CN113393686A - Electronic horizon transmission method, device and system - Google Patents
Electronic horizon transmission method, device and system Download PDFInfo
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- CN113393686A CN113393686A CN202010168044.0A CN202010168044A CN113393686A CN 113393686 A CN113393686 A CN 113393686A CN 202010168044 A CN202010168044 A CN 202010168044A CN 113393686 A CN113393686 A CN 113393686A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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Abstract
The invention discloses an electronic horizon transmission method, device and system. The electronic horizon transmission method comprises the following steps: judging whether the driving equipment has auxiliary driving conditions or not according to the monitored road condition of the current driving road of the target driving equipment and/or the relevant information of the specified sensor; when it is determined that the driving apparatus is changed from the non-assisted driving condition to the assisted driving condition, the providing terminal notifying the electronic horizon transmits the electronic horizon data to the driving apparatus. The broadband can be saved, and the resources of the receiving end of the electronic horizon can be saved.
Description
Technical Field
The invention relates to the technical field of advanced assistant driving, in particular to an electronic horizon transmission method, device and system.
Background
Advanced Driver Assistance Systems (ADAS) need to receive Electronic Horizon data (such as a road network prediction tree) sent by an Electronic Horizon Provider (EHP) to implement driving Assistance. However, the driving assistance conditions are not satisfied in all places on the road, and in this case, if the ADAS mounted on the vehicle continuously receives the electronic horizon data transmitted by the EHP, the vehicle bus transmission resources are wasted.
Disclosure of Invention
In view of the above, the present invention has been made to provide an electronic horizon transmitting method, apparatus and system that overcome or at least partially solve the above problems.
In a first aspect, an embodiment of the present invention provides an electronic horizon transmission method, including:
judging whether the driving equipment has auxiliary driving conditions or not according to the monitored road condition of the current driving road of the target driving equipment and/or the relevant information of the specified sensor;
and when the driving device is determined to be changed from being without the auxiliary driving condition to being with the auxiliary driving condition, informing a providing end of the electronic horizon to send electronic horizon data to the driving device.
In some optional embodiments, determining whether the driving device has an auxiliary driving condition according to the monitored road condition of the current driving road of the target driving device specifically includes performing at least one of the following:
judging whether the driving equipment has auxiliary driving conditions or not according to the monitored road attribute of the current driving road of the target driving equipment;
and judging whether the driving equipment has auxiliary driving conditions or not according to the monitored congestion level of the current running road of the target driving equipment.
In some optional embodiments, determining whether the driving device has the driving assistance condition according to the monitored related information of the specified sensor specifically includes performing at least one of the following:
judging whether the driving equipment has auxiliary driving conditions or not according to whether the monitored specified sensors are in normal working states or not;
and judging whether the road condition in a preset range in front of the current position of the driving equipment meets the auxiliary driving condition or not according to the monitored information received by the appointed sensor.
In some optional embodiments, the determining, according to the monitored information received by the designated sensor, whether the road condition in a preset range in front of the current position of the driving device meets the driving assistance condition specifically includes performing at least one of the following:
judging whether the number of vehicles in a preset range in front of the current position of the driving equipment exceeds a preset vehicle number threshold value or not according to monitored information received by a camera and/or a radar loaded on the driving equipment;
and judging whether the number of people in a preset range in front of the current position of the driving equipment exceeds a preset number of people threshold value according to the monitored information received by the camera and/or the radar loaded on the driving equipment.
In some optional embodiments, the method further includes:
and when the driving device is determined to be changed from the condition of auxiliary driving to the condition of no auxiliary driving, informing the providing end of the electronic horizon to stop sending the electronic horizon data to the driving device.
In a second aspect, an embodiment of the present invention provides an electronic horizon sending method, including:
monitoring a message sent by a receiving end of the electronic horizon;
and when monitoring the message which is sent by the receiving terminal and starts to send the electronic horizon data, constructing and sending road network information of the vehicle where the receiving terminal is located to the receiving terminal according to a preset interval.
In some optional embodiments, further comprising:
when a connection is established with the receiving end of the electronic horizon,
if the default state that whether the receiving end receives the electronic horizon data is judged to be yes, road network information of a vehicle where the receiving end is located is constructed and sent to the receiving end according to a preset interval until a message that the receiving end stops sending the electronic horizon data is monitored, wherein the message is sent by the receiving end;
and if the default state that whether the receiving end receives the electronic horizon data is judged to be negative, constructing according to the preset interval and sending the road network information of the vehicle where the receiving end is located to the receiving end is not executed until the message which is sent by the receiving end and starts to send the electronic horizon data is monitored.
