CN112261098B - Vehicle speed control method, device and system for Internet of vehicles - Google Patents

Vehicle speed control method, device and system for Internet of vehicles Download PDF

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Publication number
CN112261098B
CN112261098B CN202011102391.XA CN202011102391A CN112261098B CN 112261098 B CN112261098 B CN 112261098B CN 202011102391 A CN202011102391 A CN 202011102391A CN 112261098 B CN112261098 B CN 112261098B
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road side
side equipment
target vehicle
switching
vehicle
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CN112261098A (en
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侯琛
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Tencent Technology Shenzhen Co Ltd
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Tencent Technology Shenzhen Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application provides a vehicle speed control method, a vehicle speed control device and a vehicle speed control system for the Internet of vehicles, which can obtain respective device information of a first road side device currently connected with a target vehicle and a second road side device adjacent to the first road side device on the same side according to state information of the target vehicle, so that the obtained parameters are utilized to obtain a vehicle speed control range of the target vehicle under the condition that the target vehicle meets the switching control, and therefore, a computer device responds to a road side device switching request aiming at the target vehicle, controls the communication connection switching of the target vehicle between two adjacent road side devices, regulates the running speed of the target vehicle according to the vehicle speed control range, ensures that the target vehicle has sufficient time in a signal overlapping area between the two adjacent road side devices, completes the communication connection switching between the target vehicle and the two road side devices, and avoids the disappearance of the vehicle in the switching process.

Description

Vehicle speed control method, device and system for Internet of vehicles
Technical Field
The application relates to the field of Internet of vehicles application, in particular to a vehicle speed control method, device and system for Internet of vehicles.
Background
The internet of vehicles, namely the internet of things of vehicles, takes running vehicles as information sensing objects, realizes omnibearing network links of vehicles and cloud platforms, vehicles and vehicles, vehicles and roads, vehicles and people, vehicles and the like by means of a new generation information communication technology, improves the overall intelligent driving level of the vehicles, provides safe, comfortable, intelligent and efficient driving feeling and traffic service for users, improves traffic operation efficiency, and reduces traffic accidents.
At present, along with the development of intelligent traffic management and internet of vehicles technologies, road Side equipment (or Road Side Unit, RSU) in an intelligent traffic management system communicates with a vehicle-mounted terminal (or vehicle-mounted Unit, on Board Unit, OBU) in a short-distance communication mode, so that vehicle identity recognition is realized, electronic fee deduction is realized, functions of no parking, no card taking, no person On duty vehicle channel establishment and the like are realized, traffic threats possibly encountered by vehicles can be predicted, and a driver is informed in advance to adjust driving states so as to avoid traffic threats.
When a vehicle passes through a junction area of two adjacent RSUs, an on-board terminal OBU is required to disconnect the RSU in current communication connection and switch to the next RSU in the running direction of the vehicle, and in the switching process, in order to avoid "missing of the vehicle", that is, the on-board terminal OBU of the vehicle is not connected with the RSU, the prior art generally controls the vehicle to pass through the junction area of the two adjacent RSUs at the maximum speed specified by the road, which is very dangerous and cannot reliably avoid "missing of the vehicle".
Disclosure of Invention
In view of this, in order to ensure that the vehicle is always in an "on-line state" during road running, a communication connection between the vehicle-mounted terminal of the vehicle and at least one road side device is maintained, and the following technical solutions are provided in the embodiments of the present application:
in one aspect, the present application proposes a vehicle speed control method for the internet of vehicles, the method comprising:
acquiring state information of a target vehicle, wherein the state information comprises a running speed, a running direction and a running position of the target vehicle;
according to the state information, obtaining respective device information of first road side devices and second road side devices of the target vehicle, and physical distance and switching duration between the first road side devices and the second road side devices; the first road side equipment is corresponding to a road section where the driving position is located, and is in communication connection with the target vehicle at present, and the second road side equipment is adjacent to the same side as the first road side equipment in the driving direction of the target vehicle;
obtaining a vehicle speed control range of the target vehicle under the condition that the target vehicle meets the switching control by using the respective device information of the first road side device and the second road side device, the physical distance and the switching duration; the switching control condition refers to a condition that the target vehicle runs in a signal overlapping area between the first road side equipment and the second road side equipment and can finish communication connection switching between the first road side equipment and the second road side equipment;
And responding to a road side equipment switching request aiming at the target vehicle, regulating and controlling the running speed of the target vehicle according to the vehicle speed control range, and controlling the target vehicle to switch from the first road side equipment to the second road side equipment to establish communication connection.
In some embodiments, the obtaining, by using the device information of each of the first road side device and the second road side device, the physical distance, and the switching duration, the vehicle speed control range of the target vehicle under the condition that the target vehicle satisfies the switching control includes:
acquiring a first communication radius of road side equipment in a normal working state and a failure rate of the road side equipment;
and obtaining a vehicle speed control range of the target vehicle under the condition that the target vehicle meets the switching control by using the road side equipment fault rate, the first communication radius, the physical distance and the switching duration.
In some embodiments, the obtaining, using the road side equipment failure rate, the first communication radius, the physical distance, and the switching duration, the vehicle speed control range of the target vehicle under the switching control condition includes:
obtaining a current switching driving distance of the target vehicle by using the switching duration and the driving speed of the target vehicle, wherein the switching driving distance refers to a distance travelled by the target vehicle when the target vehicle is switched from the first road side equipment to the second road side equipment to establish communication connection;
Obtaining a target reference distance between the first road side equipment and the second road side equipment according to the current switching driving distance, the road side equipment fault rate and the first communication radius;
and acquiring a vehicle speed control range of the target vehicle running in a signal overlapping area between the first road side equipment and the second road side equipment under the condition that the target reference distance is larger than the physical distance.
In some embodiments, the obtaining the target reference distance between the first roadside device and the second roadside device according to the current switching driving distance, the roadside device failure rate and the first communication radius includes:
obtaining an expected communication radius of the road side equipment on the road where the target vehicle is located by using the road side equipment fault rate and the first communication radius;
obtaining a distance threshold value of a signal overlapping area between the first road side equipment and the second road side equipment according to the expected communication radius;
and obtaining a target reference distance between the first road side equipment and the second road side equipment by using the distance threshold and the current switching driving distance.
In yet another aspect, the present application further proposes a vehicle speed control device for the internet of vehicles, the device comprising:
the first information acquisition module is used for acquiring state information of a target vehicle, wherein the state information comprises the running speed, the running direction and the running position of the target vehicle;
the second information acquisition module is used for acquiring the equipment information of the first road side equipment and the second road side equipment of the target vehicle, the physical distance between the first road side equipment and the second road side equipment and the switching duration according to the state information; the first road side equipment is corresponding to a road section where the driving position is located, and is in communication connection with the target vehicle at present, and the second road side equipment is adjacent to the same side as the first road side equipment in the driving direction of the target vehicle;
the vehicle speed control method obtaining module is used for obtaining a vehicle speed control range of the target vehicle under the condition that the target vehicle meets the switching control by using the respective device information of the first road side device and the second road side device, the physical distance and the switching duration; the switching control condition refers to a condition that the target vehicle runs in a signal overlapping area between the first road side equipment and the second road side equipment and can finish communication connection switching between the first road side equipment and the second road side equipment;
And the road side equipment switching control module is used for responding to a road side equipment switching request aiming at the target vehicle, regulating and controlling the running speed of the target vehicle according to the vehicle speed control range, and controlling the target vehicle to switch from the first road side equipment to the second road side equipment to establish communication connection.
In yet another aspect, the present application further proposes a vehicle speed control system for the internet of vehicles, the system comprising:
a plurality of road side devices disposed on a vehicle travel road side;
the vehicle-mounted terminals are deployed in the vehicles and can establish communication connection with the road side equipment corresponding to the signal coverage range where the vehicle-mounted terminals are currently located, so that data interaction between the road side equipment and the vehicle-mounted terminals is realized;
a computer device, the computer device comprising:
the communication interface is used for being in communication connection with the road side equipment to realize data interaction between the road side equipment and the computer equipment;
a memory for storing a program for implementing the vehicle speed control method for the internet of vehicles as described above;
and the processor is used for loading and executing the program stored in the memory so as to realize the steps of the vehicle speed control method for the Internet of vehicles.
In yet another aspect, the present application further proposes a readable storage medium having stored thereon a computer program, the computer program being executed by a processor to implement the steps of the vehicle speed control method for the internet of vehicles as described above.
Therefore, the present application provides a vehicle speed control method, apparatus and system for the internet of vehicles, which can obtain, according to state information of a target vehicle, respective device information of a first road side device currently connected to the target vehicle and a second road side device adjacent to the first road side device, and a physical distance and a switching duration between the two road side devices, so that, by using the obtained parameters, a vehicle speed control range of the target vehicle under a switching control condition is obtained, that is, the target vehicle is ensured to run in a signal overlapping region between the first road side device and the second road side device, and communication connection switching between the first road side device and the second road side device can be completed, and a running speed range of the target vehicle is required to be provided.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present application, and that other drawings may be obtained according to the provided drawings without inventive effort to a person skilled in the art.
FIG. 1 illustrates an alternative application scenario diagram of a vehicle speed control method for the Internet of vehicles;
FIG. 2 is a schematic diagram of an alternative example of a vehicle speed control system for Internet of vehicles as set forth in the present application;
FIG. 3 is a schematic diagram of an alternative application scenario suitable for the vehicle speed control method for Internet of vehicles proposed in the present application;
FIG. 4 is a schematic diagram of an alternative application scenario suitable for the vehicle speed control method for Internet of vehicles proposed in the present application;
FIG. 5 is a schematic hardware architecture diagram of an alternative example of a computer device suitable for use in the vehicle speed control method of the Internet of vehicles presented herein;
FIG. 6 is a flow chart illustrating an alternative example of a vehicle speed control method for the Internet of vehicles as set forth herein;
FIG. 7 is a flow chart illustrating yet another alternative example of a vehicle speed control method for the Internet of vehicles as set forth herein;
fig. 8 is a schematic view of a scenario of an alternative method for obtaining a target reference distance in the vehicle speed control method of the internet of vehicles according to the present application;
fig. 9 shows a schematic structural view of an alternative example of the vehicle speed control device for internet of vehicles proposed in the present application.
