CN112133096A - Vehicle control system based on intelligent networking technology - Google Patents
Vehicle control system based on intelligent networking technology Download PDFInfo
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- CN112133096A CN112133096A CN202011024997.6A CN202011024997A CN112133096A CN 112133096 A CN112133096 A CN 112133096A CN 202011024997 A CN202011024997 A CN 202011024997A CN 112133096 A CN112133096 A CN 112133096A
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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
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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
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
- G16Y40/00—IoT characterised by the purpose of the information processing
- G16Y40/30—Control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
Abstract
The invention discloses a vehicle control system based on intelligent networking technology, which comprises: the V2X module is used for acquiring real-time road condition information, real-time road information and real-time pedestrian information within a preset distance range of a host vehicle; and a host control terminal for: acquiring a target route of a host vehicle, and determining road section congestion information within a preset distance range in a target direction corresponding to the target route according to the real-time road condition information, the real-time road information, the real-time pedestrian information and the target route; and acquiring the current position of the host vehicle, and controlling the host vehicle to execute a related control strategy according to the road section congestion information and the current position so as to avoid congestion of the host vehicle. The invention solves the problems that the application of the Internet of vehicles data is poor and the control and early warning of the intelligent vehicle cannot be realized in the prior art.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a vehicle control system based on an intelligent networking technology.
Background
The intelligent networked automobile is a new generation automobile which carries advanced vehicle-mounted sensors, controllers, actuators and other devices, integrates modern communication and network technologies, realizes intelligent information exchange and sharing between automobiles and people, automobiles, roads, backgrounds and the like, realizes safe, comfortable, energy-saving and efficient driving, and can finally replace people to operate.
The intelligent networked automobile in the current stage is poor in application of the data of the Internet of vehicles, and how to realize the control of the intelligent automobile according to the data in the Internet of vehicles so as to realize accident early warning becomes a problem which needs to be solved urgently in the current stage.
Disclosure of Invention
The invention aims to provide a vehicle control system based on an intelligent networking technology, which solves the problems that the vehicle networking data is poor in application and control and early warning of an intelligent vehicle cannot be realized in the prior art.
In order to achieve the above object, the present invention provides a vehicle control system based on an intelligent networking technology, including: the V2X module is used for acquiring real-time road condition information, real-time road information and real-time pedestrian information within a preset distance range of a host vehicle; and a host control terminal for: acquiring a target route of a host vehicle, and determining road section congestion information within a preset distance range in a target direction corresponding to the target route according to the real-time road condition information, the real-time road information, the real-time pedestrian information and the target route; and acquiring the current position of the host vehicle, and controlling the host vehicle to execute a related control strategy according to the road section congestion information and the current position so as to avoid congestion of the host vehicle.
Preferably, the host control terminal is configured to control the host vehicle to execute a relevant control strategy according to the section congestion information and the current position, so that the host vehicle avoids congestion comprises: the host control terminal is used for: when the road section congestion information shows that the congestion causes are car accidents, the length of a congested road section is larger than a preset first congestion length threshold value, and the actual distance between the current position and the congested road section shown by the road section congestion information is larger than a preset distance length threshold value, controlling the host vehicle to regenerate a target route so as to bypass the congested road section; when the road section congestion information shows that the congestion cause is the occurrence of a car accident, the length of a congested road section is larger than a preset first congestion length threshold value, and the actual distance between the current position and the congested road section shown by the road section congestion information is smaller than or equal to a preset distance length threshold value, controlling the host vehicle to run at a reduced speed according to a preset first acceleration; and when the road section congestion information shows that the congestion is caused by large traffic flow or large pedestrian flow, the length of a congested road section is smaller than or equal to the first congestion length threshold and is larger than a preset second congestion length threshold, and the actual distance between the current position and the congested road section shown by the road section congestion information is smaller than or equal to a preset distance length threshold, controlling the host vehicle to run below a maximum vehicle speed limit, wherein the maximum vehicle speed threshold is configured to be related to the actual distance.
