CN112866952A - Active deceleration system based on V2X - Google Patents
Active deceleration system based on V2X Download PDFInfo
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- CN112866952A CN112866952A CN202011630874.7A CN202011630874A CN112866952A CN 112866952 A CN112866952 A CN 112866952A CN 202011630874 A CN202011630874 A CN 202011630874A CN 112866952 A CN112866952 A CN 112866952A
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- 238000004891 communication Methods 0.000 claims abstract description 12
- 230000004888 barrier function Effects 0.000 claims abstract description 7
- 230000002159 abnormal effect Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 6
- 230000006855 networking Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 14
- 230000002093 peripheral effect Effects 0.000 description 4
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 230000036632 reaction speed Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/164—Centralised systems, e.g. external to vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- 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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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to the technical field of vehicle networking, in particular to an active deceleration system based on V2X. The system comprises a V2X vehicle-mounted terminal, a V2X road side unit and a V2X mobile roadblock unit; the V2X road side unit is used for detecting road condition and environment information; the V2X vehicle-mounted terminal is used for analyzing vehicle information by reading CAN data and according to a CAN protocol; a V2X mobile barrier unit for detecting mobile barrier information; the V2X vehicle-mounted terminal, the V2X road side unit and the V2X mobile roadblock unit carry out mutual mesh communication among road condition environment information, vehicle information and mobile roadblock information through V2X data receiving and transmitting; the V2X vehicle-mounted terminal judges whether deceleration or emergency braking is needed at present according to road condition and environment information, vehicle information and movable roadblock information; when the vehicle needs to be decelerated, the V2X vehicle-mounted terminal controls the vehicle to decelerate or brake emergently through a CAN command; when it is determined that deceleration is not required, the vehicle continues to travel with the current vehicle speed. Vehicle conditions, road conditions and active braking deceleration via CAN commands are sensed based on V2X.
Description
Technical Field
The invention relates to the technical field of vehicle networking, in particular to an active deceleration system based on V2X.
Background
The current society is convenient and fast in traffic, and the traffic flow is like a dragon, and is accompanied by various complicated traffic accidents. Generally, as for a driver, the safety of the driver depends on the own feeling and operation of the driver, specifically, the driver observes the conditions of the area reached by naked eyes in real time during driving, and the brain judges whether proper deceleration or emergency deceleration is needed currently or not according to experience and feeling.
With the development of society, the market also makes great efforts in technology for the safety of drivers, and vehicle-mounted radars are one of the most popular technologies at present. The technology is based on the automobile radar, whether the collision risk exists in the current vehicle surrounding situation or whether the vehicle needs to be decelerated is judged by means of radar side distance, and therefore measures are taken to perform emergency deceleration or appropriate deceleration. However, the technology has the disadvantages that even most of the existing vehicle-mounted radar technologies are configured in a reduction mode, only after the vehicle condition is detected, the driver is prompted to finish the process, the technology can only perform safety judgment based on the area irradiated by the radar, the safety judgment of the radar blind area cannot be done, for the vehicle-mounted radar technology of the reduction mode, the driver needs to manually step on the brake and decelerate after receiving the prompt, but the driver needs a period of time from receiving the prompt to decelerating, and traffic accidents are easily caused by too slow reaction time.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an active deceleration system based on V2X, which senses the surrounding vehicle conditions and road conditions based on a V2X technology and actively brakes and decelerates through a CAN command.
In order to achieve the purpose, the invention adopts the following technical scheme:
an active deceleration system based on V2X comprises a V2X vehicle-mounted terminal, a V2X road side unit and a V2X mobile roadblock unit; the V2X road side unit is used for detecting road condition and environment information; the V2X vehicle-mounted terminal is used for analyzing vehicle information by reading CAN data and according to a CAN protocol; the V2X movable barricade unit is used for detecting movable barricade information; the V2X vehicle-mounted terminal, the V2X road side unit and the V2X mobile barricade unit carry out mutual mesh communication among road condition environment information, vehicle information and mobile barricade information through V2X data receiving and transmitting; the V2X vehicle-mounted terminal judges whether deceleration or emergency braking is needed at present according to road condition and environment information, vehicle information and movable roadblock information; when the vehicle needs to decelerate, the V2X vehicle-mounted terminal controls the vehicle to decelerate or brake emergently through the CAN command.