Detailed Description
The internet of things (The Internet of Things, IOT) refers to collecting any object or process needing supervision, connection and interaction in real time through various devices and technologies such as various information sensors, radio frequency identification technologies, global positioning systems, infrared sensors and laser scanners, collecting various needed information such as sound, light, heat, electricity, mechanics, biology and positions, and realizing ubiquitous connection of objects and people through various possible network access, and realizing intelligent perception, identification and management of objects and processes. It can be seen that the internet of things is an information carrier based on the internet, a traditional telecommunication network, etc., which enables all common physical objects that can be addressed independently to form an interconnection network.
The Cloud IOT aims to connect information perceived by sensing equipment in the traditional IOT and accepted instructions into the Internet, networking is truly realized, mass data storage and operation are realized through a Cloud computing technology, the current running states of all 'objects' are perceived in real time due to the fact that the things are connected with each other, a large amount of data information can be generated in the process, how to collect the information, how to screen useful information in the mass information and make decision support for subsequent development, and the Cloud is a key problem affecting the development of the IOT, and the Internet of things Cloud based on Cloud computing and Cloud storage technology is also a powerful support for the technology and application of the IOT.
The Internet of vehicles (Internet ofVehicle, IOV) is an extension product of the Internet of things, is an integrated network capable of realizing intelligent traffic management, intelligent dynamic information service and vehicle control, is a huge interaction network generally composed of information such as vehicle position, speed and route, is a typical application of the Internet of things technology in the field of traffic systems, and is mainly applied to the fields of vehicle-road coordination and safety auxiliary driving.
In combination with the description of the background art section, when a vehicle passes through a junction area of two adjacent RSUs (in this application, two RSUs disposed On the same Side of a Road and adjacent to each other) in a plurality of Road Side devices (Road Side units) disposed On a traffic Road network, referring to a schematic view of a vehicle driving scenario shown in fig. 1, in a process of driving the vehicle from a signal coverage area of the RSU3 to a signal coverage area of the RSU2, in a process of driving the vehicle from the signal coverage area of the RSU3 to the signal coverage area of the RSU2, when the vehicle passes through the junction area of the respective signal coverage areas of the RSU3 and the RSU2, it is often required that an On-Board Unit (OBU) of the vehicle disconnects a communication connection with the RSU3 and switches to the OBU of the vehicle to establish a communication connection with the RSU2, and since a switching time spent by the OBU of the vehicle to switch between the two adjacent RSUs is often fixed, in the prior art, a fast passing through the junction area of the two adjacent RSUs is adopted to avoid a situation that the vehicle is "the vehicle is lost" during the switching process ", so that when the junction area is reached, the vehicle is controlled as fast as possible, and reaches the maximum signal is allowed to reach the maximum range of the RSU.
It can be seen that, in the prior art, the driving manner of rapidly increasing the vehicle speed is obviously a dangerous driving manner, and the driving manner of rapidly increasing the vehicle speed is not considered, and in the actual driving process, the effective communication radius of each RSU (because the signal coverage of each RSU is usually circular, the effective communication radius can be the radius of the signal coverage of one RSU on the road surface shown in fig. 1), the possibility of a RSU fault, the switching duration of the RSU (i.e. the time when the vehicle OBU performs communication switching between two adjacent RSUs), the real-time distance between two adjacent RSUs and the like are restricted to the vehicle speed, so that, mainly in the actual driving process, the boundary area between two adjacent RSUs is reached, the vehicle speed is increased, the vehicle is likely to drive through the boundary area beyond the communication connection with the next RSU (such as RSU2 in fig. 1), and after entering the signal coverage of the next RSU, the vehicle is automatically disconnected from the RSU (such as RSU3 in fig. 1) in the coverage of the previous signal, and the vehicle is "the vehicle is disconnected from the RSU (such as RSU3 in fig. 1), the vehicle is not normally connected to the RSU (such as RSU3 in fig. 1) or the whole road condition is not known, the vehicle is not normally connected to the vehicle, and the road condition is not known.
Based on the above analysis, the driving mode of the vehicle in the prior art is not preferable when the vehicle is in a faster and better driving mode in the junction area, and the application hopes that the vehicle can be in an on-line state in real time on the premise of ensuring the driving safety of the road, namely, the OBU of the vehicle is in communication connection with at least one RSU at any time, so that the traffic network can detect the dynamic information of the vehicle in real time, and the vehicle speed of the vehicle driving in the junction area is specifically provided for dynamically controlling the vehicle speed to ensure that the vehicle completes the switching operation of the RSU in the driving process of the vehicle in the junction area, namely, the vehicle has enough time to switch from the last RSU (such as RSU3 in fig. 1) to the next adjacent RSU (such as RSU2 in fig. 1) in the communication connection, thereby avoiding the vehicle from being in failure to connect with the next adjacent RSU after the vehicle driving through the junction area of the two adjacent RSUs.
Specifically, the present application will consider the above restrictions on the vehicle speed by the effective communication radius of each RSU, the RSU fault probability, the RSU switching duration, the real-time distance between two adjacent RSUs, and the like, and achieve the above objective by controlling the vehicle speed of the vehicle passing through the boundary area of the signal coverage areas of the two actually adjacent RSUs, where the specific implementation process can refer to, but is not limited to, the technical schemes described in the following embodiments.
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
It should be appreciated that "system," "apparatus," "unit" and/or "module" as used in this application is one method for distinguishing between different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the word can be replaced by other expressions.
As used in this application and in the claims, the terms "a," "an," "the," and/or "the" are not specific to the singular, but may include the plural, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus. The inclusion of an element defined by the phrase "comprising one … …" does not exclude the presence of additional identical elements in a process, method, article, or apparatus that comprises an element.
Wherein, in the description of the embodiments of the present application, "/" means or is meant unless otherwise indicated, for example, a/B may represent a or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, in the description of the embodiments of the present application, "plurality" means two or more than two. The following terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.
Additionally, flowcharts are used in this application to describe the operations performed by systems according to embodiments of the present application. It should be appreciated that the preceding or following operations are not necessarily performed in order precisely. Rather, the steps may be processed in reverse order or simultaneously. Also, other operations may be added to or removed from these processes.
Referring to fig. 2, a schematic system architecture of an optional application scenario suitable for the vehicle speed control method for internet of vehicles according to the present application may be suitable for various application scenarios of internet of vehicles, such as a scenario of vehicle-road coordination, safety-assisted driving, etc., and the application scenario for executing the system architecture according to the present application may be determined according to actual needs, which includes but is not limited to the contents listed in the embodiments of the present application. As shown in fig. 2, the system may include: an in-vehicle terminal OBU11, a plurality of road side devices RSU12, and a computer device 13 disposed in each vehicle, wherein:
the on-board terminal OBU11 may be placed on a vehicle according to actual situations, such as being mounted on the inside of a front windshield of the vehicle, etc., and may store information (such as ID information, identity information, attribute information, etc.) of an identified object (such as a vehicle, a container, goods, etc.). In practical application, the method can be a microwave device which adopts a special short-distance communication (Dedicated Short Range Communication, DSRC) technology and interacts with a microwave antenna of the road side equipment RSU12, and reports information such as the position, the speed and the like of a real-time measured vehicle to the cloud end of the Internet of vehicles for storage or sharing to other vehicles and the like through the RSU which establishes communication connection, so that the requirements of safe auxiliary driving and vehicle-road cooperative application are met.
The road side unit RSU12 may consist of a high gain directional beam-controlled read-write antenna and a radio frequency controller. The high-gain directional beam control read-write antenna is a microwave transceiver module and is responsible for transmitting/receiving, modulating/demodulating, encoding/decoding and encrypting/decrypting signals and data; the radio frequency controller is a module for controlling the transmission and the reception of data and processing the information transmitted and received to the upper computer, and the working principle of the road side equipment RSU is not described in detail in the application.
In practical applications, the RSU may have capabilities of storing, calculating, communicating, fast searching, etc., and may generally store its own location information, MAC (Media Access Control) information, signal coverage (which may be represented by a communication radius, but not limited thereto), etc., and may store location information, MAC information, location information of other RSUs adjacent to the RSU, road information, etc. of the other RSUs relative to the RSU, where the content of information that needs to be stored by the RSU and that can be collected by the RSU is not limited, and may be determined according to circumstances.
In the embodiment of the application, the vehicle-mounted terminal OBU can play the running information of the vehicle in real time, and receive the information played by other vehicle-mounted terminals OBU and road side equipment RSU so as to know the road condition information of the running road section and the like. Therefore, the road side equipment can be generally deployed on two sides of a road, such as telegraph poles on two sides of the road, limit bars in the middle of the road and the like, and can be determined according to the requirements of specific scenes.
It should be appreciated that, since the number of vehicles traveling on a road is often uncertain, at some times, a road side device may establish a communication connection with one vehicle-mounted terminal, but at most times, the same road segment may travel with multiple vehicles, so that a road side device may establish a communication connection with respective vehicle-mounted terminals of the multiple vehicles, so as to meet the safety guarantee requirements of the traffic network for all vehicles traveling.
The computer device 13 may be a service device or an electronic device, and the service device may be an independent physical server, or may be a server cluster or a distributed system formed by a plurality of physical servers; the cloud server can also be a cloud server for providing cloud computing service or a cloud server cluster formed by the cloud server; the electronic device may include, but is not limited to, a tablet computer, a notebook computer, a desktop computer, and the like. In practical applications, the electronic device and the server may be directly or indirectly connected through wired or wireless communication, which is not limited herein.
