CN113259905A - Adaptive operation vehicle road cooperation method, device and system - Google Patents
Adaptive operation vehicle road cooperation method, device and system Download PDFInfo
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- CN113259905A CN113259905A CN202110631209.8A CN202110631209A CN113259905A CN 113259905 A CN113259905 A CN 113259905A CN 202110631209 A CN202110631209 A CN 202110631209A CN 113259905 A CN113259905 A CN 113259905A
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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
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/02—Power saving arrangements
- H04W52/0209—Power saving arrangements in terminal devices
- H04W52/0225—Power saving arrangements in terminal devices using monitoring of external events, e.g. the presence of a signal
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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
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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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
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention provides a vehicle-road cooperation method, device and system for self-adaptive operation, and relates to the technical field of intelligent vehicles. The invention relates to a vehicle-road cooperation method with self-adaptive operation, which comprises the following steps: basic signaling is sent to a vehicle end through roadside communication equipment; after the roadside communication equipment receives a feedback signaling of the vehicle end aiming at the basic signaling, roadside sensing equipment within a preset range away from the roadside communication equipment is started; and when the roadside communication equipment does not receive the feedback signaling within the preset time or does not recognize that the vehicle enters the detection range, controlling the roadside sensing equipment corresponding to the roadside communication equipment to keep or enter a sleep/shutdown state. According to the technical scheme, when the specific roadside sensing equipment does not need to participate in sensing and decision-making of any vehicle within a period of time, the roadside sensing equipment is dormant or shut down, and therefore data transmission, analysis and power cost of vehicle-road cooperation can be effectively reduced.
Description
Technical Field
The invention relates to the technical field of intelligent vehicles, in particular to a vehicle-road cooperation method, device and system with self-adaptive operation.
Background
Aiming at the characteristics of single-vehicle intelligence, a vehicle-road cooperation technology is generated in recent years, intelligent equipment is arranged on the road side, and information transmission is carried out through a road side unit and a vehicle-mounted unit, so that the intelligent degree of a vehicle is improved.
Because the intelligent vehicles capable of receiving the information of the road side equipment are limited, the road section may not be driven by the intelligent vehicles within a period of time, and at the moment, if the road side system still runs, great data transmission and data analysis pressure and unnecessary power consumption are generated.
Disclosure of Invention
The invention solves the problem of reducing the data transmission, analysis and power cost of vehicle-road cooperation.
In order to solve the above problems, the present invention provides a vehicle-road cooperation method with adaptive operation, which includes: basic signaling is sent to a vehicle end through roadside communication equipment; after the roadside communication equipment receives a feedback signaling of the vehicle end aiming at the basic signaling, roadside sensing equipment within a preset range away from the roadside communication equipment is started; and when the roadside communication equipment does not receive the feedback signaling within the preset time or does not recognize that the vehicle enters the detection range, controlling the roadside sensing equipment corresponding to the roadside communication equipment to keep or enter a sleep/shutdown state.
According to the self-adaptive operation vehicle-road cooperation method, the working state of the corresponding road-side sensing equipment is determined through the road-side communication equipment, and when the specific road-side sensing equipment does not need to participate in sensing and decision making of any vehicle within a period of time, the road-side sensing equipment is dormant or shut down, so that the data transmission, analysis and power cost of vehicle-road cooperation can be effectively reduced.
Optionally, the basic signaling includes coverage area information of a roadside system composed of the roadside sensing devices, and the sending the basic signaling to the vehicle end through the roadside communication device includes: and sending the coverage area information to the vehicle end through the roadside communication equipment so as to enable the intelligent terminal equipment of the vehicle end to display the coverage area of the roadside system.
According to the self-adaptive operation vehicle-road cooperation method, the road-side communication equipment is arranged to send the coverage area information to the vehicle end, so that the intelligent terminal equipment of the vehicle end displays the coverage area of the road-side system, the vehicle can be covered by the road-side system for a long time, the perception and decision-making capability of the vehicle is improved, and the intelligentization level of the vehicle is improved.
Optionally, the roadside communication device includes a 5G-CPE and a roadside unit, the roadside sensing device includes a camera, a lidar and a radar all-in-one machine, and after the roadside communication device receives a feedback signaling of the vehicle end for the basic signaling, starting the roadside sensing device within a preset range from the roadside communication device includes: and after the 5G-CPE receives the feedback signaling sent by the vehicle-end CPE of the vehicle-end and/or receives the feedback signaling sent by the vehicle-mounted unit of the vehicle-end through the road side unit, starting a camera, a laser radar and a radar and radar all-in-one machine which are within a preset range of the road side communication equipment.