Further as the preferred technical scheme of the invention, the system also comprises V2X road surface detection equipment; the V2X road surface detection equipment is used for detecting road surface abnormal conditions in a preset range, generating abnormal signals according to the road surface abnormal conditions and carrying out mutual mesh communication with the V2X vehicle-mounted terminal, the V2X road side unit and the V2X mobile barrier unit through V2X data transceiving.
Further, as a preferable technical scheme of the invention, the number of the V2X road side units is a plurality, and the units are arranged at intervals according to preset intervals at the entrance and exit of the road section and in the road section.
Further as a preferred technical scheme of the invention, the system also comprises an external cloud server; the external cloud service end is respectively in communication connection with the V2X vehicle-mounted terminal, the V2X road side unit and the V2X mobile barricade unit, and receives vehicle information sent by the V2X vehicle-mounted terminal, road condition and environment information sent by the V2X road side unit and mobile barricade information sent by the V2X mobile barricade unit.
Further, as a preferable aspect of the present invention, the vehicle information includes vehicle speed information and vehicle position information.
Further, as a preferred technical scheme of the present invention, the road condition and environment information includes road traffic light information, road slippery information, and road speed limit information.
Further, as a preferred technical solution of the present invention, the V2X mobile barricade unit is a pedestrian carrying V2X equipment.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
(1) the V2X technology adopted by the invention can not only sense the relative position of the vehicle, but also sense the relative speed, relative acceleration, fault and other information of the vehicle, and also sense the peripheral environment information, such as road slippery information, speed limit information and the like, thereby leading the sensed peripheral vehicle condition information and road condition information to be more comprehensive.
(2) The V2X technology adopted by the invention has wider sensing range, the vehicle-mounted radar can only sense the area irradiated by the radar, the V2X technology can sense all the surrounding areas including a vision blind area and a radar blind area, and the area covered by the V2X information can be sensed and is not influenced by any obstacle.
(3) The invention further achieves the purpose of actively decelerating the vehicle, the speed of the program is much higher than the reaction speed of people, and the safety problem caused by slow reaction of people can be effectively avoided.
Drawings
FIG. 1 is a schematic flow chart of the vehicle active deceleration of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, an active deceleration system based on V2X includes a V2X vehicle-mounted terminal, a V2X road side unit and a V2X mobile barricade unit; the V2X road side unit is used for detecting road condition and environment information; the V2X vehicle-mounted terminal is used for analyzing vehicle information by reading CAN data and according to a CAN protocol; the V2X movable barricade unit is used for detecting movable barricade information; the V2X vehicle-mounted terminal, the V2X road side unit and the V2X mobile barricade unit carry out mutual mesh communication among road condition environment information, vehicle information and mobile barricade information through V2X data receiving and transmitting; the V2X vehicle-mounted terminal judges whether deceleration or emergency braking is needed at present according to road condition and environment information, vehicle information and movable roadblock information; when the vehicle needs to decelerate, the V2X vehicle-mounted terminal controls the vehicle to decelerate or brake emergently through the CAN command.
The system also comprises V2X road surface detection equipment; the V2X road surface detection equipment is used for detecting road surface abnormal conditions in a preset range, generating abnormal signals according to the road surface abnormal conditions and carrying out mutual mesh communication with the V2X vehicle-mounted terminal, the V2X road side unit and the V2X mobile barrier unit through V2X data transceiving. The number of the V2X road side units is a plurality, and the units are arranged at intervals according to preset intervals in the road section entrance and the road section.
The system also comprises an external cloud server; and the external cloud service end is in communication connection with the V2X vehicle-mounted terminal, the V2X road side unit and the V2X mobile barricade unit respectively, and receives vehicle information sent by the V2X vehicle-mounted terminal, road condition and environment information sent by the V2X road side unit and mobile barricade information sent by the V2X mobile barricade unit. The vehicle information includes vehicle speed information and vehicle position information. The road condition and environment information comprises road traffic light information, road slippery information and road speed limit information. The V2X mobile barrier unit is a pedestrian carrying V2X equipment.