In some applications of the embodiments of the present application, the computer device 13 may form a service platform of the internet of vehicles, and execute the vehicle speed control method for the internet of vehicles of the present application to ensure the "on-line" state of the vehicle. In the implementation process, according to the requirements of the application scenario, referring to the application scenario schematic diagram shown in fig. 3, the system architecture provided in the present application may further include a traffic management server, a traffic application server, a security management server, and the like, where the computer device may be connected to these servers to obtain the required data, and the specific implementation process may be determined in conjunction with the actual application scenario, which is not described in detail in this embodiment.
It should be understood that the above-mentioned computer device may also be a traffic management server, a traffic application server or a security management server, which are listed above, so that the corresponding server can provide the original service, and further can implement the vehicle speed control method for internet of vehicles provided in the present application, and the structure and type of the above-mentioned computer device, and the functions that can be implemented by the above-mentioned computer device are not described in detail, and may be determined as appropriate.
In still other embodiments of the present application, the above-mentioned computer device may also be an electronic device with a certain data processing capability, for example, a vehicle-mounted mobile terminal, an electronic device deployed near each RSU, or the like, which may acquire various information reported by each RSU, or may be connected to a vehicle-mounted terminal OBU of each vehicle entering a corresponding signal coverage area, to acquire vehicle-related information acquired by the OBU, and may send a control instruction to the OBU of the corresponding vehicle to control the vehicle to execute a corresponding operation.
As shown in a schematic view of a driving application scenario of a vehicle in fig. 4, a road side device RSU may be configured on a high-speed toll station, a telegraph pole on a road, a limiting rod, etc., so that a vehicle carrying an OBU is driven to the vicinity, and after driving into a signal coverage area of the road side device RSU, a communication connection may be established, so as to implement data interaction, and the road side device may upload the received relevant information of the vehicle to a computer device (such as a lane computer shown in fig. 3, but not limited thereto).
It should be understood that, regarding the configuration of implementing the vehicle speed control system for internet of vehicles according to the present application, the configuration is not limited to the above-listed parts, and in practical application, more or fewer components than the system structure according to the present embodiment shown in fig. 2 may be included based on the requirements of different application scenarios, which is not listed in the present application.
Referring to fig. 5, in order to illustrate a hardware structure of an alternative example of a computer device suitable for the vehicle speed control method for internet of vehicles provided in the present application, in combination with the above analysis, the computer device may include a server and/or an electronic device, and the product type of the computer device is not limited in the present application and may be determined according to the requirements of a specific application scenario. And the computer device shown in fig. 5 is only one example and should not impose any limitation on the functionality and scope of use of the embodiments of the present application.
As shown in fig. 5, the computer device may include: the communication interface 11, the memory 12 and the processor 13, wherein in the embodiment of the present application, the communication interface 11, the memory 12 and the processor 13 may implement communication between each other through a communication bus, and the number of the communication interface 11, the memory 12, the processor 13 and the communication bus may be at least one.
The communication interface 11 may be an interface of a communication module, such as a communication module of a wireless network or a wireless network, for example, a GPS module, a WIFI module, a GSM module, an interface of a 4G/5G/6G network, and the like, and may further include a USB interface, various serial/parallel interfaces, and the like for implementing data interaction inside a computer device.
The memory 12 may comprise high-speed RAM memory or may further comprise non-volatile memory (non-volatile memory), such as at least one disk memory. The processor 13 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present application.
In the embodiment of the present application, the memory 12 is configured to store a program for implementing the vehicle speed control method for internet of vehicles, and the processor 13 may load and execute the program stored in the memory 12, so as to implement, but not limited to, each step of the vehicle speed control method for internet of vehicles described in the following corresponding method embodiment, and the specific implementation process may refer to the description of the corresponding part of the following method embodiment.
It should be understood that the structure of the computer device shown in fig. 5 is not limited to the computer device in the embodiment of the present application, in practical application, may include more or fewer components than those shown in fig. 5, or some components may be combined, for example, for an electronic device with a certain data processing capability, where the computer device may include at least one input device such as a touch sensing unit that senses a touch event on a touch display panel, a keyboard, a mouse, a camera, a microphone, and at least one output device such as a display, a speaker, a vibration mechanism, a lamp, and so on, which are not specifically recited herein.
Referring to fig. 6, a flow chart of an alternative example of a vehicle speed control method for internet of vehicles according to the present application may be applicable to a computer device, and in combination with the above analysis, the computer device may be a service device or an electronic device, and the product type and the composition structure of the computer device are not limited, and may be determined according to the requirements of the actual application scenario. As shown in fig. 6, the vehicle speed control method for the internet of vehicles according to the present embodiment may include, but is not limited to, the following steps:
Step S11, acquiring state information of a target vehicle;
in this embodiment, the target vehicle may be any vehicle running on a road, and the type and structure of the target vehicle are not limited in this application, but it should be understood that the target vehicle is configured with an OBU to implement communication connection with an RSU on any side of a road section where the target vehicle is located, so as to meet data transmission requirements in a corresponding application scenario, and detailed description of a specific communication connection implementation process in this embodiment is omitted.
The state information of the target vehicle may include information such as a running speed, a running direction, a running position of the target vehicle, etc., and the information content included in the state information is not limited in this application, and may be determined according to actual requirements of an application scenario, which is not described in detail in this embodiment.
It should be noted that, since the driving direction of the vehicle on the road tends to form an angle θ with the road, the driving speed of the target vehicle in the present application refers to the driving speed of the target vehicle in the driving direction, that is, the speed component of the actual speed of the target vehicle in the driving direction, that is, the driving speed v=v of the target vehicle 0 cosθ，v 0 The actual speed of the target vehicle is indicated, and the description thereof will not be repeated.
In connection with the description of the above system embodiments, the computer device may obtain the state information of the target vehicle through a road side device RSU (denoted as a first road side device) that is currently in communication with the target vehicle; the state information of the target vehicle can be acquired through other electronic equipment in communication connection with the OBU of the target vehicle, and the acquisition mode of the state information of the target vehicle can be not determined according to the acquisition mode of the state information of the target vehicle.
Step S12, obtaining respective device information of the first road side device and the second road side device, and physical distance and switching duration between the first road side device and the second road side device according to the state information;
in this embodiment, the first road side device may refer to a road side device corresponding to a road section where the driving position of the target vehicle is located, and the second road side device may refer to a road side device adjacent to the same side as the first road side device in the driving direction of the target vehicle. As shown in fig. 1, if the first road side device is RSU3, the second road side device may be RSU2; if the first road side device is RSU2 and the second road side device is RSU1, it can be seen that, with the change of the driving position of the target device, the road side devices represented by the first road side device and the second road side device in this embodiment will change correspondingly, and are not limited to the road side devices shown in fig. 1.
For the above-mentioned driving position of the target vehicle, and the physical distance between the first road side device and the second road side device, the embodiments of the present application may be represented by using a geographic grid. Specifically, the method and the device can divide the road on which the vehicle can run into a plurality of geographic grids, determine the geographic grid on which the target vehicle is currently located through positioning and identification, and take the geographic grid as the current running position of the target vehicle; the physical distance between the first road side equipment and the second road side equipment can be represented by the number of the geographical grids spaced between the first road side equipment and the second road side equipment; of course, the present application may also use geographic coordinates to represent corresponding driving positions, physical distances, and the like, and may be determined according to requirements of actual application scenarios, which is not limited in this application.
In order to facilitate the computer device to query the relevant information of the vehicle, the data storage space of the computer device may be divided into regions for the pre-divided geographic grids, so that each geographic grid corresponds to an independent storage space for storing the relevant information of the geographic grid, and this embodiment of the specific implementation method of this data storage manner is not described in detail.
In practical application of this embodiment, a current driving position of the target vehicle may be used to determine a first road side device corresponding to a road segment to which the target vehicle belongs, then, deployment information of a plurality of road side devices on a road to which the road segment belongs may be determined in advance, a next road side device adjacent to a same side (i.e., a same side of a road) of the first road side device in a driving direction of the target vehicle may be determined and recorded as a second road side device, respective deployment positions of the first road side device and the second road side device may be obtained, and a physical distance between the first road side device and the second road side device may be calculated.
Of course, in some embodiments, the physical distance between the first road side device and the second road side device may be directly read from the determined deployment information of the plurality of road side devices, and in this scenario, the physical distance between any two adjacent road side devices on the same side may be recorded in advance in the plurality of road side devices deployed on the road, so that the content and the acquisition manner included in the deployment information of the plurality of road side devices are not limited, and may be determined according to the actual application requirements.
For the switching duration between the first road side device and the second road side device, that is, the time spent for implementing the switching between the two adjacent road side devices, in some embodiments of the present application, the time-keeping device may be obtained by using historical record data of a timing device (such as a timer, a clock, etc.), or may be determined through a previous experiment, and the method for obtaining the switching duration is not limited in the present application.
For example, when the history vehicle passes through the signal overlapping area of two adjacent RSUs, the timing device may be triggered to start timing when the history vehicle starts to perform the RSU switching operation, and when it is determined that the history vehicle is successfully connected to the next adjacent RSU, the timing device is controlled to stop timing, and the time difference between the two time points is determined as the switching duration, which may be denoted as Δt, but is not limited to the switching duration acquiring manner described in the embodiment.
It can be seen that the statistical manner of the switching duration between the first roadside device and the second roadside device may include, but is not limited to: when a road side equipment switching request aiming at a historical vehicle is responded, acquiring a time point of a current timing device as a first time point, detecting that the historical vehicle is successfully switched to the next adjacent road side equipment to establish communication connection, acquiring the time point of the current timing device as a second time point, and determining the time difference between the second time point and the first time point as switching duration for realizing communication connection switching between the two adjacent road side equipment on the same side. The historical vehicle may be any vehicle in the road driving process, and may be the target vehicle, and the embodiment may use the counted switching duration as a duration spent by the switching of the communication connection between the target vehicle and the first road side device and the second road side device.
