CN113570902B - Vehicle-to-vehicle communication method based on obstacle detection triggering, vehicle and communication equipment - Google Patents

Vehicle-to-vehicle communication method based on obstacle detection triggering, vehicle and communication equipment Download PDF

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Publication number
CN113570902B
CN113570902B CN202010351413.XA CN202010351413A CN113570902B CN 113570902 B CN113570902 B CN 113570902B CN 202010351413 A CN202010351413 A CN 202010351413A CN 113570902 B CN113570902 B CN 113570902B
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vehicle
wireless device
obstacle
information
suspected
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CN113570902A (en
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沈成业
徐晓波
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BYD Co Ltd
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BYD Co Ltd
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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
    • G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The application discloses a vehicle-to-vehicle communication method, a vehicle and communication equipment based on obstacle detection triggering. The vehicle-to-vehicle communication method comprises the following steps: controlling an obstacle detection device on the vehicle to detect whether a suspected vehicle obstacle exists in front of the vehicle in running; if the obstacle detection device detects that a suspected vehicle obstacle exists in front of the running of the vehicle, controlling a first wireless device on the vehicle to be switched from a dormant state to an activated state; controlling the vehicle to perform inter-vehicle communication with the preceding vehicle based on the first wireless device in the activated state and the preceding vehicle wireless device on the preceding vehicle; the first wireless device is controlled to switch from the active state to the dormant state when the obstacle detecting device no longer detects the leading vehicle for the first target time. According to the embodiment of the application, the starting time of the vehicle-to-vehicle communication function is triggered through the detection result of the obstacle, and the working time of vehicle-to-vehicle communication can be effectively controlled.

Description

Vehicle-to-vehicle communication method based on obstacle detection triggering, vehicle and communication equipment
Technical Field
The application relates to the field of vehicle control, in particular to a vehicle-to-vehicle communication method, a vehicle and communication equipment based on obstacle detection triggering.
Background
With the rapid development of economic society, the quantity of automobile reserves is rapidly increased, road traffic accidents frequently occur, the road traffic accidents become one of important factors influencing the public safety sense of China in recent years, and the road traffic safety problem becomes one of basic problems influencing society and harmoniously improving civilian life. There is an urgent need to improve traffic safety in terms of technology, policy, education, etc., of which the design for improving vehicle safety is an important component.
Vehicle to evolution (V2X) refers to a network of vehicles that can interconnect Vehicle to Vehicle, vehicle to road, vehicle to pedestrian and bicycle, and Vehicle to city by collecting, processing and sharing a large amount of information. With the development of an intelligent traffic system, vehicle-to-vehicle communication becomes possible, the method has important significance for vehicle network research for pushing people, roads and vehicles to be closely coordinated, how to improve the traditional model is researched, the method is suitable for triggering vehicle-to-vehicle communication based on obstacle detection, and the method has important theoretical and practical significance.
Disclosure of Invention
The object of the present application is to solve at least to some extent one of the above mentioned technical problems.
To this end, a first object of the present application is to propose a vehicle-to-vehicle communication method based on obstacle detection triggering. The method can trigger the starting time of the vehicle-to-vehicle communication function through the detection result of the obstacle, and can effectively control the working time of vehicle-to-vehicle communication.
A second object of the present application is to propose a vehicle.
A third object of the present application is to propose a communication device.
In order to achieve the above object, an embodiment of the present application provides a vehicle-to-vehicle communication method based on obstacle detection triggering, including: controlling an obstacle detection device on a vehicle to detect whether a suspected vehicle obstacle exists in front of the vehicle in running; if the obstacle detection device detects that a suspected vehicle obstacle exists in front of the running of the vehicle, controlling a first wireless device on the vehicle to be switched from a dormant state to an activated state; controlling the host vehicle to perform inter-vehicle communication with the host vehicle based on the first wireless device in the activated state and the host vehicle wireless device on the host vehicle; controlling the first wireless device to switch from the active state to the dormant state when the obstacle detecting device no longer detects the preceding vehicle for a first target time.
