CN111152729B - Emission angle adjusting method and system, storage medium and electronic device - Google Patents
Emission angle adjusting method and system, storage medium and electronic device Download PDFInfo
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- CN111152729B CN111152729B CN201911380652.1A CN201911380652A CN111152729B CN 111152729 B CN111152729 B CN 111152729B CN 201911380652 A CN201911380652 A CN 201911380652A CN 111152729 B CN111152729 B CN 111152729B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
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Abstract
The invention provides a method and a system for adjusting an emission angle, a storage medium and an electronic device, wherein the method comprises the following steps: receiving continuous awakening frames sent by a Road Side Unit (RSU) positioned on a portal frame through an On Board Unit (OBU) of a target vehicle; resolving at least one of the following target information from the consecutive wake-up frames: the distance from the top of the target vehicle to the ground, the distance from the bottom of the target vehicle to the ground, the distance from the portal frame to the ground, the distance from the Road Side Unit (RSU) to the top, and the distance from the Road Side Unit (RSU) to the bottom; according to the technical scheme, the problem that in the related art, the interaction success rate between the road side unit and the vehicle-mounted unit is low and the like is solved.
Description
Technical Field
The invention relates to the field of electronic toll collection systems, in particular to a method and a system for adjusting an emission angle, a storage medium and an electronic device.
Background
The development of the expressway at present promotes the popularization of an Electronic Toll Collection System (ETC for short), more and more people start to install vehicle-mounted units, and the quantity of vehicles passing through an expressway entrance is increased, so that the improvement of the vehicle passing efficiency is more and more important.
In the prior art, the success rate of interaction with the road side units is often improved by increasing the awakening sensitivity, the receiving sensitivity or the transmitting power of the vehicle-mounted unit before the vehicle leaves a factory, but the vehicle-mounted unit is difficult to adapt to all road side units because the radio frequency index, the installation position, the environment and the like of the vehicle-mounted unit are different and identical, and in addition, the vehicle-mounted unit uses fixed awakening sensitivity, receiving sensitivity and transmitting power after the vehicle leaves the factory.
Aiming at the problems that the interaction success rate between the road side unit and the vehicle-mounted unit is not high and the like in the related technology, an effective technical scheme is not provided yet.
Disclosure of Invention
The embodiment of the invention provides a method and a system for adjusting a transmitting angle, a storage medium and an electronic device, which are used for at least solving the problems of low interaction success rate between a road side unit and a vehicle-mounted unit and the like in the related technology.
According to an embodiment of the present invention, there is provided a method for adjusting a transmission angle, including: receiving continuous awakening frames sent by a Road Side Unit (RSU) positioned on a portal frame through an On Board Unit (OBU) of a target vehicle; resolving at least one of the following target information from the consecutive wake-up frames: the distance from the top of the target vehicle to the ground, the distance from the bottom of the target vehicle to the ground, the distance from the portal frame to the ground, the distance from the Road Side Unit (RSU) to the top, and the distance from the Road Side Unit (RSU) to the bottom; and adjusting a first emission angle of a traction sheet in the OBU according to the target information so as to enable the OBU to correspond to the roadside unit.
In an embodiment of the present invention, adjusting a first emission angle of a traction blade in the on-board unit OBU according to the target information includes: determining the adjustment range of the first emission angle according to the target information; and adjusting a first emission angle of a traction sheet in the OBU according to the adjustment range so as to enable the OBU to correspond to the roadside unit.
In this embodiment of the present invention, determining the adjustment range of the first transmission angle according to the target information includes: determining a minimum value of the adjustment range according to the following formula: chi ═ arcsin (h-h)1) L1, and the maximum value of the adjustment range: gamma-arcsin (h-h)2) /L2; determining an adjustment range [ χ ═ arcsin (h-h) of the first emission angle according to the minimum value and the maximum value1)/L1,γ＝arcsin(h-h2)/L2]Wherein h is the distance between the portal frame and the ground, h1Is the distance of the top of the target vehicle from the ground, h2L1 is the distance of the bottom of the target vehicle from the ground, and L is the distance of the RSUDistance from the top, L2 is the distance of the roadside unit RSU from the bottom.
In an embodiment of the present invention, adjusting a first launch angle of a traction blade in the on board unit OBU according to the adjustment range so that the on board unit OBU corresponds to the roadside unit includes: and controlling a transmission structure in the OBU to adjust the first launching angle of the traction sheet according to the adjusting range so as to enable the OBU to correspond to the roadside unit. In an embodiment of the present invention, after adjusting a first launch angle of a traction blade in the on-board unit OBU according to the target information so that the on-board unit OBU corresponds to the roadside unit, the method further includes: determining a minimum value δ of an adjustment range of a second launch angle of the traction plate according to the following formula: delta is delta1+δ2Wherein
w＝w1+w2Wherein h is the distance between the portal frame and the ground, h1Is the distance of the top of the target vehicle from the ground, h2The distance from the bottom of the target vehicle to the ground, L1 is the distance from the road side unit RSU to the top, L2 is the distance from the road side unit RSU to the bottom, w is the width of the lane where the target vehicle is located1Is the distance, w, of the target vehicle from the left side of the lane2Distance of the target vehicle from the right side of the lane; determining the adjustment range and the maximum value of the second emission angle of the traction sheet according to the following formula: e ═ e-1+ε2Wherein, in the step (A),
w＝w1+w2(ii) a And controlling a transmission structure of the OBU to adjust the second launching angle of the traction sheet according to the adjusting range of the second launching angle by controlling the transmission structure of the OBU according to the minimum value delta and the maximum value epsilon of the adjusting range of the second launching angle.
