CN113347607A - Inter-vehicle message processing device and method - Google Patents
Inter-vehicle message processing device and method Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
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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
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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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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- 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
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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Abstract
The invention provides an inter-vehicle message processing device and method. A vehicle cooperation message processing apparatus comprising: a transceiver module (302) that receives vehicle cooperation messages from other vehicles (104); a local data element extraction module (308) that extracts one or more data elements in the vehicle collaboration message according to a current scenario; a decoding module (310) for decoding the one or more data elements to obtain local data; a global decoding judgment module (312) for determining whether the other vehicle meets one or more predetermined conditions of the current scene according to the local data; the decoding module (310) decodes all data elements in the vehicle cooperation message if it is determined that the other vehicle satisfies the one or more predetermined conditions.
Description
Technical Field
The present disclosure relates to the field of vehicles, and more particularly, to an apparatus and method for fast screening of vehicle cooperation messages between vehicles.
Background
With the rapid increase of the automobile retention rate, the situation of road traffic safety is more severe. Vehicle wireless communication technology (V2X, vehicle to X) enables vehicle-to-vehicle communication, thereby improving driving safety and traffic efficiency.
V2X may be involved in many application scenarios, such as emergency vehicle warning, preceding vehicle collision warning, intersection collision warning, emergency brake warning, and the like. The vehicle may determine whether the vehicle is at a safety risk based on vehicle cooperation messages (e.g., BSM messages, CAM messages, DENM messages, etc.) from other vehicles. However, in practical applications, a large number of data packets from other vehicles are often received, which increases the processing burden of the vehicle processing system, increases the processing delay, and affects the user experience.
Disclosure of Invention
In order to solve the technical problem, the invention provides an inter-vehicle message processing device and method. The invention sets different local data to be obtained from the vehicle cooperation message and corresponding message screening conditions aiming at different application scenes. The method comprises the steps of firstly, locally decoding the vehicle cooperation message to obtain local data, then determining whether a message screening condition is met according to the local data, and further determining whether the vehicle cooperation message needs to be globally decoded based on whether the local data meets the message screening condition. Therefore, a plurality of vehicle cooperation messages from other vehicles are effectively screened, and the efficiency of vehicle networking communication is improved.
One aspect of the present invention relates to a vehicle cooperation message processing apparatus including: a transceiver module (302), the transceiver module (302) receiving a vehicle cooperation message from another vehicle (104); a local data element extraction module (308), the local data element extraction module (308) extracting one or more data elements in the vehicle collaboration message according to a current scenario; a decoding module (310), the decoding module (310) decoding the one or more data elements to obtain local data; a global decoding decision module (312), the global decoding decision module (312) determining whether the other vehicle satisfies one or more predetermined conditions of the current scene according to the local data; the decoding module (310) decodes all data elements in the vehicle cooperation message if the global decoding determination module (312) determines that the other vehicle satisfies the one or more predetermined conditions.
According to the vehicle cooperation message processing device with the structure, the received numerous vehicle cooperation messages are effectively screened, all data of all vehicle cooperation messages do not need to be decoded, and the processing burden is greatly reduced.
Preferably, the local data element extraction module (308) comprises: an element position determination module (406), the element position determination module (406) finding and determining a position of each of the one or more data elements in the vehicle collaboration message; and a data element extraction module (408), the data element extraction module (408) extracting the data element in the vehicle cooperation message according to the location.
Preferably, the local data element extraction module (308) further comprises: an optional element determination module (402), the optional element determination module (402) determining, for each of the one or more data elements, one or more optional data elements in the vehicle collaboration message that precede the data element; and a flag reading module (404), the flag reading module (404) reading a presence flag corresponding to the one or more selectable data elements, the element position determination module (406) determining whether the one or more selectable data elements are present in the vehicle cooperation message according to the presence flag of the one or more selectable data elements, and determining a position of the data element in the vehicle cooperation message according to whether the one or more selectable data elements are present.