According to the vehicle-to-vehicle communication method based on the obstacle detection triggering, the obstacle detection device on the vehicle can be controlled to detect whether a suspected vehicle obstacle exists in front of the vehicle, if the obstacle detection device detects that the suspected vehicle obstacle exists in front of the vehicle, the first wireless device on the vehicle is controlled to be switched from a dormant state to an active state, the vehicle-to-vehicle communication between the vehicle and the front vehicle is controlled based on the first wireless device in the active state and the front vehicle wireless device on the front vehicle, and when the obstacle detection device does not detect the front vehicle again within the first target time, the first wireless device is controlled to be switched from the active state to the dormant state. Therefore, the starting time of the vehicle-to-vehicle communication function is triggered according to the detection result of the obstacle, the working time of vehicle-to-vehicle communication can be effectively controlled, and the interference of the vehicle-to-vehicle communication to other equipment is reduced.
In order to achieve the above object, an embodiment of a second aspect of the present application provides a vehicle, including: the first wireless device is used for receiving or sending vehicle interaction information; the first obstacle detection device is used for detecting whether a suspected vehicle obstacle exists in the running front of the vehicle; the vehicle-mounted controller is used for controlling the first wireless device to switch from a dormant state to an activated state when the first obstacle detection device detects that a suspected vehicle obstacle exists in front of the running of the vehicle, controlling the vehicle to perform vehicle-to-vehicle communication with the vehicle in front based on the first wireless device in the activated state and the wireless device of the vehicle in front, and controlling the first wireless device to switch from the activated state to the dormant state when the first obstacle detection device does not detect the vehicle in front again within a first target time.
According to the vehicle of the embodiment of the application, the obstacle detection device on the vehicle is controlled to detect whether a suspected vehicle obstacle exists in front of the vehicle in running, if the obstacle detection device detects that the suspected vehicle obstacle exists in front of the vehicle in running, the first wireless device on the vehicle is controlled to be switched from the dormant state to the active state, the vehicle and the front vehicle are controlled to perform inter-vehicle communication based on the first wireless device in the active state and the front vehicle wireless device on the front vehicle, and when the obstacle detection device does not detect the front vehicle any more within the first target time, the first wireless device is controlled to be switched from the active state to the dormant state. Therefore, the starting time of the vehicle-to-vehicle communication function is triggered according to the detection result of the obstacle, the working time of vehicle-to-vehicle communication can be effectively controlled, and the interference of the vehicle-to-vehicle communication to other equipment is reduced.
In some embodiments of the present application, the onboard controller is specifically configured to:
sending interactive information to the suspected vehicle to detect whether the suspected vehicle is a real vehicle or not based on the first wireless device in the activated state;
if the suspected vehicle is detected to be a real vehicle, receiving confirmation reply information sent by the wireless device of the front vehicle so as to establish inter-vehicle communication between the vehicle and the front vehicle; wherein the confirmation reply message is a confirmation reply fed back after the wireless device of the front vehicle receives the activated interactive message.
In an embodiment of the present application, the onboard controller is further configured to:
after receiving the acknowledgement information sent by the wireless device on the preceding vehicle, sending a vehicle information and vehicle information inquiry request of the vehicle to the preceding vehicle through the first wireless device in an activated state; wherein the vehicle information inquiry request is used for indicating the front vehicle to feed back the vehicle information of the front vehicle;
receiving vehicle information fed back by the front vehicle through a front vehicle wireless device in an activated state;
performing safety situation prejudgment according to the vehicle information fed back by the front vehicle and the driving state of the vehicle;
if the result of the safety situation prejudgment is that the distance between the vehicle and the front vehicle does not influence the driving safety of the vehicle, controlling the vehicle to continue to normally run;
and if the result of the safety situation prejudgment shows that the distance between the vehicle and the front vehicle affects the driving safety of the vehicle, controlling the vehicle to adopt braking to meet the safe driving requirement.
In an embodiment of the present application, the onboard controller is further configured to:
and when the suspected vehicle is detected to be a non-vehicle, controlling the vehicle to apply parking brake.
In some embodiments of the present application, the on-board controller is further configured to:
and when the first obstacle detection device detects that a non-vehicle obstacle exists in front of the running of the vehicle, controlling the vehicle to apply parking brake.
