle-mounted unit, the road side unit and the mobile edge computing platform; the NTP time server is in communication connection with the road side unit and the mobile edge computing platform;
The GPS module acquires a GPS synchronization signal to ensure the absolute synchronization of the 0 point of the vehicle-mounted unit, the road side unit and the mobile edge computing platform;
The NTP time server is used for carrying out time service on the road side unit and the mobile edge computing platform;
And the vehicle-mounted unit is used for time service or time service transmission through a network so as to ensure that 0 time of the vehicle-mounted unit, the road side unit and the mobile edge computing platform is kept consistent.
optionally, the system further comprises: the vehicle self-motion state unit and the vehicle-mounted detection unit; the vehicle self motion state unit and the vehicle-mounted detection unit are respectively in communication connection with the vehicle-mounted unit;
the vehicle-mounted unit receives the vehicle self motion state information acquired by the vehicle self motion state unit and the vehicle-mounted detection information acquired by the vehicle-mounted detection unit;
wherein the vehicle self motion state information comprises: speed, acceleration, oil mass, engine speed, road condition warning and vehicle-mounted sensor conditions; the vehicle-mounted detection information is detection information of the vehicle-mounted sensor.
a third aspect of embodiments of the present application provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, performs the steps in the method according to the first aspect of the present application.
a fourth aspect of the embodiments of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of the method according to the first aspect of the present application when executed.
by adopting the vehicle-road cooperative data interaction method provided by the embodiment of the application, the road condition information is reported at the same time by the multiple road side units every other preset first period, so that the road side units can carry out dynamic detection, and the obtained road condition information is continuous in time and space; the target road condition information is acquired at any time through the position information and the request moment information reported by the vehicle-mounted unit, and the vehicle-mounted unit is assisted to make a corresponding vehicle driving strategy so as to ensure the purpose of driving safety; the utilization efficiency of the road traffic information is improved, and the method plays an important role in relieving road traffic jam, improving road traffic capacity, improving road traffic safety and the like.
Drawings
in order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic diagram of an implementation environment shown in accordance with an illustrative embodiment;
Fig. 2 is a flowchart of a vehicle-road cooperative data interaction method according to an embodiment of the present application;
fig. 3 is a flowchart of a vehicle-road cooperative data interaction method according to an embodiment of the present application;
Fig. 4 is a flowchart of step S23 in the flowchart of a method for interacting vehicle-road collaborative data according to an embodiment of the present application;
fig. 5 is a flowchart of a vehicle-road cooperative data interaction method according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
FIG. 1 is a schematic diagram illustrating an implementation environment, according to an example embodiment, and with reference to FIG. 1, the implementation environment includes: a roadside unit 100, an on-board unit 200, a cloud server 300, and a mobile edge computing platform 400; the road side unit 100 includes road side unit 1, road side unit 2, and road side unit 3 … ….
the mobile edge computing platform 400 may be communicatively coupled to one or more roadside units 100, where the coupling may be a wired connection or a wireless connection, and the coupling is not limited in this application.
the mobile edge computing platform 400 is in communication connection with the on-board unit 200 and the cloud server 300, where the connection manner may be a wired connection or a wireless connection, and the connection manner is not limited in this application.
referring to fig. 2, fig. 2 is a flowchart of a vehicle-road cooperative data interaction method according to an embodiment of the present application. As shown in fig. 2, the method comprises the steps of:
step S21: receiving the fused road condition information reported after a plurality of road side units deployed on different roads respectively fuse the acquired road condition information for the first time; the road condition information is collected at the same time by the road side units every other preset first period.
In this embodiment, the sensor device disposed on each of the multiple roadside units collects road condition information; wherein the sensor device includes, but is not limited to, at least one of: camera sensor, millimeter wave radar sensor, ultrasonic sensor and laser radar sensor.
the camera sensor is used for acquiring image information within a certain range; the millimeter wave radar sensor is used for collecting laser point cloud data and detecting the distance between the millimeter wave radar sensor and a vehicle; the ultrasonic sensor is used for acquiring point cloud data of the surrounding space.