When the vehicle runs, the V2X vehicle-mounted terminal reads various information of the vehicle in real time through the CAN and broadcasts the information to the outside in real time through V2X communication, and simultaneously senses the surrounding vehicle conditions and road conditions through V2X communication.
After the V2X vehicle-mounted terminal is accessed to the vehicle, the CAN network protocol of the vehicle needs to be adapted, various information of the vehicle is analyzed by reading CAN data and analyzing the CAN protocol, then the analyzed vehicle information is packaged and packaged according to the V2X standard protocol and is sent out, and the external information received by the terminal is also a V2X standard protocol data packet, so that the information of the terminal CAN be identified by the outside and the external information CAN be accurately identified. The vehicle speed information is taken as an example for explanation, the vehicle-mounted terminal detects the CAN data of the vehicle, and the terminal is adapted to the CAN protocol of the vehicle, so that the terminal CAN recognize the vehicle body speed data given in the CAN data in real time. According to the V2X standard protocol, the resolution of the vehicle speed information should be 0.072km/h, i.e. 0.02m/s, and the offset amount should be 0, e.g. the vehicle speed of 10m/s is converted into V2X data, i.e. 500, i.e. 0x01F 4. And packaging the converted vehicle speed information into a specified position of a BSM message packet of a V2X standard protocol, and sending out the vehicle speed information. Conversely, after receiving the external BSM data packet, the terminal can read the vehicle speed data at the designated position and convert the vehicle speed data into actual vehicle speed information. The terminal receives the BSM message packets of all the surrounding vehicles in real time and identifies the vehicle speed information in the BSM message packets, so that the vehicle speed perception of all the surrounding vehicles is realized.
The V2X vehicle-mounted terminal of the invention combines the information of the vehicle and the road conditions of the surrounding vehicles to judge whether the vehicle needs to decelerate or brake emergently. When the vehicle needs to be decelerated, the terminal controls the vehicle to decelerate or brake emergently through the CAN command. When the vehicle runs, the V2X vehicle-mounted terminal detects the speeds of the surrounding vehicle and the vehicle itself and calculates the relative speed, and detects the high-precision positioning information of the vehicle and the surrounding vehicle and calculates the relative distance. When the relative speed is less than 10 yards and the relative distance is less than 20 meters, the vehicle needs to be decelerated, and when the relative distance is less than 10 meters, emergency braking is needed; when the relative speed is less than 20 yards and the relative distance is less than 40 meters, the vehicle needs to be decelerated, and when the relative distance is less than 20 meters, emergency braking is needed; when the relative speed is less than 30 yards and the relative distance is less than 60 meters, the vehicle needs to be decelerated, and when the relative distance is less than 30 meters, emergency braking is needed; when the relative speed is less than 40 yards and the relative distance is less than 80 meters, the vehicle needs to be decelerated, and when the relative distance is less than 40 meters, emergency braking is needed; when the relative speed is more than 40 yards and the relative distance is less than 100 meters, the vehicle needs to be decelerated, and when the relative distance is less than 50 meters, emergency braking is needed.
The V2X technology adopted by the invention can not only sense the relative position of the vehicle, but also sense the relative speed, relative acceleration, fault and other information of the vehicle, and also sense the peripheral environment information, such as road slippery information, speed limit information and the like, thereby leading the sensed peripheral vehicle condition information and road condition information to be more comprehensive. The V2X technology adopted by the invention has wider sensing range, the vehicle-mounted radar can only sense the area irradiated by the radar, the V2X technology can sense all the surrounding areas including a vision blind area and a radar blind area, and the area covered by the V2X information can be sensed and is not influenced by any obstacle. The invention further achieves the purpose of actively decelerating the vehicle, the speed of the program is much higher than the reaction speed of people, and the safety problem caused by slow reaction of people can be effectively avoided.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention, and are not intended to limit the scope of the present invention, and any person skilled in the art should understand that equivalent changes and modifications made without departing from the concept and principle of the present invention should fall within the protection scope of the present invention.