Preferably, the method further comprises: a context selection module (306), the context selection module (306) selecting the current context for processing the vehicle collaboration message; wherein the global decoding decision module (312) comprises: a vehicle information analysis module (502), wherein the vehicle information analysis module (502) determines vehicle information of the own vehicle (102) and other vehicles (104) according to the local data; and a predetermined condition determination module (504), the predetermined condition determination module (504) determining whether the other vehicle (104) satisfies the one or more predetermined conditions based on the vehicle information according to the current scene.
According to the vehicle cooperation message processing device with the structure, whether the other vehicle meets the preset condition can be judged by analyzing the vehicle information of the own vehicle and the other vehicle, so that the screening of the message is more accurate and effective.
According to the vehicle cooperation message processing device of the above configuration, the local data includes at least one of the position, the traveling direction, the traveling speed, and the brake signal of the other vehicle.
Still another aspect of the present invention relates to a vehicle cooperation message processing method, including: receiving a vehicle cooperation message from another vehicle; extracting one or more data elements in the vehicle cooperation message according to a current scene; decoding the one or more data elements to obtain local data; determining whether the other vehicle meets one or more predetermined conditions of the current scene according to the local data; and decoding all data elements in the vehicle cooperation message if it is determined that the other vehicle satisfies the one or more predetermined conditions.
According to the vehicle cooperation message processing method with the structure, the received numerous vehicle cooperation messages are effectively screened, all data of all vehicle cooperation messages do not need to be decoded, and the processing burden is greatly reduced.
Preferably, extracting one or more data elements in the vehicle cooperation message comprises: for each of the one or more data elements: finding and determining a location of the data element in the vehicle collaboration message; and extracting the data element in the vehicle cooperation message according to the position.
More desirably, determining the location of the data element in the vehicle cooperation message includes: for each of the one or more data elements: determining one or more optional data elements preceding the data element in the vehicle collaboration message; reading presence flags corresponding to the one or more selectable data elements; determining whether the one or more optional data elements are present in the vehicle cooperation message according to the presence flag of the one or more optional data elements; and determining a location of the one or more optional data elements in the vehicle collaboration message based on whether the data elements exist.
Preferably, determining from the local data whether the other vehicle satisfies one or more predetermined conditions of the current scene includes: selecting the current scene for processing the vehicle cooperation message; determining vehicle information of the own vehicle and other vehicles according to the local data; and determining whether the other vehicle satisfies the one or more predetermined conditions based on the vehicle information according to the current scene.
According to the vehicle cooperation message processing method with the structure, whether the other vehicle meets the preset condition can be judged by analyzing the vehicle information of the own vehicle and the other vehicle, so that the screening of the message is more accurate and effective.
Preferably, the local data includes at least one of a position, a traveling direction, a traveling speed, and a brake signal of the other vehicle.
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The invention is described in detail below with the aid of examples. The attached drawings are as follows:
FIG. 1 is a diagram of a system for inter-vehicle communication, according to aspects of the present invention.
Fig. 2 is a diagram of a data frame according to aspects of the present invention.
Fig. 3 is a diagram of an apparatus for vehicle cooperation message processing according to aspects of the present invention.
FIG. 4 is a diagram of an apparatus for local data element extraction, according to aspects of the present invention.
Fig. 5 is a diagram of an apparatus for global decoding decision, according to aspects of the invention.
FIG. 6 is a flow diagram of a method for rapid screening of inter-vehicle messages in accordance with aspects of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments disclosed below.
FIG. 1 is a diagram of a system 100 for inter-vehicle communication, according to aspects of the present invention.
As shown in FIG. 1, a system 100 for inter-vehicle communication according to aspects of the present invention includes a plurality of vehicles 102, 104, and 106. Note that although only three vehicles are shown in FIG. 1, the system may include more than three vehicles.
For ease of explanation, vehicle 102 will be referred to herein as the own vehicle and vehicles 104 and 106 will be referred to as the other vehicles.
The own vehicle and the other vehicles may communicate with each other, for example, using vehicle cooperation messages. Each vehicle can inform the surrounding vehicles of the real-time state of the vehicle through the broadcasting of the vehicle cooperation message, so that a series of cooperative safety applications are supported.