According to the vehicle-road cooperative method for the self-adaptive operation, after the feedback signaling sent by the vehicle-end CPE of the vehicle end is received through the 5G-CPE and/or the feedback signaling sent by the vehicle-mounted unit of the vehicle end is received through the road side unit, the camera, the laser radar and the radar all-in-one machine within a preset range from the road side communication equipment are started, so that the sensing and decision-making capability of the vehicle is improved, and the intelligent level of the vehicle is improved.
Optionally, when the roadside communication device does not receive the feedback signaling or does not recognize that the vehicle enters the detection range within the preset time, controlling the roadside sensing device corresponding to the roadside communication device to maintain or enter the sleep/shutdown state includes: and when the roadside communication equipment does not receive the feedback signaling within a first preset time or the vehicle is not identified to enter a detection range, controlling the roadside sensing equipment corresponding to the roadside communication equipment to keep a sleep/shutdown state, wherein the first preset time is preset time after the roadside communication equipment sends the basic signaling to the vehicle end.
According to the self-adaptive operation vehicle-road cooperation method, the roadside communication devices corresponding to the roadside communication devices are controlled to enter the sleep/shut-down state when the roadside communication devices do not receive the feedback signaling or recognize the vehicle driving detection range after the roadside communication devices send the basic signaling to the vehicle end within the first preset time, so that the data transmission, analysis and power cost of vehicle-road cooperation are effectively reduced.
Optionally, when the roadside communication device does not receive the feedback signaling or does not recognize that the vehicle enters the detection range within the preset time, controlling the roadside sensing device corresponding to the roadside communication device to maintain or enter the sleep/shutdown state includes: and when the roadside communication equipment does not receive the feedback signaling or does not identify the vehicle entering detection range within a second preset time, controlling the roadside sensing equipment corresponding to the roadside communication equipment to enter a sleep/shutdown state, wherein the second preset time is preset time after the roadside sensing equipment corresponding to the roadside communication equipment is started and the roadside communication equipment does not receive the feedback signaling or does not identify the vehicle entering detection range.
According to the self-adaptive operation vehicle-road cooperation method, when the road-side sensing equipment is started and the road-side communication equipment does not receive the feedback signaling or does not recognize the vehicle driving detection range within the second preset time, the road-side sensing equipment corresponding to the road-side communication equipment is controlled to enter the sleep/shutdown state, and the data transmission, analysis and power cost of vehicle-road cooperation are effectively reduced.
Optionally, when any one of the roadside sensing devices is in a detection range of a plurality of the roadside communication devices, and the roadside communication device does not receive the feedback signaling or does not recognize that the vehicle enters the detection range within a second preset time, controlling the roadside sensing device corresponding to the roadside communication device to enter a sleep/shutdown state includes: when the roadside sensing equipment does not receive the starting instruction sent by other roadside communication equipment after receiving the calibrated starting instruction sent by the roadside communication equipment, if the roadside sensing equipment receives the calibrated dormancy/shutdown instruction sent by the roadside communication equipment, controlling the roadside sensing equipment to enter a dormancy/shutdown state; when the roadside sensing device receives a start instruction sent by the calibrated roadside communication device and then receives start instructions sent by other roadside communication devices, if the roadside sensing device receives a sleep/shutdown instruction sent by the calibrated roadside communication device, the roadside sensing device is controlled to keep a start state.
According to the self-adaptive operation vehicle-road cooperation method, the condition that one roadside sensing device is located in the detection range of a plurality of roadside communication devices corresponds to the corresponding instruction, so that the service effect of the roadside sensing device on the vehicle is ensured, the sensing and decision-making capability of the vehicle is improved, and the intelligent level of the vehicle is improved.
Optionally, when the roadside communication device does not receive the feedback signaling or does not recognize that the vehicle enters the detection range within a second preset time, controlling the roadside sensing device corresponding to the roadside communication device to enter a sleep/shutdown state further includes: when the roadside sensing device receives a sleep/shutdown instruction sent by the calibrated roadside communication device, retrieving a start instruction received by the roadside sensing device, if the start instruction recently received by the roadside sensing device is from the calibrated roadside communication device, determining that the roadside sensing device does not receive start instructions sent by other roadside communication devices after receiving the start instruction sent by the calibrated roadside communication device, and if the start instruction recently received by the roadside sensing device is from other roadside communication devices, determining that the roadside sensing device receives start instructions sent by other roadside communication devices after receiving the start instruction sent by the calibrated roadside communication devices.