According to another embodiment of the present invention, there is also provided a system for adjusting a transmission angle, including: the system comprises an on-board unit (OBU) and a Road Side Unit (RSU), wherein the OBU is arranged in a target vehicle and is used for receiving continuous wake-up frames sent by the RSU on a portal frame; resolving at least one of the following target information from the consecutive wake-up frames: the distance from the top of the target vehicle to the ground, the distance from the bottom of the target vehicle to the ground, the distance from the portal frame to the ground, the distance from the Road Side Unit (RSU) to the top, and the distance from the Road Side Unit (RSU) to the bottom; and adjusting a first emission angle of a traction sheet in the OBU according to the target information so as to enable the OBU to correspond to the roadside unit.
In the embodiment of the present invention, the on-board unit OBU is further configured to determine an adjustment range of the first transmission angle according to the target information; and adjusting a first emission angle of a traction sheet in the OBU according to the adjustment range so as to enable the OBU to correspond to the roadside unit.
In an embodiment of the present invention, the on-board unit OBU is further configured to determine a minimum value of the adjustment range according to the following formula: chi ═ arcsin (h-h)1) L1, and the maximum value of the adjustment range: gamma-arcsin (h-h)2) /L2; determining an adjustment range [ χ ═ arcsin (h-h) of the first emission angle according to the minimum value and the maximum value1)/L1,γ＝arcsin(h-h2)/L2]Wherein h is the distance between the portal frame and the ground, h1Is the distance of the top of the target vehicle from the ground, h2L1 is the distance of the bottom of the target vehicle from the ground, L2 is the distance of the RSU from the top, and L2 is the distance of the RSU from the bottom.
In an embodiment of the present invention, the OBU includes: the transmission mechanism is used for adjusting the first launching angle of the traction sheet according to the adjusting range, so that the on-board unit (OBU) corresponds to the road side unit.
In the inventionIn an embodiment, the on-board unit OBU is further configured to determine a minimum value δ of an adjustment range of the second launch angle of the traction blade according to the following formula: delta is delta1+δ2Wherein
w＝w1+w2Wherein h is the distance between the portal frame and the ground, h1Is the distance of the top of the target vehicle from the ground, h2The distance from the bottom of the target vehicle to the ground, L1 is the distance from the road side unit RSU to the top, L2 is the distance from the road side unit RSU to the bottom, w is the width of the lane where the target vehicle is located1Is the distance, w, of the target vehicle from the left side of the lane2Distance of the target vehicle from the right side of the lane; determining the adjustment range and the maximum value of the second emission angle of the traction sheet according to the following formula: e ═ e-1+ε2Wherein, in the step (A),
w＝w1+w2(ii) a And controlling a transmission structure of the OBU to adjust the second launching angle of the traction sheet according to the adjusting range of the second launching angle by controlling the transmission structure of the OBU according to the minimum value delta and the maximum value epsilon of the adjusting range of the second launching angle.
According to another embodiment of the present invention, there is also provided a storage medium having a computer program stored therein, wherein the computer program is configured to execute the method of adjusting an emission angle according to any one of the above methods when the computer program is executed.
According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.