In this embodiment, each road side unit performs first fusion after acquiring the road condition information to generate fused road condition information, and then reports the fused road condition information to the mobile edge computing platform; the fusion algorithm adopted by the road side unit includes but is not limited to one of the following: bayesian rule method, Kalman filtering method, D-S evidence theory method, fuzzy set theory method, artificial neural network method, etc.
in this embodiment, the multiple roadside units are deployed on different roads, where the deployment manners of the multiple roadside units include but are not limited to: the road side units are arranged at intervals along the longitudinal direction of the monitored road surface according to the monitoring range of the single road side unit; the interval setting can be equal interval setting or unequal interval setting. For example, if the monitoring range of a single rsu is 100m, taking the arrangement at equal intervals along the longitudinal direction of the monitored road surface as an example, one rsu is arranged every 100 m.
Due to the fact that the monitoring range of the sensor equipment on a single road side unit is limited (for example, the monitoring range of the sensor equipment is 100-200 m), the road condition information of a whole section of monitored road surface can be monitored through the multiple road side units deployed on different road surfaces, and the full coverage of a road network range is achieved.
In this embodiment, the road side units collect and fuse the road condition information at the same time every a preset first period, so as to continuously report the fused road condition information of the monitored road surface, thereby ensuring the real-time performance of the road condition information; for example, taking the preset first period as 100ms as an example, the multiple rsus report the N-th round of fused traffic information at the same time in the nth period, after 100ms, the multiple rsus report the N + 1-th round of fused traffic information at the same time, and after 100ms, the multiple rsus report the N + 2-th round of fused traffic information at the same time.
Step S22: and performing second fusion on the fused road condition information respectively reported by the multiple road side units according to a preset algorithm to generate three-dimensional dynamic map data.
step S23: receiving a road condition request instruction sent by a vehicle-mounted unit through a pre-established transmission channel; the road condition request instruction carries the position information and the request time information of the vehicle-mounted unit.
in the present embodiment, the position information of the on-board unit is position information of the vehicle on the monitored road surface of the plurality of road side units, and is converted from GPS coordinates acquired by a CPS module connected to the on-board unit.
Referring to fig. 3, fig. 3 is a flowchart of a vehicle-road cooperative data interaction method according to an embodiment of the present application. As shown in fig. 3, the method includes the following steps in addition to steps S21 to S26:
step S31: and receiving a connection establishment request sent by the vehicle-mounted unit, wherein the connection establishment request carries the identity information of the vehicle-mounted unit.
in this embodiment, the mobile edge computing platform receives a connection establishment request sent by the vehicle-mounted unit under a preset trigger operation; wherein, the preset trigger operation includes but is not limited to: the method comprises the following steps of starting up, remotely controlling, acoustically controlling and the like, wherein through preset triggering operation, the vehicle-mounted unit automatically sends a connection establishment request to the mobile edge computing platform to request establishment of a transmission channel with the mobile edge computing platform, manual secondary information input is not needed, and a connection flow is simplified.
In this embodiment, the identity information includes, but is not limited to: the Global Acu Id which is unique in the whole network, the license plate number and the engine number of the vehicle and the software version number installed on the vehicle-mounted unit; the Global Acu Id refers to a unique device number allocated to the vehicle-mounted unit by the system and corresponds to the MAC address one by one.
Step S32: and verifying the identity information of the vehicle-mounted unit.
in this embodiment, the method for verifying the identity information of the on-board unit includes, but is not limited to: comparing the identity information of the vehicle-mounted unit with cloud information stored in a cloud server; the mobile edge computing platform is in communication connection with the cloud server; and the identity information of the vehicle-mounted unit is written in a configuration file in advance and is stored in the cloud server.
In addition, the mobile edge computing platform performs data interaction with the cloud server, for example: software version inquiry and upgrade, parameter configuration information, high-precision map version update, state information of a mobile edge computing platform and a vehicle, alarm report and fault elimination.