In still other embodiments of the present application, for different types or performance of vehicle OBUs and/or RSUs with different performance, the duration taken to implement the communication connection switching between the vehicle OBU and two adjacent RSUs may be different, in this case, the present application may pre-configure each type of vehicle OBU, and the switching duration required for the switching connection between each type of roadside device, so, when acquiring the switching duration of the switching connection between the target vehicle and the first roadside device and the second roadside device, the matched switching duration may be queried according to information such as the vehicle terminal type of the target vehicle, the device types of the first roadside device and the second roadside device, and so on.
Step S13, obtaining a vehicle speed control range of the target vehicle under the condition that the target vehicle meets the switching control by using the device information, the physical distance and the switching duration of the first road side device and the second road side device;
in this embodiment, the above-mentioned switching control condition may refer to a condition that the target vehicle can travel in a signal overlapping area between the first road side device and the second road side device, and complete communication connection switching between the first road side device and the second road side device, that is, after the target vehicle enters a signal overlapping area between the first road side device and the second road side device, the traveling speed in the vehicle speed control range obtained according to this embodiment is controlled, so that the target vehicle can be ensured to travel in the signal overlapping area, and complete communication connection switching between the first road side device and the second road side device of the target vehicle, that is, in the signal overlapping area, the communication connection between the target vehicle and the first road side device is disconnected, and the communication connection between the vehicle-mounted terminal of the target vehicle and the second road side device is timely achieved, so that the target vehicle can be connected to at least one road side device at any time, that is, the target vehicle can be always in an "on-line state".
The signal overlapping area between the first road side device and the second road side device is an overlapping area between signal coverage areas of the two road side devices, as shown in fig. 1, and the interface area between the adjacent RSU2 and RSU3 (or between RSU1 and RSU 2) in the signal coverage area (the dashed circular area in fig. 1) on the road is not limited in the acquisition mode of the signal overlapping area.
In connection with the above analysis of the technical idea of the present application, it should be understood that, since it takes a certain time period to switch between two adjacent road side devices, and during this switching, the target vehicle is still in a driving state, a certain driving distance may be generated. If there is no signal overlapping area between the signal coverage areas of the first road side device and the second road side device adjacent to the same side, when the target vehicle is driving out of the signal coverage area of the first road side device, and performs a switching operation between the first road side device and the second road side device, the target vehicle will soon break the communication connection with the first road side device due to driving out of the signal coverage area of the first road side device, but the target vehicle will be in a "disconnection state" or a "missing state" during this period because the communication connection with the second road side device is not successful at this time.
In order to avoid the situation, the target vehicle is driven into the signal coverage area of the second road side device in the driving direction, the communication connection with the first road side device cannot be immediately disconnected, and particularly, under the condition that the target vehicle has the communication condition of establishing the communication connection with the second road side device, the communication connection with the first road side device cannot be disconnected before the target vehicle is in communication connection with the second road side device, so that the driving distance is required to be located in the signal coverage area of the first road side device and the signal coverage area of the second road side device, namely, the driving distance is located in the signal overlapping area between the first road side device and the second road side device which are adjacently arranged on the same side.
Therefore, for the application scenario that the signal overlapping area does not exist between the first road side device and the second road side device, the target vehicle can 'disappear' for a period of time no matter how the driving speed of the target vehicle is adjusted in the switching process, so that the computer device cannot obtain the information about the target vehicle in the period of time, and cannot provide the service for the target vehicle in the period of time. Therefore, in order to solve the problem in the prior art, a signal overlapping area needs to exist between the first road side device and the second road side device, and in this scenario, according to the manner proposed in the embodiment, the running speed of the target vehicle is regulated, so that the target vehicle can be ensured to be always in an "on-line state".
Based on the above analysis, in order to avoid invalid regulation and control on the running speed of the target vehicle, in some embodiments provided in the present application, it may be verified whether a signal overlapping area exists between the first road side device and the second road side device according to the respective device information of the first road side device and the second road side device of the target vehicle, and if so, execute the subsequent steps in the above manner; if the signal overlap area does not exist, the process can be ended, or corresponding prompt information is output to remind relevant staff, and the physical distance between the first road side equipment and the second road side equipment is adjusted in time, so that a signal overlap area exists between the adjusted first road side equipment and the second road side equipment, and the specific adjustment method is not described in detail in the application.
The verification process of whether a signal overlapping area exists between the first road side device and the second road side device can be determined according to respective signal coverage areas of the first road side device and the second road side device, and also can be determined according to the connection signal strength of the target vehicle and the first road side device, the signal strength of the second road side device sensed by the target vehicle and other factors.
In addition, in combination with the analysis of the switching control conditions, the present application may switch the technical concept that the driving distance of the target vehicle after completing the switching operation is smaller than the signal overlapping area between the first road side device and the second road side device to the distance relationship between the first road side device and the second road side device in order to achieve the purpose of the present invention, if the target reference distance between the first road side device and the second road side device (i.e. the critical distance that enables the target vehicle to have sufficient time to complete the switching operation) is controlled to be greater than the actual distance between the first road side device and the second road side device (i.e. the physical distance) according to the technical concept, so as to ensure that the target vehicle is always in an "on-line state".
Based on the above distance analysis process between the first road side device and the second road side device, the present application may obtain, according to the distance relationship obtained by the above analysis, a vehicle speed control range of the target vehicle under the condition that the target vehicle satisfies the switching control by using the respective device information of the first road side device and the second road side device, and the physical distance and the switching duration between the first road side device and the second road side device, and the specific implementation process may refer to, but is not limited to, descriptions of corresponding parts of the following embodiments, which are not described in detail herein.
Step S14, in response to a road side equipment switching request aiming at the target vehicle, regulating and controlling the running speed of the target vehicle according to the vehicle speed control range, and controlling the target vehicle to switch from the first road side equipment in the current communication connection to the second road side equipment in the communication connection.
After the target vehicle meets the vehicle speed control range under the switching control condition, in order to prevent the target vehicle from being in a 'disconnection' state due to the fact that the running speed of the target vehicle is too high in the switching connection process between the first road side device and the second road side device, the computer device can regulate and control the running speed of the target vehicle according to the vehicle speed control range when responding to the road side device switching request aiming at the target vehicle, and meanwhile, the target vehicle is controlled to be switched from the first road side device to the second road side device in communication connection, so that the running speed of the target vehicle is not exceeding the vehicle speed control range in the switching operation executing process, and further, the signal overlapping area between the first road side device and the second road side device is not driven out before the target vehicle is successfully switched to the second road side device, and the real-time on-line state of the target vehicle is realized.
In practical application of the present application, the computer device may control the running speed of the target vehicle to be maintained within the vehicle speed control range according to the road condition information of the road section where the target vehicle is located, and establish communication connection with the second road side device after determining that the vehicle-mounted terminal of the target vehicle is successfully switched, and may not need to control the running speed of the target vehicle to be maintained within the vehicle speed range any more.
Specifically, when the road side equipment switching request is responded, the target vehicle is controlled to enter a switching working mode, and the running speed of the target vehicle is regulated and controlled according to the mode, so that the vehicle is ensured to be in an on-line state; determining that the vehicle-mounted terminal of the target vehicle is successfully switched to establish communication connection with the second road side device, controlling the target vehicle to enter a non-switching working mode, and assisting the vehicle to run in a normal mode, and simultaneously continuously executing the step S11, and continuously controlling the target vehicle to enter the switching working mode in the mode when the target vehicle runs to a signal overlapping area between the next RSU and the adjacent RSU, such as a signal overlapping area between the RSU2 and the RSU1 in fig. 1, so as to ensure that the target vehicle is always in an on-line state in the whole running process.
It should be noted that, in the process that the target vehicle performs switching connection between two different adjacent RSUs, the vehicle speed control range corresponding to the running speed of the target vehicle may be regulated and controlled differently; of course, if the performances of road side devices deployed on two sides of the whole road are basically the same, the deployed position intervals are the same, the running speed of the target vehicle can be regulated and controlled according to the determined same vehicle speed control range when the target vehicle reaches the signal overlapping area between two different adjacent RSUs; alternatively, the present application may also employ the same vehicle speed control range for a class of road side devices having the same road side device position interval, the same performance, and the like in this manner; for different types of adjacent road side equipment, different vehicle speed control ranges are correspondingly adopted, and the vehicle speed control ranges can be determined according to the requirements of specific application scenes, and the application is not described in detail.
In some embodiments of the present application, when it is determined that the target vehicle arrives at a signal overlap area between the first road side device and the second road side device, or the target vehicle enters a signal coverage area of the second road side device, a road side device switching request for the target vehicle may be generated, where the road side device switching request is used to control an OBU of the target vehicle to switch from the currently connected first road side device to the second road side device to be communicatively connected. Based on this, the generation manner of the roadside device switching request may include, but is not limited to, the following manners:
Detecting that the traveling position of the target vehicle reaches a connection switching position (such as a boundary position or a boundary vicinity position of the signal overlap region) of the first roadside apparatus, generating a roadside apparatus switching request for the target vehicle; and/or detecting that the connection signal strength between the target vehicle and the first road side equipment reaches a signal switching threshold, generating a road side equipment switching request for the target vehicle, wherein the signal switching threshold can be the connection signal strength between the target vehicle and the first road side equipment when the data transmission efficiency between the target vehicle and the first road side equipment is obviously reduced. The generation method and the content included in the above-mentioned request for switching the road side device are not limited, and are not limited to the implementation methods listed in the present embodiment.