The vehicle cooperation message may be a BSM (basic safety message) that may include relevant information of the vehicle, such as vehicle position, speed, heading, steering wheel angle, yaw rate, braking information, and the like. The vehicle cooperation message may also be a CAM (cooperation aware message), which is transmitted by the vehicle at a predetermined frequency. Alternatively, the vehicle cooperation message may be a DENM (distributed environment notification message) that is transmitted according to a triggering event.
The system 100 may also include a plurality of GNSS satellites 108. The vehicles 102, 104, 106 may acquire their position from the satellites 108.
The own vehicle can analyze the surrounding traffic condition by the received signal (e.g., vehicle cooperation message, GNSS signal) and generate a corresponding coping order. For example, according to the judgment of the collision risk between vehicles, timely early warning information can be provided for the driver, and the driver is assisted to take corresponding safe operation and control behaviors. Alternatively, an emergency driving assistance function may be performed, and if the driver does not take any operation action in the case where the risk of collision between vehicles is recognized and a warning prompt is issued to the driver, the emergency driving assistance function is immediately activated to operate the vehicle to take a compulsory collision avoidance measure. Under the condition that the surrounding traffic environment allows, the vehicle is controlled to carry out lane changing operation; in the case where the surrounding traffic environment does not allow lane change, the steering vehicle is kept in the current lane and takes deceleration measures.
According to the present invention, a vehicle (referred to as "own vehicle" herein) may receive vehicle cooperation messages from a plurality of other vehicles (referred to as "other vehicles" herein), extract one or more data elements for local decoding for each vehicle cooperation message according to different application scenarios (e.g., emergency vehicle warning, preceding vehicle collision warning, intersection collision warning, left turn auxiliary warning, emergency brake warning, etc.) to obtain local data, and then determine whether the other vehicles satisfy one or more predetermined conditions in the application scenario according to the local data; if it is determined that his vehicle satisfies the one or more predetermined conditions, all data elements in the vehicle collaboration message are decoded. The self-vehicle can further analyze the traffic condition according to the decoding results of all the data elements, determine whether risks exist or not, and generate early warning information.
The BSM message is used herein as an example to illustrate aspects of the present invention, but other vehicle cooperation messages are also contemplated by the present invention.
In an emergency vehicle early warning scene, the distance from the vehicle to other vehicles and the driving relation can be determined. The self vehicle can locally decode a plurality of received BSM messages, and extract a position data element for each BSM message to be decoded so as to obtain the position data of other vehicles. The distance and the travel relationship between the own vehicle and the other vehicle can then be determined based on the position of the own vehicle and the positions of the other vehicles. If the other vehicle satisfies the predetermined condition that the own vehicle is less than a predetermined distance (e.g., 100 meters) from the other vehicle and the other vehicle is behind the own vehicle, it is determined that all data elements of the vehicle cooperation message from the other vehicle need to be decoded for further analysis. If the other vehicle does not satisfy the above predetermined condition, the vehicle cooperation message from the other vehicle may be discarded without further operation.
Under the early warning scene of the collision of the front vehicle, the distance from the self vehicle to the other vehicles and the driving relation can be determined. The self vehicle can locally decode a plurality of received BSM messages, and extract a position data element for each BSM message to be decoded so as to obtain the position data of other vehicles. The distance and the travel relationship between the own vehicle and the other vehicle can then be determined based on the position of the own vehicle and the positions of the other vehicles. If the other vehicle satisfies the predetermined condition that the own vehicle is less than a predetermined distance (e.g., 300 meters) from the other vehicle and the other vehicle is in front of the own vehicle, it is determined that all data elements of the vehicle cooperation message from the other vehicle need to be decoded for further analysis. If the other vehicle does not satisfy the above predetermined condition, the vehicle cooperation message from the other vehicle may be discarded without further operation.
Under the early warning scene of the collision of the crossroad, the distance from the vehicle to other vehicles, the driving relation and the speed of other vehicles can be determined. The self-vehicle can locally decode a plurality of received BSM messages, and extract a position data element, a course data element and a speed data element for each BSM message for decoding. The distance from the vehicle to the other vehicle, the driving relationship, and the speed of the other vehicle may then be determined. If the other vehicle satisfies the predetermined condition that the distance between the own vehicle and the other vehicle is less than a predetermined distance (e.g., 300 meters), the own vehicle and the other vehicle are close to each other (e.g., the included heading angle between the two vehicles is less than a threshold), and the speed of the other vehicle is greater than a predetermined speed (e.g., greater than 50km/h), it is determined that all data elements of the vehicle cooperation message from the other vehicle need to be decoded for further analysis. If the other vehicle does not satisfy the above predetermined condition, the vehicle cooperation message from the other vehicle may be discarded without further operation.