In a third aspect, an embodiment of the present invention provides an electronic horizon transmission control apparatus, including a determining module and a notifying module;
the judging module is used for judging whether the driving equipment has auxiliary driving conditions or not according to the monitored road condition of the current driving road of the target driving equipment and/or the relevant information of the specified sensor;
when the judging module determines that the driving device is changed from being without the auxiliary driving condition to being with the auxiliary driving condition, the informing module is used for informing a providing end of the electronic horizon to start sending the electronic horizon data to the driving device.
In a fourth aspect, an embodiment of the present invention provides an electronic horizon transmitting apparatus, including a monitoring module and a transmitting module;
the monitoring module is used for monitoring messages sent by a receiving end of the electronic horizon;
the sending module is configured to build and send road network information of a vehicle where the receiving end is located to the receiving end according to a preset interval when the monitoring module monitors a message sent by the receiving end and starting to send electronic horizon data.
In a fifth aspect, an embodiment of the present invention provides an electronic horizon transmission system, including a providing end, a receiving end, and a transmission control device of an electronic horizon, where the receiving end of the electronic horizon is configured to be disposed on a driving device, and the transmission control device of the electronic horizon is configured to be disposed on the driving device or independent from the driving device;
the transmission control device of the electronic horizon comprises a judgment module and a notification module;
the judging module is used for judging whether the driving equipment has auxiliary driving conditions or not according to the monitored road condition of the current driving road of the driving equipment and/or the relevant information of the specified sensor;
when the judging module determines that the driving device is changed from being without the auxiliary driving condition to being with the auxiliary driving condition, the informing module is used for informing the providing end of the electronic horizon to start to send the electronic horizon data to the receiving end of the electronic horizon.
In a sixth aspect, an embodiment of the present invention provides an auxiliary automatic driving system, including a providing end of an electronic horizon and a receiving end of the electronic horizon, where the receiving end of the electronic horizon is used for being disposed on a vehicle, and the receiving end of the electronic horizon includes a determining module and a notifying module;
the judging module is used for judging whether the vehicle has auxiliary driving conditions or not according to the monitored road condition of the current driving road of the vehicle and/or the relevant information of the specified sensor;
when the judging module determines that the vehicle is changed from being without the auxiliary driving condition to being with the auxiliary driving condition, the informing module is used for informing the providing end of the electronic horizon to start to send the electronic horizon data to the receiving end of the electronic horizon.
In a seventh aspect, an embodiment of the present invention provides a computer-readable storage medium, on which computer instructions are stored, and when the instructions are executed by a processor, the electronic horizon transmitting method is implemented, or the electronic horizon transmitting method is implemented.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
according to the electronic horizon transmission method provided by the embodiment of the application, whether the driving equipment has auxiliary driving conditions or not is judged according to the monitored road condition of the current driving road of the target driving equipment and/or the relevant information of the specified sensor; when it is determined that the driving apparatus is changed from the non-assisted driving condition to the assisted driving condition, the providing terminal notifying the electronic horizon transmits the electronic horizon data to the driving apparatus. The electronic horizon is not sent to the receiving end when the vehicle where the receiving end is located at the providing end does not have the auxiliary driving condition, so that the broadband is saved, and the resources of the receiving end of the electronic horizon are saved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flowchart illustrating an electronic horizon transmission method according to an embodiment of the invention;
fig. 2 is a flowchart of an electronic horizon receiving method according to a second embodiment of the present invention;
fig. 3 is a flowchart illustrating a specific implementation of a method for sending an electronic horizon according to a third embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an electronic horizon transport device according to an embodiment of the invention;
FIG. 5 is a schematic structural diagram of an electronic horizon sending device according to an embodiment of the invention;
FIG. 6 is a schematic structural diagram of an electronic horizon transmission system according to an embodiment of the invention;
fig. 7 is a schematic structural diagram of an auxiliary automatic driving system according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In order to solve the problems of broadband waste and ADAS resource waste caused by the fact that an electronic horizon providing end EHP still sends an electronic horizon to an ADAS when a vehicle where the ADAS is located does not have an auxiliary driving condition in the prior art, embodiments of the present invention provide an electronic horizon transmission method, apparatus and system, which can save broadband and save resources at an electronic horizon receiving end.
