CN112770259B - Automatic driving vehicle ad hoc network method and system based on DDS protocol and DSRC technology - Google Patents
Automatic driving vehicle ad hoc network method and system based on DDS protocol and DSRC technology Download PDFInfo
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- CN112770259B CN112770259B CN202110376488.8A CN202110376488A CN112770259B CN 112770259 B CN112770259 B CN 112770259B CN 202110376488 A CN202110376488 A CN 202110376488A CN 112770259 B CN112770259 B CN 112770259B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/026—Services making use of location information using location based information parameters using orientation information, e.g. compass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Abstract
The invention provides a method and a system for automatically networking a vehicle based on a DDS protocol and a DSRC technology, wherein four OBU units are respectively deployed at the front, the back, the left and the right of an automatically-driven vehicle body to take charge of DSRC wireless transceiving; detecting a dynamic vehicle in a surrounding environment through a vehicle body radar sensor; the domain controller judges the position information of surrounding vehicles sensed by the radar, and for the vehicles in the range of the ad hoc network, the DDS message is packaged, and an OBU unit with a proper direction is selected to be broadcasted by the DSRC; meanwhile, real-time information sent by surrounding vehicles through DSRC broadcast is received, ad hoc network topology information is dynamically established, and the ad hoc network topology is issued to a central controller and used as one-way real-time input of an automatic driving decision algorithm. The invention realizes the mutual cooperation of the self-networking of the automatic driving automobile, improves the timeliness of the real-time information sharing of the automobile, leads the automatic driving automobile to sense and predict in advance and effectively improves the safety of automatic driving.
Description
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to a method and a system for automatic vehicle ad hoc networking based on a DDS (direct digital synthesizer) protocol and a DSRC (dedicated short range communication) technology.
Background
In the modern times, the automatic driving technology is changing day by day, and the automatic driving vehicle is also gradually popularized. With the rapid development of the intellectualization and the networking of the automatic driving automobile, the interconnection of workshops is in the trend.
Meanwhile, with the help of Data Distribution Service (DDS) as a Data-centric distributed Real-Time communication middleware, although reliable Distribution of Data can be guaranteed to some extent by QOS characteristics or reliable protocols, the problem of failure of a communication link still cannot be solved comprehensively.
The traditional automatic driving technology mostly depends on the fusion of a sensor and an AI algorithm to form automatic driving with sensing decision as guidance, but the interconnection among vehicles is relatively less. Therefore, it is very important to form another important supplement of automatic driving through the vehicle ad hoc network. The technology for realizing the self-networking interconnection and intercommunication in the automatic driving scene based on the DDS protocol and the DRSC technology well makes up the vacancy in the aspect.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems, the invention provides an automatic vehicle ad hoc network method and system based on a DDS (direct digital synthesizer) protocol and a DSRC (dedicated short range communication) technology.
The technical scheme is as follows: in order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows: an automatic vehicle ad hoc network method based on DDS protocol and DSRC technology comprises the following steps:
step 1, acquiring automatic driving automobile information in the surrounding environment of a vehicle through a vehicle-mounted radar sensor;
step 2, extracting surrounding vehicle data information detected in real time by a domain controller, and judging whether the data information is in an effective ad hoc network distance range; if the distance is within the effective distance range, continuing to step 3; if not, returning to the step 1;
step 3, the domain controller identifies the most appropriate OBU position, encapsulates the vehicle information into DDS information and broadcasts and sends the DDS information through the OBU unit of the corresponding position;
step 4, the OBU unit simultaneously receives real-time shared information sent by other vehicles around through DSRC broadcast, analyzes according to DDS protocol standard, extracts opposite-end vehicle information, and establishes ad hoc network topology on the domain controller;
and 5, the vehicle-mounted domain controller issues the self-organized network topology to the central controller to serve as one path of real-time input of the automatic driving decision algorithm.
Further, in the step 1, a plurality of radar sensors are arranged around the vehicle, and the radar sensors are laser radars or millimeter wave radars.
Further, in the step 3, the autonomous vehicle deploys 4 DSRC technology-supporting OBU units in four directions, namely, front, rear, left, and right, of the vehicle body.
Further, in step 3, the own vehicle information includes a vehicle type, position information, speed, direction, and route prediction.
Further, in the step 4, the validity check is performed on the extracted opposite-end vehicle information, and an ad hoc network topology is established on the domain controller for the information passing the check.