Under the auxiliary early warning scene of turning left, can confirm the distance and the relation of traveling from car to other cars. The self vehicle can locally decode a plurality of received BSM messages, and extract a position data element and a course data element for each BSM message for decoding. The distance and driving relationship between the host vehicle and the other vehicles can then be determined. If the other vehicle satisfies the predetermined condition that the distance from the own vehicle is less than a predetermined distance (e.g., 300 meters) and the own vehicle and the other vehicle are close to each other, it is determined that all data elements of the vehicle cooperation message from the other vehicle need to be decoded for further analysis. If the other vehicle does not satisfy the above predetermined condition, the vehicle cooperation message from the other vehicle may be discarded without further operation.
In an emergency braking early warning scene, the distance from the vehicle to other vehicles, the driving relation and whether other vehicles are braking or not can be determined. The self vehicle can locally decode a plurality of received BSM messages, and extract a position data element and a brake data element for each BSM message for decoding. The distance and driving relationship between the host vehicle and the other vehicles can then be determined. If the other vehicle satisfies the predetermined condition that the own vehicle is less than a predetermined distance (e.g., 300 meters) from the other vehicle, the other vehicle is traveling in front of the own vehicle, and the other vehicle is braking, it is determined that all data elements of the vehicle cooperation message from the other vehicle need to be decoded for further analysis. If the other vehicle does not satisfy the above predetermined condition, the vehicle cooperation message from the other vehicle may be discarded without further operation.
Several examples of application scenarios have been presented above, but the invention is not limited thereto, and other vehicle application scenarios are also contemplated by the invention.
Several local decoding elements and filtering conditions have been exemplified above for each application scenario, but the present invention is not limited thereto, and other local decoding elements and filtering conditions are also contemplated by the present invention.
Fig. 2 is a diagram of a data frame according to aspects of the present invention. The structure of each data frame may be predetermined.
The data frame may include a plurality of data elements. A data element is a basic unit of data. A data element may consist of several data items (e.g., bytes). Herein, one data element may include data representing certain information, for example, a vehicle position data element may include data on a vehicle position; the vehicle speed data element may include data regarding vehicle speed, and the like.
One or more of the plurality of data elements may be optional, i.e., there may be optional data elements in some data frames and no optional data elements in other data frames.
The data frame may further include an optional element presence flag portion. The optional element present flag portion may include one or more optional element present flags, where each optional element present flag may indicate whether a corresponding optional data element is present in the data frame. For example, the flag may be a bit, '1' indicating that the corresponding optional data element exists in the data frame, and '0' indicating that the corresponding optional data element does not exist in the data frame.
In the example shown in fig. 2, the data frame 200 includes a header 202 and a plurality of data elements 204 and 212.
Although five data elements are shown in FIG. 2, more or fewer data elements are also contemplated by the present invention. The plurality of data elements may include a vehicle position element, a velocity element, a heading element, a steering wheel angle element, a yaw rate element, a braking information element, and the like.
The plurality of data elements may include one or more selectable data elements, e.g., data element 3 and data element 5. The optional data elements are shown in dashed lines in fig. 2.
Note that although fig. 2 shows that the data element 3 and the data element 5 are optional data elements, the present invention is not limited thereto, and other data elements may be optional data elements.
The header 202 may include an optional element presence flag portion. A flag may be set in the header 202 for each optional data element in the data frame to indicate whether the optional data element is present in the data frame. For example, the flag may be a bit, '1' indicating that the corresponding optional data element exists in the data frame, and '0' indicating that the corresponding optional data element does not exist in the data frame.