According to the self-adaptive operation vehicle-road cooperation method, when the road side sensing equipment receives the dormancy/shutdown instruction sent by the calibrated road side communication equipment, the starting instruction received by the road side sensing equipment is searched to determine the specific condition of the starting instruction received by the road side sensing equipment, so that the starting or dormancy/shutdown state of the road side sensing system can be determined, the service effect of the road side sensing equipment on the vehicle is ensured, the sensing and decision-making capability of the vehicle is improved, and the intelligence level of the vehicle is improved.
The invention also provides a vehicle-road cooperative device with self-adaptive operation, which comprises: the basic signaling module is used for sending a basic signaling to the vehicle end through the roadside communication equipment; the starting module is used for starting the roadside sensing equipment within a preset range away from the roadside communication equipment after the roadside communication equipment receives a feedback signaling of the vehicle end aiming at the basic signaling; and the sleep/shutdown module is used for controlling the roadside sensing equipment corresponding to the roadside communication equipment to keep or enter a sleep/shutdown state when the roadside communication equipment does not receive the feedback signaling within the preset time or does not recognize that the vehicle enters the detection range. Compared with the prior art, the self-adaptive running vehicle-road cooperation device and the self-adaptive running vehicle-road cooperation method have the same advantages, and are not described herein again.
The invention also provides a vehicle-road cooperative system with self-adaptive operation, which comprises a computer readable storage medium and a processor, wherein the computer readable storage medium is used for storing a computer program, and when the computer program is read by the processor and is operated, the vehicle-road cooperative method with self-adaptive operation is realized. Compared with the prior art, the self-adaptive running vehicle-road cooperation system and the self-adaptive running vehicle-road cooperation method have the same advantages, and are not repeated herein.
The invention also provides a computer readable storage medium, which stores a computer program, and when the computer program is read and executed by a processor, the method for adaptively operating the vehicle-road cooperation system is implemented. The advantages of the computer-readable storage medium and the adaptive operation vehicle-road cooperation method are the same as those of the prior art, and are not described herein again.
Drawings
Fig. 1 is a schematic flow chart of a vehicle-road cooperation method with adaptive operation according to an embodiment of the present invention;
fig. 2 is a first exemplary diagram of a vehicle-road cooperation method with adaptive operation according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating an example of a vehicle-road coordination method with adaptive operation according to an embodiment of the present invention;
fig. 4 is a third exemplary diagram of a vehicle-road cooperation method with adaptive operation according to an embodiment of the present invention.
Detailed Description
With the improvement of the intelligence degree of the vehicle, many vehicles have intelligent driving functions above level L2. Because the single-vehicle intelligence has limitations of perception capability, decision-making capability and the like, the road cooperation technology is vigorously developed in China, various sensors such as a camera, a laser radar, 5G communication equipment and the like are deployed on the road side, and the road side and the cloud side are used for perceiving, fusing and deciding, so that various information on the periphery and the driving route of a vehicle can be timely identified and issued, the perception and decision-making capability of the vehicle is improved, and the intelligence level of the vehicle is improved.
However, no matter the roadside device is a camera or a laser radar, the data transmission amount is huge, and meanwhile, the requirements on the perception computing capability of the roadside and the cloud are extremely high, and although the 5G network and the large-scale computing system are basically popularized in China, the long-term large-flux data transmission and computation still cause resource waste to a certain extent. Since the service object of the vehicle-road cooperation is the intelligent vehicle, designing a self-adaptive and economic vehicle-road cooperation system facing the intelligent vehicle becomes an urgent need of the intelligent internet and intelligent traffic industry.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 1, an embodiment of the present invention provides a vehicle-road coordination method with adaptive operation, including: basic signaling is sent to a vehicle end through roadside communication equipment; after the roadside communication equipment receives a feedback signaling of the vehicle end aiming at the basic signaling, roadside sensing equipment within a preset range away from the roadside communication equipment is started; and when the roadside communication equipment does not receive the feedback signaling within the preset time or does not recognize that the vehicle enters the detection range, controlling the roadside sensing equipment corresponding to the roadside communication equipment to keep or enter a sleep/shutdown state.
Specifically, in this embodiment, with reference to fig. 2, the adaptively operating vehicle-road coordination method includes: the method comprises the steps that a roadside communication device sends a basic signaling to a vehicle end, wherein the roadside communication device comprises a roadside Unit (namely, the roadside Unit is arranged at a roadside RSU point position shown in figure 2, namely, a Road Side Unit, the roadside Unit is an RSU, and the Road Side Unit is arranged at the roadside Unit point position, a roadside sensing device is arranged at the roadside sensing device point position, and the two point positions are usually arranged at the same position; usually, the roadside communication device is always turned on, and the roadside sensing device is turned off by default. In addition, the roadside sensing device may also be referred to as a roadside sensing system, or simply referred to as a sensing system, and accordingly, the point location thereof is referred to as a roadside sensing system point location. Referring to fig. 2 to 4, horizontal lines and vertical lines represent roads, open circles represent points where the roadside sensing system is not activated, solid circles represent points where the roadside sensing system is activated, and solid triangles represent points where roadside units are activated.