In summary, in this embodiment of the present application, the first road side device currently connected to the target vehicle and the device information of the next second road side device adjacent to the same side thereof, and the physical distance and the switching duration between the first road side device and the second road side device may be obtained according to the state information of the target vehicle, so that the vehicle speed control range of the target vehicle under the switching control condition is obtained by using the device information, the physical distance and the switching duration of the first road side device and the second road side device, that is, the range of the running speed of the target vehicle is required when the target vehicle can run in the signal overlapping region between the first road side device and the second road side device, and the communication connection between the first road side device and the second road side device is completed.
Referring to fig. 7, for a schematic flow chart of still another alternative example of the vehicle speed control method for internet of vehicles, this embodiment may be an alternative refinement implementation manner of the vehicle speed control method for internet of vehicles, which is set forth in the foregoing embodiment, but is not limited to the refinement implementation manner described in this embodiment, and as shown in fig. 7, the method may include:
step S21, acquiring state information of a target vehicle;
step S22, acquiring respective device information of the first road side device and the second road side device, and physical distance and switching duration between the first road side device and the second road side device according to the state information;
regarding the implementation procedure of step S21 and step S22, reference may be made to the descriptions of the corresponding parts of the above embodiments, and the description is omitted.
Step S23, obtaining a first communication radius of the road side equipment in a normal working state and a failure rate of the road side equipment;
for the first communication radius of the road side device, which belongs to the performance parameter or the device information of the road side device, the embodiment of the application can be directly read from the use instruction of the road side device, or is determined through experiments in advance, and for the application, the first communication radius belongs to a preset known parameter.
It should be noted that, for different types of road side devices, the performance of the road side devices may often be different, and therefore, the signal coverage areas of the road side devices may also be different when the road side devices are in normal operation, the application may determine the first communication radius of the road side devices of different types in advance, and thus, after determining the first road side device where the target vehicle is located and the second road side device adjacent to the first road side device on the same side, the application may obtain the corresponding first communication radius according to the respective models of the two road side devices.
Because road side equipment with the same model or performance is often deployed on the same road or geographic area, the obtained first communication radius of the first road side equipment may be the same as the first communication radius of the second road side equipment; if the two first communication radii are different, the average communication radius of the two first communication radii may be determined as the first communication radius of the road side device acquired in this embodiment, that is, the first communication radius of the road side device on the road where the target vehicle is located.
In still other embodiments of the present application, if the first communication radius of the first road side device is different from the first communication radius of the second road side device and the difference value between the first communication radius and the first communication radius is greater than the radius threshold, in order to improve the reliability and the accuracy of vehicle speed control, the subsequent processing step needs to be performed in combination with the respective first communication radii of the first road side device and the second road side device, and the specific implementation process may refer to the description of the corresponding parts of the following embodiments.
In practical application, the failure rates of the road side devices on different roads may be different due to the influence of factors such as environment and performance of the road side devices, so in the embodiment of the application, the failure rates of the road side devices on the road may be calculated by using the historical data of the road side devices deployed on the road where the target vehicle is located, for example, the failure times of the road side devices on the road in a first time period are counted, and the failure rates of the road side devices on the road are calculated by the failure times and the first time period and are recorded as the failure rates of the road side devices, which can also be used as preset known parameters for the application without online calculation.
In still other embodiments of the present application, in order to reduce the calculation amount, the present application may further configure the same failure rate of the road side device for each road in a certain geographic area, and the obtaining method is similar, which is not repeated in this embodiment. It should be noted that, the specific implementation manner of the step S23 is not limited, and may be determined according to the requirements of the actual application scenario, including but not limited to the implementation methods listed above.
Step S24, obtaining the current switching driving distance of the target vehicle by using the switching time length between the first road side equipment and the second road side equipment and the driving speed of the target vehicle;
In this embodiment, the switching travel distance refers to a distance traveled by the target vehicle when the target vehicle completes switching from the first roadside apparatus to the second roadside apparatus in communication connection, and in combination with the description of the inventive concept of the present application, in order to ensure that the vehicle is always in an on-line state, the switching travel distance refers to a travel distance in a signal overlapping region between the first roadside apparatus and the second roadside apparatus.
Assuming that the travel speed of the target vehicle traveling in the signal overlap region between the first roadside apparatus and the second roadside apparatus is v (which may be dynamically adjusted for the purpose of satisfying the invention), the distance traveled by the target vehicle within the switching duration Δt, i.e., the current switching travel distance S, is in accordance with the course displacement formula loss =vΔt. In combination with the description of the corresponding parts of the above embodiments, when the target vehicle arrives at the signal overlapping area of the first road side device and the second road side device in the process of traveling from the signal coverage area of the first road side device to the signal coverage area of the second road side device, the road side device in communication connection with the target vehicle will be switched from the first road side device to the second road side device, so that in order to ensure that the vehicle is always in an "on-line state" in the switching process, the obtained current switching traveling distance is required to be located in the signal overlapping area, and a specific analysis process is not repeated.
Step S25, obtaining a target reference distance between the first road side equipment and the second road side equipment according to the current switching driving distance, the road side equipment failure rate and the first communication radius;
in this embodiment, for convenience of description, the failure rate of the road side device may be denoted as P malfunction And the first communication radius of the road side equipment is recorded as R normal According to the full probability theory, the application utilizes P malfunction And R is normal To determine a desired communication radius, i.e. R, of a road-side device on a road on which a target vehicle is located (or within a geographic region in which the target vehicle is located) expectation ＝(1-P malfunction )R normal . Based on this, reference is made to the application scenario shown in fig. 8Schematic diagram, in the case that the model of each road side device (including the first road side device and the second road side device) on the road where the target vehicle is located and the interval distance between two adjacent road side devices on the same side of the road are the same, the interval distance between two adjacent road side devices on the same side of the road is recorded as a first distance D space ＝2R expectation ＝2(1-P malfunction )R normal 。
In combination with the above description of the first communication radius of the road side equipment, as shown in fig. 8, if the actual distance between two ipsilaterally adjacent RSUs is greater than the above obtained first distance D space Then, the complete coverage of the RSUs of the road area will not be achieved, i.e. there will be a road section on the whole road which does not belong to the signal coverage of any RSU, and the vehicle will drive into this road section "loose". Therefore, in order to achieve the full coverage of the RSU in the road area, the actual distance between the RSUs adjacent on the same side is smaller than the first distance D space 。
In the driving process of the vehicle, in order to ensure the driving safety of the road, the vehicle can generally acquire corresponding road condition information from the corresponding RSU in real time, so as to make a safe driving decision according to the road condition information, and complete switching operation in the signal overlapping area of two adjacent RSUs. In combination with the above analysis of the prior art solution and the technical problems that exist in the prior art solution, the vehicle has not yet established a communication connection with the next adjacent RSU (e.g. the second road side device) due to the fact that the vehicle is running too fast in the signal overlap area, and the vehicle is "out of connection" due to the fact that the communication connection with the previous RSU is disconnected due to the fact that the signal coverage of the previous RSU (e.g. the first road side device) is driven out.
Therefore, the present application requires that a certain range of signal overlap area exists between two adjacent RSUs, and the signal overlap area contains a road distance sufficient for the target vehicle to complete the above-mentioned switching operation, i.e. the signal overlap area is larger than the obtained current switching travel distance S loss =vΔt, which results in a distance between two adjacent RSUs of less than 2R expectation If the distance between two adjacent RSUs meeting the requirement is recorded as a target reference distance D secondspace The object isThe reference distance can be obtained by the difference between the first distance and the current switching driving distance, namely D secondspace ＝D space -S loss ＝2(1-P malfunction )R normal V Deltat. That is, the distance between two adjacent RSUs needs to reach the target reference distance at most, so that it is possible to ensure that in the driving process of the target vehicle in the signal overlapping area between the two RSUs according to the driving speed v, there is enough time to complete connection switching between the two RSUs, and avoid that the target vehicle drives out of the overlapping area and cannot connect the adjacent RSUs.
Based on the analysis, the method for obtaining the target reference distance may include, but is not limited to: and obtaining an expected communication radius of the road side equipment on the road where the target vehicle is located by using the road side equipment fault rate and the first communication radius, obtaining a distance threshold value of a signal overlapping area between the first road side equipment and the second road side equipment by using the expected communication radius, and obtaining a target reference distance between the first road side equipment and the second road side equipment by using the distance threshold value and the current switching driving distance.
It should be understood that, in practical application, for the first road side device and the second road side device with the above target reference distance, the signal overlapping area between the two road side devices can meet the road side device switching condition, where the road side device switching condition may refer to a condition that the target vehicle can complete the communication connection switching between the first road side device and the second road side device in the signal overlapping area, and specific content included in the road side device switching condition is not limited as long as the meaning can be expressed, and this embodiment is not described in detail herein.
In some embodiments of the present application, in combination with the analysis, if the determined values of the respective first communication radii of the first and second roadside devices are different, the first distance determined according to the above manner in this embodiment may be the sum of the respective first communication radii of the two roadside devices, instead of 2 times of the general first communication radius, and the subsequent calculation manners are similar, which is not repeated in the specific implementation process of the embodiment of the present application.
Step S26, acquiring a vehicle speed control range of a target vehicle running in a signal overlapping area between the first road side equipment and the second road side equipment under the condition that the target reference distance is not smaller than the physical distance;
following the analysis of the above embodiment, the target reference distance D of the present embodiment secondspace ＝2(1-P malfunction )R normal V Deltat, and failure rate of the roadside equipment P malfunction First communication radius R normal The switching time delta t is usually a known parameter and is usually determined by the performance of the road side equipment, the external environment and other factors, and is not influenced by the running state of the vehicle, so that the road side equipment failure rate P is said to be under the determined application scene malfunction First communication radius R normal And the switching time period deltat can be regarded as fixed, the target reference distance D of the embodiment secondspace In order to ensure that the relationship between the physical distance between two adjacent RSUs and the obtained target reference distance satisfies the above requirement, so that the target vehicle is always in an "on-line state", the present embodiment may adjust the running speed of the target vehicle to adjust the relationship between the physical distance and the target reference distance, thereby ensuring that the target reference distance is greater than the physical distance between two adjacent RSUs.