Preferably, the controlling the host vehicle to travel below a maximum vehicle speed limit includes: when the actual distance is within a first preset range, controlling the host vehicle to drive by taking the speed of a first preset percentage of the highest speed limit of the current road section as a highest vehicle speed limit value; and when the actual distance is within a second preset range, controlling the host vehicle to drive by taking the speed of a second preset percentage of the highest speed limit of the current road section as the maximum speed limit value, wherein the maximum value of the second preset range is less than or equal to the minimum value of the first preset range, and the first preset percentage is greater than the second preset percentage.
Preferably, the controlling the host vehicle to travel below a maximum vehicle speed limit further comprises: and when the speed of the host vehicle exceeds the maximum vehicle speed limit value and the overspeed time exceeds a preset time threshold value, controlling the host vehicle to send out warning information and to run at a preset second acceleration in a decelerating manner until the speed of the host vehicle is below the maximum vehicle speed limit value.
Preferably, the vehicle control system based on the intelligent networking technology further comprises: the millimeter wave radar is connected with the V2X module of the auxiliary vehicle and is used for sensing the information of the obstacles around the auxiliary vehicle; the camera is connected with a V2X module of the auxiliary vehicle and is used for acquiring picture information around the auxiliary vehicle; and the V2X module of the auxiliary vehicle is used for sending the obstacle information and the picture information to the V2X module of the main vehicle as real-time road condition information, real-time road information or real-time pedestrian information.
Preferably, the vehicle control system based on the intelligent networking technology further comprises: and the awakening module is used for awakening any two V2X modules to realize communication connection when the distance between any two V2X modules is within a preset distance range.
Preferably, the vehicle control system based on the intelligent networking technology further comprises: and the Internet module is used for acquiring traffic information within the preset distance range of the host vehicle from a traffic management system, a meteorological data system and a news data system, and sending the traffic information as real-time road condition information, real-time road information or real-time pedestrian information within the preset distance range of the host vehicle to the V2X module.
According to the technical scheme, the vehicle control system based on the intelligent networking technology realizes the acquisition of real-time road condition information, real-time road information and real-time pedestrian information by using the V2V module, the data are data acquired by adjacent vehicles, the data can be used as shared data to be mutually transmitted through the V2V module, namely, a pair of multifunctional eyes is installed for a driver, the vehicle is controlled by using the host control terminal based on the acquired traffic information, so that the vehicle is prevented from entering a congested road section, and the shunting of multiple vehicles is realized on the premise of reducing traffic congestion.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
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 specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a block diagram illustrating a vehicle control system based on intelligent networking technology in accordance with the present invention; and
fig. 2 is a flowchart illustrating a vehicle control method based on the smart internet technology according to the present invention.
Description of the reference numerals
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a block diagram of a vehicle control system based on an intelligent networking technology, as shown in fig. 1, the vehicle control system based on the intelligent networking technology includes: the vehicle-mounted system comprises a V2X module 1, a V2X module 1 and an auxiliary vehicle, wherein the V2X module 1 is used for acquiring real-time road condition information, real-time road information and real-time pedestrian information within a preset distance range of a host vehicle, and the V2X module 1 can be directly connected to a TBOX of the host vehicle, so that the TBOX has the function of a sensor, the host vehicle can be in communication connection with the auxiliary vehicle, and the real-time road condition information, the real-time road information and the real-time pedestrian information within the preset distance range are acquired from the auxiliary; and a host control terminal 2 for: acquiring a target route of a host vehicle, wherein the target route mainly reflects the route condition of the host vehicle to a destination, can be realized by means of a third-party route query platform, such as Goodpastel navigation, Baidu navigation and the like, and determines road section congestion information within a preset distance range in a target direction corresponding to the target route according to the real-time road condition information, the real-time road information, the real-time pedestrian information and the target route; and acquiring the current position of the host vehicle, and controlling the host vehicle to execute a related control strategy according to the road section congestion information and the current position so as to avoid congestion of the host vehicle. The host control terminal 2 is a vehicle-mounted controller, and can control the vehicle speed and the vehicle running direction.