As shown in fig. 3, after a certain roadside communication device receives a feedback signaling sent by a vehicle end, the roadside sensing device within a preset range from the roadside communication device is started, the preset range can be generally 1 km, namely, the roadside sensing device within 1 km from the roadside communication device is started, a specific numerical value can be selected according to actual conditions, and thus, the sensing and decision-making capability of the vehicle is improved by starting the roadside sensing device, and the intelligent level of the vehicle is improved.
Referring to fig. 4, when the roadside communication device does not receive a feedback signaling or does not recognize that the vehicle enters the detection range within the preset time, the roadside sensing device corresponding to the roadside communication device is controlled to maintain or enter a sleep/shutdown state, that is, the roadside sensing device does not participate in sensing and decision making of any vehicle within a period of time, in order to reduce data transmission, analysis and power cost of vehicle-road cooperation, save power, communication capacity, and consumption of hardware related to calculation and storage capacity, it is necessary to sleep or shut down the roadside sensing device, wherein if the roadside sensing device is still in the sleep/shutdown state, it is only necessary to maintain, if the roadside sensing device has entered the startup state, it is necessary to enter the sleep/shutdown state again, and when the roadside sensing device is in the sleep/shutdown state, the roadside communication device still maintains a normally open state, and circulating to the step of executing the step of transmitting the basic signaling to the vehicle end by the roadside communication equipment. Wherein, the preset time can be 0.2 hour generally, and the specific value can also be selected according to the actual situation.
The intelligent network connection overall architecture is composed of four layers of architecture, namely a facility layer, a support layer, a core layer (cloud control platform) and a user layer, in the embodiment, the facility layer comprises roadside sensing equipment (a camera, a laser radar, an all-in-one machine and the like) and communication equipment (5G CPE, RSU and the like), and related algorithms of the support layer can be deployed on the facility layer or the core layer.
In this embodiment, the working state of the corresponding roadside sensing device is determined by the roadside communication device, and when the specific roadside sensing device does not need to participate in sensing and decision making of any vehicle within a period of time, the roadside sensing device is dormant or shut down, so that the data transmission, analysis and power cost of vehicle-road cooperation can be effectively reduced.
Optionally, the basic signaling includes coverage area information of a roadside system composed of the roadside sensing devices, and the sending the basic signaling to the vehicle end through the roadside communication device includes: and sending the coverage area information to the vehicle end through the roadside communication equipment so as to enable the intelligent terminal equipment of the vehicle end to display the coverage area of the roadside system.
Specifically, in this embodiment, the basic signaling includes coverage area information of a roadside system composed of roadside sensing devices, and the transmitting of the basic signaling by the roadside communication device to the vehicle end includes: and the roadside communication equipment sends the coverage area information to the vehicle end so that the intelligent terminal equipment of the vehicle end displays the coverage area of the roadside system. Usually, the road side system sets a coverage area, that is, the road side system provides sensing and decision-making services in the coverage area, and the coverage area of the road side system is displayed on an intelligent terminal device at a vehicle end, such as an all-in-one vehicle, so that a driver or an automatic control system can adjust a driving route according to the coverage area, the vehicle can be covered by the road side system for a long time, the sensing and decision-making capability of the vehicle is improved, and the intelligent level of the vehicle is improved.
In this embodiment, the roadside communication device is arranged to send coverage area information to the vehicle end, so that the intelligent terminal device of the vehicle end displays the coverage area of the roadside system, the vehicle can be covered by the roadside system for a long time, the perception and decision-making capability of the vehicle is improved, and the intelligent level of the vehicle is improved.
Optionally, the roadside communication device includes a 5G-CPE and a roadside unit (RSU), the roadside sensing device includes a camera, a lidar and a radar all-in-one machine, and after the roadside communication device receives a feedback signaling of the vehicle end for the basic signaling, the roadside sensing device started up within a preset range from the roadside communication device includes: and after the 5G-CPE receives the feedback signaling sent by the vehicle-end CPE of the vehicle-end and/or receives the feedback signaling sent by the vehicle-mounted unit of the vehicle-end through the road side unit, starting a camera, a laser radar and a radar and radar all-in-one machine which are within a preset range of the road side communication equipment.