Taking fig. 2 as an example, if the length of the header 202 is 2 bytes and the length of each data element is 4 bytes, if the existence flag corresponding to the data element 3 in the header 202 is '1' (i.e., indicating the existence of the data element 3 in the data frame), the position of the data element 4 is the 15 th to 18 th bytes of the data frame. If the presence flag in the header 202 corresponding to data element 3 is '0' (i.e., indicating that data element 3 is not present in the data frame), then the position of data element 4 is the 11 th-14 th byte of the data frame.
The above lengths of the header and the data elements are merely exemplary, the lengths of the header and the data elements may be other values, and the lengths of the data elements may be different from each other.
Note that although in fig. 2, the optional element presence flag portion is included in the header 202, the optional element presence flag portion may be included in other positions of the data frame, for example, the middle or the end of the data frame. The position of the optional element presence flag portion in the data frame is predetermined, so that the one or more optional element presence flags can be read according to a predetermined position (e.g., the number of bytes in the data frame).
Local decoding of the vehicle cooperation message may include, for each data element to be decoded, determining from a flag in a header of the data frame whether one or more optional data elements (if any) preceding the data element are present, and thereby determining a location of the data element, as described above with respect to fig. 2.
Fig. 3 is a diagram of an apparatus for vehicle cooperation message processing according to aspects of the present invention.
As shown in fig. 3, the apparatus 300 for fast packet filtering includes a transceiver module 302, a GNSS module 304, a scene selection module 306, a local data element extraction module 308, a decoding module 310, and a global decoding determination module 312.
Transceiver module 302 may receive signals from other vehicles and transmit signals to other vehicles. The received and transmitted signals may include vehicle cooperation messages, such as BSM, CAM, DENM, and the like.
The GNSS module 304 may receive GNSS signals from a plurality of satellites and determine a location of the host vehicle based on the GNSS signals.
The context selection module 306 may select a current context for processing the vehicle cooperation message, i.e., determine which context the vehicle cooperation message is currently to be processed for (e.g., filter the vehicle cooperation message). The selected scene may be a scene that may cause a vehicle safety problem, such as an emergency vehicle warning, a preceding vehicle collision warning, an intersection collision warning, a left turn auxiliary warning, an emergency brake warning, and the like.
The local data element extraction module 308 may extract one or more data elements (local data elements) from the vehicle collaboration message for obtaining local data according to the current application scenario.
For example, as described above, in an emergency vehicle warning scenario, the location data element may be extracted from the vehicle cooperation message. In a preceding vehicle collision warning scenario, the location data elements may be extracted from the vehicle collaboration message. In an intersection collision scenario, a location data element, a heading data element, and a speed data element may be extracted from the vehicle collaboration message. Under a left turn assisted early warning scenario, a location data element and a heading data element may be extracted from the vehicle collaboration message. In an emergency braking early warning scenario, the position data elements and the braking data elements may be extracted from the vehicle cooperation message.
Note that the above is merely an example of local data element extraction, different data elements may be extracted according to actual situations in a specific application scenario, and local data element extraction in other scenarios is also contemplated by the present invention.
The local data element extraction will be described in detail in fig. 4 below.
The local data element extraction module 308 may send the extracted one or more data elements to the decoding module 310. The decoding module 310 may decode the one or more data elements to obtain local data.
For example, the BSM message may be encoded with UPER (Unaligned Packet Encoding Rules). The decoding module 310 may perform UPER decoding on the one or more data elements extracted in the BSM message.
The BSM message and UPER encoding are illustrated above, but other vehicle cooperation messages and other encoding schemes are contemplated by the present invention.
The global decoding determination module 312 may determine whether global decoding of the vehicle cooperation message is required (i.e., decoding of all data elements) based on the decoded local data, as illustrated below in fig. 5.
If the global decoding determination module 312 determines that global decoding of the vehicle cooperation message is required, the decoding module 310 may be notified to decode all data elements in the vehicle cooperation message for subsequent use.
FIG. 4 is a diagram of an apparatus for local data element extraction, according to aspects of the present invention.
As shown in fig. 4, an apparatus 400 for local data element extraction may include an optional element determination module 402, a flag reading module 404, an element position determination module 406, and a data element extraction module 408.