Claims (7)
1. The active deceleration system based on V2X is characterized by comprising a V2X vehicle-mounted terminal, a V2X road side unit and a V2X mobile roadblock unit; the V2X road side unit is used for detecting road condition and environment information; the V2X vehicle-mounted terminal is used for analyzing vehicle information by reading CAN data and according to a CAN protocol; the V2X movable barricade unit is used for detecting movable barricade information; the V2X vehicle-mounted terminal, the V2X road side unit and the V2X mobile barricade unit carry out mutual mesh communication among road condition environment information, vehicle information and mobile barricade information through V2X data receiving and transmitting; the V2X vehicle-mounted terminal judges whether deceleration or emergency braking is needed at present according to road condition and environment information, vehicle information and movable roadblock information; when the vehicle needs to decelerate, the V2X vehicle-mounted terminal controls the vehicle to decelerate or brake emergently through the CAN command.
2. The V2X-based active deceleration system according to claim 1, characterized in that the system further comprises a V2X road surface detection device; the V2X road surface detection equipment is used for detecting road surface abnormal conditions in a preset range, generating abnormal signals according to the road surface abnormal conditions and carrying out mutual mesh communication with the V2X vehicle-mounted terminal, the V2X road side unit and the V2X mobile barrier unit through V2X data transceiving.
3. The active deceleration system of claim 2 based on V2X, wherein the number of the V2X road side units is several, and the units are arranged at intervals of preset intervals at the entrance and exit of the road section.
4. The V2X-based active deceleration system according to claim 1, wherein the system further comprises an external cloud service; the external cloud service end is respectively in communication connection with the V2X vehicle-mounted terminal, the V2X road side unit and the V2X mobile barricade unit, and receives vehicle information sent by the V2X vehicle-mounted terminal, road condition and environment information sent by the V2X road side unit and mobile barricade information sent by the V2X mobile barricade unit.
5. The V2X-based active deceleration system of claim 4, wherein the vehicle information includes vehicle speed information, vehicle position information.
6. The V2X-based active deceleration system according to claim 4, wherein the traffic environment information includes traffic light information, road slippery information, and road speed limit information.
7. The V2X-based active deceleration system of claim 4, wherein the V2X mobile barrier unit is a pedestrian carrying V2X equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011630874.7A CN112866952A (en) | 2020-12-31 | 2020-12-31 | Active deceleration system based on V2X |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011630874.7A CN112866952A (en) | 2020-12-31 | 2020-12-31 | Active deceleration system based on V2X |
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| CN112866952A true CN112866952A (en) | 2021-05-28 |
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| CN202011630874.7A Pending CN112866952A (en) | 2020-12-31 | 2020-12-31 | Active deceleration system based on V2X |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117953714A (en) * | 2024-03-25 | 2024-04-30 | 成都通广网联科技有限公司 | ADAS combines V2X's dynamic speed limiting system |
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| CN106467112A (en) * | 2016-10-11 | 2017-03-01 | 斑马信息科技有限公司 | Vehicle-mounted DAS (Driver Assistant System) |
| CN107851378A (en) * | 2015-07-14 | 2018-03-27 | 三星电子株式会社 | Apparatus and method for providing service into all things on earth communication system in vehicle |
| CN109584571A (en) * | 2019-01-16 | 2019-04-05 | 苏州齐思智行汽车系统有限公司 | Intersection pre-warning and control method and system and sensing device used |
| CN111052771A (en) * | 2017-09-19 | 2020-04-21 | 三星电子株式会社 | Electronic device for transmitting relay message to external vehicle and method thereof |
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2020
- 2020-12-31 CN CN202011630874.7A patent/CN112866952A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107851378A (en) * | 2015-07-14 | 2018-03-27 | 三星电子株式会社 | Apparatus and method for providing service into all things on earth communication system in vehicle |
| CN106467112A (en) * | 2016-10-11 | 2017-03-01 | 斑马信息科技有限公司 | Vehicle-mounted DAS (Driver Assistant System) |
| CN111052771A (en) * | 2017-09-19 | 2020-04-21 | 三星电子株式会社 | Electronic device for transmitting relay message to external vehicle and method thereof |
| CN109584571A (en) * | 2019-01-16 | 2019-04-05 | 苏州齐思智行汽车系统有限公司 | Intersection pre-warning and control method and system and sensing device used |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117953714A (en) * | 2024-03-25 | 2024-04-30 | 成都通广网联科技有限公司 | ADAS combines V2X's dynamic speed limiting system |
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