Preferably, the host control terminal 2 is configured to control the host vehicle to execute a relevant control strategy according to the road section congestion information and the current position, so that the host vehicle avoids congestion by:
specifically, the host control terminal 2 is configured to:
when the road section congestion information (picture or photo) shows that the congestion cause is the occurrence of a traffic accident and the length of the congested road section is greater than a preset first congestion length threshold, for example, the first congestion length threshold is 2km, and the actual distance between the current position and the congested road section shown by the road section congestion information is greater than a preset distance length threshold, for example, the distance length threshold is 5km, the host vehicle is controlled to regenerate a target route to bypass the congested road section, namely, the route is redesigned to change the route for driving, in this way, in the case of long actual distance, the route can be conveniently re-planned by the user, and the congested road section is avoided to be driven in, the invention is different from the prior art in that the route planning is not carried out when the route is generated, the route planning is carried out while driving, and the information based on the transmission of the vehicles within 10km away, the method has strong timeliness and pertinence, all data communicated among vehicles can be shared, in addition, the route planned by the host control terminal 2 is only used for bypassing the congested road sections, a route is not planned again, and the difference with the prior art is that a user only does not pass through the congested road sections, and in addition, other road sections still pass through, so that the method is better for a sprinkler or a bus and is suitable for popularization and use;
when the road section congestion information shows that the congestion cause is the occurrence of a car accident and the length of the congested road section is greater than a preset first congestion length threshold value, for example, the first congestion length threshold value is 2km, and the actual distance between the current position and the congested road section shown by the road section congestion information is less than or equal to a preset distance length threshold value, for example, the distance length threshold value is 5km, the host vehicle is controlled to decelerate and run according to a preset first acceleration, wherein the first acceleration can be-4 m/s2(ii) a And
and when the road section congestion information shows that the congestion is caused by large traffic flow or large pedestrian flow, the length of a congested road section is less than or equal to the first congestion length threshold value by 2km and is greater than a preset second congestion length threshold value by 1km, and the actual distance between the current position and the congested road section shown by the road section congestion information is less than or equal to a preset distance length threshold value by 5km, controlling the host vehicle to run below a maximum vehicle speed limit value, wherein the maximum vehicle speed threshold value is configured to be related to the actual distance. The correlation is as follows. Preferably, the controlling the host vehicle to travel below a maximum vehicle speed limit includes:
when the actual distance is within a first preset range of 4-5km, controlling the host vehicle to drive by taking the speed of 80% of a first preset percentage of the highest speed limit of the current road section as a highest vehicle speed limit value; and
and when the actual distance is within a second preset range of 2-4km, controlling the host vehicle to drive by taking the speed of 60% of the highest speed limit of the current road section as the highest speed limit value, for example, if the highest speed limit of the current road section is 80km/h, the current highest speed limit value is 48km/h, wherein the maximum value of the second preset range is less than or equal to the minimum value of the first preset range, and the first preset percentage is greater than the second preset percentage.
Preferably, in order to avoid overspeed driving of the host vehicle, the controlling the host vehicle to drive below the maximum vehicle speed limit may further include: when the speed of the host vehicle exceeds the maximum vehicle speed limit value and the overspeed time exceeds a preset time threshold value of 3s, controlling the host vehicle to send out warning information and to perform preset second acceleration of-5 m/s2And decelerating the vehicle until the speed of the host vehicle is below the maximum vehicle speed limit. In fact, in order to achieve the purpose of the present invention, the second acceleration may be related to the speed of the host vehicle, and when the difference between the second acceleration and the maximum vehicle speed limit is large, the second acceleration may be controlled to be relatively large, and when the maximum vehicle speed limit is relatively small, the second acceleration may be controlled to be relatively small. When the difference between the current speed and the maximum speed limit value is 10km/h, the second acceleration is-5 m/s2When the difference between the current speed and the maximum speed limit value is 5km/h, the second acceleration is-3 m/s2。
Preferably, the vehicle control system based on the intelligent networking technology may further include: the millimeter wave radar is connected with the V2X module 1 of the auxiliary vehicle and is used for sensing the obstacle information around the auxiliary vehicle; the camera is connected with a V2X module 1 of the auxiliary vehicle and is used for acquiring picture information around the auxiliary vehicle; and the V2X module 1 of the auxiliary vehicle is used for sending the obstacle information and the picture information to the V2X module 1 of the main vehicle as real-time road condition information, real-time road information or real-time pedestrian information.