Further, in the step 5, a domain controller deploys a DDS publishing node, and a central controller deploys a DDS subscribing node; the central controller acquires ad hoc network topology information on the domain controller through the DDS subscription node.
An automatic driving vehicle ad hoc network system based on DDS protocol and DSRC technology comprises a central controller, a domain controller and a radar sensor; a DDS publishing node and an OBU unit supporting DSRC technology are deployed on a domain controller, and a DDS subscribing node is deployed on a central controller; the method comprises the following steps that a vehicle detects the information of an automatic driving automobile in the surrounding environment through a radar sensor, then the vehicle in an effective distance and the most appropriate OBU position are identified through a domain controller, and the information of the vehicle is broadcasted through an OBU unit in the corresponding position; and simultaneously, receiving vehicle real-time information broadcast by the vehicles in the surrounding effective distance through the DSRC, establishing an ad hoc network topology on the domain controller, and simultaneously issuing and subscribing nodes through the DDS to send the information to the central controller.
Further, the OBU unit is integrated in the domain controller, responsible for DSRC physical layer wireless transmission and reception.
Furthermore, the domain controller supports a DDS protocol as a DSRC network layer, is responsible for DSRC network layer data protocol processing, and carries vehicle real-time information.
Further, the domain controller loads the vehicle information into a DDS protocol of a network layer, and then the vehicle information is broadcasted by DSRC of the OBU unit and is issued to other vehicles in the surrounding effective range; and an OBU unit of the domain controller receives real-time information broadcast by other vehicles around through DSRC, analyzes according to the DDS protocol standard, and extracts opposite-end vehicle information.
Has the advantages that: according to the invention, through the vehicle-mounted domain controller, the DSRC wireless transmission technology and the DDS protocol real-time transmission technology are simultaneously integrated, and a dynamic self-organizing network is formed with surrounding vehicles, so that the timeliness of vehicle real-time information sharing is greatly improved, the automatic driving vehicle can sense and predict in advance, route switching, deceleration avoidance and other reasonable operations are achieved, and the running safety of automatic driving is guaranteed. The invention is suitable for real-time data transmission of releasing and subscribing through DDS protocol and DSRC wireless transmission technology with fast speed and low time delay, and ensures the communication real-time requirement of the vehicle ad hoc network. The invention utilizes a data-centered publishing and subscribing mechanism of a DDS protocol, ensures that a vehicle ad hoc network is conveniently and quickly established, and provides important decision input for an automatic driving algorithm.
Drawings
FIG. 1 is a schematic diagram of a network topology of an autonomous vehicle ad hoc network;
FIG. 2 is a block diagram of an autonomous vehicle ad hoc network system based on DDS protocol and DSRC technology;
figure 3 is a flow diagram of an autonomous vehicle ad hoc network method based on DDS protocol and DSRC technology.
Detailed Description
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
As shown in fig. 1 and fig. 2, the autonomous vehicle ad hoc network system based on dds (data Distribution service) protocol and DSRC (differentiated short-range communications) technology according to the present invention includes a central controller, a domain controller, and a radar sensor; the domain controller is provided with a DDS publishing node and an OBU unit supporting DSRC technology, and the central controller is provided with a DDS subscribing node. Both the central controller and the domain controller support the DDS protocol.
A plurality of radar sensors are arranged around the vehicle, and each radar sensor comprises a laser radar or a millimeter wave radar. The automatic driving vehicle is respectively arranged in four directions of the front, the back, the left and the right of a vehicle body, 4 OBU units supporting DSRC technology are deployed and integrated in a domain controller, and the automatic driving vehicle is responsible for DSRC physical layer wireless transmission and reception.
The vehicle can detect the automatic driving automobile information in the surrounding environment of the vehicle through the radar sensor, then the vehicle in the effective distance and the most suitable OBU position are identified through the domain controller, and then the vehicle information is broadcasted through the OBU unit of the corresponding position.
And simultaneously, receiving vehicle real-time information shared by vehicles in the surrounding effective distance through DSRC broadcast, establishing an ad hoc network topology information table on the domain controller, and further establishing a dynamic vehicle ad hoc network topology locally on the domain controller to form the mobile communication network for the vehicle. The vehicle-mounted domain controller dynamically creates an ad hoc network topology and simultaneously issues the topology to the central controller as one path of real-time input of an automatic driving prediction algorithm on the central controller.
The vehicle-mounted domain controller supports a DDS protocol as a DSRC network layer, is responsible for processing a DSRC network layer data protocol and bears vehicle real-time information.