Step S23 includes:
and under the condition of verifying that the identity information is correct, establishing a transmission channel with the vehicle-mounted unit, and receiving the road condition request instruction sent by the vehicle-mounted unit through the transmission channel.
In this embodiment, if the identity information of the on-board unit is in the list of the configuration file of the cloud server, that is, the identity information is verified to be correct, a transmission channel with the on-board unit is established, and the road condition request instruction sent by the on-board unit is received through the transmission channel.
in the above embodiment, the vehicle-mounted unit actively initiates a connection establishment request with the mobile edge computing platform, and only the vehicle-mounted unit that passes the authentication of the mobile edge computing platform can establish the transmission channel, so that it is ensured that only the legal vehicle-mounted unit can acquire the traffic information.
step S24: and determining target road condition information from the received road condition information according to the position information and the request time information of the vehicle-mounted unit.
step S25: and determining target three-dimensional map data from the three-dimensional dynamic map data according to the target road condition information.
in this embodiment, according to the target traffic information, three-dimensional map data matched with the target traffic information is intercepted from the three-dimensional dynamic map data, and the three-dimensional map data is target three-dimensional map data.
specifically, after the target road condition information is obtained, the target road condition information can be used as an input parameter to call an integration function, and the target road condition information is integrated and spliced to obtain three-dimensional map data.
wherein, the integration function is disposed in the mobile edge computing platform, and the functions thereof include but are not limited to at least one of the following: an obstacle processing module: the algorithm supports noise point removal, detection result construction, ROI filtering and barrier speed fusion based on Kalman filtering; the prediction function module: including rule-based prediction algorithms and machine learning-based prediction algorithms, including location of obstacles, direction of motion angle, speed of movement, acceleration, etc. Then, the track prediction is carried out on the barrier by combining the information to comprehensively judge the moving direction of the object; a planning function module: a safe and comfortable driving route is calculated based on the given navigation map, navigation route, current positioning point, vehicle state (including position, speed, acceleration, chassis), perception and prediction information of surrounding objects (such as traffic signs, obstacles and the like).
step S26: and sending the target three-dimensional map data to the vehicle-mounted unit.
In this embodiment, the target road condition information is road condition information reported by a plurality of target road side units in the plurality of road test units; and an integration function is arranged in the mobile edge computing platform, and the target road condition information is integrated and spliced through the integration function to generate a three-dimensional dynamic map, so that the vehicle-mounted unit acquires road condition information of a section of continuous road surface on the monitored road surface, and driving safety is ensured.
according to the technical scheme, the road condition information is reported at the same time by the road side units every other preset first period, so that the road side units can carry out dynamic detection, and the obtained road condition information is continuous in time and space; the target road condition information is acquired at any time through the position information and the request moment information reported by the vehicle-mounted unit, and the vehicle-mounted unit is assisted to make a corresponding vehicle driving strategy so as to ensure the purpose of driving safety; the utilization efficiency of the road traffic information is improved, and the method plays an important role in relieving road traffic jam, improving road traffic capacity, improving road traffic safety and the like.
in addition, after the road condition information collected by each road side unit is subjected to first data fusion, the road condition information is reported to the mobile edge computing platform, the mobile edge computing platform performs second fusion on the fusion road condition information respectively reported by the plurality of road side units, and hierarchical collection and processing are adopted, so that the information efficiency is greatly improved, and the collection and processing of the complex road information are more reliable.
Referring to fig. 4, fig. 4 is a flowchart of step S24 in the flowchart of a vehicle-road cooperative data interaction method according to an embodiment of the present application. As shown in fig. 4, step S24 includes:
Step S41: and obtaining a road side unit subset in the road side units related to the position information according to the position information of the vehicle-mounted unit.
