CN110738851A - vehicle-road cooperative data resource management system and method - Google Patents
vehicle-road cooperative data resource management system and method Download PDFInfo
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- CN110738851A CN110738851A CN201910990453.6A CN201910990453A CN110738851A CN 110738851 A CN110738851 A CN 110738851A CN 201910990453 A CN201910990453 A CN 201910990453A CN 110738851 A CN110738851 A CN 110738851A
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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
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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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
Abstract
The invention relates to an vehicle-road cooperative data resource management system which comprises an application demand plate (1), a data acquisition plate (3) and a vehicle guide plate (2), wherein a vehicle-road application mode is integrated, traffic services are integrally designed, road information is acquired by the data acquisition plate, the vehicle guide plate is provided with a road side module (4), a vehicle-mounted module (5) and a cloud end module (6), the road side module (4) and the cloud end module (6) form a control unit, the road side module (4), the vehicle-mounted module (5) and the cloud end module (6) form a communication unit, the road side module (4) and the cloud end module (6) formulate an overall vehicle flow guide strategy according to the traffic services designed by the road information and the application demand plate (1), and the overall vehicle flow guide strategy is sent to each vehicle-mounted module to be executed through the communication unit.
Description
Technical Field
The invention relates to the field of vehicle big data, in particular to a control method of data resources of vehicle-road cooperative systems.
Background
The intelligent internet vehicle is a product of industrial innovation and integration development, represents the mainstream direction of future traffic development, integrates the modern communication and network technology, realizes information sharing and control cooperation between the vehicle and an external node to achieve a safe, orderly, efficient and energy-saving new -generation vehicle system, enhances the integrity and safety of a traffic environment, integrates a man-car road into a body, can reduce 90% of traffic accidents caused by misoperation of a driver in the process, and can reduce traffic jam and improve the environmental quality.
The realization of the intelligent networked automobile technology depends on an intelligent vehicle-road cooperative system. The intelligent vehicle-road cooperative system comprises three major parts, namely an intelligent automobile, an intelligent road and a V2X communication system, the research and development and demonstration application of the cooperative system are mainly divided into four parts, and the research and development of vehicle-road cooperative information interaction and platform, the research and development of intelligent vehicle-mounted system key technologies and software and hardware, the research and development of intelligent road-side system key technologies and equipment and the development of a vehicle-road system simulation test platform are realized.
According to the phenomenon, resource systems for sorting the applications required in the intelligent vehicle-road cooperative system and analyzing the data required by the applications and the interaction information among the devices are needed.
Disclosure of Invention
The invention aims to provide a control method of types of vehicle-road cooperative system data resources in order to overcome the defects of serious resource waste and difficult clear system relationship in the prior art.
The purpose of the invention can be realized by the following technical scheme:
A vehicle road cooperative data resource management system, comprising:
applying a demand plate, integrating a vehicle road application mode, and integrally designing a traffic service;
the data acquisition plate is used for acquiring road information;
the vehicle guide plate is provided with a road side module, an on-board module and a cloud module, the road side module and the cloud module form a control unit, the road side module, the on-board module and the cloud module form a communication unit, the road side module and the cloud module formulate an overall traffic flow guide strategy according to traffic service designed by road information and application demand plate, and the traffic flow guide plate is sent to each on-board module to be executed through the communication unit.
The functions of the cloud module comprise primary management and control strategy formulation and comprehensive service information fusion.
The functions of the road side module comprise management and control strategy determination, individual control instruction formulation and dynamic information fusion.
The functions of the vehicle-mounted module comprise management and control strategy execution, dynamic map display and vehicle formation driving control.
The road information collected by the data collection plate comprises pedestrian data, vehicle data, road data, environment data and management and control data.
The pedestrian data includes pedestrian information detected by the detector, the road data includes urban road and highway map data, the vehicle data includes track data and detector data, the environmental data includes weather data, the management and control data includes variable information board and signal lamp data.
The expressway map data comprises ramp data and expressway section data, the urban road map data comprises urban section data and intersection data, and the variable information board data comprises a path scheme, a speed limit scheme and a lane scheme.