Example one
An embodiment of the present invention provides an electronic horizon transmission method, a flow of which is shown in fig. 1, and the method includes the following steps:
step S11: and judging whether the driving equipment has auxiliary driving conditions or not according to the monitored road condition of the current driving road of the target driving equipment and/or the relevant information of the specified sensor.
Specifically, the driving device is a device having an auxiliary or automatic driving function, and may be, for example, a vehicle, an unmanned vehicle, a bicycle, a ship, an aircraft (manned or unmanned), or the like having an auxiliary or automatic driving function.
The driving device, namely, an Electronic Horizon Receiver (EHR), needs to receive Electronic Horizon data sent by an Electronic Horizon Provider (EHP) for implementing advanced assistant driving or automatic driving.
Specifically, the electronic horizon data may be real-time road network information in a range determined by the providing end EHP according to a preset rule, such as a current position of a vehicle in which the HER is located, a planned driving route, and the like, and includes: the speed limit information, the traffic indicator light, the construction site, the obstacles and other various dynamic data and actual road data are directly used by the EHR or prompt the driver.
When the vehicle is not in the auxiliary driving or automatic driving state, the electronic horizon data sent by the EHP does not need to be received, so that the receiving end of the electronic horizon needs to monitor whether the vehicle has auxiliary driving conditions or not, and the electronic horizon data sent by the EHP is received when the vehicle has the auxiliary driving conditions.
Specifically, monitoring whether the driving device has the driving assisting condition may include performing at least one of the following operations:
1. and judging whether the driving equipment has auxiliary driving conditions or not according to the monitored road condition of the current driving road of the target driving equipment.
(1) And judging whether the driving equipment has auxiliary driving conditions or not according to the monitored road attribute of the current driving road of the target driving equipment.
In one embodiment, taking the target driving device as a vehicle as an example, it may be determined whether the road grade of the current driving road of the vehicle meets a preset condition.
The road classes may be, for example, freeways, national roads, provincial roads, urban expressways, rural roads, etc. The HER can determine which road classes can perform the assistant driving and which cannot perform the assistant driving in advance according to the performance of the HER and the general road conditions of each road class.
(2) And judging whether the driving equipment has auxiliary driving conditions or not according to the monitored congestion level of the current running road of the target driving equipment.
Specifically, taking the target driving device as a vehicle as an example, the congestion level of the current driving road of the vehicle may be determined according to the road identifier of the current driving road of the vehicle and a preset corresponding relationship between the road identifier and the road congestion level.
The corresponding relationship between the road identifier and the road congestion level may be pre-counted in the following manner:
counting the congestion levels of the specified roads in the preset interval within the preset time range, and recording the average value of the congestion levels and the corresponding road identification to obtain the corresponding relation between the road identification and the road congestion levels.
2. And judging whether the vehicle has auxiliary driving conditions or not according to the monitored related information of the specified sensor.
(1) And judging whether the driving equipment has auxiliary driving conditions or not according to whether the monitored specified sensors are in normal working states or not.
If any sensor which is loaded on the driving equipment and is related to auxiliary driving is monitored to be out of work due to faults, the driving equipment is determined not to have auxiliary driving conditions.
(2) And judging whether the road condition in a preset range in front of the current position of the driving equipment meets the auxiliary driving condition or not according to the monitored information received by the appointed sensor.
Specifically, the method may include performing at least one of the following operations:
judging whether the number of vehicles in a preset range in front of the current position of the driving equipment exceeds a preset vehicle number threshold value or not according to information received by a camera and/or a radar which are/is mounted on the monitored driving equipment;
and judging whether the number of people in a preset range in front of the current position of the driving equipment exceeds a preset number of people threshold value or not according to the monitored information received by the camera and/or the radar loaded on the driving equipment vehicle.
Step S12: when it is determined that the driving apparatus is changed from the non-assisted driving condition to the assisted driving condition, the providing terminal notifying the electronic horizon starts to transmit the electronic horizon data to the driving apparatus.
And if the receiving end of the electronic horizon, namely the current state of the driving equipment, stops receiving the electronic horizon data, and the providing end of the electronic horizon is informed to start sending the electronic horizon data to the driving equipment until the driving equipment is monitored to have auxiliary driving conditions.