In this embodiment, the rsu subset is a plurality of rsus that are selected from the rsus and are continuously arranged according to a preset selection rule; the selection rule of the road side unit subset may be: acquiring a road side unit corresponding to the position information of the current vehicle-mounted unit, and forming a road side unit subset by the road side unit and road side units in front of and behind the road side unit; and determining the road side unit of the vehicle including the current vehicle-mounted unit in the monitoring range as the road side unit corresponding to the position information of the current vehicle-mounted unit.
exemplarily, a plurality of road side units are taken as the road side unit 1, the road side unit 2, the road side unit 3 and the road side unit 4 which are continuously arranged on the road surface; and if the vehicle to which the current vehicle-mounted unit belongs is within the monitoring range of the road side unit 2, determining the road side unit 2 as a road side unit corresponding to the position information of the current vehicle-mounted unit, and forming a road side unit subset by the road side unit 1, the road side unit 2 and the road side unit 3 together.
step S42: and under the condition that the request time information is matched with the period of the road side unit subset reporting the current fused road condition information, determining the current period of the reported fused road condition information as the target road condition information.
step S43: and under the condition that the request time information does not match the period of the road side unit subset for reporting the fused road condition information currently, determining the fused road condition information reported in the next period of the current period as the target road condition information.
in this embodiment, if the requested time information conforms to the period of the road side unit subset currently reporting the fused traffic information, the requested time information is matched with the period of the road side unit subset currently reporting the fused traffic information; otherwise, the request time information is not matched with the period of the road side unit subset reporting the integrated road condition information currently.
In this embodiment, when the request time information matches the period in which the road side unit subset reports the fused traffic information currently, and the fused traffic information of the current period is reported, the fused traffic information reported by the road side unit subset in the current period is determined as the target traffic information.
in this embodiment, when the request time information does not match the period of the sub-set of road side units reporting the fused traffic information currently, and the fused traffic information in the next period of the current period is reported completely, the fused traffic information reported by the sub-set of road side units in the next period of the current period is determined as the target traffic information.
exemplarily, still taking the preset first period as 100ms, the subset of road side units reports the fused road condition information of the nth round in the nth period, after 100ms, the subset of road side units reports the fused road condition information of the (N + 1) th round, and after 100ms, the subset of road side units reports the fused road condition information of the (N + 2) th round; if the vehicle-mounted unit sends a road condition request instruction at the time 0 and the position P0, the cycle of the road side unit subset reporting the current fusion road condition information is the Nth cycle; judging whether the time 0 is in accordance with the Nth period, if so, determining the Nth round of fused road condition information as the target road condition information; and if the road condition information is not matched with the target road condition information, and the N +1 th fused wheel road condition information is uploaded, determining the N +1 th fused wheel road condition information as the target road condition information.
through the embodiment, when the vehicle-mounted unit sends the road condition request instruction, the mobile edge computing platform plays back the road condition information in a certain range before and after the vehicle is intercepted to the vehicle, and the map data pushed by the mobile edge computing platform also presents a dynamic process of continuous time and space change along with the periodic reporting of the position of the vehicle-mounted unit.
referring to fig. 5, fig. 5 is a flowchart of a vehicle-road cooperative data interaction method according to an embodiment of the present application. As shown in fig. 5, the method includes the following steps in addition to steps S21 to S26:
Step S51: receiving the road condition request instruction sent by the vehicle-mounted unit every a preset second period through a pre-established transmission channel; the road condition request instruction carries the position information and the request time information of the vehicle-mounted unit.
In this embodiment, the preset second period may be the same as or different from the preset first period. For example, taking the preset second period as 100ms as an example, the vehicle-mounted unit sends a road condition request instruction to the mobile edge computing platform every 100 ms; the position information carried by the road condition request instruction is as follows: current location information of the on-board unit.
step S52: and sequentially determining the target road condition information from the received road condition information according to the position information and the request time information which are dynamically changed by the vehicle-mounted unit.
in this embodiment, the on-board unit dynamically changes along with the movement of the vehicle, and the corresponding location information and the request time information are different each time the road condition request instruction is sent. And aiming at the position information and the request time information carried by the road condition request instruction each time, the mobile edge computing platform respectively determines target road condition information from the road condition information received each time.
step S53: and sequentially determining the target three-dimensional map data from the three-dimensional dynamic map data according to the sequentially determined target road condition information.
in this embodiment, according to the sequentially determined target traffic information, three-dimensional map data matched with the target traffic information is sequentially intercepted from the three-dimensional dynamic map data.