According to the invention, a vehicle-mounted unit OBU of a target vehicle receives continuous awakening frames sent by a road side unit RSU on a portal frame; resolving at least one of the following target information from the consecutive wake-up frames: the distance from the top of the target vehicle to the ground, the distance from the bottom of the target vehicle to the ground, the distance from the portal frame to the ground, the distance from the Road Side Unit (RSU) to the top, and the distance from the Road Side Unit (RSU) to the bottom; according to the technical scheme, the problem that interaction success rate between the road side unit and the vehicle-mounted unit is not high in the related technology is solved, emission intensity is effectively utilized, electric energy consumption is saved, and interaction success rate of the vehicle-mounted unit and the road side unit is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a block diagram of a hardware structure of an on-board unit OBU of a method for adjusting a launch angle according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for adjusting a transmission angle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a method of varying the angle of the field strength of the on-board unit transmission in accordance with an alternative embodiment of the present invention;
FIG. 4 is a schematic illustration of the interior and exterior components of an on-board unit in accordance with an alternative embodiment of the present invention;
FIG. 5 is a schematic view of the direction of motion of a transmission according to an alternative embodiment of the present invention;
FIG. 6 is a block diagram of the components of a PCBA in an on-board unit in accordance with an alternative embodiment of the present invention;
FIG. 7 is a flowchart illustrating operation of an alternative on-board unit in accordance with an embodiment of the present invention;
fig. 8 is a block diagram of a system for adjusting a transmission angle according to an embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The method provided by the embodiment of the application can be executed in an On Board Unit (OBU), a computer terminal or a similar operation system. Taking the operation on the on-board unit OBU as an example, fig. 1 is a hardware structure block diagram of the on-board unit OBU of the method for adjusting the launch angle according to the embodiment of the present invention. As shown in fig. 1, on board unit OBU10 may include one or more (only one shown in fig. 1) processors 102 (processor 102 may include, but is not limited to, a processing system such as a microprocessor MCU or a programmable logic device FPGA) and memory 104 for storing data, and optionally may also include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the configuration shown in fig. 1 is merely illustrative and is not intended to limit the configuration of the on-board unit OBU described above. For example, the on-board unit OBU10 may also include more or fewer components than shown in FIG. 1, or have a different configuration with equivalent functionality to that shown in FIG. 1 or with more functionality than that shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program of an application software and a module, such as a computer program corresponding to the adjustment method of the transmission angle in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory and may also include non-volatile memory, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state memory. In some examples, memory 104 may further include memory located remotely from processor 102, which may be connected to on-board unit OBU10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission system 106 is used to receive or transmit data via a network. Specific examples of such networks may include wireless networks provided by the communications provider of the on board unit OBU 10. In one example, the transmission system 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission system 106 can be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
According to an embodiment of the present invention, there is provided a method for adjusting a transmission angle, and fig. 2 is a flowchart of a method for adjusting a transmission angle according to an embodiment of the present invention, as shown in fig. 2, including:
step S202, receiving continuous awakening frames sent by a Road Side Unit (RSU) (RSU for short) on a portal frame through an OBU of a target vehicle;
step S204, at least one of the following target information is analyzed from the continuous wake-up frame: the distance from the top of the target vehicle to the ground, the distance from the bottom of the target vehicle to the ground, the distance from the portal frame to the ground, the distance from the Road Side Unit (RSU) to the top, and the distance from the Road Side Unit (RSU) to the bottom;
and S206, adjusting a first emission angle of a traction sheet in the OBU according to the target information so as to enable the OBU to correspond to the roadside unit.
Through the steps, the vehicle-mounted unit OBU of the target vehicle receives the continuous awakening frame sent by the road side unit RSU on the portal frame; resolving at least one of the following target information from the consecutive wake-up frames: the distance from the top of the target vehicle to the ground, the distance from the bottom of the target vehicle to the ground, the distance from the portal frame to the ground, the distance from the Road Side Unit (RSU) to the top, and the distance from the Road Side Unit (RSU) to the bottom; according to the technical scheme, the problem that interaction success rate between the road side unit and the vehicle-mounted unit is not high in the related technology is solved, emission intensity is effectively utilized, electric energy consumption is saved, and interaction success rate of the vehicle-mounted unit and the road side unit is improved.
In an embodiment of the present invention, adjusting a first emission angle of a traction blade in the on-board unit OBU according to the target information includes: determining the adjustment range of the first emission angle according to the target information; and adjusting a first emission angle of a traction sheet in the OBU according to the adjustment range so as to enable the OBU to correspond to the roadside unit.
In an embodiment of the present invention, adjusting a first launch angle of a traction blade in the on board unit OBU according to the adjustment range so that the on board unit OBU corresponds to the roadside unit includes: and controlling a transmission structure in the OBU to adjust the first launching angle of the traction sheet according to the adjusting range so as to enable the OBU to correspond to the roadside unit, namely, arranging the transmission structure and the traction sheet in the OBU, and controlling the first launching angle of the traction sheet through the transmission structure.
In this embodiment of the present invention, determining the adjustment range of the first transmission angle according to the target information includes: is determined according to the following formulaMinimum value of the adjustment range: chi ═ arcsin (h-h)1) L1, and the maximum value of the adjustment range: gamma-arcsin (h-h)2) /L2; determining an adjustment range [ χ ═ arcsin (h-h) of the first emission angle according to the minimum value and the maximum value1)/L1,γ＝arcsin(h-h2)/L2]Wherein h is the distance between the portal frame and the ground, h1Is the distance of the top of the target vehicle from the ground, h2L1 is the distance of the bottom of the target vehicle from the ground, L2 is the distance of the RSU from the top, and L2 is the distance of the RSU from the bottom. The minimum value and the maximum value of the adjustment range of the first launching angle to be adjusted are calculated through the formula, the adjustment range is further determined according to the maximum value and the minimum value determined by the target information, and the first launching angle of the traction sheet in the OBU can be conveniently adjusted by the traction sheet in the OBU according to the target information.