The optional element determination module 402 may determine whether an optional data element is present before the data element to be extracted according to a predetermined data frame format. If an optional data element exists, one or more optional data elements preceding the data element to be extracted are determined. For example, if the data element 4 shown in fig. 2 is to be extracted, the optional data element 3 preceding the data element 4 may be determined.
The flag reading module 404 may read, for each of the one or more selectable data elements, a selectable element present flag corresponding thereto (e.g., a selectable element present flag in a header of a vehicle collaboration message, as described above with respect to fig. 2). For example, the presence flag corresponding to the optional data element 3 may be read.
The element position determination module 406 may determine whether the one or more optional data elements are present in the vehicle cooperation message based on the corresponding optional element present flag, and further determine a position of the data element to be extracted in the vehicle cooperation message based on whether the one or more optional data elements are present in the vehicle cooperation message. For example, whether the optional data element 3 is present in the vehicle cooperation message may be determined based on an optional element present flag corresponding to the optional data element 3, and further, a position of the data element 4 in the vehicle cooperation message may be determined based on whether the optional data element 3 is present in the vehicle cooperation message.
In the vehicle cooperation message, the length of each data element is predetermined. It is thus possible to determine from the output of the tag reading module 404 which data elements are present in front of the data element to be extracted and to determine the position of the data element to be extracted from the predetermined length of these data elements.
The data element extraction module 408 may extract the data element based on the determined location of the data element to be extracted and its length.
Fig. 5 is a diagram of an apparatus for global decoding decision, according to aspects of the invention.
The apparatus 500 for global decoding determination may include a vehicle information analysis module 502 and a predetermined condition determination module 504.
The vehicle information analysis module 502 may determine vehicle information of the own vehicle and the other vehicle from the decoded one or more data elements from the other vehicle and the information (e.g., location) of the own vehicle. The vehicle information of the own vehicle and the other vehicle includes the vehicle relationship of the own vehicle and the other vehicle, and other information (for example, the traveling speed of the other vehicle, whether the other vehicle is braking, etc.). The vehicle relationship of the own vehicle to the other vehicle includes a distance, a traveling relationship, and the like of the own vehicle to the other vehicle. The travel relationship may indicate whether the other vehicle is traveling in front of or behind the own vehicle, whether the other vehicle and the own vehicle are approaching each other, or the like.
As described above, in the emergency vehicle warning scene, the distance and the travel relationship between the own vehicle and the other vehicle may be determined according to the position of the own vehicle and the position of the other vehicle. Under the early warning scene of the collision of the front vehicle, the distance and the driving relation between the front vehicle and the other vehicles can be determined according to the position of the front vehicle and the positions of the other vehicles. Under the early warning scene of the collision of the crossroad, the distance between the self vehicle and other vehicles, the driving relation and the speed of other vehicles can be determined. Under the auxiliary early warning scene of turning left, can confirm the distance and the relation of traveling of own car and other cars. In an emergency braking scene, the distance and the driving relation between the self vehicle and other vehicles can be determined.
Note that the above lists only the vehicle information in a few scenarios, but the present invention is not limited thereto, and other vehicle relationships in a specific scenario or vehicle information in other scenarios are also contemplated by the present invention.
The predetermined condition determination module 504 may determine whether the other vehicle satisfies one or more predetermined conditions based on the output of the vehicle information analysis module 502. Determining to decode all data elements in the vehicle collaboration message if the other vehicle satisfies the one or more predetermined conditions; otherwise, the vehicle cooperation message may be discarded without subsequent processing.
As described above, in the emergency vehicle warning scene, the predetermined condition may be that the distance from the own vehicle to the other vehicle is less than the predetermined distance and the other vehicle is behind the own vehicle. In the preceding vehicle collision warning scenario, the predetermined condition may be that the distance between the own vehicle and the other vehicle is less than a predetermined distance and the other vehicle is in front of the own vehicle. In the early warning scene of the collision at the intersection, the preset conditions can be that the distance between the self vehicle and the other vehicle is less than the preset distance, the self vehicle and the other vehicle are close to each other, and the speed of the other vehicle is greater than the preset speed. In the left-turn auxiliary early warning scenario, the predetermined condition may be that the distance between the own vehicle and the other vehicle is less than a predetermined distance and the own vehicle and the other vehicle are close to each other. In the emergency braking warning scene, the predetermined condition may be that the distance between the own vehicle and the other vehicle is less than a predetermined distance, the other vehicle is traveling in front of the own vehicle, and the other vehicle is braking.