Step S54: and sequentially sending the sequentially determined three-dimensional map data to the vehicle-mounted unit so as to display continuous three-dimensional dynamic map data on the vehicle-mounted unit.
In this embodiment, by sequentially sending the three-dimensional map data, continuous three-dimensional dynamic map data is displayed on the on-board unit, that is, continuous seamless image information is presented, so that the road condition information range received by the on-board unit is wider.
in this embodiment, the sending of the three-dimensional dynamic map data to the on-board unit is stopped when the link between the on-board unit and the mobile edge computing platform is terminated, wherein the cases of link termination include, but are not limited to: the vehicle-mounted unit actively initiates logout, and the mobile edge computing platform finds local logout initiated by link abnormity.
based on the same inventive concept, an embodiment of the application provides a vehicle-road cooperative data interaction system. The system at least comprises: the system comprises a vehicle-mounted unit, a plurality of road side units deployed on different road surfaces and a mobile edge computing platform; the vehicle-mounted unit and the road side unit are respectively in communication connection with the mobile edge computing platform;
The road side unit collects road condition information at the same time every other preset first period;
The road side units respectively perform first fusion on the acquired road condition information to generate fused road condition information;
The road side units report the fused road condition information to the mobile edge computing platform;
the mobile edge computing platform carries out second fusion on the fusion road condition information respectively reported by the multiple road side units according to a preset algorithm to generate three-dimensional dynamic map data;
The vehicle-mounted unit sends a road condition request instruction to the mobile edge computing platform through a pre-established transmission channel; the road condition request instruction carries position information and request time information of the vehicle-mounted unit;
the mobile edge computing platform determines target road condition information from the received road condition information according to the position information and the request time information of the vehicle-mounted unit;
The mobile edge computing platform determines target three-dimensional map data from the three-dimensional dynamic map data according to the target road condition information;
And the mobile edge computing platform sends the target three-dimensional map data to the vehicle-mounted unit.
For the present embodiment, since it is basically similar to the method embodiment, the relevant points can be referred to the partial description of the method embodiment.
optionally, the vehicle-mounted unit is further configured to send a connection establishment request to the mobile edge computing platform, where the connection establishment request carries identity information of the vehicle-mounted unit;
The mobile edge computing platform is further used for verifying the identity information;
And the mobile edge computing platform is also used for establishing a transmission channel with the vehicle-mounted unit under the condition of verifying that the identity information is correct, and receiving the road condition request instruction sent by the vehicle-mounted unit through the transmission channel.
For the present embodiment, since it is basically similar to the method embodiment, the relevant points can be referred to the partial description of the method embodiment.
optionally, the mobile edge computing platform is further configured to obtain, according to the location information of the on-board unit, a roadside unit subset of the plurality of roadside units associated with the location information;
the mobile edge computing platform is further configured to determine the fused road condition information reported in the current period as the target road condition information under the condition that the request time information is matched with the period in which the road side unit subset reports the fused road condition information currently;
The mobile edge computing platform is further configured to determine the fused road condition information reported in a next cycle of the current cycle as the target road condition information when the request time information does not match the cycle in which the road side unit subset currently reports the fused road condition information.
for the present embodiment, since it is basically similar to the method embodiment, the relevant points can be referred to the partial description of the method embodiment.
Optionally, the vehicle-mounted unit is further configured to send the road condition request instruction to the mobile edge computing platform every other preset second period through a pre-established transmission channel; the road condition request instruction carries position information and request time information of the vehicle-mounted unit;
the mobile edge computing platform is further used for sequentially determining the target road condition information from the received road condition information according to the position information and the request time information which are dynamically changed by the vehicle-mounted unit;
The mobile edge computing platform is further used for sequentially determining the target three-dimensional map data from the three-dimensional dynamic map data according to the sequentially determined target road condition information;
And the mobile edge computing platform is further used for sequentially sending the sequentially determined three-dimensional map data to the vehicle-mounted unit so as to display continuous three-dimensional map data on the vehicle-mounted unit.