Preferably, in order to save energy and avoid waste of resources, the vehicle control system based on the intelligent networking technology further includes: and the awakening module is used for awakening any two V2X modules 1 to realize communication connection when the distance between any two V2X modules 1 is within a preset distance range.
Preferably, for obtaining information data from multiple angles, the vehicle control system based on the intelligent networking technology further includes: and the internet module is used for acquiring traffic information within the preset distance range of the host vehicle from a traffic management system, a meteorological data system and a news data system, and sending the traffic information as real-time road condition information, real-time road information or real-time pedestrian information within the preset distance range of the host vehicle to the V2X module 1.
In addition, as shown in fig. 2, the present invention further provides a vehicle control method based on the intelligent networking technology, including:
s101, acquiring real-time road condition information, real-time road information and real-time pedestrian information within a preset distance range of a host vehicle;
s102, acquiring a target route of a host vehicle, and determining road section congestion information within a preset distance range in a target direction corresponding to the target route according to the real-time road condition information, the real-time road information, the real-time pedestrian information and the target route; and
s103, acquiring the current position of the host vehicle, and controlling the host vehicle to execute a related control strategy according to the road section congestion information and the current position so as to avoid congestion of the host vehicle.
Preferably, S103 further comprises:
when the road section congestion information shows that the congestion causes are car accidents, the length of a congested road section is larger than a preset first congestion length threshold value, and the actual distance between the current position and the congested road section shown by the road section congestion information is larger than a preset distance length threshold value, controlling the host vehicle to regenerate a target route so as to bypass the congested road section;
when the road section congestion information shows that the congestion cause is the occurrence of a car accident, the length of a congested road section is larger than a preset first congestion length threshold value, and the actual distance between the current position and the congested road section shown by the road section congestion information is smaller than or equal to a preset distance length threshold value, controlling the host vehicle to run at a reduced speed according to a preset first acceleration; and
and when the road section congestion information shows that the congestion is caused by large traffic flow or large pedestrian flow, the length of a congested road section is smaller than or equal to the first congestion length threshold and is larger than a preset second congestion length threshold, and the actual distance between the current position and the congested road section shown by the road section congestion information is smaller than or equal to a preset distance length threshold, controlling the host vehicle to run below a maximum vehicle speed limit, wherein the maximum vehicle speed threshold is configured to be related to the actual distance.
Preferably, the controlling the host vehicle to travel below a maximum vehicle speed limit includes:
when the actual distance is within a first preset range, controlling the host vehicle to drive by taking the speed of a first preset percentage of the highest speed limit of the current road section as a highest vehicle speed limit value; and
and when the actual distance is within a second preset range, controlling the host vehicle to drive by taking the speed of a second preset percentage of the highest speed limit of the current road section as the maximum speed limit value, wherein the maximum value of the second preset range is less than or equal to the minimum value of the first preset range, and the first preset percentage is greater than the second preset percentage.
Preferably, the host control terminal 2 is configured to control the host vehicle to travel below a maximum vehicle speed limit value and further includes: and when the speed of the host vehicle exceeds the maximum vehicle speed limit value and the overspeed time exceeds a preset time threshold value, controlling the host vehicle to send out warning information and to run at a preset second acceleration in a decelerating manner until the speed of the host vehicle is below the maximum vehicle speed limit value.