As an alternative embodiment, when the first transmission angle is adjusted to the minimum value of the adjustment range, χ should be the included angle between the horizontal line of the top of the target vehicle and the distance L1 between the road side unit RSU and the top of the target vehicle;
as an alternative embodiment, when the first emission angle is adjusted to the maximum value of the adjustment range, γ should be the angle between the horizontal line of the bottom of the target vehicle and the distance L2 from the road side unit RSU to the bottom of the target vehicle;
in an embodiment of the present invention, after adjusting a first launch angle of a traction blade in the on-board unit OBU according to the target information so that the on-board unit OBU corresponds to the roadside unit, the method further includes: determining a minimum value δ of an adjustment range of a second launch angle of the traction plate according to the following formula: delta is delta1+δ2Wherein
w＝w1+w2Wherein h is the distance between the portal frame and the ground, h1Is the distance of the top of the target vehicle from the ground, h2The distance from the bottom of the target vehicle to the ground, L1 is the distance from the road side unit RSU to the top, L2 is the distance from the road side unit RSU to the bottom, w is the width of the lane where the target vehicle is located1Is the distance, w, of the target vehicle from the left side of the lane2Distance of the target vehicle from the right side of the lane; determining the adjustment range of the second launch angle of the traction plate and the maximum value epsilon according to the following formula: e ═ e-1+ε2Wherein, in the step (A),
w＝w1+w2(ii) a Controlling a transmission structure of the on-board unit OBU to adjust the second launching angle of the traction sheet according to the adjustment range of the second launching angle, for example, in the embodiment of the present invention, w may be set according to the adjustment range of the second launching angle1Infinitely approaches 0, and then determines w2Can also be given the value of2Infinitely approaches 0, and then determines w1Can be further determined by this processing, the minimum value δ and the maximum value ε of the adjustment range of the second transmission angle.
As an alternative embodiment, when the second emission angle is adjusted to the minimum value of the adjustment range, δ should be the intersection point of the horizontal dotted line of a determined coordinate point of the top of the target vehicle and the plane of h-w, and w of the plane of the top of the target vehicle1W of intersection point with left side of lane and plane of top of target vehicle2W in triangle formed by sequentially connecting intersection points on right side of lane1+w2The included angle corresponding to the edge.
As an alternative embodiment, when the second emission angle is adjusted to the adjustment rangeAt the maximum value of (c), epsilon is the intersection point of the horizontal dotted line of a determined coordinate point of the bottom of the target vehicle and the plane of h-w, and w is the plane of the bottom of the target vehicle1W of intersection point with left side of lane and plane of bottom of target vehicle2W in triangle formed by sequentially connecting intersection points on right side of lane1+w2The included angle corresponding to the edge.
In summary, in the embodiment of the present invention, the rsu completes sending the consecutive wakeup frames, where the consecutive wakeup frames carry the frame number and the vehicle height (corresponding to the distance h from the top of the target vehicle to the ground)1Distance h from the bottom of the target vehicle to the ground2) And the distance from the vehicle (corresponding to the distance L1 between the road side unit RSU and the top of the target vehicle and the distance L2 between the road side unit RSU and the bottom of the target vehicle), the height h of a portal frame where the road side unit is located and the lane width w. The vehicle-mounted unit receives the continuous wake-up frames and analyzes the frame number, the height and the distance of the vehicle, the height h of a portal frame where the road side unit is located and the lane width w; judging whether the wake-up frame is a continuous frame or not according to the frame sequence number, if so, utilizing a known quantity h1、L1、h2L2, h and w; and calculating the theoretical adjustment angle range of the traction sheet and the roadside unit in the vehicle-mounted unit and the angle ranges of two sides of the vehicle, and adjusting the second emission angle of the traction sheet according to the adjustment range of the second emission angle by controlling a transmission structure of the OBU, thereby completing the change of the emission field intensity angle of the vehicle-mounted unit.
According to the embodiment of the invention, after the on board unit OBU detects and receives the continuous wake-up frames, the frame number, the vehicle height, the distance between the vehicle and the vehicle, the height of the portal frame and the lane width are analyzed; judging whether the wake-up frame is a continuous frame or not according to the frame sequence number, if so, utilizing the known quantity h according to the analyzed frame data1、L1、h2L2, h and w calculate a theoretical angle range, and determine an adjustment range of the first emission angle, namely the theoretical angle between a traction sheet in the vehicle-mounted unit and the road side unit and the angles between the traction sheet and the two sides of the lane; adjusting a first emission angle of a traction sheet in an on-board unit (OBU) by controlling a transmission mechanism according to the adjustment rangeAnd the change of the emission field intensity angle of the vehicle-mounted unit is completed, so that the OBU corresponds to the road side unit.
The technical solution of the foregoing adjustment method for the emission angle is explained with reference to an example, but is not limited to the technical solution of the embodiment of the present invention.
The embodiment of the invention mainly aims to provide a method for changing the emission field intensity angle of a vehicle-mounted unit, thereby improving the interaction success rate of a road side unit and the vehicle-mounted unit.
In order to achieve the above object, the present invention optionally provides a method for changing the field intensity angle of the vehicle-mounted unit, wherein the vehicle-mounted unit analyzes the frame number, the vehicle height, the distance between the vehicle and the vehicle, the height of the portal frame and the lane width after detecting and receiving the continuous wake-up frames; judging whether the wake-up frame is a continuous frame or not according to the frame sequence number, if so, analyzing the frame data, and calculating a theoretical angle range, namely a theoretical angle between a traction sheet in the vehicle-mounted unit and a road side unit and angles between the traction sheet and two sides of a lane according to the known quantity; the angle of the traction sheet is adjusted by controlling the transmission mechanism, so that the change of the transmitting field intensity angle of the vehicle-mounted unit is completed.