In some embodiments of the present application, the on-board controller is further configured to:
after the first obstacle detection device detects that a suspected vehicle obstacle exists in front of the running of the host vehicle, acquiring position information of the obstacle detected by the first obstacle detection device before controlling a first wireless device on the host vehicle to switch from a sleep state to an active state;
judging whether the distance between the vehicle and the obstacle is smaller than a safe braking distance or not according to the position information of the obstacle;
if the distance between the vehicle and the obstacle is smaller than the safe braking distance, controlling the vehicle to stop by emergency braking;
and if the distance between the vehicle and the obstacle is greater than or equal to the safe braking distance, executing the step of controlling the first wireless device on the vehicle to switch from a dormant state to an activated state.
In an embodiment of the present application, the in-vehicle controller is specifically configured to:
determining a road section civil engineering speed limit value of the current position of the vehicle according to the position of the vehicle;
determining a safety braking trigger curve of the vehicle according to the civil engineering speed limit value of the road section at the current position of the vehicle;
and calculating the safe braking distance according to the safe braking trigger curve, the current speed and the deceleration of the vehicle.
In some embodiments of the present application, the on-board controller is further configured to:
determining the current speed of the vehicle when sending a vehicle information inquiry request to the front vehicle;
finding out target response time corresponding to the current vehicle speed from a pre-established vehicle speed and response time corresponding table;
and adjusting the feedback waiting time of the vehicle information inquiry according to the target response time corresponding to the current vehicle speed.
In some embodiments of the present application, the vehicle further comprises: a second wireless device for receiving or transmitting vehicle interaction information, wherein,
the onboard controller is further configured to: when the second wireless device receives the interaction information sent by the wireless device on the rear vehicle, controlling the second wireless device to switch from the dormant state to the active state, and sending confirmation reply information to the rear vehicle based on the second wireless device in the active state so as to establish inter-vehicle communication between the vehicle and the rear vehicle; the second wireless device is arranged at the tail end of the vehicle, and the first wireless device is arranged at the head end of the vehicle.
In an embodiment of the present application, the onboard controller is further configured to:
controlling the second wireless device to switch from the active state to the dormant state when the second wireless device no longer receives information sent by the wireless device on the following vehicle for a second target time.
In some embodiments of the present application, the first obstacle detecting device is disposed at a nose end of the vehicle; wherein the vehicle further includes:
a second obstacle detection device provided at a rear end of the vehicle, wherein the second obstacle detection device provided at the rear end of the vehicle is in a sleep state.
In an embodiment of the application, the vehicle further comprises:
the vehicle-mounted transfer equipment is used for receiving and forwarding information;
the first wireless device and the second wireless device form a passage with the vehicle-mounted controller through the vehicle-mounted transit equipment respectively, and the first obstacle detection device and the second obstacle detection device form a passage with the vehicle-mounted controller through the vehicle-mounted transit equipment respectively.
In order to achieve the above object, an embodiment of a third aspect of the present application provides a communication device, including: an antenna; a transmitter for transmitting vehicle interaction information to an external vehicle based on the antenna; the receiver is used for receiving vehicle interaction information sent by the external vehicle based on the antenna; a memory for storing a computer program; the processor is in communication connection with the transmitter, the receiver and the memory respectively, and when the processor executes a computer program stored on the memory, the inter-vehicle communication method based on the obstacle detection triggering is achieved according to the embodiment of the first aspect of the application.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow diagram of a method of vehicle-to-vehicle communication based on an obstacle detection trigger according to one embodiment of the present application;
FIG. 2 is a flow diagram of a method of vehicle-to-vehicle communication based on obstacle detection triggering according to another embodiment of the present application;
FIG. 3 is a flow chart of a method of vehicle-to-vehicle communication based on obstacle detection triggering according to yet another embodiment of the present application;
FIG. 4 is a block diagram of two-vehicle communication according to an embodiment of the present application;
FIG. 5 is a block diagram of a vehicle according to one embodiment of the present application;
FIG. 6 is a schematic structural diagram of a vehicle according to another embodiment of the present application;
fig. 7 is a schematic structural diagram of a communication device according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The following describes a vehicle-to-vehicle communication method, a vehicle, and a communication apparatus based on obstacle detection triggering according to embodiments of the present application, with reference to the drawings.