According to the electronic horizon transmission method provided by the embodiment of the invention, whether driving equipment has auxiliary driving conditions or not is judged according to the monitored road condition of the current driving road of the target driving equipment and/or the relevant information of the specified sensor; when it is determined that the driving apparatus is changed from the non-assisted driving condition to the assisted driving condition, the providing terminal notifying the electronic horizon transmits the electronic horizon data to the driving apparatus. The electronic horizon is not sent to the receiving end when the vehicle where the receiving end is located at the providing end does not have the auxiliary driving condition, so that the broadband is saved, and the resources of the receiving end of the electronic horizon are saved.
In one embodiment, the method may further include notifying the provider of the electronic horizon to stop transmitting the electronic horizon data to the driving apparatus when it is determined that the driving apparatus is changed from having the assistant driving condition to not having the assistant driving condition.
Optionally, the providing end of the electronic horizon receives a transmission stopping instruction sent by the user, and stops sending the electronic horizon data to the driving device; or when the vehicle is sensed not to be in an automatic driving state or a driving assisting state, the electronic horizon data is stopped being sent to the driving equipment.
Example two
An embodiment of the present invention provides an electronic horizon receiving method, in which an execution main body is a receiving end of an electronic horizon loaded on a vehicle with a driving assistance function, and a flow of the method is shown in fig. 2, and the method includes the following steps:
step S21: and the receiving end of the electronic horizon judges whether the vehicle has auxiliary driving conditions or not according to the monitored road condition of the current driving road of the vehicle and/or the relevant information of the specified sensor.
Step S22: when it is determined that the vehicle is changed from the non-assisted driving condition to the assisted driving condition, the providing terminal of the electronic horizon is notified to start transmitting the electronic horizon data.
Step S23: when it is determined that the vehicle is changed from the assisted driving condition to the non-assisted driving condition, the providing terminal of the electronic horizon is notified to stop transmitting the electronic horizon data.
EXAMPLE III
The third embodiment of the invention provides an electronic horizon sending method, which comprises the steps of monitoring a message sent by a receiving end of an electronic horizon; and when monitoring the message which is sent by the receiving end and starts to send the electronic horizon data, constructing and sending the road network information of the vehicle where the receiving end is located to the receiving end according to the preset interval. The specific implementation process, as shown in fig. 3, may include the following steps:
step S31: the providing end of the electronic horizon is connected with the receiving end of the electronic horizon.
The receiving end of the electronic horizon may be an Advanced Driver Assistance Systems (ADAS) or other terminals that need to receive the electronic horizon.
Step S32: the providing end of the electronic horizon judges whether the default state of whether the receiving end receives the electronic horizon data is yes or not.
If the default state of judging whether the receiving end receives the electronic horizon data is yes, executing step S33; if the default status of determining whether the receiving end receives the electronic horizon data is negative, no operation is performed until step S36, and step S33 is not performed until the receiving end monitors the message to start transmitting the electronic horizon data.
Step S33: and constructing and sending road network information of the vehicle where the receiving end is located to the receiving end according to a preset interval.
When the default state that the providing end of the electronic horizon judges whether the receiving end receives the electronic horizon data is yes, namely the default state of the receiving end receives the electronic horizon data; or after monitoring the message which is sent by the receiving end and starts to send the electronic horizon data, constructing and sending the road network information of the vehicle where the receiving end is located to the receiving end according to the preset interval.
Step S34: and monitoring the message which is sent by the receiving end and stops sending the electronic horizon data.
And when the receiving end of the electronic horizon monitors that the vehicle is changed from the condition of auxiliary driving to the condition of no auxiliary driving, informing the providing end of the electronic horizon to stop sending the electronic horizon data.
Step S35: the transmission of the electronic horizon data is stopped.
And after the providing end of the electronic horizon receives the message which is sent by the receiving end and stops sending the electronic horizon data, the providing end of the electronic horizon stops sending the electronic horizon data to the receiving end.
Step S36: and monitoring a message which is sent by the receiving end and starts to send the electronic horizon data.
When the receiving end of the electronic horizon monitors that the vehicle is changed from being without the auxiliary driving condition to being with the auxiliary driving condition, the providing end of the electronic horizon is informed to start sending the electronic horizon data. After the providing end of the electronic horizon receives the message for starting to transmit the electronic horizon data transmitted from the receiving end, step S33 is executed.