A method for managing resources by using a vehicle-road cooperative data resource management system, comprising the following steps:
step S1: the application demand plate integrates a typical application model of the vehicle road and designs traffic service according to the evolution direction of the application model;
step S2: the data acquisition board acquires pedestrian data, vehicle data, road data, environment data and control data of corresponding road sections;
step S3: and the vehicle guide plate performs data interaction on the data acquired in the step S2 through the cloud module, the road side module and the vehicle-mounted module according to the traffic service designed in the step S1, designs driving route guidance, and completes vehicle control on the corresponding road section.
The traffic service is variable speed limit management.
The content of the data interaction in step S3 includes signal light timing and phase information SPaT, MAP data information MAP, basic safety message BSM, and roadside traffic information.
Compared with the prior art, the invention has the following beneficial effects:
1. the vehicle road condition management system is provided with the control unit and the communication unit to manage the vehicle road condition, and information interaction and implementation of a scheme are facilitated through the corresponding cloud end module, the road side module and the vehicle-mounted module.
2. According to the invention, the data resources of the vehicle-road cooperative system are combed and divided into the ground pedestrian data, the vehicle data, the road data, the environment data and the control data for data acquisition, so that the condition of resource waste caused by repeated construction is avoided.
3. The invention designs traffic service according to the evolution direction of the application model by summarizing the typical application model of the vehicle road, is suitable for various traffic environments and is beneficial to the mutual coupling of four parts of human, vehicle, road and cloud.
Drawings
FIG. 1 is a schematic flow diagram of the present invention;
FIG. 2 is a schematic diagram of the structure of the information flow of the present invention;
FIG. 3 is a schematic diagram of a pedestrian data structure according to the present invention;
FIG. 4 is a schematic diagram of the structure of vehicle data according to the present invention;
FIG. 5 is a schematic diagram of the structure of the highway map data according to the present invention;
FIG. 6 is a schematic diagram of the structure of the urban road map data according to the present invention;
FIG. 7 is a diagram illustrating the structure of environment data according to the present invention;
FIG. 8 is a schematic structural diagram of a variable information plate according to the present invention;
FIG. 9 is a schematic diagram of the signal control structure of the present invention;
fig. 10 is a schematic view of lane control of the present invention.
Reference numerals:
1-application requirement plate; 2-vehicle guide panels; 3-data acquisition plate; 4-a roadside module; 5-vehicle-mounted module; 6-cloud module.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1, vehicle-road cooperative data resource management systems include:
the application demand plate 1 integrates the application mode of the vehicle and the road and integrates and designs traffic service;
a data acquisition plate 3 for acquiring road information;
vehicle guide plate block 2 is equipped with roadside module 4, on-vehicle module 5 and high in the clouds module 6, and roadside module 4 and high in the clouds module 6 constitute the control unit, and roadside module 4, on-vehicle module 5 and high in the clouds module 6 constitute communication unit, and roadside module 4 and high in the clouds module 6 formulate whole traffic flow guide strategy according to the traffic service of road information and the design of application demand plate block 1, send to each on-vehicle module through communication unit and carry out.
The cloud module 6 has functions of preliminary management and control strategy formulation and comprehensive service information fusion.
The functions of the road side module 4 include management and control strategy determination, individual control instruction formulation and dynamic information fusion.
The functions of the on-board module 5 include management and control policy execution, dynamic map display, and vehicle formation driving control.
The road information collected by the data collecting plate 3 includes pedestrian data, vehicle data, road data, environmental data and management and control data.
As shown in fig. 3, the pedestrian data includes pedestrian information detected by the detector, the road data includes urban road and highway map data, as shown in fig. 4, the vehicle data includes track data and detector data, as shown in fig. 7, the environment data includes weather data, and the management and control data includes variable information panel and signal light data.
As shown in fig. 5, the highway map data includes ramp data and highway section data; as shown in fig. 6, the urban road map data includes urban road section data and intersection data; as shown in fig. 8, the variable information board data includes a path plan, a speed limit plan, and a lane plan; as shown in fig. 9, the control scheme in the signal control corresponds to the phase sequence.
A method for managing resources by using a vehicle-road cooperative data resource management system, comprising the following steps:
step S1: the application demand plate 1 integrates a typical application model of the vehicle road and designs traffic service according to the evolution direction of the application model;
step S2: the data acquisition plate 3 acquires pedestrian data, vehicle data, road data, environment data and control data of corresponding road sections;
step S3: the vehicle guide plate 2 performs data interaction on the data collected in step S2 through the cloud module 6, the roadside module 4 and the vehicle-mounted module 5 according to the traffic service designed in step S1, designs driving route guidance, and completes vehicle control on a corresponding road section.