Fig. 1 is a flow chart of a method of vehicle-to-vehicle communication based on obstacle detection triggering according to one embodiment of the present application. It should be noted that the vehicle-to-vehicle communication method based on the obstacle detection trigger according to the embodiment of the present application may be applied to the vehicle according to the embodiment of the present application. As an example, the execution subject of the vehicle-to-vehicle communication method based on the obstacle detection trigger according to the embodiment of the present application may be a vehicle-mounted controller on a vehicle.
As shown in fig. 1, the vehicle-to-vehicle communication method based on obstacle detection triggering may include:
step 101, controlling an obstacle detection device on the vehicle to detect whether a suspected vehicle obstacle exists in front of the vehicle in running.
That is, the vehicle may be mounted with an obstacle detection device, for example, the obstacle detection device may be disposed at a front end of the vehicle, so that the obstacle detection device on the host vehicle may be controlled to detect whether there is a suspected vehicle obstacle in front of the host vehicle in normal operation of the vehicle. As an example, the obstacle detection device may include, but is not limited to, a camera, a radar, etc., and may detect whether there is a suspected vehicle obstacle in front of the host vehicle in the traveling direction by using image recognition of the camera and radar recognition technology.
In the embodiment of the application, when the obstacle detection device detects that an obstacle exists in front of the running vehicle, whether the obstacle is a train or not can be preliminarily determined. If the obstacle detection device preliminarily judges that the obstacle has a high probability of being a train, the obstacle detection device sends the fact that the obstacle exists and the probability is a vehicle to the vehicle-mounted controller on the vehicle, so that the vehicle-mounted controller knows that the obstacle detection device detects that the suspected vehicle obstacle exists in front of the vehicle in running.
It should be noted that, in the embodiment of the present application, when the vehicle starts to run, the obstacle detection device provided at the vehicle head position of the vehicle is turned on and is in an activated state, so that the obstacle is detected in front of the vehicle running.
Step 102, if the obstacle detection device detects that a suspected vehicle obstacle exists in front of the running of the vehicle, controlling a first wireless device on the vehicle to switch from a dormant state to an activated state. Wherein the first wireless device may employ V2V communication technology.
In the embodiment of the present application, when the vehicle starts to operate, the first wireless apparatus on the vehicle is turned on but is in the sleep state, that is, when the vehicle starts to operate, inter-vehicle communication is not required, so that the first wireless apparatus is in the sleep state at this time, and the operating time of the first wireless apparatus can be reduced.
As one example, when the on-board controller learns that the obstacle detection device detects the presence of a suspected vehicle obstacle ahead of the host vehicle's travel, the first wireless device on the host vehicle may be controlled to switch from a dormant state to an active state. That is, only when the detection result of the obstacle detection device determines that no suspected vehicle obstacle exists, the first wireless device is controlled to be activated to start the vehicle-to-vehicle communication function.
And 103, controlling the vehicle to perform inter-vehicle communication with the front vehicle based on the first wireless device in the activated state and the front vehicle wireless device on the front vehicle.
That is to say, when the vehicle-mounted controller learns that a suspected vehicle obstacle exists in front of the vehicle in operation, which is detected by the obstacle detection device, the vehicle-mounted controller can control the vehicle to perform inter-vehicle communication with the preceding vehicle based on the first wireless device in an activated state and the preceding vehicle wireless device on the preceding vehicle, so as to realize the interaction of the vehicle and the vehicle information.
It should be noted that, since the obstacle detection device may have inaccurate detection accuracy, in order to further improve the obstacle detection result and ensure driving safety, when the first wireless device is switched from the dormant state to the active state, the first wireless device that is activated may send the interactive information to the detected suspected vehicle to detect whether the suspected vehicle is a real vehicle, and if the suspected vehicle is a real vehicle, the vehicle and the preceding vehicle may perform inter-vehicle communication. As an example of one possible implementation manner, based on the first wireless device in the activated state, sending interaction information to an obstacle of a suspected vehicle to detect whether the obstacle of the suspected vehicle is a real vehicle, and if the obstacle of the suspected vehicle is detected to be a real vehicle, receiving confirmation reply information sent by a wireless device of a preceding vehicle to establish inter-vehicle communication between the vehicle and the preceding vehicle; the confirmation reply message is a confirmation reply fed back after the wireless device of the front vehicle receives the activated interactive message.