Based on the inventive concept of the present invention, an embodiment of the present invention further provides an electronic horizon transmission apparatus, which has a structure as shown in fig. 4, and includes a determining module 41 and a notifying module 42;
the judging module 41 is configured to judge whether the driving device has an auxiliary driving condition according to the monitored road condition of the current driving road of the target driving device and/or the relevant information of the designated sensor;
when the judging module 41 determines that the driving device is changed from being without the driving assistance condition to being with the driving assistance condition, the notifying module 42 is configured to notify the providing end of the electronic horizon to start sending the electronic horizon data to the driving device.
In some embodiments, the determining module 41 determines whether the driving device has the auxiliary driving condition according to the monitored road condition of the current driving road of the target driving device, specifically performing at least one of the following steps:
judging whether the driving equipment has auxiliary driving conditions or not according to the monitored road attribute of the current driving road of the target driving equipment;
and judging whether the driving equipment has auxiliary driving conditions or not according to the monitored congestion level of the current running road of the target driving equipment.
In some embodiments, the determining module 41 determines whether the driving device has the driving assistance condition according to the monitored information related to the specific sensor, specifically including performing at least one of the following:
judging whether the driving equipment has auxiliary driving conditions or not according to whether the monitored specified sensors are in normal working states or not;
and judging whether the road condition in a preset range in front of the current position of the driving equipment meets the auxiliary driving condition or not according to the monitored information received by the appointed sensor.
In some embodiments, the determining module 41, determining whether the road condition in the preset range in front of the current position of the driving device meets the driving assistance condition according to the monitored information received by the designated sensor, specifically includes performing at least one of the following:
judging whether the number of vehicles in a preset range in front of the current position of the driving equipment exceeds a preset vehicle number threshold value or not according to monitored information received by a camera and/or a radar loaded on the driving equipment;
and judging whether the number of people in a preset range in front of the current position of the driving equipment exceeds a preset number of people threshold value according to the monitored information received by the camera and/or the radar loaded on the driving equipment.
In some embodiments, when the determining module 41 determines that the driving device is changed from having the driving assistance condition to not having the driving assistance condition, the notifying module 42 is configured to notify the providing end of the electronic horizon to stop sending the electronic horizon data to the driving device.
Based on the inventive concept of the present invention, an embodiment of the present invention further provides an electronic horizon transmitting apparatus, which has a structure as shown in fig. 5, and includes a monitoring module 51 and a transmitting module 52;
a monitoring module 51, configured to monitor a message sent by a receiving end of the electronic horizon;
the sending module 52 is configured to, when the monitoring module 51 monitors the message sent by the receiving end and used for starting sending the electronic horizon data, construct and send road network information of the vehicle where the receiving end is located to the receiving end according to a preset interval.
In some embodiments, the above-mentioned electronic horizon line sending apparatus further includes a determining module 53, configured to determine whether a default state of whether the receiving end receives the electronic horizon line data is yes or no when establishing connection with the receiving end of the electronic horizon line;
when the determining module 53 determines that the default state of whether the receiving end receives the electronic horizon data is yes, the sending module 52 is configured to construct and send road network information of a vehicle where the receiving end is located to the receiving end according to a preset interval until the monitoring module 51 monitors a message sent by the receiving end and stopping sending the electronic horizon data;
when the determining module 53 determines that the default state of whether the receiving end receives the electronic horizon data is negative, the sending module 52 does not execute the building according to the preset interval and send the road network information of the vehicle where the receiving end is located to the receiving end until the monitoring module 51 monitors the message sent by the receiving end and starting to send the electronic horizon data.
Based on the inventive concept of the present invention, an embodiment of the present invention further provides an electronic horizon transmission system, which has a structure as shown in fig. 6, and includes a providing end 61, a receiving end 62 and a transmission control device 63 of an electronic horizon, where the receiving end 61 of the electronic horizon is configured to be disposed on a driving device, and the transmission control device 63 of the electronic horizon is configured to be disposed on the driving device or independent from the driving device;
the transmission control device 63 of the electronic horizon comprises a judgment module 631 and a notification module 632;
the judging module 631 is configured to judge whether the driving device has an auxiliary driving condition according to the monitored road condition of the current driving road of the driving device and/or the relevant information of the designated sensor;
when the determination module 631 determines that the driving device is changed from being without the driving assist condition to being with the driving assist condition, the notification module 632 is configured to notify the providing end of the electronic horizon to start sending the electronic horizon data to the receiving end of the electronic horizon.