Further, the roadside unit is configured to continuously send a wakeup frame and perform Dedicated Short Range Communication (DSRC) data interaction, where the wakeup frame carries a frame number, a vehicle height, a distance from the vehicle, a height of a gantry where the gantry is located, and a lane width. The vehicle-mounted unit comprises a shell, a PCBA (Printed Circuit Board Assembly), a traction sheet, a battery capacitor and a conduction mechanism;
further, the vehicle-mounted unit receives the continuous wake-up frames and analyzes the frame number, the height and distance between the vehicle and the vehicle, the height of a portal frame where the road side unit is located and the lane width; judging whether the wake-up frame is a continuous frame or not according to the frame number, if so, analyzing the frame data and utilizing the known quantity h1、L1、h2L2, h and w, and calculating the theoretical adjustment angle between the traction sheet in the vehicle-mounted unit and the roadside unit and the angles between the traction sheet and the two sides of the lane; the angle of the traction sheet is adjusted by controlling the transmission mechanism, thereby completing the change of the transmitting field intensity angle of the vehicle-mounted unitMelting;
further, the housing includes a bottom case and an upper case; the housing is used to carry the PCBA, the traction tabs, the battery capacitor and the conduction mechanism. The PCBA comprises a main control unit, a DSRC unit, a power supply unit and a transmission interface unit. The main control unit completes DSRC, conduction control and logic operation derivation; the DSRC unit is used for 5.8G radio frequency awakening and data coding and decoding receiving and transmitting; the power supply unit is used for connecting a battery capacitor and simultaneously performing voltage conversion; the transmission interface unit is used for connecting and controlling the transmission mechanism;
further, the pull piece is used for carrying out energy concentration on the emission field intensity of the DSRC unit in the PCBA. The battery capacitor is used for providing electric energy for the vehicle-mounted unit. The transmission mechanism is used for finishing the angle adjustment of the traction sheet.
The technical solution of the above-mentioned adjustment method of the emission angle is explained with reference to another example, but is not limited to the technical solution of the embodiment of the present invention.
The embodiment of the invention provides a method for changing the emission field intensity angle of a vehicle-mounted unit, which can be applied to an electronic toll collection system.
As shown in FIG. 3, a method for changing the angle of the transmitting field intensity of the vehicle-mounted unit of the alternative embodiment comprises a road side unit (10) and a vehicle-mounted unit (20). The method comprises the steps of analyzing a frame and deducing operation values L, h, w, alpha (which is equivalent to a theoretical adjustment angle range of a road side unit in the embodiment) and beta (which is equivalent to an angle range of two sides of a lane); the vehicle-mounted unit (20) completes the receiving of the continuous wake-up frames, and analyzes the frame number, the vehicle height and the distance (the vehicle top height h) between the vehicle and the frame1And the distance L1 and the height h of the bottom of the vehicle head2And distance L2), height h of the gantry where the roadside unit (20) is located, and lane width w; judging whether the wake-up frame is a continuous frame or not according to the frame number, if so, analyzing the frame data and utilizing the known quantity h1、L1、h2L2, h and w; calculating the theoretical adjustment angle range alpha epsilon [ sin chi [ ((h-h)) of the traction sheet (23) and the road side unit (10) in the vehicle-mounted unit (20)1)/L1,sinγ＝(h-h2)/L2]The angle range beta from both sides of the lane is formed as [ delta, epsilon ]]，δ＝δ1+δ2，ε＝ε1+ε2Wherein
w＝w1+w2，
w＝w1+w2(ii) a The angle of the traction sheet (23) is adjusted by controlling the transmission mechanism (25), thereby completing the change of the field intensity angle of the emission of the vehicle-mounted unit (20).
It should be noted that the angles identified in the drawings are merely examples of the range of adjustment angles in alternative embodiments of the present invention and do not limit the minimum or maximum angles of the present invention.
As shown in fig. 4, the internal and external components of the on-board unit in the embodiment of the present invention include a housing (21), a PCBA (22), a traction piece (23), a battery capacitor (24), and a transmission mechanism (25), wherein the housing (21) includes a bottom case (210) and an upper case (211).
FIG. 5 is a schematic view showing the operation direction of the transmission mechanism (25) according to the embodiment of the present invention; as shown in fig. 6, the components of the PCBA in the on-board unit in the embodiment of the present invention include a main control unit (220), a DSRC unit (221), a power supply unit (222), and a transmission interface unit (223). The main control unit (220) completes DSRC, conduction control and logic operation derivation; the DSRC unit (221) is used for transmitting, receiving and waking up 5.8G radio frequency data; the power supply unit (222) is used for connecting the battery capacitor (24) and simultaneously performing voltage conversion; the transmission interface unit (223) is used for connecting and controlling the transmission mechanism (25).