For the present embodiment, since it is basically similar to the method embodiment, the relevant points can be referred to the partial description of the method embodiment.
Optionally, the system further comprises: a GPS module and an NTP server; GPS modules are arranged in the vehicle-mounted unit, the road side unit and the mobile edge computing platform; the NTP time server is in communication connection with the road side unit and the mobile edge computing platform;
the GPS module acquires a GPS synchronization signal to ensure the absolute synchronization of the 0 point of the vehicle-mounted unit, the road side unit and the mobile edge computing platform;
The NTP time server is used for carrying out time service on the road side unit and the mobile edge computing platform;
And the vehicle-mounted unit is used for time service or time service transmission through a network so as to ensure that 0 time of the vehicle-mounted unit, the road side unit and the mobile edge computing platform is kept consistent.
in this embodiment, the GPS module employs a high-precision differential GPS module; and the NTP time server is connected with a GPS antenna.
in this embodiment, first, the GPS module acquires a GPS synchronization signal to ensure absolute synchronization of 0 points of the on-board unit, the roadside unit, and the mobile edge computing platform; then, time service is carried out on the road side unit and the mobile edge computing platform through an NTP time server, and meanwhile time service or transmission time service is carried out on the vehicle-mounted unit through a network so as to ensure that 0 time of the vehicle-mounted unit, the road side unit and the mobile edge computing platform is kept consistent; the time service transmission mode is as follows: and after time service is carried out through a mobile edge computing platform in communication connection with the vehicle-mounted unit, time service is carried out on the vehicle-mounted unit through network transmission.
In this embodiment, the network time service is a wireless network or a wired network, which is not limited in this application; the transfer time service adopts wireless network time service, and the wireless network includes but is not limited to: 4G network, 5G network, WIFI network, this application does not do any restriction to this.
In this embodiment, synchronization and time service processing are performed to ensure time alignment of the on-board unit, the road side unit, and the mobile edge computing platform, so as to facilitate integration and splicing of the target road condition information, and meanwhile, to ensure that the viewing angles of the on-board unit and the road test unit are consistent, and ghost phenomena are not generated.
Optionally, the system further comprises: the vehicle self-motion state unit and the vehicle-mounted detection unit; the vehicle self motion state unit and the vehicle-mounted detection unit are respectively in communication connection with the vehicle-mounted unit;
the vehicle-mounted unit receives the vehicle self motion state information acquired by the vehicle self motion state unit and the vehicle-mounted detection information acquired by the vehicle-mounted detection unit;
Wherein the vehicle self motion state information comprises: speed, acceleration, oil mass, engine speed, road condition warning and vehicle-mounted sensor conditions; the vehicle-mounted detection information is detection information of the vehicle-mounted sensor.
In this embodiment, the vehicle state information can be acquired through the vehicle self motion state unit and the vehicle-mounted detection unit, so that the vehicle-road cooperative data interaction system can acquire the vehicle state information, can acquire road condition information by sensing the surrounding environment, and can enhance the information acquisition range of the vehicle cooperative data interaction system.
In an embodiment of the present application, the on-board unit is further communicatively connected with a V2X module, and the V2X module is configured to communicate with other vehicles, pedestrians, roadside traffic facilities, and cloud platforms through internet technology.
in one embodiment of the application, the on-board units may share data, for example, any one of the on-board units may transmit the received three-dimensional map data to other on-board units in the vehicles within the coverage area via a network. The vehicle-mounted unit shares data, so that other vehicles in the network can be helped to make corresponding driving strategies, and the purposes of avoiding traffic jam and ensuring driving safety are achieved.
In an embodiment of the present application, the on-board unit may further broadcast detection information of on-board sensors to the roadside unit, where the on-board sensors include but are not limited to: a vehicle-mounted camera and a vehicle-mounted radar; then, the road side unit transmits the detection information to the vehicle-mounted unit within the monitoring range.