Specifically, in this embodiment, the roadside communication device includes 5G-CPE and roadside unit, and the roadside sensing device includes camera, lidar and radar all-in-one, and after the roadside communication device received the feedback signaling of vehicle end to basic signaling, start the roadside sensing device that is apart from roadside communication device preset within range includes: after a feedback signal sent by a vehicle end CPE of a vehicle end is received through the 5G-CPE and/or a feedback signal sent by a vehicle-mounted unit of the vehicle end is received through a road side unit, a camera, a laser radar and a radar all-in-one machine within a preset range from the road side communication equipment are started. The 5G-CPE and the road side unit are used for communicating with a vehicle end CPE of a vehicle end, the vehicle-mounted unit and the like, for example, the road side unit sends a basic signaling to the vehicle-mounted unit, after the vehicle-mounted unit receives the basic signaling, if the vehicle is ready to enter a coverage area of a road side system (which refers to a set of detection ranges of all road side communication equipment), the vehicle generates a feedback signaling and sends the feedback signaling to the road side unit, the fact that the vehicle is about to enter the coverage area of the road side system is indicated, at the moment, the road side unit sends a starting instruction to the road side sensing equipment to start the road side sensing equipment, accordingly, the sensing and decision-making capabilities of the vehicle are improved, and the intelligentization level of the vehicle is improved.
In this embodiment, after receiving a feedback signaling sent by a vehicle-end CPE at a vehicle end through the 5G-CPE and/or receiving a feedback signaling sent by a vehicle-mounted unit at the vehicle end through the roadside unit, the camera, the laser radar and the radar all-in-one machine within a preset range from the roadside communication device are started, so that the sensing and decision-making capabilities of the vehicle are improved, and the intelligent level of the vehicle is improved.
Optionally, when the roadside communication device does not receive the feedback signaling or does not recognize that the vehicle enters the detection range within the preset time, controlling the roadside sensing device corresponding to the roadside communication device to maintain or enter the sleep/shutdown state includes: and when the roadside communication equipment does not receive the feedback signaling within a first preset time or the vehicle is not identified to enter a detection range, controlling the roadside sensing equipment corresponding to the roadside communication equipment to keep a sleep/shutdown state, wherein the first preset time is preset time after the roadside communication equipment sends the basic signaling to the vehicle end.
Specifically, in this embodiment, when the roadside communication device does not receive the feedback signaling or does not recognize that the vehicle enters the detection range within the preset time, controlling the roadside sensing device corresponding to the roadside communication device to maintain or enter the sleep/shutdown state includes: and when the roadside communication equipment does not receive the feedback signaling within the first preset time or the vehicle is not identified to enter the detection range, controlling the roadside sensing equipment corresponding to the roadside communication equipment to keep a sleep/shutdown state. The first preset time is preset time after the roadside communication equipment sends the basic signaling to the vehicle end.
For example, after the roadside communication device sends the basic signaling to the vehicle end, the time when the roadside communication device sends the basic signaling to the vehicle end is taken as a reference time, and from the reference time, after a first preset time, the roadside communication device does not receive a feedback signaling or does not recognize a vehicle driving detection range, it is indicated that the roadside sensing device corresponding to the roadside communication device does not participate in sensing and decision making of any vehicle within a period of time, and the roadside sensing device needs to be dormant or shut down in order to reduce data transmission, analysis and power cost of vehicle-road cooperation, save power, communication capacity, and consumption of hardware related to calculation and storage capacity.
In this embodiment, when the roadside communication devices do not receive the feedback signaling or recognize that the vehicle enters the detection range after the roadside communication devices send the basic signaling to the vehicle end for the first preset time, the roadside sensing devices corresponding to the roadside communication devices are controlled to enter the sleep/shutdown state, and the data transmission, analysis and power cost of vehicle-road cooperation is effectively reduced.
Optionally, when the roadside communication device does not receive the feedback signaling or does not recognize that the vehicle enters the detection range within the preset time, controlling the roadside sensing device corresponding to the roadside communication device to maintain or enter the sleep/shutdown state includes: and when the roadside communication equipment does not receive the feedback signaling or does not identify the vehicle entering detection range within a second preset time, controlling the roadside sensing equipment corresponding to the roadside communication equipment to enter a sleep/shutdown state, wherein the second preset time is preset time after the roadside sensing equipment corresponding to the roadside communication equipment is started and the roadside communication equipment does not receive the feedback signaling or does not identify the vehicle entering detection range.
Specifically, in this embodiment, when the roadside communication device does not receive the feedback signaling or does not recognize that the vehicle enters the detection range within the preset time, controlling the roadside sensing device corresponding to the roadside communication device to maintain or enter the sleep/shutdown state includes: and when the roadside communication equipment does not receive the feedback signaling or does not identify the vehicle entering the detection range within a second preset time, controlling the roadside sensing equipment corresponding to the roadside communication equipment to enter a sleep/shutdown state, wherein the second preset time is the preset time after the roadside sensing equipment corresponding to the roadside communication equipment is started and the roadside communication equipment does not receive the feedback signaling or does not identify the vehicle entering the detection range.