The integrated vehicle road typical application model needs to summarize the current standards at home and abroad and the application of a test field, sort and analyze typical application in the standard, judge the evolution direction of the application by referring to the relevant literature data of the intelligent internet vehicle technology, and summarize the common evolution direction and the individual evolution direction by combining the development situation and the research trend of the current relevant technology. Traffic service design needs to support the current situation and future services according to the evolution direction and the current application, and the services are described specifically, and an implementation scheme and required equipment are provided.
The traffic service is an integrated service with three types of targets of safety, efficiency and information service being bodies, and comprises variable speed limit management, slow traffic track recognition and behavior analysis and vehicle convergence control.
The content of the data interaction of step S3 includes signal light timing and phase information SPaT, MAP data information MAP, basic safety message BSM, and roadside traffic information.
As shown in fig. 2, the roadside module 4 obtains the spa t and detector data from the signal, the variable information board, and the detector, and the roadside module 4 transmits the spa t, the lane plan, and the speed limit information to the signal and the variable information board.
The road side module 4 obtains BSM information from the vehicle-mounted module 5, and the vehicle-mounted module 5 obtains speed limit information, BSM, MAP, SPaT, individual control instructions, fleet-oriented management and control instructions, real-time lane information and vehicle speed guide information from the road side module 4.
The roadside module 4 obtains preliminary speed limit information, BSM, signal coordination control instructions, real-time lane information, dynamic lane schemes and bus dispatching information from the cloud module 6, and the cloud module 6 obtains SPaT, BSM and detector data from the roadside module 4.
The cloud module 6 obtains the data of the SPaT and the detector from the signal lamp, the variable information board and the detector, and sends the SPaT, the speed limit information, the lane scheme and the comprehensive information to the signal lamp, the variable information board and the detector.
The on-board module 5 obtains the comprehensive information from the cloud module 6.
Example
As shown in fig. 10, the roadside module 4 is equipped with a basic communication device, which has functions of traffic state sensing and dynamic lane scheme making and publishing, for dynamic lane management of a discontinuous road section, the roadside module 4 performs real-time communication with vehicles within an intersection range, collects state data of networked vehicles, divides functions of an entrance lane on the basis of the state data, completes entrance lane distribution by combining a preliminary management and control strategy of the cloud module 6, realizes reasonable scheduling of left-turn, straight-going and right-turn lanes, distributes straight-going to left-turn and right-turn lanes under the condition of straight-going congestion, and controls to return to the straight-going lane when approaching the intersection.
The data structure related to traffic services is as follows:
lane function control is carried out on the Lane function control intersection;
variable message service signgroup variable message panel set:
ID (int) variable message board group number
Variable MessageSignNumber (int) variable number of message boards
VariableMessageSignList (list, int): variable information board List
Number of link number (int)
Linkbist (list, int) link list;
variable message sign variable information board:
ID (int) variable slate number
Longitude of Longituude
Latitude (latitude);
link id (int) link number:
LaneSchemeID (int) displays lane scheme numbering:
LaneScheme lane scheme
ID (int) lane plan numbering
LaneList (int), LaneList of lane groups
Lane function List (list, string): list of lane functions.
The cloud module 6 needs to make a relevant management and control strategy preliminarily, the roadside module 4 needs to make a relevant management and control strategy and sense dynamic information fusion, and the vehicle-mounted module 5 needs to display and execute management and control information. The networked vehicle needs to transmit information M1(BSM) to the roadside module 4, the cloud module 6 needs to transmit information M2(SPAT) to the roadside module 4, and the roadside module 4 needs to transmit information M2(SPAT), M3(MAP), and M4 (real-time lane function RLF) to the networked vehicle.
