CN112019638A

CN112019638A - ITS protocol stack based on ROS2

Info

Publication number: CN112019638A
Application number: CN202010954769.2A
Authority: CN
Inventors: 曹廷; 高文姬
Original assignee: Suzhou Bohang Technology Co ltd
Current assignee: Suzhou Bohang Technology Co ltd
Priority date: 2020-09-11
Filing date: 2020-09-11
Publication date: 2020-12-01

Abstract

The invention discloses an ITS protocol stack based on ROS2, comprising an ITS protocol stack and an ITS main service system, wherein the ITS protocol stack comprises an application layer, a network layer, an access layer, an ROS2 architecture management and safety module, the application layer comprises a user application program and a message layer, the network layer comprises a management sublayer and a data sublayer, the management sublayer comprises a special entity management DME, the data sublayer mainly comprises an adaptation layer, IP and UDP or TCP and DSMP, the access layer comprises a cellular communication interface, a direct connection communication interface, wifi, Bluetooth and other wireless communication interfaces, Ethernet, various serial ports and parallel ports, the architecture 2 management core comprises a distributed network and a distributed communication mechanism, and relates to the technical field of intelligent transportation, so that a vehicle has the functions of automatic identification of road obstacles, automatic alarming, automatic steering, automatic braking, vehicle distance keeping, constant speed cruising, blind area monitoring and the like, and in the case of possible danger of automatic analysis, necessary reminding is given to a driver.

Description

ITS protocol stack based on ROS2

Technical Field

The invention relates to the technical field of intelligent transportation, in particular to an ITS protocol stack based on ROS 2.

Background

ROS 2: second generation robotic operating system, ITS: intelligent transportation system, V2X: automobile and everything interconnection, C-V2X: V2X based on cellular technology, DME dedicated management entity, DSMP dedicated short message protocol.

The ITS intelligent transportation system is a real-time, accurate and efficient comprehensive transportation and management system which is established by effectively integrating advanced information technology, communication technology, sensing technology, control technology, computer technology and the like and applying the advanced information technology, the communication technology, the sensing technology, the control technology, the computer technology and the like to the whole transportation and management system and plays a role in a large range and all around, and is a system for forming a 'person-vehicle-road-environment' four-in-one. Through the intellectualization of the functions of the automobile and the road, the accident rate is reduced, the traffic safety is ensured, the traffic jam is relieved, the transportation efficiency can be improved, and the air pollution is reduced. ITS has become a popular technology for solving traffic problems in countries around the world, and has become a new economic growth point in the 21 st century.

The ITS technology is firstly proposed by the United states in the 30 th of the 20 th century, is globally accelerated along with the rapid development of society, is continuously formulated and developed by adding intelligent traffic technology to countries and regions to solve traffic problems, gradually forms three research bases of the United states, Europe and Japan, and is formally and uniformly named as ITS in the 90 th of the 20 th century. Infrastructure, research capacity, and solution standards vary from country to country due to the national conditions. For example, the V2X product scheme based on the DSRC technology is adopted in the United states, but with the improvement of infrastructure capability, computer capability, 5G, Beidou and other high-end technical capabilities in recent years, the more excellent C-V2X product technical scheme is provided in China, and a certain standard is formed around a 'man-vehicle-road-cloud' system.

The international failure to form a uniform standard causes great troubles to the intelligent transportation industry which is now globalized. For example, domestic suppliers make products according to the American standard but cannot meet domestic requirements, and based on the product, an ITS protocol stack based on ROS2 is invented.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides an ITS protocol stack based on ROS2, and solves the corresponding problems.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: an ITS protocol stack based on ROS2, comprising an ITS protocol stack and an ITS main service system, wherein the ITS protocol stack comprises an application layer, a network layer, an access layer, an ROS2 architecture management and security module, the application layer comprises a user application program and a message layer, the network layer comprises a management sublayer and a data sublayer, the management sublayer comprises a special entity management DME, the data sublayer mainly comprises an adaptation layer, an IP (Internet protocol) and a UDP (user Datagram protocol) or a TCP (Transmission control protocol) and a DSMP (digital Messaging protocol), the access layer comprises a cellular communication interface, a direct connection communication interface, wifi (wireless Fidelity), a Bluetooth wireless communication interface, an Ethernet, various serial ports and parallel ports, the ROS2 architecture management core comprises a distributed network and a distributed communication mechanism, the security module provides data security of application layer data security protocol, network layer security authentication and network security, and provides software and hardware encryption protocols for the access layer, the system ensures vehicle control safety and personal information safety, each layer adopts modular design and is managed by ROS2, the ITS main service system comprises an advanced traffic management system, an advanced traveler information system, an advanced public traffic system, an advanced vehicle control system, a commercial vehicle operation system, an electronic toll collection system and an expressway traffic incident management system, the advanced traffic management system comprises an urban road traffic signal control technology, an expressway management system, an accident management system and a vehicle emission monitoring system, the advanced traveler information system comprises a traveler information system, a vehicle-mounted path guidance system, a parking lot parking guidance system and a digital map data system, the advanced vehicle control system comprises an accident avoiding system and a monitoring regulation and control system, and the expressway traffic incident management system comprises a police service system, Fire services, ambulance services, and vehicle maintenance.