Based on the analysis, the method can adopt a reverse reasoning mode to determine the running speed of the target vehicle in what vehicle speed control range, so that the target reference distance can be ensured to be larger than the physical distance between two adjacent RSUs. Specifically, it is assumed that the physical distance between the first roadside device and the second roadside device is denoted as L real In order to ensure that the vehicle is always "on", it is necessary that the target reference distance is not less than the physical distance, D secondspace ＝(D space -v△t)＝[2(1-P malfunction )R normal -v△t]≥L real The inequality is deformed to obtain the running speed of the target vehicleIn the range (noted as vehicle speed control range): v is less than or equal to (2 (1-P) malfunction )R normal -L real )/△t。
It can be seen that in order to prevent "loss of connection" of the vehicle during switching between the first roadside apparatus and the second roadside apparatus, when it is required that the target vehicle drive into the signal overlap region of the first roadside apparatus and the second roadside apparatus, the running speed of the target vehicle is controlled to (2 (1-P malfunction )R normal -L real ) This speed threshold is within/DELTAt. Wherein P is malfunction Representing the failure rate of road side equipment, R normal Representing a first communication radius, L, of a road side device in a normal operating state real Representing the physical distance (i.e., the actual distance) between a first roadside device corresponding to the location of the target vehicle and its neighboring second roadside devices, Δt represents the time taken to switch the connection between the neighboring two roadside devices on the same side.
It should be noted that, as described above in relation to the first distance, when the determined first communication radii of the first road side device and the second road side device are different, the expressions of the first distance and the target reference distance may be adjusted, so that the content of the expression of the obtained vehicle speed control range is correspondingly adjusted, but the method for obtaining the corresponding distance or range is similar to the method for obtaining the corresponding distance or range described in this embodiment, and the implementation process of the application scenario with the different first communication radii of the first road side device and the second road side device is not repeated in this embodiment.
Based on the description of the process of acquiring the vehicle speed control range of the target vehicle meeting the switching control condition, the vehicle speed control range of the target vehicle meeting the switching control condition can be acquired by utilizing the failure rate of the road side equipment, the first communication radius, the physical distance between the first road side equipment and the second road side equipment and the switching time length, so that intelligent control of the target vehicle is realized, the target vehicle is ensured to be in an online state at all times, and the situation that the vehicle is in a disconnection state caused by too fast vehicle speed is avoided particularly when the target vehicle passes through a signal overlapping area between two adjacent road side equipment.
It should be noted that, regarding the specific implementation process of obtaining the vehicle speed control range of the target vehicle meeting the switching control condition, flexible adjustment can be performed according to the requirements of the specific application scenario, and the implementation process is not limited to the implementation manner described in the corresponding steps of the foregoing embodiment, and the execution sequence of the corresponding steps of the foregoing embodiment is not limited, so that each parameter can be calculated online in a manner; the method can also be obtained and stored in advance in the above manner (mainly aiming at parameters which do not relate to real-time data), and read again when the reference needs to be used, so that adverse effects on the overall working efficiency of online calculation are avoided, the method can be determined according to specific requirements of application scenes, and the method is not described in detail.
Step S27, in response to a road side device switching request for the target vehicle, adjusting and controlling the running speed of the target vehicle according to the vehicle speed control range, and simultaneously controlling the target vehicle to switch from the first road side device to the second road side device in communication connection.
In combination with the description of the corresponding part of the above embodiment, the present application may obtain, in the above manner, a vehicle speed control range in which the target vehicle travels in a signal overlapping area between the first road side device and a second road side device adjacent thereto after the target vehicle enters the signal coverage area of the first road side device (further may be a signal coverage area unique to the first road side device), after determining that the target vehicle reaches the signal overlapping area between the first road side device and the second road side device, when the OBU of the target vehicle needs to switch from the connected first road side device to the second road side device for communication connection, the computer device may respond to a road side device switching request for the target vehicle, and, while controlling the OBU of the target vehicle to complete the switching operation, may regulate a traveling speed of the target vehicle according to the obtained vehicle speed control range for a road on which the target vehicle is currently located, ensure that the traveling speed of the target vehicle is within the vehicle speed control range, leave a time for the target vehicle to complete a switching operation from the first road side device to the second road side device, and the existing signal overlapping area is not fully overlapped, so that the communication between the first road side device and the target vehicle cannot be completely connected, and the target vehicle cannot be completely connected in the vehicle driving area.
In combination with the above description of the embodiments, before adjusting the driving speed of the vehicle, the present application may determine, according to the respective device information of the first road side device and the second road side device (i.e., two road side devices adjacent on the same side), whether the physical distance between the two road side devices meets the road side device switching trigger condition, that is, first detect whether a signal overlapping region exists between the two adjacent road side devices, specifically determine whether a distance threshold (the acquiring process of which may be according to, but not limited to, the description of the corresponding part of the above embodiment) capable of existing a signal overlapping region between the first road side device and the second road side device is greater than the physical distance, and if so, consider that a signal overlapping region exists between the two road side devices, that is, meet the road side device switching trigger condition, and may continuously acquire the vehicle speed control range in the above manner, so as to control the driving speed of the target vehicle in the driving process of the signal overlapping region, and avoid "loss" between the vehicle and the road side device.
If the condition that the switching trigger condition of the road side equipment is not met is determined in the mode, the computer equipment can output adjustment prompt information aiming at the physical distance between the current first road side equipment and the second road side equipment, wherein the adjustment prompt information is used for indicating to adjust the physical distance between the first road side equipment and the second road side equipment so that the adjusted physical distance meets the condition that the road side equipment is switched.
In practical application, the computer device may send the adjustment prompt information to the electronic device of the corresponding staff, or the traffic monitoring server responsible for managing the road side device, where the traffic monitoring server informs the corresponding staff accordingly to complete the adjustment of the physical distance between the first road side device and the second road side device, but is not limited to the implementation manner listed in the embodiment, and may be determined according to a specific application scenario.
In the above embodiments provided in the present application, in the driving process of the target vehicle, the target vehicle may be guaranteed to be in an "on-line state" in the above manner, and the computer device may obtain relevant information of the target vehicle by using a communication connection between the OBU of the target vehicle and at least one RSU, such as the above state information, and may also feed back, through the communication channel, current road condition information of a road where the target vehicle is currently located to the OBU of the target vehicle, so that a driver of the target vehicle may learn, in real time, the current road condition information of the driving road of the target vehicle, and satisfy driving requirements, such as making a safe driving decision.
It should be understood that, during the driving process of the target vehicle, the data interaction between the target vehicle and the surrounding vehicles thereof can be realized through the communication channel between the OBU and the RSU of each vehicle, so as to meet the driving requirement, such as transmitting abnormal help seeking or warning information of the vehicle, steering reminding information of the vehicle, and the like, which are optionally determined, and the embodiments of the present application will not be described in detail one by one.
For various parameters related to the above embodiments, such as device information, physical distance, switching duration, road condition information, etc., the application may be obtained by accessing a corresponding traffic monitoring server, in an application scenario of this implementation manner, the computer device may initiate a data query request to the road side device monitoring server, the road side device monitoring server may respond to the data query request, query road side device deployment information and device state information, determine a first road side device currently connected in communication with the target vehicle and a second road side device adjacent to the same side of the first road side device in a driving direction of the target vehicle, and obtain respective device information of the first road side device and the second road side device, and physical distance between the first road side device and the second road side device, switching duration, etc., where the queried various parameters form a query result, and the query result is fed back to the computer device.
The query result obtained by the computer device may include respective device information of the first road side device and the second road side device, and parameters such as a physical distance between the first road side device and the second road side device, a switching duration, and the like, and may further include road condition information of a road where the vehicle is located, according to a query requirement of an application scenario.
In still other embodiments of the present application, in combination with the related description of the embodiment of the system, the computer device may also be the road side device supervision server, which may adopt the method described in the embodiment of the method of the present application, to ensure that at least one road side device establishes communication connection with a vehicle-mounted terminal of each vehicle running on a road, and ensure that the vehicle in a running state is in an "on-line state" at all times, so as to improve road driving security and reduce a vehicle traffic accident rate.
It should be noted that, for the vehicle speed control method for the internet of vehicles provided by the application, the vehicle speed control method not only can be applied to the road side equipment supervision platform supported by the road side equipment supervision server, but also can be applied to other service platforms such as traffic management or safety management and the like so as to meet the application requirements of the corresponding service platform. It can be seen that, the software and hardware platform architecture, development environment, development language, parameter acquisition source and the like suitable for the vehicle speed control method for the internet of vehicles provided in the embodiments of the present application are flexibly adjustable, can be determined according to the requirements of specific scenes, and can be modified or equivalently transformed according to the technical concept of the present application, and the obtained technical solutions belong to the protection scope of the present application, and are not described in detail herein.
In order to more intuitively embody the vehicle speed control method for the internet of vehicles, compared with the advantages of the prior art, the vehicle speed control method for the internet of vehicles is counted and repeated for a plurality of times, the vehicle speed control is realized by adopting the technical scheme, the probability of vehicle and RSU disconnection occurs, namely when the vehicle passes through the signal overlapping area of two adjacent RSUs, the number of times of vehicle and RSU disconnection is divided by the total number of times of passing through the signal overlapping area, and the probability of vehicle and RSU disconnection occurs by adopting the vehicle acceleration processing mode of the prior art is plotted into the comparison result shown in the following table 1:
TABLE 1
It should be noted that, when the simulation experiment is performed according to the above manner, the running flow of the vehicle on the test road can be controlled to be kept constant, and the specific flow value is not limited, so as to improve the accuracy and reliability of the simulation result.