M1, M2 and M3 are all established in the application layer and application data interaction standard of the vehicular communication system of the cooperative intelligent transportation system, and the information format of M4 (real-time lane function RLF) is shown in Table 1:
TABLE 1M 10RLF real-time Lane function
| Field(s) | Code | Type (B) | Length of | Remarks for note | |
| Message length | length | short | 2 | ||
| Message type | type | byte | 1 | RLF＝0x10 | |
| Device ID | deviceID | byte[] | 16 | RSU | |
| Time stamp | timestamp | short | 2 | ||
| Vehicle number | | byte | 4 | CV Group、CAV Group | |
| Lane group list | LaneList | Byte[] | 16 | LaneFunctionControl.LaneScheme | |
| Lane function list | LaneFunctionList | Byte[] | 16 | LaneFunctionControl.LaneScheme | |
| Protocol | status | byte | 2 | Initial 0x01 and final 0x02 | |
| Duration of time | time | double | 8 |
In addition, it should be noted that the specific embodiments described in the present specification may have different names, and the above descriptions in the present specification are only illustrations of the structures of the present invention. Minor or simple variations of the structures, features and principles described in the present inventive concept are included in the scope of the present invention. Various modifications or additions may be made to the described embodiments or methods may be similarly employed by those skilled in the art without departing from the scope of the invention as defined in the appending claims.
Claims (10)
- The resource management system of the cooperative data of the vehicle roads of 1 kind and kinds is characterized by comprising:the application demand plate (1) integrates the application mode of the vehicle and the road and integrates and designs traffic service;a data acquisition plate (3) for acquiring road information;vehicle guide plate block (2) is equipped with roadside module (4), on-vehicle module (5) and high in the clouds module (6), the control unit is constituteed with high in the clouds module (4), roadside module (4), on-vehicle module (5) and high in the clouds module (6) constitute communication unit, roadside module (4) and high in the clouds module (6) formulate whole traffic flow guide strategy according to the traffic service that road information and application demand plate block (1) were designed, through communication unit sends to each on-vehicle module and carries out.
- 2. The vehicle route cooperative data resource management system according to claim 1, wherein the functions of the cloud module (6) include preliminary management and control strategy formulation and integrated service information fusion.
- 3. The kinds of vehicle-road cooperative data resource management system of claim 1, wherein the functions of the road side module (4) include management and control strategy determination, individual control instruction formulation and dynamic information fusion.
- 4. The kinds of vehicle-road cooperative data resource management system according to claim 1, wherein the functions of the on-board module (5) include management and control policy enforcement, dynamic map display, and vehicle formation driving control.
- 5. The kinds of vehicle-road cooperative data resource management system of claim 1, wherein the road information collected by the data collection plate (3) includes pedestrian data, vehicle data, road data, environmental data and management and control data.
- 6. The kinds of vehicle-road cooperative data resource management system of claim 5, wherein the pedestrian data includes pedestrian information detected by a detector, the road data includes urban road and highway map data, the vehicle data includes track data and detector data, the environmental data includes weather data, and the management and control data includes variable information board and signal light data.
- 7. The kind of vehicle-road cooperative data resource management system of claim 6, wherein the highway map data includes ramp data and highway section data, the urban road map data includes urban section data and intersection data, and the variable slate data includes a path plan, a speed limit plan and a lane plan.
- 8, method for resource management by using the vehicle road cooperative data resource management system of claims 1-7, characterized by comprising the following steps:step S1: the application demand plate (1) integrates a typical application model of the vehicle road and designs traffic service according to the evolution direction of the application model;step S2: the data acquisition plate (3) acquires pedestrian data, vehicle data, road data, environment data and control data of corresponding road sections;step S3: and the vehicle guide plate (2) performs data interaction on the data acquired in the step S2 through the cloud module (6), the road side module (4) and the vehicle-mounted module (5) according to the traffic service designed in the step S1, designs driving route guidance, and completes vehicle control on a corresponding road section.
- 9. The control method of claim 8, wherein the traffic service is variable speed limit management.
- 10. The control method according to claim 8, wherein the content of the step S3 data interaction includes signal light timing and phase information SPaT, MAP data information MAP, basic safety message BSM, and roadside traffic information.
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| CN112233424A (en) * | 2020-12-17 | 2021-01-15 | 北京主线科技有限公司 | Longitudinal control method, device and system for truck fleet in vehicle-road cooperation |
| CN112258865A (en) * | 2020-10-26 | 2021-01-22 | 英博超算(南京)科技有限公司 | Intelligent red and green signal lamp control system based on Internet of vehicles V2X |
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| CN114384914A (en) * | 2022-01-13 | 2022-04-22 | 天津港第二集装箱码头有限公司 | Collaborative regulation and control method for automatic wharf global system and ART autonomous operation |
| CN114384914B (en) * | 2022-01-13 | 2023-12-05 | 天津港第二集装箱码头有限公司 | Collaborative regulation and control method for automatic wharf global system and ART autonomous operation |
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