For example, after the first wireless apparatus is switched from the sleep state to the active state, the interactive information may be sent to the obstacle of the suspected vehicle for several cycles based on the first wireless apparatus in the active state, for example, the interactive information may be "activation instruction" and "vehicle confirmation information". If the obstacle of the suspected vehicle in front is not a real vehicle, the vehicle does not receive a confirmation reply fed back by the obstacle of the suspected vehicle in a plurality of periods sent by the interaction information of the activation instruction and the vehicle confirmation information, and the obstacle of the suspected vehicle in front can be judged to be not a real vehicle. If the obstacle in front of the suspected vehicle is a real vehicle, after the vehicle sends the interactive information of the "activation instruction" and the "vehicle confirmation information", the wireless device on the real vehicle (i.e. the preceding vehicle) will receive the "activation instruction" and the "vehicle confirmation information" sent by the vehicle, at this time, the wireless device on the preceding vehicle will be activated, and the "activation instruction" and the "vehicle confirmation information" will be forwarded to the on-board controller of the preceding vehicle. The onboard controller of the preceding vehicle sends a confirmation reply message via its own wireless device. When the vehicle receives the confirmation reply information fed back by the front vehicle, the successful establishment of the inter-vehicle communication between the vehicle and the front vehicle can be determined, and the information interaction between the vehicles is ensured.
And 104, controlling the first wireless device to switch from the active state to the dormant state when the obstacle detecting device does not detect the front vehicle within the first target time.
For example, when the distance between the vehicle and the preceding vehicle is greater than the detection distance of the obstacle detection device, so that the obstacle detection device on the vehicle no longer detects the preceding vehicle and the scene continues for a period of time, or the obstacle detection device on the vehicle does not detect the obstacle and the scene continues for a period of time, the on-board controller on the vehicle may automatically send a sleep command to the first wireless device, so that the first wireless device switches from the active state to the sleep state. That is, the first wireless device on the host vehicle enters the sleep again if the host vehicle loses contact with the preceding vehicle and the preceding vehicle is not detected any more (it can be considered that the distance between the preceding vehicle and the following vehicle is very long), and the first wireless device on the host vehicle enters the sleep, that is, the vehicle-to-vehicle communication enters the sleep, and the host vehicle does not need to determine whether the host vehicle reaches the specified location.
According to the vehicle-to-vehicle communication method based on the obstacle detection triggering, the obstacle detection device on the vehicle can be controlled to detect whether a suspected vehicle obstacle exists in front of the vehicle, if the obstacle detection device detects that the suspected vehicle obstacle exists in front of the vehicle, the first wireless device on the vehicle is controlled to be switched from a dormant state to an active state, the vehicle-to-vehicle communication between the vehicle and the front vehicle is controlled based on the first wireless device in the active state and the front vehicle wireless device on the front vehicle, and when the obstacle detection device does not detect the front vehicle again within the first target time, the first wireless device is controlled to be switched from the active state to the dormant state. Therefore, the starting time of the vehicle-to-vehicle communication function is triggered according to the detection result of the obstacle, the working time of vehicle-to-vehicle communication can be effectively controlled, and the interference of the vehicle-to-vehicle communication to other equipment is reduced.
In addition, in the embodiment of the application, the wireless device on the vehicle is in a dormant state when the vehicle starts to run, and only when the detection result of the obstacle detection device on the vehicle judges that the vehicle is a suspected obstacle, the wireless device of the vehicle is switched from the dormant state to an activated state to start the vehicle-vehicle communication function of the vehicle, and the effective information transmission of the vehicle-vehicle communication is ensured by depending on the effective detection distance and the credible detection result of the obstacle detection device, so that the problem that the vehicle-vehicle communication cannot be subjected to information interaction due to too large vehicle distance is avoided; in addition, the starting of the vehicle-vehicle communication function of the vehicle is mainly started and dormant by the detection result information of the obstacle detection device, so that the vehicle-vehicle communication working time can be greatly shortened, and the interference to other equipment caused by the vehicle-vehicle communication is reduced.