Compared with the prior art, the vehicle control method based on the intelligent networking technology has the same distinguishing technical characteristics and technical effects as the vehicle control system based on the intelligent networking technology, and details are not repeated herein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (7)
1. A vehicle control system based on intelligent networking technology is characterized by comprising:
the V2X module is used for acquiring real-time road condition information, real-time road information and real-time pedestrian information within a preset distance range of a host vehicle; and
a host control terminal for:
acquiring a target route of a host vehicle, and determining road section congestion information within a preset distance range in a target direction corresponding to the target route according to the real-time road condition information, the real-time road information, the real-time pedestrian information and the target route;
and acquiring the current position of the host vehicle, and controlling the host vehicle to execute a related control strategy according to the road section congestion information and the current position so as to avoid congestion of the host vehicle.
2. The intelligent networking technology-based vehicle control system of claim 1, wherein the host control terminal is configured to control the host vehicle to execute a relevant control strategy according to the road segment congestion information and the current position so that the host vehicle avoids congestion comprises:
the host control terminal is used for:
when the road section congestion information shows that the congestion causes are car accidents, the length of a congested road section is larger than a preset first congestion length threshold value, and the actual distance between the current position and the congested road section shown by the road section congestion information is larger than a preset distance length threshold value, controlling the host vehicle to regenerate a target route so as to bypass the congested road section;
when the road section congestion information shows that the congestion cause is the occurrence of a car accident, the length of a congested road section is larger than a preset first congestion length threshold value, and the actual distance between the current position and the congested road section shown by the road section congestion information is smaller than or equal to a preset distance length threshold value, controlling the host vehicle to run at a reduced speed according to a preset first acceleration; and
and when the road section congestion information shows that the congestion is caused by large traffic flow or large pedestrian flow, the length of a congested road section is smaller than or equal to the first congestion length threshold and is larger than a preset second congestion length threshold, and the actual distance between the current position and the congested road section shown by the road section congestion information is smaller than or equal to a preset distance length threshold, controlling the host vehicle to run below a maximum vehicle speed limit, wherein the maximum vehicle speed threshold is configured to be related to the actual distance.
3. The vehicle control system based on the intelligent networking technology of claim 2, wherein the host control terminal is configured to control the host vehicle to run below a maximum vehicle speed limit value and comprises:
when the actual distance is within a first preset range, controlling the host vehicle to drive by taking the speed of a first preset percentage of the highest speed limit of the current road section as a highest vehicle speed limit value; and
and when the actual distance is within a second preset range, controlling the host vehicle to drive by taking the speed of a second preset percentage of the highest speed limit of the current road section as the maximum speed limit value, wherein the maximum value of the second preset range is less than or equal to the minimum value of the first preset range, and the first preset percentage is greater than the second preset percentage.
4. The vehicle control system based on intelligent networking technology of claim 3, wherein the host control terminal is configured to control the host vehicle to travel below a maximum vehicle speed limit further comprises:
and when the speed of the host vehicle exceeds the maximum vehicle speed limit value and the overspeed time exceeds a preset time threshold value, controlling the host vehicle to send out warning information and to run at a preset second acceleration in a decelerating manner until the speed of the host vehicle is below the maximum vehicle speed limit value.
5. The intelligent networking technology-based vehicle control system of claim 1, further comprising:
the millimeter wave radar is connected with the V2X module of the auxiliary vehicle and is used for sensing the information of the obstacles around the auxiliary vehicle;
the camera is connected with a V2X module of the auxiliary vehicle and is used for acquiring picture information around the auxiliary vehicle; and
and the V2X module of the auxiliary vehicle is used for sending the obstacle information and the picture information to the V2X module of the main vehicle as real-time road condition information, real-time road information or real-time pedestrian information.
6. The intelligent networking technology-based vehicle control system of claim 5, further comprising:
and the awakening module is used for awakening any two V2X modules to realize communication connection when the distance between any two V2X modules is within a preset distance range.
7. The intelligent networking technology-based vehicle control system of claim 1, further comprising:
and the Internet module is used for acquiring traffic information within the preset distance range of the host vehicle from a traffic management system, a meteorological data system and a news data system, and sending the traffic information as real-time road condition information, real-time road information or real-time pedestrian information within the preset distance range of the host vehicle to the V2X module.
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