Note that the above is merely an example of the predetermined condition, and different predetermined conditions may be applied depending on actual situations in a specific scenario, and predetermined conditions in other scenarios are also contemplated by the present invention.
FIG. 6 is a flow diagram of a method for rapid screening of inter-vehicle messages in accordance with aspects of the present invention.
As shown in fig. 6, at step 602, a vehicle cooperation message from another vehicle may be received.
The vehicle receives a plurality of vehicle cooperation messages, such as BSM messages, CAM messages, DENM messages, etc., from other vehicles (other vehicles) while traveling. The vehicle cooperation message may carry real-time status information of the vehicle transmitting the message, vehicle position, speed, heading, steering wheel angle, yaw rate, braking information, and the like.
At step 604, one or more data elements in the vehicle collaboration message may be extracted according to the current scenario.
The vehicle needs to determine whether risks exist in different application scenes during running. These application scenarios may include an emergency vehicle early warning scenario, a preceding vehicle collision early warning scenario, an intersection collision early warning scenario, a left turn auxiliary early warning scenario, an emergency brake early warning scenario, and so on.
Each application scenario may correspond to one or more data elements in a vehicle collaboration message. The one or more data elements may be processed to determine the status of other vehicles for subsequent message screening processing. The one or more data elements may correspond to the position, heading, speed, brake signals, etc. of the other vehicle.
Extracting one or more data elements in the vehicle collaboration message may include: for each of the one or more data elements, a location of the data element in the vehicle cooperation message is determined, and the data element is extracted in the vehicle cooperation message according to its location.
Wherein determining the location of the data element in the vehicle collaboration message may include: determining whether an optional data element is present in the vehicle collaboration message before the data element; if one or more optional data elements are present, a determination is made as to whether the one or more optional data elements are present based on the presence flag (e.g., in the header of the data frame) of the one or more optional data elements.
Further, one or more data elements determined to exist before the data element may be determined according to whether the one or more optional data elements exist, and the position of the data element may be further determined (for example, the position of the data element may be determined by adding the length of the head of the data frame to the length of each data element before the data element).
The data element may be extracted according to its position and length.
At step 606, the one or more data elements may be decoded to obtain local data.
For example, the BSM message may be UPER decoded to obtain local data. The local data may include the position, heading, speed, braking signals, etc. of the other vehicle.
At step 608, it may be determined from the local data whether his car meets one or more predetermined conditions for the current scenario.
The vehicle information of the other vehicle and the own vehicle, such as the distance between the other vehicle and the own vehicle, the driving relationship, the driving speed of the other vehicle, whether the other vehicle brakes, and the like, can be determined according to the local data of the other vehicle.
It may then be determined whether one or more predetermined conditions of the current application scenario are satisfied based on the vehicle information of the other and own vehicles.
At step 610, if it is determined that his vehicle satisfies the one or more predetermined conditions, all data elements in the vehicle collaboration message are decoded.
If it is determined that his vehicle does not meet any of the one or more predetermined conditions, the vehicle cooperation message may be discarded without further processing.
According to the technical scheme, one or more data elements in the vehicle cooperation message from the other vehicle are extracted according to different application scenes to be locally decoded so as to obtain local data, and whether the vehicle cooperation message needs to be globally decoded is determined according to the local data of the other vehicle, so that a plurality of vehicle cooperation messages from the other vehicle are effectively screened, and the vehicle networking communication efficiency is improved.
Although the present invention has been described in terms of embodiments, it should be understood that the present invention is not limited to the embodiments and configurations described above. The present invention also includes various modifications and modifications within an equivalent range. In addition, various combinations and modes, and other combinations and modes including only one element, one or more elements, and one or less elements also belong to the scope and the idea of the present invention.