For example, after the roadside sensing device is started, taking a time when the roadside communication device does not receive the feedback signaling or does not recognize the vehicle entering detection range as a reference time, starting from the reference time, after a second preset time, the roadside communication device does not receive the feedback signaling or does not recognize the vehicle entering detection range, which indicates that the roadside sensing device of the roadside communication device does not participate in sensing and decision making of any vehicle within a period of time, and therefore, the roadside sensing device needs to be dormant or shut down in order to reduce data transmission, analysis and power cost of vehicle-road cooperation, save power, communication capacity, and calculation and storage capacity of related hardware operation consumption.
In this embodiment, when the roadside sensing device is started and the roadside communication device does not receive the feedback signaling or does not recognize the vehicle entering detection range after a second preset time, the roadside communication device does not receive the feedback signaling or does not recognize the vehicle entering detection range, the roadside sensing device corresponding to the roadside communication device is controlled to enter a sleep/shutdown state, and data transmission, analysis and power cost of vehicle-road cooperation are effectively reduced.
Optionally, when any one of the roadside sensing devices is in a detection range of a plurality of the roadside communication devices, and the roadside communication device does not receive the feedback signaling or does not recognize that the vehicle enters the detection range within a second preset time, controlling the roadside sensing device corresponding to the roadside communication device to enter a sleep/shutdown state includes: when the roadside sensing equipment does not receive the starting instruction sent by other roadside communication equipment after receiving the calibrated starting instruction sent by the roadside communication equipment, if the roadside sensing equipment receives the calibrated dormancy/shutdown instruction sent by the roadside communication equipment, controlling the roadside sensing equipment to enter a dormancy/shutdown state; when the roadside sensing device receives a start instruction sent by the calibrated roadside communication device and then receives start instructions sent by other roadside communication devices, if the roadside sensing device receives a sleep/shutdown instruction sent by the calibrated roadside communication device, the roadside sensing device is controlled to keep a start state.
Specifically, in this embodiment, when any roadside sensing device is located within the detection range of the multiple roadside communication devices, and when the roadside communication device does not receive the feedback signaling or does not recognize that the vehicle enters the detection range within the second preset time, controlling the roadside sensing device corresponding to the roadside communication device to enter the sleep/shutdown state includes: when the road side sensing equipment does not receive the starting instruction sent by other road side communication equipment after receiving the starting instruction sent by the calibrated road side communication equipment, if the road side sensing equipment receives the dormancy/shutdown instruction sent by the calibrated road side communication equipment, the road side sensing equipment is controlled to enter a dormancy/shutdown state; when the roadside sensing equipment receives a start instruction sent by the calibrated roadside communication equipment and then receives start instructions sent by other roadside communication equipment, if the roadside sensing equipment receives a sleep/shutdown instruction sent by the calibrated roadside communication equipment, the roadside sensing equipment is controlled to keep a start state.
For example, the roadside communication devices include a first roadside communication device, a second roadside communication device and a third roadside communication device, when a certain roadside sensing device receives only a start instruction sent by the first roadside communication device and does not receive start instructions sent by other roadside communication devices, if the roadside sensing device receives the sleep/shutdown instruction sent by the first roadside communication device, the roadside sensing device may enter a sleep/shutdown state, if the roadside sensing device receives both the start instruction sent by the first roadside communication device and the start instruction sent by the second roadside communication device and the third roadside communication device, and if the roadside sensing device receives the sleep/shutdown instruction sent by the first roadside communication device, the roadside sensing device may not enter the sleep/shutdown state and needs to keep running. Therefore, for the case that one roadside sensing device is in the detection range of a plurality of roadside communication devices, the roadside sensing devices at the same point may receive the start command and the sleep/stop command in sequence in a short time. In view of the above, it is necessary to determine when the roadside sensing device can be directly dormant/stopped, and when the roadside sensing device still needs to continue working, so that the service effect of the roadside sensing device on the vehicle is ensured, the sensing and decision-making capability of the vehicle is improved, and the intelligence level of the vehicle is improved.
In this embodiment, the condition that one roadside sensing device is in the detection range of a plurality of roadside communication devices corresponds to the corresponding instruction, so that the service effect of the roadside sensing device on the vehicle is ensured, the sensing and decision-making capability of the vehicle is improved, and the intelligent level of the vehicle is improved.