It should be noted that the vehicle according to the embodiment of the present application may be a vehicle capable of traveling in both directions. In order to satisfy the characteristic of the vehicle that can run in both directions, in the embodiment of the present application, the vehicle may have two wireless devices and two obstacle detection devices thereon, i.e., a first wireless device, a first obstacle detection device, a second wireless device, and a second obstacle detection device. The first wireless device and the first obstacle detection device are arranged at the head end of the vehicle, and the second wireless device and the second obstacle detection device are arranged at the tail end of the vehicle, so that when the vehicle arrives at a terminal station and returns to a starting station, whether a suspected vehicle obstacle exists in the front of the vehicle can be detected through the obstacle area detection device on the head end in front of the current operation without turning around, if yes, the wireless device on the head end in front of the current operation is controlled to be switched from a dormant state to an activated state, and the vehicle-vehicle communication function of the vehicle is started.
As an example of one possible implementation, when the second wireless device on the host vehicle receives the mutual information transmitted by the wireless device on the rear vehicle, the second wireless device on the host vehicle is controlled to switch from the sleep state to the active state; the second wireless device is arranged at the tail end of the vehicle, and the first wireless device is arranged at the head end of the vehicle; and sending confirmation reply information to the rear vehicle based on the second wireless device in the activated state so as to establish inter-vehicle communication between the vehicle and the rear vehicle. That is, when the host vehicle is an obstacle that runs ahead of the host vehicle, the wireless device on the host vehicle may transmit interaction information, which may be, for example, "activation instruction" and "vehicle confirmation information", to a second wireless device provided at the rear end of the vehicle. Upon receiving the interaction information transmitted by the following vehicle, the second wireless device on the host vehicle may control the second wireless device to switch from the sleep state to the active state to turn on the "vehicle-to-vehicle communication" function of the host vehicle, and transmit confirmation reply information to the following vehicle based on the second wireless device in the active state to establish inter-vehicle communication between the host vehicle and the following vehicle. Therefore, the second wireless device on the vehicle defaults to a dormant state when running, the awakening mode is passive awakening, namely the second wireless device is awakened and activated after receiving an activating instruction of a rear vehicle, and the working time of vehicle-vehicle communication is greatly shortened.
In one embodiment of the present application, the host vehicle may control the second wireless device to switch from the active state to the dormant state when the second wireless device on the host vehicle does not receive any more information transmitted by the wireless device on the following vehicle for the second target time. That is, after the second wireless device on the host vehicle no longer receives the information sent by the following wireless device and continues for a while, the on-board controller on the host vehicle may automatically send a sleep command to the second wireless device to switch the second wireless device from the active state to the sleep state. Therefore, the condition that the second wireless device on the vehicle enters the dormancy again is that the vehicle is out of contact with the rear vehicle and lasts for a period of time, the vehicle controls the second wireless device to enter the dormancy, namely the vehicle-vehicle communication of the vehicle enters the dormancy, the working time of the vehicle-vehicle communication is greatly shortened, and the interference of the vehicle-vehicle communication to other equipment is reduced.
In order to ensure driving safety and prevent driving collision, in an embodiment of the present application, after the host vehicle receives acknowledgement information sent by a wireless device on the preceding vehicle, the host vehicle may perform information interaction with the preceding vehicle through a vehicle-to-vehicle communication function to acquire vehicle information of the preceding vehicle (where the vehicle information may include, but is not limited to, current vehicle speed, acceleration, and the like, and may further include a number of a vehicle), so that the host vehicle performs safety situation prediction based on the vehicle information of the host vehicle and the vehicle information of the preceding vehicle, and performs corresponding control based on a result of the safety situation prediction. As an example of one possible implementation, after the host vehicle receives acknowledgement information sent by the wireless device on the preceding vehicle, as shown in fig. 2, the inter-vehicle communication method based on the obstacle detection trigger may further include:
step 201, sending the vehicle information and vehicle information inquiry request of the vehicle to the front vehicle through a first wireless device in an activated state; wherein the vehicle information inquiry request is used for indicating the front vehicle to feed back the vehicle information of the front vehicle.