When the vehicle-mounted domain controller broadcasts the vehicle information, the vehicle type, the position information, the speed, the direction and other information are loaded into a DDS protocol of a network layer according to the front, back, left and right directions; and actively issuing the information to other vehicles in the surrounding effective range through DSRC broadcast of the vehicle-mounted OBU unit. And an OBU unit of the domain controller receives real-time shared information broadcast by other vehicles around through DSRC, analyzes according to the DDS protocol standard, extracts information such as opposite-end vehicle type, real-time position, speed, direction and path prediction, and establishes an ad hoc network topology information table.
As shown in fig. 3, the method for ad hoc networking of autonomous vehicles based on DDS protocol and DSRC technology of the present invention comprises the steps of:
(1) the automatic driving automobile information in the surrounding environment of the vehicle is obtained through a vehicle-mounted radar sensor which can be a laser radar or a millimeter wave radar, and is transmitted to a domain controller;
(2) the domain controller obtains surrounding vehicle data information detected by the vehicle in real time through data extraction, and judges whether surrounding vehicles are in an effective ad hoc network distance range or not;
if within the range of valid distances (e.g., 100 meters), continue with step 3; and if the distance is not within the effective distance range, returning to the step 1.
(3) And the domain controller identifies the most appropriate OBU direction, starts DSRC broadcast and broadcasts the vehicle information through the OBU unit in the corresponding direction. And the domain controller encapsulates the vehicle information into a DDS message and broadcasts and transmits the DDS message through dedicated short-range communication (DSRC).
According to the front, back, left and right directions, the information of the type, the position information, the speed, the direction and the like of the vehicle is loaded into a DDS protocol of a network layer; and actively issuing the information to other vehicles in the surrounding effective range through DSRC broadcast of the vehicle-mounted OBU unit.
And the On-Board-Unit (OBU) actively broadcasts the real-time information of the vehicle according to the feedback information and the vehicle in the effective range.
(4) An OBU unit of the domain controller simultaneously receives real-time shared information broadcast by other vehicles around through DSRC, and extracts information such as types, real-time positions, speeds and directions of vehicles at the opposite end according to the DDS protocol standard analysis; then, validity check is carried out on the received information, for example, whether the received information accords with the ad hoc network distance range or not, whether the received information is a radar identification target or not and the like, other illegal broadcast information which does not pass is checked, and the illegal broadcast information is directly discarded to prevent the occupation of resources; for the information passing the check, establishing an ad hoc network topology information table on the domain controller, and further establishing a dynamic ad hoc network topology locally on the domain controller to form a Vehicular mobile communication network (VANET);
(5) dynamically creating an ad hoc network topology by the vehicle-mounted domain controller, and simultaneously issuing the ad hoc network topology to the central controller to serve as an important input parameter of an automatic driving decision algorithm; identifying the relative position and making real-time prejudgment;
and the vehicle-mounted domain controller issues the topology information to the central controller to be used as one path of real-time input of the automatic driving prediction algorithm.
The domain controller is provided with a DDS publishing node, and the central controller is provided with a DDS subscribing node. Both the central controller and the domain controller support the DDS protocol.
The central controller obtains the ad hoc network topology information on the domain controller through the DDS subscription node, obtains the automatic driving route through a decision algorithm, and sends the automatic driving route to the actuator.
According to the invention, through the vehicle-mounted domain controller, the DSRC wireless transmission technology and the DDS protocol real-time transmission technology are simultaneously integrated, and a dynamic self-organizing network is formed with surrounding vehicles, so that the timeliness of vehicle real-time information sharing is greatly improved, the automatic driving vehicle can sense and predict in advance, route switching, deceleration avoidance and other reasonable operations are achieved, and the running safety of automatic driving is guaranteed. The invention is suitable for real-time data transmission of releasing and subscribing through DDS protocol and DSRC wireless transmission technology with fast speed and low time delay, and ensures the communication real-time requirement of the vehicle ad hoc network. The invention utilizes a data-centered publishing and subscribing mechanism of a DDS protocol, ensures that a vehicle ad hoc network is conveniently and quickly established, and provides important decision input for an automatic driving algorithm.
The present applicant has described and illustrated embodiments of the present invention in detail with reference to the accompanying drawings, but it should be understood by those skilled in the art that the above embodiments are merely preferred embodiments of the present invention, and the detailed description is only for the purpose of helping the reader to better understand the spirit of the present invention, and not for limiting the scope of the present invention, and on the contrary, any improvement or modification made based on the spirit of the present invention should fall within the scope of the present invention.