Optionally, when the roadside communication device does not receive the feedback signaling or does not recognize that the vehicle enters the detection range within a second preset time, controlling the roadside sensing device corresponding to the roadside communication device to enter a sleep/shutdown state further includes: when the roadside sensing device receives a sleep/shutdown instruction sent by the calibrated roadside communication device, retrieving a start instruction received by the roadside sensing device, if the start instruction recently received by the roadside sensing device is from the calibrated roadside communication device, determining that the roadside sensing device does not receive start instructions sent by other roadside communication devices after receiving the start instruction sent by the calibrated roadside communication device, and if the start instruction recently received by the roadside sensing device is from other roadside communication devices, determining that the roadside sensing device receives start instructions sent by other roadside communication devices after receiving the start instruction sent by the calibrated roadside communication devices.
Specifically, in this embodiment, when the roadside communication device does not receive the feedback signaling or does not recognize that the vehicle enters the detection range within the second preset time, controlling the roadside sensing device corresponding to the roadside communication device to enter the sleep/shutdown state further includes: when the roadside sensing device receives a dormancy/shutdown instruction sent by calibrated roadside communication equipment, retrieving a start instruction received by the roadside sensing device, if the start instruction recently received by the roadside sensing device comes from the calibrated roadside communication equipment, determining that the roadside sensing device does not receive start instructions sent by other roadside communication equipment after receiving the start instruction sent by the calibrated roadside communication equipment, and if the start instruction recently received by the roadside sensing device comes from other roadside communication equipment, determining that the roadside sensing device receives the start instruction sent by the calibrated roadside communication equipment and then receives start instructions sent by other roadside communication equipment. For example, when the roadside sensing system of one point location (Pos _ DET) receives a sleep/shutdown instruction from a certain RSU point location (Pos _ RSU _ 1), it retrieves which RSU point location (Pos _ RSU _ receive) the boot information that was most recently received by the Pos _ DET was sent, and if the Pos _ RSU _ receive is Pos _ RSU _1, which indicates that there is no sensing and recognition requirement from other RSUs in the near future, the roadside sensing system of the Pos _ DET point location can be normally sleep/shutdown at this time. Otherwise, normal operation is still required.
In this embodiment, when the roadside sensing device receives a sleep/shutdown instruction sent by calibrated roadside communication equipment, the start instruction received by the roadside sensing device is retrieved to determine the specific condition of the start instruction received by the roadside sensing device, and then the start or sleep/shutdown state of the roadside sensing system can be determined, so that the service effect of the roadside sensing device on the vehicle is ensured, the sensing and decision-making capability of the vehicle is improved, and the intelligence level of the vehicle is improved.
Another embodiment of the present invention provides a vehicle-road cooperation apparatus with adaptive operation, including: the basic signaling module is used for sending a basic signaling to the vehicle end through the roadside communication equipment; the starting module is used for starting the roadside sensing equipment within a preset range away from the roadside communication equipment after the roadside communication equipment receives a feedback signaling of the vehicle end aiming at the basic signaling; and the sleep/shutdown module is used for controlling the roadside sensing equipment corresponding to the roadside communication equipment to keep or enter a sleep/shutdown state when the roadside communication equipment does not receive the feedback signaling within the preset time or does not recognize that the vehicle enters the detection range.
Another embodiment of the present invention provides an adaptive operation vehicle-road coordination system, including a computer-readable storage medium storing a computer program and a processor, where the computer program is read by the processor and executed to implement the adaptive operation vehicle-road coordination method described above.
Another embodiment of the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is read and executed by a processor, the method for adaptively operating a vehicle-road coordination system as described above is implemented.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. A vehicle-road cooperative method of adaptive operation is characterized by comprising the following steps:
basic signaling is sent to a vehicle end through roadside communication equipment;
after the roadside communication equipment receives a feedback signaling of the vehicle end aiming at the basic signaling, roadside sensing equipment within a preset range away from the roadside communication equipment is started;
and when the roadside communication equipment does not receive the feedback signaling within the preset time or does not recognize that the vehicle enters the detection range, controlling the roadside sensing equipment corresponding to the roadside communication equipment to keep or enter a sleep/shutdown state.
2. The adaptive-operation vehicle-road cooperation method according to claim 1, wherein the basic signaling includes coverage area information of a road-side system composed of the road-side sensing devices, and the sending of the basic signaling to the vehicle end through the road-side communication device includes:
and sending the coverage area information to the vehicle end through the roadside communication equipment so as to enable the intelligent terminal equipment of the vehicle end to display the coverage area of the roadside system.