For example, if the vehicle-mounted camera sensor of one of the vehicle-mounted units detects that the vehicle in front brakes suddenly or the vehicle is in a break, the vehicle-mounted unit broadcasts the detection information to the road side unit, and the road side unit sends the detection information to the vehicle-mounted unit within the monitoring range.
based on the same inventive concept, another embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the steps in the method according to any of the above-mentioned embodiments of the present application.
based on the same inventive concept, another embodiment of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, the electronic device implements the steps of the method according to any of the above embodiments of the present application.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one of skill in the art, embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
these computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the true scope of the embodiments of the application.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
the method, the system, the storage medium and the electronic device for vehicle-road collaborative data interaction provided by the application are introduced in detail, a specific example is applied in the text to explain the principle and the implementation of the application, and the description of the embodiment is only used for helping to understand the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (10)
1. A vehicle-road cooperative data interaction method is applied to a mobile edge computing platform, and comprises the following steps:
receiving the fused road condition information reported after a plurality of road side units deployed on different roads respectively fuse the acquired road condition information for the first time; the road condition information is collected at the same time by the road side units every other preset first period;
Performing second fusion on the fused road condition information respectively reported by the multiple road side units according to a preset algorithm to generate three-dimensional dynamic map data;
Receiving a road condition request instruction sent by a vehicle-mounted unit through a pre-established transmission channel; the road condition request instruction carries position information and request time information of the vehicle-mounted unit;
determining target road condition information from the received fusion road condition information according to the position information and the request time information of the vehicle-mounted unit;
determining target three-dimensional map data from the three-dimensional dynamic map data according to the target road condition information;
And sending the target three-dimensional map data to the vehicle-mounted unit.
2. The method according to claim 1, wherein before receiving the road condition request command sent by the vehicle-mounted unit through the pre-established transmission channel, the method further comprises:
receiving a connection establishment request sent by the vehicle-mounted unit, wherein the connection establishment request carries identity information of the vehicle-mounted unit;
Verifying the identity information of the vehicle-mounted unit;
The receiving of the road condition request instruction sent by the vehicle-mounted unit through the pre-established transmission channel includes:
and under the condition of verifying that the identity information is correct, establishing a transmission channel with the vehicle-mounted unit, and receiving the road condition request instruction sent by the vehicle-mounted unit through the transmission channel.
3. The method according to claim 1, wherein the determining target traffic information from the received fused traffic information according to the location information and the request time information of the on-board unit comprises:
Obtaining a road side unit subset in the road side units related to the position information according to the position information of the vehicle-mounted unit;
Determining the current cycle reported fused road condition information as the target road condition information under the condition that the request time information is matched with the cycle of the road side unit subset reporting the fused road condition information currently;
and under the condition that the request time information does not match with the period of the road side unit subset for reporting the fused road condition information at present, determining the fused road condition information reported in the next period of the present period as the target road condition information.
4. The method of claim 1, wherein after transmitting the target three-dimensional map data to the on-board unit, the method further comprises:
Receiving the road condition request instruction sent by the vehicle-mounted unit every a preset second period through a pre-established transmission channel; the road condition request instruction carries the position information and the request time information of the vehicle-mounted unit;
sequentially determining the target road condition information from the received fusion road condition information according to the position information and the request time information which are dynamically changed by the vehicle-mounted unit;
Sequentially determining the target three-dimensional map data from the three-dimensional dynamic map data according to the sequentially determined target road condition information;
and sequentially sending the sequentially determined three-dimensional map data to the vehicle-mounted unit so as to display continuous three-dimensional dynamic map data on the vehicle-mounted unit.