As shown in fig. 7, the working flow of the on-board unit in the embodiment of the present invention specifically includes the following steps:
step 304, calculating alpha and beta, if the frames are not continuous, executing step 301, otherwise, executing step 303, analyzing the frames and extracting frame data; using a known quantity h1、L1、h2L2, h and w, and calculating the theoretical adjustment angle range alpha epsilon [ sin chi ═ h-h of the traction sheet (23) and the road side unit (10) in the vehicle-mounted unit (20)1)/L1,sinγ＝(h-h2)/L2]The angle range beta from both sides of the lane is formed as [ delta, epsilon ]]，δ＝δ1+δ2，ε＝ε1+ε2Wherein
w＝w1+w2，
w＝w1+w2Wherein h is the distance between the portal frame and the ground, h1Is the distance of the top of the target vehicle from the ground, h2The distance from the bottom of the target vehicle to the ground, L1 is the distance from the road side unit RSU to the top, L2 is the distance from the road side unit RSU to the bottom, w is the width of the lane where the target vehicle is located1Is the distance, w, of the target vehicle from the left side of the lane2Distance of the target vehicle from the right side of the lane;
and step 306, changing the angle of the traction sheet, and adjusting the angle of the traction sheet (23) by the main control unit (220) of the PCBA in the vehicle-mounted unit (20) through controlling the transmission mechanism (25), thereby finishing the change of the emission field intensity angle of the vehicle-mounted unit (20).
Through the optional embodiment, the method for changing the transmitting field intensity angle of the vehicle-mounted unit is provided, the transmitting intensity is effectively utilized, the electric energy consumption is saved, and the interaction success rate of the vehicle-mounted unit and the road side unit is improved.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
In this embodiment, a system for adjusting an emission angle is further provided, and the system is used to implement the foregoing embodiments and preferred embodiments, and the description of the system that has been already made is omitted.
Fig. 8 is a block diagram of a system for adjusting a transmission angle according to an embodiment of the present invention, the system including:
an on board unit OBU 72, a roadside unit RSU 74, wherein,
the OBU is arranged in the target vehicle and used for receiving continuous awakening frames sent by the RSU on the portal frame; resolving at least one of the following target information from the consecutive wake-up frames: the distance from the top of the target vehicle to the ground, the distance from the bottom of the target vehicle to the ground, the distance from the portal frame to the ground, the distance from the Road Side Unit (RSU) to the top, and the distance from the Road Side Unit (RSU) to the bottom; and adjusting a first emission angle of a traction sheet in the OBU according to the target information so as to enable the OBU to correspond to the roadside unit.
According to the invention, a vehicle-mounted unit OBU of a target vehicle receives continuous awakening frames sent by a road side unit RSU on a portal frame; resolving at least one of the following target information from the consecutive wake-up frames: the distance from the top of the target vehicle to the ground, the distance from the bottom of the target vehicle to the ground, the distance from the portal frame to the ground, the distance from the Road Side Unit (RSU) to the top, and the distance from the Road Side Unit (RSU) to the bottom; according to the technical scheme, the problem that interaction success rate between the road side unit and the vehicle-mounted unit is not high in the related technology is solved, emission intensity is effectively utilized, electric energy consumption is saved, and interaction success rate of the vehicle-mounted unit and the road side unit is improved.
Optionally, the on-board unit OBU is further configured to determine an adjustment range of the first transmission angle according to the target information; and adjusting a first launching angle of the traction sheet in the OBU according to the adjusting range so as to enable the OBU to correspond to the road side unit.
Optionally, the OBU includes: and the transmission mechanism is used for adjusting the first emission angle of the traction sheet according to the adjustment range so as to enable the OBU and the roadside unit to correspond to each other, namely, the transmission mechanism and the traction sheet are arranged in the OBU, and the first emission angle of the traction sheet is controlled through the transmission mechanism.
After the on-board unit OBU detects and receives the continuous wake-up frames, the frame number, the vehicle height, the distance between the vehicle and the on-board unit OBU, the height of the portal frame and the lane width are analyzed; judging whether the awakening frame is a continuous frame or not according to the frame number, if so, calculating a theoretical angle range according to the known quantity, and determining the adjustment range of the first transmitting angle, namely the theoretical angle between a traction sheet in the vehicle-mounted unit and a road side unit and the angles between the traction sheet in the vehicle-mounted unit and the two sides of a lane; the transmission structure in the OBU adjusts the first emission angle of the traction sheet in the OBU according to the adjustment range, so that the change of the emission field intensity angle of the OBU is completed, and the OBU corresponds to the road side unit.
Optionally, the on-board unit OBU is further configured to determine a minimum value of the adjustment range according to the following formula: chi ═ arcsin (h-h)1) L1, and maximum value of adjustment range: gamma-arcsin (h-h)2) /L2; determining an adjustment range [ χ ═ arcsin (h-h) of the first emission angle according to the minimum value and the maximum value1)/L1,γ＝arcsin(h-h2)/L2]Wherein h is the distance between the portal frame and the ground,h1is the distance of the top of the target vehicle from the ground, h2The distance between the bottom of the target vehicle and the ground is L1, the distance between the road side unit RSU and the top is L2, the distance between the road side unit RSU and the bottom is L2, the minimum value and the maximum value of the adjustment range of the first emission angle to be adjusted are calculated through the formula, the adjustment range is further determined according to the maximum value and the minimum value determined by the target information, and the first emission angle of the traction sheet in the vehicle-mounted unit OBU can be conveniently adjusted through the traction sheet in the vehicle-mounted unit OBU according to the target information.