The description herein is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A vehicle cooperation message processing apparatus comprising:
a transceiver module (302), the transceiver module (302) receiving a vehicle cooperation message from another vehicle (104);
a local data element extraction module (308), the local data element extraction module (308) extracting one or more data elements in the vehicle collaboration message according to a current scenario;
a decoding module (310), the decoding module (310) decoding the one or more data elements to obtain local data of the vehicle cooperation message;
a global decoding decision module (312), the global decoding decision module (312) determining whether the other vehicle satisfies one or more predetermined conditions of the current scene according to the local data;
the decoding module (310) decodes all data elements in the vehicle cooperation message if the global decoding determination module (312) determines that the other vehicle satisfies the one or more predetermined conditions.
2. The vehicle collaboration message processing apparatus as claimed in claim 1, wherein the local data element extraction module (308) comprises:
an element position determination module (406), the element position determination module (406) finding and determining a position of each of the one or more data elements in the vehicle collaboration message; and
a data element extraction module (408), the data element extraction module (408) extracting the data element in the vehicle collaboration message based on the location.
3. The vehicle collaboration message processing apparatus as claimed in claim 2, wherein the local data element extraction module (308) further comprises:
an optional element determination module (402), the optional element determination module (402) determining, for each of the one or more data elements, one or more optional data elements in the vehicle collaboration message that precede the data element; and
a tag reading module (404), the tag reading module (404) reading a presence tag corresponding to the one or more selectable data elements,
the element position determination module (406) determines whether the one or more optional data elements are present in the vehicle collaboration message based on the presence flag of the one or more optional data elements, and determines a position of the one or more optional data elements in the vehicle collaboration message based on whether the one or more optional data elements are present.
4. The vehicle cooperation message processing apparatus according to claim 1, further comprising:
a context selection module (306), the context selection module (306) selecting the current context for processing the vehicle collaboration message;
wherein the global decoding decision module (312) comprises:
a vehicle information analysis module (502), wherein the vehicle information analysis module (502) determines vehicle information of the own vehicle (102) and other vehicles (104) according to the local data; and
a predetermined condition determination module (504), the predetermined condition determination module (504) determining whether the other vehicle (104) satisfies the one or more predetermined conditions based on the vehicle information according to the current scenario.
5. The vehicle cooperation message processing apparatus of claim 1, wherein the local data includes at least one of a position, a traveling direction, a traveling speed, a braking signal of the other vehicle.
6. A vehicle cooperation message processing method, comprising:
receiving a vehicle cooperation message from another vehicle;
extracting one or more data elements in the vehicle cooperation message according to a current scene;
decoding the one or more data elements to obtain local data of the vehicle cooperation message;
determining whether the other vehicle meets one or more predetermined conditions of the current scene according to the local data; and
decoding all data elements in the vehicle collaboration message if it is determined that the other vehicle satisfies the one or more predetermined conditions.
7. The vehicle collaboration message processing method as claimed in claim 6, wherein extracting one or more data elements in the vehicle collaboration message comprises:
for each of the one or more data elements:
finding and determining a location of the data element in the vehicle collaboration message; and
the data element is extracted from the vehicle cooperation message according to the position.
8. The vehicle collaboration message processing method as claimed in claim 7, wherein determining the location of the data element in the vehicle collaboration message comprises:
for each of the one or more data elements:
determining one or more optional data elements preceding the data element in the vehicle collaboration message;
reading presence flags corresponding to the one or more selectable data elements;
determining whether the one or more optional data elements are present in the vehicle cooperation message according to the presence flag of the one or more optional data elements; and
determining a location of the one or more optional data elements in the vehicle collaboration message based on whether the data elements are present.
9. The vehicle-cooperation message processing method according to claim 6, wherein determining whether the other vehicle satisfies one or more predetermined conditions of a current scene based on the local data includes:
selecting the current scene for processing the vehicle cooperation message;
determining vehicle information of the own vehicle and other vehicles according to the local data; and
determining whether the other vehicle satisfies the one or more predetermined conditions based on the vehicle information according to the current scenario.
10. The vehicle cooperation message processing method according to claim 6, wherein the local data includes at least one of a position, a traveling direction, a traveling speed, a brake signal of the other vehicle.
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