Based on the inventive concept of the present invention, an auxiliary automatic driving system is further provided in the embodiments of the present invention, and the structure of the auxiliary automatic driving system is as shown in fig. 7, and the auxiliary automatic driving system includes a providing end 71 of an electronic horizon and at least one receiving end 72 of the electronic horizon, the receiving end 71 of the electronic horizon is used for being disposed on a vehicle, and the receiving end 72 of the electronic horizon includes a determining module 721 and a notifying module 722;
the determining module 721 is configured to determine whether the vehicle has an auxiliary driving condition according to the monitored road condition of the current driving road of the vehicle and/or the relevant information of the designated sensor;
when the determination module 721 determines that the vehicle is changed from having no driving assist condition to having a driving assist condition, the notification module 722 is configured to notify the providing end of the electronic horizon to start transmitting the electronic horizon data to the receiving end of the electronic horizon.
With regard to the apparatus and system in the above embodiments, the specific manner in which the respective modules perform operations has been described in detail in relation to the embodiments of the method, and will not be elaborated upon here.
Based on the same inventive concept, embodiments of the present invention also provide a computer-readable storage medium, on which computer instructions are stored, and when the instructions are executed by a processor, the electronic horizon transmitting method or the electronic horizon transmitting method is implemented.
Based on the same inventive concept, an embodiment of the present invention further provides a server, including: the system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the electronic horizon transmission method or the electronic horizon transmission method.
Unless specifically stated otherwise, terms such as processing, computing, calculating, determining, displaying, or the like, may refer to an action and/or process of one or more processing or computing systems or similar devices that manipulates and transforms data represented as physical (e.g., electronic) quantities within the processing system's registers and memories into other data similarly represented as physical quantities within the processing system's memories, registers or other such information storage, transmission or display devices. Information and signals may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
It should be understood that the specific order or hierarchy of steps in the processes disclosed is an example of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of steps in the processes may be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not intended to be limited to the specific order or hierarchy presented.
In the foregoing detailed description, various features are grouped together in a single embodiment for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed embodiments of the subject matter require more features than are expressly recited in each claim. Rather, as the following claims reflect, invention lies in less than all features of a single disclosed embodiment. Thus, the following claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. Of course, the processor and the storage medium may reside as discrete components in a user terminal.
For a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in memory units and executed by processors. The memory unit may be implemented within the processor or external to the processor, in which case it can be communicatively coupled to the processor via various means as is known in the art.
What has been described above includes examples of one or more embodiments. It is, of course, not possible to describe every conceivable combination of components or methodologies for purposes of describing the aforementioned embodiments, but one of ordinary skill in the art may recognize that many further combinations and permutations of various embodiments are possible. Accordingly, the embodiments described herein are intended to embrace all such alterations, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as "comprising" is interpreted when employed as a transitional word in a claim. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or". The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Claims (12)
1. An electronic horizon transmission method, comprising:
judging whether the driving equipment has auxiliary driving conditions or not according to the monitored road condition of the current driving road of the target driving equipment and/or the relevant information of the specified sensor;
and when the driving device is determined to be changed from being without the auxiliary driving condition to being with the auxiliary driving condition, informing a providing end of the electronic horizon to send electronic horizon data to the driving device.
2. The method as claimed in claim 1, wherein determining whether the driving device has the driving assistance condition according to the monitored road condition of the current driving road of the target driving device includes at least performing one of the following:
judging whether the driving equipment has auxiliary driving conditions or not according to the monitored road attribute of the current driving road of the target driving equipment;
and judging whether the driving equipment has auxiliary driving conditions or not according to the monitored congestion level of the current running road of the target driving equipment.
3. The method of claim 1, wherein determining whether the driving device has auxiliary driving conditions based on the monitored information related to the designated sensor comprises performing at least one of:
judging whether the driving equipment has auxiliary driving conditions or not according to whether the monitored specified sensors are in normal working states or not;
and judging whether the road condition in a preset range in front of the current position of the driving equipment meets the auxiliary driving condition or not according to the monitored information received by the appointed sensor.