Preferably, the user application program can be designed by a user according to requirements, the message layer is a data sublayer of a downward butt-joint network layer and supports the user application program upwards, and the message layer supports various data transmission defined by a network layer of an LTE-based vehicle networking wireless communication technology.

Preferably, the dedicated entity management DME is a common set of management services, and the DME provides a management interface for all data sublayer entities, including the DSMP protocol.

Preferably, the communication types include topic-based asynchronous data stream communication and service-based synchronous data stream communication.

Preferably, the multi-language support includes Java, C + +, Python, and the like.

(III) advantageous effects

The invention provides an ITS protocol stack based on ROS 2. The method has the following beneficial effects:

(1) this ITS protocol stack based on ROS2 makes the vehicle have road obstacle automatic identification, automatic alarm, automatic steering, automatic braking, vehicle distance keep, constant speed cruise and functions such as blind area control, and under the dangerous condition probably appears in the automatic analysis, makes necessary warning to the driver to can take effective measure, prevent the occurence of failure.

(2) The ITS protocol stack based on the ROS2 adopts a point-to-point design, and the coupling degree is lower; multi-language support, more convenient development and transplantation and effective utilization of resources; the modularized design is adopted, the software reusability is high, all the existing protocols are compatible, and the expansibility and the replaceability are better; the distributed network can calculate pressure in a dispersing way, and is more suitable for intelligent driving, intelligent networking and a multi-core singlechip of a vehicle body domain controller; the modular toolkit is rich, and an algorithm model, a simulation environment and the like are provided; the abstract hardware facilitates the exploitation.

(3) The ITS protocol stack based on the ROS2 makes the ITS function node design according to the characteristics of the ROS2, can be compiled by a single node, can realize point-to-point distributed communication, can reduce the coupling degree of functions of each layer of a protocol stack to be lower, can be adapted to protocol stacks of other standards by independently modifying certain or some node functions, greatly improves the reusability of software functions, not only conforms to the current Chinese C-V2X standard protocol stack, but also is compatible with protocol stack standards such as Europe and America, and the application of new technology and the addition and change of new standard in the future are quickly compatible, the node functions can be added and changed without being completely replaced, meanwhile, due to multi-language support, the requirements on the technical capability of programmers are reduced, resources are utilized to the maximum extent, more cost is saved, and the method is suitable for intelligent vehicle-mounted terminal OBU equipment, intelligent road test unit RSU equipment and automatic driving products.

Drawings

FIG. 1 is a schematic diagram of the ITS including the primary service system;

FIG. 2 is a diagram of the ROS 2-based ITS protocol stack of the present invention;

FIG. 3 is a schematic diagram of a product architecture according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.