3. The adaptive-operation vehicle-road cooperation method according to claim 1, wherein the roadside communication device comprises a 5G-CPE and a roadside unit, the roadside sensing device comprises a camera, a laser radar and a radar all-in-one machine, and after the roadside communication device receives a feedback signaling of the vehicle end for the basic signaling, the starting of the roadside sensing device within a preset range from the roadside communication device comprises:
and after the 5G-CPE receives the feedback signaling sent by the vehicle-end CPE of the vehicle-end and/or receives the feedback signaling sent by the vehicle-mounted unit of the vehicle-end through the road side unit, starting a camera, a laser radar and a radar and radar all-in-one machine which are within a preset range of the road side communication equipment.
4. The adaptive-operation vehicle-road coordination method according to claim 1, wherein when the roadside communication device does not receive the feedback signaling or does not recognize that the vehicle enters the detection range within a preset time, controlling the roadside sensing device corresponding to the roadside communication device to maintain or enter a sleep/off state comprises:
and when the roadside communication equipment does not receive the feedback signaling or does not recognize the vehicle entering a detection range within a first preset time, controlling roadside sensing equipment corresponding to the roadside communication equipment to keep a sleep/shutdown state, wherein the first preset time is preset time after the roadside communication equipment sends the basic signaling to the vehicle end.
5. The adaptive-operation vehicle-road coordination method according to claim 1, wherein when the roadside communication device does not receive the feedback signaling or does not recognize that the vehicle enters the detection range within a preset time, controlling the roadside sensing device corresponding to the roadside communication device to maintain or enter a sleep/off state comprises:
and when the roadside communication equipment does not receive the feedback signaling or does not identify the vehicle entering detection range within a second preset time, controlling the roadside sensing equipment corresponding to the roadside communication equipment to enter a sleep/shutdown state, wherein the second preset time is preset time after the roadside sensing equipment corresponding to the roadside communication equipment is started and the roadside communication equipment does not receive the feedback signaling or does not identify the vehicle entering detection range.
6. The adaptive-operation vehicle-road coordination method according to claim 5, wherein any one of the roadside sensing devices is in a detection range of a plurality of the roadside communication devices, and when the roadside communication devices do not receive the feedback signaling or do not recognize that the vehicle enters the detection range within a second preset time, controlling the roadside sensing device corresponding to the roadside communication device to enter a sleep/shutdown state comprises:
when the roadside sensing equipment does not receive the starting instruction sent by other roadside communication equipment after receiving the calibrated starting instruction sent by the roadside communication equipment, if the roadside sensing equipment receives the calibrated dormancy/shutdown instruction sent by the roadside communication equipment, controlling the roadside sensing equipment to enter a dormancy/shutdown state;
when the roadside sensing device receives a start instruction sent by the calibrated roadside communication device and then receives start instructions sent by other roadside communication devices, if the roadside sensing device receives a sleep/shutdown instruction sent by the calibrated roadside communication device, the roadside sensing device is controlled to keep a start state.
7. The adaptive-operation vehicle-road coordination method according to claim 6, wherein when the roadside communication device does not receive the feedback signaling or does not recognize that the vehicle enters the detection range within a second preset time, controlling the roadside sensing device corresponding to the roadside communication device to enter a sleep/off state further comprises:
when the roadside sensing device receives a sleep/shutdown instruction sent by the calibrated roadside communication device, retrieving a start instruction received by the roadside sensing device, if the start instruction recently received by the roadside sensing device is from the calibrated roadside communication device, determining that the roadside sensing device does not receive start instructions sent by other roadside communication devices after receiving the start instruction sent by the calibrated roadside communication device, and if the start instruction recently received by the roadside sensing device is from other roadside communication devices, determining that the roadside sensing device receives start instructions sent by other roadside communication devices after receiving the start instruction sent by the calibrated roadside communication devices.
8. An adaptively operated vehicle-road coordination device, comprising:
the basic signaling module is used for sending a basic signaling to the vehicle end through the roadside communication equipment;
the starting module is used for starting the roadside sensing equipment within a preset range away from the roadside communication equipment after the roadside communication equipment receives a feedback signaling of the vehicle end aiming at the basic signaling;
and the sleep/shutdown module is used for controlling the roadside sensing equipment corresponding to the roadside communication equipment to keep or enter a sleep/shutdown state when the roadside communication equipment does not receive the feedback signaling within the preset time or does not recognize that the vehicle enters the detection range.
9. An adaptively operated vehicle-road coordination system, comprising a computer-readable storage medium storing a computer program and a processor, wherein the computer program is read by the processor and executed to implement the adaptively operated vehicle-road coordination method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that it stores a computer program which, when read and executed by a processor, implements the adaptively operated vehicle-road coordination method according to any one of claims 1 to 7.
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