The method for controlling the vehicle speed of the Internet of vehicles according to the method for controlling the vehicle speed of the Internet of vehicles, which is provided by the application, can intuitively be obtained from the table 1, and can control the vehicle to complete the switching control between two RSUs in the signal overlapping area of two adjacent RSUs, so that the vehicle can be more effectively ensured to be in an on-line state at all times, the driving safety of the road is improved, and the traffic accident rate of the vehicle is reduced.
Referring to fig. 9, for a schematic structural diagram of an alternative example of a vehicle speed control device for internet of vehicles, the implementation device may be applicable to the above-mentioned computer device, as shown in fig. 9, the device may include:
a first information acquisition module 21 for acquiring state information of a target vehicle, the state information including a travel speed, a travel direction, and a travel position of the target vehicle;
a second information obtaining module 22, configured to obtain, according to the state information, respective device information of a first road side device and a second road side device of the target vehicle, and a physical distance and a switching duration between the first road side device and the second road side device;
the first road side equipment is corresponding to a road section where the driving position is located, and is in communication connection with the target vehicle at present, and the second road side equipment is adjacent to the same side as the first road side equipment in the driving direction of the target vehicle;
in some embodiments, the second information acquisition module 22 may include:
a data query request sending unit, configured to initiate a data query request to a road side device supervision server, so that the road side device supervision server responds to the data query request, queries road side device deployment information and device state information, determines a first road side device corresponding to a road section where a driving position of the target vehicle is located, and a second road side device adjacent to the same side of the first road side device in a driving direction of the target vehicle, and obtains respective device information of the first road side device and the second road side device, and a physical distance and a switching duration between the first road side device and the second road side device;
The query result receiving unit is used for receiving a query result fed back by the road side equipment supervision server;
the query result comprises respective device information of the first road side device and the second road side device, and a physical distance and a switching duration between the first road side device and the second road side device.
Optionally, in order to count the switching duration between the first roadside device and the second roadside device, the second information obtaining module 22 may further include:
a first time point obtaining unit configured to obtain a time point of a current timing device as a first time point when responding to a roadside apparatus switching request for a history vehicle;
the second time point obtaining unit is used for detecting that the historical vehicle is successfully switched to the next adjacent road side equipment to establish communication connection, and obtaining the current time point of the timing device as a second time point;
and the switching duration determining unit is used for determining the time difference between the second time point and the first time point as the switching duration for realizing the communication connection switching between the two adjacent road side devices on the same side.
A vehicle speed control method obtaining module 23, configured to obtain a vehicle speed control range in which the target vehicle satisfies a switching control condition, using respective device information of the first road side device and the second road side device, the physical distance, and the switching duration;
The switching control condition refers to a condition that the target vehicle runs in a signal overlapping area between the first road side equipment and the second road side equipment and can finish communication connection switching between the first road side equipment and the second road side equipment;
and the road side equipment switching control module 24 is used for responding to a road side equipment switching request aiming at the target vehicle, regulating and controlling the running speed of the target vehicle according to the vehicle speed control range, and controlling the target vehicle to switch from the first road side equipment to the second road side equipment to establish communication connection.
Alternatively, the roadside device switching control module 24 may include:
a first generation unit configured to detect that a traveling position of the target vehicle reaches a connection switching position of the first roadside apparatus, and generate a roadside apparatus switching request for the target vehicle; and/or the number of the groups of groups,
and the second generation unit is used for detecting that the strength of the connecting signal between the target vehicle and the first road side equipment reaches a signal switching threshold value and generating a road side equipment switching request aiming at the target vehicle.
In some embodiments, the vehicle speed control method obtaining module 23 may include:
The first acquisition unit is used for acquiring a first communication radius of the road side equipment in a normal working state and the failure rate of the road side equipment;
and the vehicle speed control range obtaining unit is used for obtaining the vehicle speed control range of the target vehicle under the condition that the target vehicle meets the switching control by using the road side equipment failure rate, the first communication radius, the physical distance and the switching duration.
In one possible implementation, the vehicle speed control range obtaining unit may include:
a current switching travel distance obtaining unit, configured to obtain a current switching travel distance of the target vehicle by using the switching duration and a travel speed of the target vehicle, where the switching travel distance is a distance traveled by the target vehicle when the target vehicle is switched from the first road side device to the second road side device to establish communication connection;
a target reference distance obtaining unit, configured to obtain a target reference distance between the first road side device and the second road side device according to the current switching driving distance, the road side device failure rate, and the first communication radius;
alternatively, the target reference distance obtaining unit may include:
The expected communication radius obtaining unit is used for obtaining the expected communication radius of the road side equipment on the road where the target vehicle is located by utilizing the road side equipment fault rate and the first communication radius;
a distance threshold obtaining unit, configured to obtain, from the expected communication radius, a distance threshold in which a signal overlapping area can exist between the first roadside device and the second roadside device;
the target reference distance obtaining unit is used for obtaining the target reference distance between the first road side equipment and the second road side equipment by using the distance threshold and the current switching driving distance.
A vehicle control acquisition unit configured to acquire a vehicle speed control range in which the target vehicle travels in a signal overlap region between the first roadside apparatus and the second roadside apparatus, in a case where the target reference distance is greater than the physical distance.
Based on the above-described device embodiments, the vehicle speed control device for the internet of vehicles provided in the present application may further include:
the first verification module is used for determining whether the physical distance meets a road side equipment switching triggering condition according to the equipment information of the first road side equipment and the second road side equipment; if the road side equipment switching trigger condition is met, a triggering vehicle speed control method obtaining module obtains a vehicle speed control range of the target vehicle under the condition that the target vehicle meets switching control by using equipment information, the physical distance and the switching duration of the first road side equipment and the second road side equipment;
The adjustment prompt information output module is used for outputting adjustment prompt information aiming at the physical distance when the verification result of the first verification module is that the switching trigger condition of the road side equipment is not met, and the adjustment prompt information is used for indicating and adjusting the physical distance between the first road side equipment and the second road side equipment so that the adjusted physical distance meets the switching trigger condition of the road side equipment.
It should be understood that, regarding the foregoing apparatus embodiment, each module and unit may be a functional module formed by an application program, and specific processes for implementing corresponding functions may refer to descriptions of corresponding parts of the foregoing method embodiment, which are not repeated in this embodiment.
The embodiment of the application also provides a readable storage medium, on which a computer program is stored, the computer program can be called and executed by a processor, and the steps of the above vehicle speed control method for the internet of vehicles are implemented, and the specific implementation method can be described with reference to the corresponding parts of the above embodiment.
The present application also proposes a computer program product or a computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method provided in the above aspect of the vehicle speed control method for the internet of vehicles or the various alternative implementation aspects of the vehicle speed control device for the internet of vehicles, and the specific implementation process may refer to the description of the corresponding embodiment and will not be repeated.
Finally, it should be noted that, in the present description, each embodiment is described in a progressive or parallel manner, and each embodiment is mainly described as different from other embodiments, and identical and similar parts between the embodiments are only required to be referred to each other. For the apparatus, computer device, and system disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is simpler, and the relevant points refer to the description of the method section.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (16)

1. A vehicle speed control method for the internet of vehicles, the method comprising:
acquiring state information of a target vehicle, wherein the state information comprises a running speed, a running direction and a running position of the target vehicle;
according to the state information, obtaining respective device information of first road side devices and second road side devices of the target vehicle, and physical distance and switching duration between the first road side devices and the second road side devices; the first road side equipment is corresponding to a road section where the driving position is located, and is in communication connection with the target vehicle at present, and the second road side equipment is adjacent to the same side as the first road side equipment in the driving direction of the target vehicle;
Acquiring a first communication radius of road side equipment in a normal working state and a failure rate of the road side equipment, wherein the failure rate of the road side equipment is calculated according to the failure times of each road side equipment on a road where a target vehicle is located in a first time length and the first time length to obtain the failure rate of the road side equipment on the road;
obtaining a vehicle speed control range of the target vehicle under a switching control condition by using the road side equipment fault rate, the first communication radius, the physical distance and the switching time length, wherein the switching control condition is a condition that the target vehicle runs in a signal overlapping area between the first road side equipment and the second road side equipment and can finish communication connection switching between the first road side equipment and the second road side equipment;
and responding to a road side equipment switching request aiming at the target vehicle, regulating and controlling the running speed of the target vehicle according to the vehicle speed control range after the target vehicle enters a signal overlapping area between a first road side equipment and a second road side equipment, and controlling the target vehicle to switch from the first road side equipment to the second road side equipment to establish communication connection, wherein after the target vehicle enters the signal overlapping area between the first road side equipment and the second road side equipment, the target vehicle is controlled to run according to the running speed in the vehicle speed control range, so that the target vehicle finishes the communication connection switching of the target vehicle between the first road side equipment and the second road side equipment in the signal overlapping area, and the target vehicle is connected with at least one road side equipment at any moment.
2. The method according to claim 1, wherein the obtaining a vehicle speed control range in which the target vehicle satisfies a switching control condition using the roadside equipment failure rate, the first communication radius, the physical distance, and the switching duration includes:
obtaining a current switching driving distance of the target vehicle by using the switching duration and the driving speed of the target vehicle, wherein the switching driving distance refers to a distance travelled by the target vehicle when the target vehicle is switched from the first road side equipment to the second road side equipment to establish communication connection;
obtaining a target reference distance between the first road side equipment and the second road side equipment according to the current switching driving distance, the road side equipment fault rate and the first communication radius;
and acquiring a vehicle speed control range of the target vehicle running in a signal overlapping area between the first road side equipment and the second road side equipment under the condition that the target reference distance is larger than the physical distance.