Referring to fig. 1-3, an embodiment of the present invention provides a technical solution: an ITS protocol stack based on ROS2, comprising an ITS protocol stack and an ITS main service system, wherein the ITS protocol stack comprises an application layer, a network layer, an access layer, an ROS2 architecture management and security module, the application layer comprises a user application program and a message layer, the network layer comprises a management sublayer and a data sublayer, the management sublayer comprises a special entity management DME, the data sublayer mainly comprises an adaptation layer, an IP (Internet protocol) and UDP (user Datagram protocol) or TCP (Transmission control protocol) and DSMP (digital data processing), the access layer comprises a cellular communication interface, a direct connection communication interface, wifi, Bluetooth and other wireless communication interfaces, Ethernet, various serial ports and parallel ports, a physical layer and a medium access control layer are provided, the physical layer and a data link layer correspond to an OSI communication protocol model, the ROS2 architecture management core comprises a distributed network and a distributed communication mechanism, namely, communication services among multiple nodes are provided, and all functions and tools are established on the distributed communication mechanism, the system realizes point-to-point loose coupling connection among modules, the safety module provides an application layer data safety protocol to guarantee data safety, provides a network layer safety certification to guarantee network safety and provides a software and hardware encryption protocol for an access layer to guarantee vehicle control safety and personal information safety, each layer adopts modular design and is managed by ROS2 in a unified way, the communication types comprise topic-based asynchronous data stream communication and service-based synchronous data stream communication, the ITS main service system comprises an advanced traffic management system, an advanced traveler information system, an advanced public traffic system, an advanced vehicle control system, a commercial vehicle operation system, an electronic toll collection system and a highway traffic incident management system, and the advanced traffic management system comprises an urban road traffic signal control technology, a highway management system, The system comprises an accident management system and a vehicle emission monitoring system, wherein the advanced traveler information system comprises a traveler information system, a vehicle-mounted path guidance system, a parking lot parking guidance system and a digital map data system, the advanced vehicle control system comprises an accident evasion system and a monitoring regulation and control system, and the highway traffic incident management system comprises police service, fire service, rescue service and vehicle maintenance.

The user application program can be designed by a user according to requirements, the message layer is a data sublayer which is connected with the network layer downwards and supports the user application program upwards, and the message layer supports various data transmission defined by the LTE-based vehicle networking wireless communication technology network layer.

The special entity management DME is a universal set of management services, provides management interfaces for all data sublayer entities, comprises a DSMP protocol for data routing and transmission service, and corresponds to a network layer and a transmission layer of an OSI communication protocol model, and the network layer can support an access layer transmission technology based on a Uu interface and a PC5 interface.

The management sublayer mainly completes functions of system configuration, maintenance and the like, and transmits management data streams among different devices by using data sublayer services.

The data sublayer not only transmits data streams among application layers, but also transmits data streams among different equipment management layer entities or between management layer entities and applications; the adaptation layer provides transmission adaptation functions between the underlying access technology LTE V2X and the upper protocol stack. The adaptation layer receives a DSMP data packet, an IP data packet or a DME data packet sent by an upper layer, distinguishes a bottom layer interface used by the data packet to be sent, and delivers the corresponding data packet to the bottom layer conforming to the corresponding access layer interface for transmission; or receiving the data packet from the bottom layer, distinguishing the upper layer protocol type of the corresponding data packet, and delivering the data packet to the specified upper layer protocol stack, and for the receiving UE, if the adaptation layer can not distinguish the upper layer protocol type of the received data packet, discarding the data packet.

The ROS2 architecture is characterized by point-to-point design: each process in the ROS2 runs in the form of a node and can be distributed to different hosts (distributed computing pressure and cooperative work), and communication messages of the nodes are transmitted through an RPC transmission system with the functions of publishing and subscribing;

multi-language support: the system comprises Java, C + + and Python, and the like, in order to support development and transplantation of more applications, the ROS2 is designed into a frame structure with weak correlation of languages, a concise and neutral definition language is used to describe message interfaces among modules, and a target file of the used language is generated in compiling to provide support for message interaction and allow nested use of the message interfaces, so that the reusability of software and product functions is greatly improved, the development period is greatly reduced, the requirement on personnel skills is reduced, and the maximum resource utilization is achieved;

the framework is simple, and the integration level is high: the ROS2 modularization characteristic enables each functional node to be compiled independently and use the same message interface, so that the transplantation and reuse are more convenient, and the module replacement influence is smaller.

The componentization toolkit is abundant: the ROS2 can adopt a componentization mode to integrate some tools and software into the system and directly use the tools and the software as one component, such as RVIZ (3D visualization tool), a developer displays various standards, algorithm models and the like according to an interface defined by the ROS2, and the components also comprise a simulation environment, a message viewing tool and the like;

free and open source: the intelligent traffic system has the advantages that a plurality of developers and a plurality of function packages are provided, the intelligent traffic system collects a plurality of high-tech and knowledge systems, including a sensor technology, an electronic vision technology, a high-precision positioning technology, a vehicle control technology, a database technology, a computer technology, a communication technology, human body function, a traffic planning theory and the like, for global intelligent traffic and intelligent automobiles, a free operation system, a shared technology development specification and a function package are provided, higher-level intelligent traffic can be rapidly realized, and resources are saved.