As an alternative embodiment, when the first transmission angle is adjusted to the minimum value of the adjustment range, χ should be the included angle between the horizontal line of the top of the target vehicle and the distance L1 between the road side unit RSU and the top of the target vehicle;
as an alternative embodiment, when the first emission angle is adjusted to the maximum value of the adjustment range, γ should be the angle between the horizontal line of the bottom of the target vehicle and the distance L2 from the road side unit RSU to the bottom of the target vehicle;
optionally, the on-board unit OBU is further configured to determine a minimum value δ of an adjustment range of the second launch angle of the traction vane according to the following formula: delta is delta1+δ2Wherein
w＝w1+w2Wherein h is the distance between the portal frame and the ground, h1Is the distance of the top of the target vehicle from the ground, h2The distance from the bottom of the target vehicle to the ground, L1 is the distance from the road side unit RSU to the top, L2 is the distance from the road side unit RSU to the bottom, w is the width of the lane where the target vehicle is located1Is the distance, w, of the target vehicle from the left side of the lane2Distance of the target vehicle from the right side of the lane; determining traction according to the following formulaAdjustment range and maximum value of the second emission angle of the tile: e ═ e-1+ε2Wherein, in the step (A),
w＝w1+w2(ii) a And controlling a transmission structure of the OBU to adjust the second launching angle of the traction sheet according to the adjusting range of the second launching angle by controlling the transmission structure of the OBU according to the minimum value delta and the maximum value epsilon of the adjusting range of the second launching angle. And the road side unit completes the sending of continuous wake-up frames, wherein the wake-up frames carry the frame number, the height and the distance of the vehicle, the height h of a portal frame where the road side unit is located and the lane width w. The vehicle-mounted unit finishes receiving the continuous wake-up frames and analyzes the frame number and the vehicle height (which is equivalent to the distance h between the top of the target vehicle and the ground)1Distance h from the bottom of the target vehicle to the ground2) The distance between the road side unit RSU and the vehicle (which is equal to the distance L1 between the road side unit RSU and the top of the target vehicle and the distance L2 between the road side unit RSU and the bottom of the target vehicle), the height h of a portal frame where the road side unit is located and the lane width w; judging whether the wake-up frame is a continuous frame or not according to the frame number, if so, analyzing the frame data and utilizing the known quantity h1、L1、h2L2, h and w; and calculating the theoretical adjustment angle range of the traction sheet and the roadside unit in the vehicle-mounted unit and the angle ranges of two sides of the vehicle, and adjusting the second emission angle of the traction sheet according to the adjustment range of the second emission angle by controlling a transmission structure of the OBU, thereby completing the change of the emission field intensity angle of the vehicle-mounted unit.
As an alternative embodiment, when the second emission angle is adjusted to the minimum value of the adjustment range, δ should be the intersection point of the horizontal dotted line of a determined coordinate point of the top of the target vehicle and the plane of h-w, and w of the plane of the top of the target vehicle1W of intersection point with left side of lane and plane of top of target vehicle2W in triangle formed by sequentially connecting intersection points on right side of lane1+w2The included angle corresponding to the edge.
As an alternative embodiment, when the second emission angle is adjusted to the adjustment rangeAt the maximum value of (c), epsilon is the intersection point of the horizontal dotted line of a determined coordinate point of the bottom of the target vehicle and the plane of h-w, and w is the plane of the bottom of the target vehicle1W of intersection point with left side of lane and plane of bottom of target vehicle2W in triangle formed by sequentially connecting intersection points on right side of lane1+w2The included angle corresponding to the edge.
Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, receiving continuous awakening frames sent by a Road Side Unit (RSU) on the portal frame through an on-board unit (OBU) of the target vehicle;
s2, at least one of the following target information is resolved from the continuous wake-up frames: the distance from the top of the target vehicle to the ground, the distance from the bottom of the target vehicle to the ground, the distance from the portal frame to the ground, the distance from the Road Side Unit (RSU) to the top, and the distance from the Road Side Unit (RSU) to the bottom;
s3, adjusting a first emission angle of a traction sheet in the vehicle-mounted unit OBU according to the target information so as to enable the vehicle-mounted unit OBU to correspond to the road side unit.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, receiving continuous awakening frames sent by a Road Side Unit (RSU) on the portal frame through an on-board unit (OBU) of the target vehicle;
s2, at least one of the following target information is resolved from the continuous wake-up frames: the distance from the top of the target vehicle to the ground, the distance from the bottom of the target vehicle to the ground, the distance from the portal frame to the ground, the distance from the Road Side Unit (RSU) to the top, and the distance from the Road Side Unit (RSU) to the bottom;
s3, adjusting a first emission angle of a traction sheet in the vehicle-mounted unit OBU according to the target information so as to enable the vehicle-mounted unit OBU to correspond to the road side unit.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented in a general purpose computing system, centralized on a single computing system or distributed across a network of computing systems, or alternatively implemented in program code that is executable by a computing system, such that the steps shown and described may be executed by a computing system on storage systems, and in some cases, performed in an order other than that shown and described herein, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from a plurality of modules or steps. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A method for adjusting a transmission angle, comprising:
receiving continuous awakening frames sent by a Road Side Unit (RSU) positioned on a portal frame through an On Board Unit (OBU) of a target vehicle;
resolving at least one of the following target information from the consecutive wake-up frames: the distance from the top of the target vehicle to the ground, the distance from the bottom of the target vehicle to the ground, the distance from the portal frame to the ground, the distance from the Road Side Unit (RSU) to the top, and the distance from the Road Side Unit (RSU) to the bottom;
and adjusting a first emission angle of a traction sheet in the OBU according to the target information so as to enable the OBU to correspond to the roadside unit.
2. The method of claim 1, wherein adjusting a first launch angle of a tow tab in said on-board unit (OBU) based on said target information comprises:
determining the adjustment range of the first emission angle according to the target information;
and adjusting a first emission angle of a traction sheet in the OBU according to the adjustment range so as to enable the OBU to correspond to the roadside unit.
3. The method of claim 2, wherein determining the adjustment range of the first transmission angle according to the target information comprises:
determining a minimum value of the adjustment range according to the following formula:
and of the adjustment rangeMaximum value:
；
determining the adjustment range of the first emission angle from the minimum value and the maximum value
,
]Wherein h is the distance between the portal frame and the ground,
the distance of the top of the target vehicle from the ground,
l1 is the distance of the bottom of the target vehicle from the ground, L2 is the distance of the RSU from the top, and L2 is the distance of the RSU from the bottom.
4. The method of claim 2, wherein adjusting the first launch angle of the tow tab of the OBU to correspond to the roadside unit according to the adjustment range comprises:
and controlling a transmission structure in the OBU to adjust the first launching angle of the traction sheet according to the adjusting range so as to enable the OBU to correspond to the roadside unit.
5. The method of claim 1, wherein after adjusting a first launch angle of a tow tab in the On Board Unit (OBU) based on the target information to correspond the On Board Unit (OBU) and the roadside unit, the method further comprises:
determining an adjustment of a second launch angle of the retractor blade according to the following equationMinimum value of the range
：
determining the adjustment range of the second emission angle of the traction sheet according to the following formulaAnd maximum valueε：
the minimum value of the adjusting range according to the second transmitting angleδAnd maximum valueεAnd controlling a transmission structure of the OBU to adjust the second launching angle of the traction sheet according to the adjusting range of the second launching angle.
6. A system for adjusting a launch angle, comprising: an On Board Unit (OBU), a Road Side Unit (RSU), wherein,
the OBU is arranged in the target vehicle and used for receiving continuous awakening frames sent by the RSU on the portal frame; resolving at least one of the following target information from the consecutive wake-up frames: the distance from the top of the target vehicle to the ground, the distance from the bottom of the target vehicle to the ground, the distance from the portal frame to the ground, the distance from the Road Side Unit (RSU) to the top, and the distance from the Road Side Unit (RSU) to the bottom; and adjusting a first emission angle of a traction sheet in the OBU according to the target information so as to enable the OBU to correspond to the roadside unit.
7. The system of claim 6, wherein the On Board Unit (OBU) is further configured to determine an adjustment range of the first transmission angle according to the target information; and adjusting a first emission angle of a traction sheet in the OBU according to the adjustment range so as to enable the OBU to correspond to the roadside unit.
8. The system of claim 7, wherein the On Board Unit (OBU) is further configured to determine the minimum value of the adjustment range according to the following equation:
and the maximum value of the adjustment range:
；
determining the adjustment range of the first emission angle from the minimum value and the maximum value
,
]Wherein h is the distance between the portal frame and the ground,
the distance of the top of the target vehicle from the ground,
l1 is the distance of the bottom of the target vehicle from the ground, L2 is the distance of the RSU from the top, and L2 is the distance of the RSU from the bottom.
9. The system of claim 7, wherein the OBU comprises: and the transmission structure is used for adjusting the first emission angle of the traction sheet according to the adjustment range so as to enable the on-board unit (OBU) to correspond to the road side unit.
10. According to the rightThe system of claim 6, wherein the On Board Unit (OBU) is further configured to determine a minimum value of the adjustment range of the second launch angle of the traction blade according to the following equation
：
determining the adjustment range and the maximum value of the second emission angle of the traction sheet according to the following formulaε：
the minimum value of the adjusting range according to the second transmitting angleδAnd maximum valueεAnd controlling a transmission structure of the OBU to adjust the second launching angle of the traction sheet according to the adjusting range of the second launching angle.
11. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to carry out the method of any one of claims 1 to 5 when executed.
12. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the method of any of claims 1 to 5.
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