4. The method as claimed in claim 3, wherein the determining whether the road condition in a preset range ahead of the current position of the driving device meets the driving assistance condition according to the information received by the monitored designated sensor includes at least performing one of:
judging whether the number of vehicles in a preset range in front of the current position of the driving equipment exceeds a preset vehicle number threshold value or not according to monitored information received by a camera and/or a radar loaded on the driving equipment;
and judging whether the number of people in a preset range in front of the current position of the driving equipment exceeds a preset number of people threshold value according to the monitored information received by the camera and/or the radar loaded on the driving equipment.
5. The method of any of claims 1-4, further comprising:
and when the driving device is determined to be changed from the condition of auxiliary driving to the condition of no auxiliary driving, informing the providing end of the electronic horizon to stop sending the electronic horizon data to the driving device.
6. An electronic horizon sending method, comprising:
monitoring a message sent by a receiving end of the electronic horizon;
and when monitoring the message which is sent by the receiving terminal and starts to send the electronic horizon data, constructing and sending road network information of the vehicle where the receiving terminal is located to the receiving terminal according to a preset interval.
7. The method of claim 6, further comprising:
when a connection is established with the receiving end of the electronic horizon,
if the default state that whether the receiving end receives the electronic horizon data is judged to be yes, road network information of a vehicle where the receiving end is located is constructed and sent to the receiving end according to a preset interval until a message that the receiving end stops sending the electronic horizon data is monitored, wherein the message is sent by the receiving end;
and if the default state that whether the receiving end receives the electronic horizon data is judged to be negative, constructing according to the preset interval and sending the road network information of the vehicle where the receiving end is located to the receiving end is not executed until the message which is sent by the receiving end and starts to send the electronic horizon data is monitored.
8. An electronic horizon transmission device comprises a judgment module and a notification module;
the judging module is used for judging whether the driving equipment has auxiliary driving conditions or not according to the monitored road condition of the current driving road of the target driving equipment and/or the relevant information of the specified sensor;
when the judging module determines that the driving device is changed from being without the auxiliary driving condition to being with the auxiliary driving condition, the informing module is used for informing a providing end of the electronic horizon to start sending the electronic horizon data to the driving device.
9. An electronic horizon line sending device comprises a monitoring module and a sending module;
the monitoring module is used for monitoring messages sent by a receiving end of the electronic horizon;
the sending module is configured to build and send road network information of a vehicle where the receiving end is located to the receiving end according to a preset interval when the monitoring module monitors a message sent by the receiving end and starting to send electronic horizon data.
10. An electronic horizon transmission system comprises a providing end, a receiving end and a transmission control device of an electronic horizon, wherein the receiving end of the electronic horizon is used for being arranged on a driving device, and the transmission control device of the electronic horizon is used for being arranged on the driving device or is independent of the driving device;
the transmission control device of the electronic horizon comprises a judgment module and a notification module;
the judging module is used for judging whether the driving equipment has auxiliary driving conditions or not according to the monitored road condition of the current driving road of the driving equipment and/or the relevant information of the specified sensor;
when the judging module determines that the driving device is changed from being without the auxiliary driving condition to being with the auxiliary driving condition, the informing module is used for informing the providing end of the electronic horizon to start to send the electronic horizon data to the receiving end of the electronic horizon.
11. An auxiliary automatic driving system comprises a providing end of an electronic horizon and a receiving end of the electronic horizon, wherein the receiving end of the electronic horizon is used for being arranged on a vehicle and comprises a judging module and a notification module;
the judging module is used for judging whether the vehicle has auxiliary driving conditions or not according to the monitored road condition of the current driving road of the vehicle and/or the relevant information of the specified sensor;
when the judging module determines that the vehicle is changed from being without the auxiliary driving condition to being with the auxiliary driving condition, the informing module is used for informing the providing end of the electronic horizon to start to send the electronic horizon data to the receiving end of the electronic horizon.
12. A computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the electronic horizon transmitting method of any one of claims 1 to 5 or the electronic horizon transmitting method of claim 6 or 7.
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| CN202010168044.0A CN113393686A (en) | 2020-03-11 | 2020-03-11 | Electronic horizon transmission method, device and system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010168044.0A CN113393686A (en) | 2020-03-11 | 2020-03-11 | Electronic horizon transmission method, device and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115031740A (en) * | 2022-06-23 | 2022-09-09 | 岚图汽车科技有限公司 | Road reconstruction system and method based on electronic horizon |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115031740A (en) * | 2022-06-23 | 2022-09-09 | 岚图汽车科技有限公司 | Road reconstruction system and method based on electronic horizon |
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