5. A vehicle-road cooperative data interaction system, the system at least comprising: the system comprises a vehicle-mounted unit, a plurality of road side units deployed on different road surfaces and a mobile edge computing platform; the vehicle-mounted unit and the road side unit are respectively in communication connection with the mobile edge computing platform;
The road side units collect road condition information at the same time every other preset first period;
the road side units respectively perform first fusion on the acquired road condition information to generate fused road condition information;
the road side units report the fused road condition information to the mobile edge computing platform;
The mobile edge computing platform carries out second fusion on the fusion road condition information respectively reported by the multiple road side units according to a preset algorithm to generate three-dimensional dynamic map data;
The vehicle-mounted unit sends a road condition request instruction to the mobile edge computing platform through a pre-established transmission channel; the road condition request instruction carries position information and request time information of the vehicle-mounted unit;
the mobile edge computing platform determines target road condition information from the received fusion road condition information according to the position information and the request time information of the vehicle-mounted unit;
the mobile edge computing platform determines target three-dimensional map data from the three-dimensional dynamic map data according to the target road condition information;
And the mobile edge computing platform sends the target three-dimensional map data to the vehicle-mounted unit.
6. The system of claim 5,
The vehicle-mounted unit is also used for sending a connection establishment request to the mobile edge computing platform, wherein the connection establishment request carries the identity information of the vehicle-mounted unit;
The mobile edge computing platform is further used for verifying the identity information;
And the mobile edge computing platform is also used for establishing a transmission channel with the vehicle-mounted unit under the condition of verifying that the identity information is correct, and receiving the road condition request instruction sent by the vehicle-mounted unit through the transmission channel.
7. the system of claim 5,
the mobile edge computing platform is further used for obtaining a road side unit subset in the road side units related to the position information according to the position information of the vehicle-mounted unit;
The mobile edge computing platform is further configured to determine the fused road condition information reported in the current period as the target road condition information under the condition that the request time information is matched with the period in which the road side unit subset reports the fused road condition information currently;
the mobile edge computing platform is further configured to determine the fused road condition information reported in a next cycle of the current cycle as the target road condition information when the request time information does not match the cycle in which the road side unit subset currently reports the fused road condition information.
8. the system of claim 5,
the vehicle-mounted unit is further used for sending the road condition request instruction to the mobile edge computing platform every other preset second period through a pre-established transmission channel; the road condition request instruction carries position information and request time information of the vehicle-mounted unit;
The mobile edge computing platform is further used for sequentially determining the target road condition information from the received fusion road condition information according to the position information and the request time information which are dynamically changed by the vehicle-mounted unit;
The mobile edge computing platform is further used for sequentially determining the target three-dimensional map data from the three-dimensional dynamic map data according to the sequentially determined target road condition information;
and the mobile edge computing platform is further used for sequentially sending the sequentially determined three-dimensional map data to the vehicle-mounted unit so as to display continuous three-dimensional dynamic map data on the vehicle-mounted unit.
9. the system of claim 5, further comprising: a GPS module and an NTP server; GPS modules are arranged in the vehicle-mounted unit, the road side unit and the mobile edge computing platform; the NTP time server is in communication connection with the road side unit and the mobile edge computing platform;
The GPS module acquires a GPS synchronization signal to ensure the absolute synchronization of the 0 point of the vehicle-mounted unit, the road side unit and the mobile edge computing platform;
The NTP time server is used for carrying out time service on the road side unit and the mobile edge computing platform;
and the vehicle-mounted unit is used for time service or time service transmission through a network so as to ensure that 0 time of the vehicle-mounted unit, the road side unit and the mobile edge computing platform is kept consistent.
10. The system of claim 5, further comprising: the vehicle self-motion state unit and the vehicle-mounted detection unit; the vehicle self motion state unit and the vehicle-mounted detection unit are respectively in communication connection with the vehicle-mounted unit;
The vehicle-mounted unit receives the vehicle self motion state information acquired by the vehicle self motion state unit and the vehicle-mounted detection information acquired by the vehicle-mounted detection unit;
wherein the vehicle self motion state information comprises: speed, acceleration, oil mass, engine speed, road condition warning and vehicle-mounted sensor conditions; the vehicle-mounted detection information is detection information of the vehicle-mounted sensor.
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Application publication date: 20191213 |