3. The method of claim 2, wherein the obtaining the target reference distance between the first and second roadside devices based on the current handoff travel distance, the roadside device failure rate, and the first communication radius comprises:
Obtaining an expected communication radius of the road side equipment on the road where the target vehicle is located by using the road side equipment fault rate and the first communication radius;
obtaining a distance threshold value of a signal overlapping area between the first road side equipment and the second road side equipment according to the expected communication radius;
and obtaining a target reference distance between the first road side equipment and the second road side equipment by using the distance threshold and the current switching driving distance.
4. A method according to any one of claims 1 to 3, wherein the method further comprises:
determining whether the physical distance meets a road side device switching triggering condition according to respective device information of the first road side device and the second road side device;
if the switching trigger condition of the road side equipment is met, executing the steps of obtaining a vehicle speed control range of the target vehicle under the condition that the target vehicle meets the switching control condition by utilizing the equipment information, the physical distance and the switching duration of the first road side equipment and the second road side equipment;
and if the road side equipment switching triggering condition is not met, outputting adjustment prompt information aiming at the physical distance, wherein the adjustment prompt information is used for indicating and adjusting the physical distance between the first road side equipment and the second road side equipment so as to enable the adjusted physical distance to meet the road side equipment switching triggering condition.
5. A method according to any one of claims 1 to 3, wherein the generation of the road side equipment switching request for the target vehicle includes:
detecting that the running position of the target vehicle reaches the connection switching position of the first road side equipment, and generating a road side equipment switching request aiming at the target vehicle; and/or the number of the groups of groups,
and detecting that the strength of the connection signal between the target vehicle and the first road side equipment reaches a signal switching threshold value, and generating a road side equipment switching request aiming at the target vehicle.
6. A method according to any one of claims 1 to 3, wherein the obtaining, according to the status information, device information of each of the first road side device and the second road side device of the target vehicle, and a physical distance between the first road side device and the second road side device, and a switching duration, includes:
a data query request is initiated to a road side equipment supervision server, so that the road side equipment supervision server responds to the data query request, inquires road side equipment deployment information and equipment state information, determines first road side equipment which corresponds to a road section where a driving position of the target vehicle is located and is currently in communication connection with the target vehicle, and second road side equipment which is adjacent to the same side of the first road side equipment in the driving direction of the target vehicle, and acquires equipment information of each of the first road side equipment and the second road side equipment, and physical distance and switching duration between the first road side equipment and the second road side equipment;
Receiving a query result fed back by the road side equipment supervision server;
the query result comprises respective device information of the first road side device and the second road side device, and a physical distance and a switching duration between the first road side device and the second road side device.
7. The method of claim 6, wherein the statistical manner of the handoff duration between the first roadside device and the second roadside device comprises:
when a road side equipment switching request aiming at a historical vehicle is responded, acquiring a time point of a current timing device as a first time point;
detecting that the historical vehicle is successfully switched to the next adjacent road side equipment to establish communication connection, and acquiring the current time point of the timing device as a second time point;
and determining the time difference between the second time point and the first time point as a switching time for realizing the communication connection switching between two adjacent road side devices on the same side.
8. A vehicle speed control device for the internet of vehicles, the device comprising:
the first information acquisition module is used for acquiring state information of a target vehicle, wherein the state information comprises the running speed, the running direction and the running position of the target vehicle;
The second information acquisition module is used for acquiring the equipment information of the first road side equipment and the second road side equipment of the target vehicle, the physical distance between the first road side equipment and the second road side equipment and the switching duration according to the state information; the first road side equipment is corresponding to a road section where the driving position is located, and is in communication connection with the target vehicle at present, and the second road side equipment is adjacent to the same side as the first road side equipment in the driving direction of the target vehicle;
the vehicle speed control method comprises a vehicle speed control method obtaining module, a vehicle speed control module and a vehicle speed control module, wherein the vehicle speed control method obtaining module is used for obtaining a first communication radius of road side equipment in a normal working state and a road side equipment failure rate, and the road side equipment failure rate is calculated according to the number of times of failure of each road side equipment on a road where a target vehicle is located in a first time period and the first time period to obtain the failure rate of the road side equipment on the road; obtaining a vehicle speed control range of the target vehicle under a switching control condition by using the road side equipment fault rate, the first communication radius, the physical distance and the switching time length, wherein the switching control condition is a condition that the target vehicle runs in a signal overlapping area between the first road side equipment and the second road side equipment and can finish communication connection switching between the first road side equipment and the second road side equipment;
The road side equipment switching control module is used for responding to a road side equipment switching request aiming at the target vehicle, regulating and controlling the running speed of the target vehicle according to the vehicle speed control range after the target vehicle enters a signal overlapping region between the first road side equipment and the second road side equipment, and controlling the target vehicle to switch from the first road side equipment to the second road side equipment to establish communication connection, wherein after the target vehicle enters the signal overlapping region between the first road side equipment and the second road side equipment, the target vehicle is controlled to run according to the running speed in the vehicle speed control range, so that the target vehicle finishes the communication connection switching between the first road side equipment and the second road side equipment in the signal overlapping region, and the target vehicle is connected with at least one road side equipment at any moment.
9. The apparatus according to claim 8, wherein the vehicle speed control method obtaining module includes a vehicle speed control range obtaining unit that includes:
a current switching travel distance obtaining unit, configured to obtain a current switching travel distance of the target vehicle by using the switching duration and a travel speed of the target vehicle, where the switching travel distance is a distance traveled by the target vehicle when the target vehicle is switched from the first road side device to the second road side device to establish communication connection;
A target reference distance obtaining unit, configured to obtain a target reference distance between the first road side device and the second road side device according to the current switching driving distance, the road side device failure rate, and the first communication radius;
a vehicle control acquisition unit configured to acquire a vehicle speed control range in which the target vehicle travels in a signal overlap region between the first roadside apparatus and the second roadside apparatus, in a case where the target reference distance is greater than the physical distance.
10. The apparatus according to claim 9, wherein the target reference distance obtaining unit includes:
the expected communication radius obtaining unit is used for obtaining the expected communication radius of the road side equipment on the road where the target vehicle is located by utilizing the road side equipment fault rate and the first communication radius;
a distance threshold obtaining unit, configured to obtain, from the expected communication radius, a distance threshold in which a signal overlapping area can exist between the first roadside device and the second roadside device;
the target reference distance obtaining unit is used for obtaining the target reference distance between the first road side equipment and the second road side equipment by using the distance threshold and the current switching driving distance.
11. The apparatus according to any one of claims 8 to 10, further comprising:
the first verification module is used for determining whether the physical distance meets a road side equipment switching triggering condition according to the equipment information of the first road side equipment and the second road side equipment; if the switching trigger condition of the road side equipment is met, executing the steps of obtaining a vehicle speed control range of the target vehicle under the condition that the target vehicle meets the switching control condition by utilizing the equipment information, the physical distance and the switching duration of the first road side equipment and the second road side equipment;
the adjustment prompt information output module is used for outputting adjustment prompt information aiming at the physical distance when the verification result of the first verification module is that the switching trigger condition of the road side equipment is not met, and the adjustment prompt information is used for indicating and adjusting the physical distance between the first road side equipment and the second road side equipment so that the adjusted physical distance meets the switching trigger condition of the road side equipment.
12. The apparatus according to any one of claims 8 to 10, wherein the roadside device switching control module includes:
A first generation unit configured to detect that a traveling position of the target vehicle reaches a connection switching position of the first roadside apparatus, and generate a roadside apparatus switching request for the target vehicle; and/or the number of the groups of groups,
and the second generation unit is used for detecting that the strength of the connecting signal between the target vehicle and the first road side equipment reaches a signal switching threshold value and generating a road side equipment switching request aiming at the target vehicle.
13. The apparatus according to any one of claims 8 to 10, wherein the second information acquisition module includes:
a data query request sending unit, configured to initiate a data query request to a road side device supervision server, so that the road side device supervision server responds to the data query request, queries road side device deployment information and device state information, determines a first road side device corresponding to a road section where a driving position of the target vehicle is located, and a second road side device adjacent to the same side of the first road side device in a driving direction of the target vehicle, and obtains respective device information of the first road side device and the second road side device, and a physical distance and a switching duration between the first road side device and the second road side device;
The query result receiving unit is used for receiving a query result fed back by the road side equipment supervision server;
the query result comprises respective device information of the first road side device and the second road side device, and a physical distance and a switching duration between the first road side device and the second road side device.
14. The apparatus of claim 13, wherein the second information acquisition module comprises:
a first time point obtaining unit configured to obtain a time point of a current timing device as a first time point when responding to a roadside apparatus switching request for a history vehicle;
the second time point obtaining unit is used for detecting that the historical vehicle is successfully switched to the next adjacent road side equipment to establish communication connection, and obtaining the current time point of the timing device as a second time point;
and the switching duration determining unit is used for determining the time difference between the second time point and the first time point as the switching duration for realizing the communication connection switching between the two adjacent road side devices on the same side.
15. A vehicle speed control system for the internet of vehicles, the system comprising:
A plurality of road side devices disposed on a vehicle travel road side;
the vehicle-mounted terminals are deployed in the vehicles and can establish communication connection with the road side equipment corresponding to the signal coverage range where the vehicle-mounted terminals are currently located, so that data interaction between the road side equipment and the vehicle-mounted terminals is realized;
a computer device, the computer device comprising:
the communication interface is used for being in communication connection with the road side equipment to realize data interaction between the road side equipment and the computer equipment;
a memory for storing a program for implementing the vehicle speed control method for the internet of vehicles according to any one of claims 1 to 7;
a processor for loading and executing the program stored in the memory to realize the respective steps of the vehicle speed control method for the internet of vehicles as claimed in any one of claims 1 to 7.
16. A readable storage medium, characterized in that the readable storage medium stores a computer program, which is called and executed by a processor, implementing the method according to any of claims 1-7.
CN202011102391.XA 2020-10-15 2020-10-15 Vehicle speed control method, device and system for Internet of vehicles Active CN112261098B (en)

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