For example, after the host vehicle receives the acknowledgement information sent by the wireless device on the preceding vehicle, the host vehicle may send the host vehicle information (e.g., the number of the host vehicle) of the host vehicle and a vehicle information inquiry request for the preceding vehicle to the preceding vehicle via the first wireless device in the activated state, so that the preceding vehicle may feed back the vehicle information of the preceding vehicle to the host vehicle when receiving the vehicle information inquiry request sent by the host vehicle. The vehicle information may include, but is not limited to, a number of vehicles, a current vehicle speed, acceleration, and the like.
In order to ensure the safe braking of the vehicle and reduce the waiting time of information interaction between vehicle and vehicle, optionally, in an embodiment of the present application, when a vehicle information inquiry request is sent to a preceding vehicle, the current vehicle speed of the vehicle may be determined, a target response time corresponding to the current vehicle speed is found from a pre-established vehicle speed and response time correspondence table, and the feedback waiting time of the vehicle information inquiry is adjusted according to the target response time corresponding to the current vehicle speed. That is to say, when the vehicle sends a vehicle information inquiry request to the vehicle, the current vehicle speed of the vehicle can be determined, a target response event corresponding to the current vehicle speed is found out from a pre-established correspondence table of vehicle speed and response time, and the feedback waiting time of the vehicle information inquiry is timely adjusted according to the target response event corresponding to the current vehicle speed, so that under the condition of meeting the safety braking requirement, the short feedback waiting time is corresponding to the high-speed running of the vehicle, and the long feedback waiting time is corresponding to the low-speed running of the vehicle. Therefore, the waiting time of information interaction between vehicle-vehicle communication can be reduced while the safe braking of the vehicle can be ensured.
Step 202, vehicle information fed back by the front vehicle through the front vehicle wireless device in the activated state is received.
For example, the host vehicle may send the host vehicle information (e.g., the vehicle number of the host vehicle) of the host vehicle and a vehicle information inquiry request for the host vehicle to the host vehicle via the first wireless device in the activated state. When the preceding vehicle receives the vehicle information inquiry request sent by the vehicle, the vehicle information of the preceding vehicle can be fed back to the vehicle based on the number of the vehicle, so that the vehicle can obtain the vehicle information fed back by the preceding vehicle through the wireless device of the preceding vehicle in an activated state. The vehicle information may include, but is not limited to, a number of vehicles, a current vehicle speed, acceleration, and the like.
And step 203, performing safety situation prejudgment according to the vehicle information fed back by the front vehicle and the driving state of the vehicle.
For example, taking the vehicle information as the current vehicle speed and acceleration as an example, the safety situation prediction of the vehicle may be performed according to the current vehicle speed and acceleration of the preceding vehicle fed back by the preceding vehicle and the driving state of the vehicle (the driving state may include the current vehicle speed and acceleration, for example), so as to predict whether the distance between the vehicle and the preceding vehicle affects the driving safety of the vehicle, that is, it is predicted whether the vehicle may continue to run by the whole vehicle or start to take braking to meet the safe driving requirement.
And step 204, if the safety situation is judged in advance that the distance between the vehicle and the front vehicle does not influence the driving safety of the vehicle, controlling the vehicle to continue to normally run.
Step 205, if the result of the safety situation prediction is that the distance between the vehicle and the preceding vehicle affects the driving safety of the vehicle, controlling the vehicle to adopt braking to meet the driving safety requirement.
Therefore, after the vehicle receives the acknowledgement information sent by the wireless device on the front vehicle, the vehicle can perform information interaction with the front vehicle through the vehicle-to-vehicle communication function to acquire the vehicle information of the front vehicle, so that the vehicle can perform safety situation prejudgment on the basis of the vehicle information of the vehicle and the vehicle information of the front vehicle, and perform corresponding control on the basis of the safety situation prejudgment result, thereby ensuring driving safety and preventing driving collision.