The functional module of ROS2 system software uses the node as the unit and independently operates, the node is the process of carrying out the task, also called software module, the system comprises a plurality of nodes, the node is managed by node manager (ROS MASTER) overall, guarantee node normal operating, provide the registration list and to the look-up function of other calculation charts through RPC, help looks for each other between the node, establish and connect, exchange the message, call service, ROS2 has the higher security of better real-time, ROS2 can abstract the hardware into module function simultaneously, more be favorable to standardized development.

Referring to fig. 2, the ITS system has a wide range, and C-V2X is the most important technical part of ITS, and serves as a bridge to interconnect automobiles and everything, exchange information quickly, and enable the whole traffic system to operate as a whole, and can flexibly move and guide, thereby greatly improving the safety and smoothness of traffic.

To sum up, the ITS protocol stack designed based on ROS2 is designed to be nodulated according to the characteristics of ROS2, can be compiled in a single node mode, and is in point-to-point distributed communication, the coupling degree of each function of each level of the protocol stack can be reduced to be lower, one or some node functions can be modified independently to be matched with protocol stacks of other standards, the reuse degree of software functions is greatly improved, the existing Chinese C-V2X standard protocol stack is met, protocol stack standards such as European and American days can be compatible, application of new technology and addition and change of new standards in the future are quickly compatible, all node functions can be replaced without adding and changing, multi-language support is achieved, the requirements on technical capability of programmers are lowered, resources are utilized to the maximum, and more cost is saved.

While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. An ITS protocol stack based on ROS2, characterized in that: the vehicle management system comprises an ITS protocol stack and an ITS main service system, wherein the ITS protocol stack comprises an application layer, a network layer, an access layer, an ROS2 architecture management and security module, the application layer comprises a user application program and a message layer, the network layer comprises a management sublayer and a data sublayer, the management sublayer comprises a special entity management DME, the data sublayer mainly comprises an adaptation layer, an IP (Internet protocol) and a UDP (user Datagram protocol) or a TCP (transmission control protocol) and a DSMP (digital multimedia processor), the access layer comprises a cellular communication interface, a direct connection communication interface, a wifi (wireless fidelity) and Bluetooth wireless communication interface, an Ethernet, various serial ports and parallel ports, the ROS architecture management core comprises a distributed network and a distributed communication mechanism, the security module provides 2 data security of application layer data security protocol guarantee, network layer security authentication guarantee network security and software and hardware encryption protocols for the access layer, vehicle control security and personal information security 2, each layer adopts a modular design and is managed by the ROS2, the ITS main service system comprises an advanced traffic management system, an advanced traveler information system, an advanced public transport system, an advanced vehicle control system, a commercial vehicle operation system, an electronic toll collection system and a highway traffic incident management system, the advanced traffic management system comprises an urban road traffic signal control technology, an expressway management system, an accident management system and a vehicle emission monitoring system, the advanced traveler information system comprises a traveler information system, a vehicle-mounted path guidance system, a parking lot parking guidance system and a digital map data system, the advanced vehicle control system comprises an accident avoidance system and a monitoring regulation and control system, and the highway traffic incident management system comprises police service, fire service, rescue service and vehicle maintenance.

2. The ROS 2-based ITS protocol stack of claim 1, wherein: the user application program can be designed by a user according to requirements, the message layer is a data sublayer which is connected with the network layer downwards and supports the user application program upwards, and the message layer supports various data transmission defined by the LTE-based vehicle networking wireless communication technology network layer.

3. The ROS 2-based ITS protocol stack of claim 1, wherein: the special entity management DME is a universal set of management services, and provides management interfaces for all data sublayer entities, including the DSMP protocol.

4. The ROS 2-based ITS protocol stack of claim 1, wherein: the communication types include topic-based asynchronous data stream communication and service-based synchronous data stream communication.

5. The ROS 2-based ITS protocol stack of claim 1, wherein: the multi-language support includes Java, C + + and Python.