Claims (6)
1. An autonomous vehicle ad hoc network method based on DDS protocol and DSRC technology is characterized by comprising the following steps:
(1) acquiring the information of the automatic driving automobile in the surrounding environment of the vehicle through a vehicle-mounted radar sensor;
(2) the domain controller extracts surrounding vehicle data information detected in real time and judges whether the data information is within an effective ad hoc network distance range; if the distance is within the effective distance range, continuing to step 3; if not, returning to the step 1;
(3) the automatic driving vehicle is respectively provided with 4 OBU units supporting the DSRC technology at four directions of the front, the rear, the left and the right of a vehicle body, a domain controller identifies the most appropriate OBU direction, the domain controller encapsulates vehicle information into DDS information, and the DDS information is broadcast and transmitted through the DSRC by the OBU units corresponding to the directions;
(4) the OBU unit receives real-time shared information sent by other vehicles around through DSRC broadcast at the same time, analyzes according to DDS protocol standard, extracts opposite-end vehicle information and carries out validity check, and establishes ad hoc network topology on a domain controller for the information passing the check;
(5) a domain controller is provided with a DDS publishing node, and a central controller is provided with a DDS subscribing node; the central controller acquires ad hoc network topology information on the domain controller through the DDS subscription node and uses the ad hoc network topology information as one path of real-time input of an automatic driving decision algorithm.
2. The auto-steering vehicle ad-hoc network method based on the DDS protocol and DSRC technology as claimed in claim 1, wherein in step 1, the vehicle is equipped with several radar sensors around the vehicle, and the radar sensors are laser radar or millimeter wave radar.
3. The method of autonomous vehicular ad-hoc network based on DDS protocol and DSRC technique of claim 1 wherein in step 3, the own vehicle information includes vehicle type, location information, speed, direction, path prediction.
4. An automatic driving vehicle ad hoc network system based on DDS protocol and DSRC technology is characterized by comprising a central controller, a domain controller and a radar sensor; a DDS publishing node and an OBU unit supporting DSRC technology are deployed on a domain controller, and a DDS subscribing node is deployed on a central controller; the automatic driving vehicle is respectively provided with 4 OBU units supporting the DSRC technology at four directions of the front, the back, the left and the right of the vehicle body;
the method comprises the following steps that a vehicle detects the information of an automatic driving automobile in the surrounding environment through a radar sensor, then the vehicle in an effective distance and the most appropriate OBU direction are identified through a domain controller, the domain controller loads the vehicle information into a DDS protocol of a network layer, and the OBU unit in the corresponding direction broadcasts the vehicle information through a DSRC and distributes the vehicle information to other vehicles in the surrounding effective range; and simultaneously, receiving vehicle real-time information broadcast by the vehicles in the surrounding effective distance through the DSRC, analyzing according to a DDS protocol standard, extracting opposite-end vehicle information, establishing an ad hoc network topology on a domain controller, and simultaneously issuing a subscription node through the DDS to send the information to the central controller.
5. The DDS protocol and DSRC technology based autonomous vehicle ad hoc network system of claim 4, wherein the OBU unit is integrated in a domain controller responsible for DSRC physical layer wireless transmission and reception.
6. The autonomous vehicle ad-hoc network system based on DDS protocol and DSRC technology of claim 4, wherein the domain controller supports DDS protocol based as DSRC network layer, is responsible for DSRC network layer data protocol processing, and carries vehicle real-time information.
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| CN103606270A (en) * | 2013-11-27 | 2014-02-26 | 重庆邮电大学 | Vehicle-road cooperative communication method and system |
| CN211001120U (en) * | 2019-05-29 | 2020-07-14 | 四川农业大学 | Vehicle distance testing device based on DSRC and binocular camera |
| CN110086891B (en) * | 2019-06-25 | 2019-09-27 | 奥特酷智能科技(南京)有限公司 | The method of distributed communication is realized in automatic Pilot based on DDS agreement |
| CN112272132B (en) * | 2020-12-23 | 2021-03-30 | 奥特酷智能科技(南京)有限公司 | DDS protocol real-time transmission method and system for realizing CAN data based on FPGA |
| CN112600862B (en) * | 2021-03-04 | 2021-06-18 | 奥特酷智能科技(南京)有限公司 | Vehicle-mounted network DDS communication security authentication method and system |
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