In order to further ensure driving safety, in one embodiment of the present application, if it is detected that the suspected vehicle is a non-vehicle, the vehicle is controlled to apply a parking brake. That is, the host vehicle may control the host vehicle to apply the parking brake when the host vehicle transmits the interactive information to the detected suspected vehicle based on the activated first wireless device to detect that the suspected vehicle is a non-vehicle.
In order to further ensure driving safety, in one embodiment of the present application, if the obstacle detection device detects that an obstacle other than a vehicle exists in front of the host vehicle in operation, the host vehicle is controlled to apply parking brake. That is, the obstacle detection device detects that an obstacle exists in front of the vehicle, but the obstacle is a non-vehicle, and the vehicle can adopt parking brake at the moment so as to ensure driving safety and prevent collision.
In order to effectively control the driving safety of the vehicle, ensure that the vehicle can be safely stopped when the distance between the vehicle and the obstacle in front of the operation is small, and ensure that the vehicle can continuously and normally operate when the distance between the vehicle and the obstacle in front of the operation is large, in one embodiment of the application, after the obstacle detection device detects that a suspected vehicle obstacle exists in front of the operation of the vehicle, the distance between the vehicle and the obstacle can be judged before the first wireless device on the vehicle is controlled to be switched from the dormant state to the active state. As an example, position information of an obstacle detected by the obstacle detection device may be acquired, and whether the distance between the host vehicle and the obstacle is smaller than the safety braking distance may be determined according to the position information of the obstacle; if the distance between the vehicle and the barrier is smaller than the safe braking distance, controlling the vehicle to stop by emergency braking; and if the distance between the vehicle and the obstacle is greater than or equal to the safe braking distance, executing the step of controlling the first wireless device on the vehicle to switch from the dormant state to the active state.
That is, the obstacle detection device may determine the position information of the obstacle while detecting that there is an obstacle ahead of the vehicle traveling, and transmit the position information of the identified obstacle to the vehicle-mounted controller of the vehicle. When the vehicle-mounted controller of the vehicle receives the position information of the obstacle, whether the distance between the vehicle and the obstacle is smaller than the safe braking distance or not can be judged according to the position information of the obstacle; if the distance between the vehicle and the obstacle is smaller than the safe braking distance, the vehicle is controlled to stop by emergency braking, that is, the distance between the vehicle and the obstacle is already small, and the vehicle may collide with the obstacle if the vehicle does not adopt braking at the moment. And if the distance between the vehicle and the obstacle is greater than or equal to the safe braking distance, executing the step of controlling the first wireless device on the vehicle to switch from the dormant state to the activated state, so that interactive information is sent to the obstacle of the suspected vehicle based on the first wireless device in the activated state in the following process, and whether the obstacle of the suspected vehicle is a real vehicle is judged.
In order to ensure that the vehicle can be completely stopped within the distance required by the safe braking, the speed limit values of all sections of the line can be stored in the vehicle in advance, and the safe braking distance is calculated based on the civil speed limit value on the section. Specifically, in one embodiment of the present application, the above-described safety braking distance may be obtained by: the method comprises the steps of determining a road section civil engineering speed limit value of the current position of the vehicle according to the position of the vehicle, determining a safety braking triggering curve of the vehicle according to the road section civil engineering speed limit value of the current position of the vehicle, and calculating the safety braking distance according to the safety braking triggering curve, the current speed and the deceleration of the vehicle.
That is, different civil engineering speed limits exist in different road sections, in order to ensure that the vehicle can stop completely within the distance required by the safety braking, speed limit values of all the road sections are stored in the vehicle in advance, the civil engineering speed limit of the road section is used as a vehicle safety braking trigger curve (wherein the safety braking trigger curve is a speed curve), and the safety braking distance is calculated according to the safety braking trigger curve, the current vehicle speed and the deceleration of the vehicle, so as to ensure that the vehicle can stop safely within the safety braking distance without colliding with the front obstacle.
In order to facilitate a clear understanding of the present application for those skilled in the art, the following detailed description will be made with reference to fig. 3 and 4.
For example, as shown in fig. 3 and 4, the vehicle head end and the vehicle tail end of the vehicle a and the vehicle B are both provided with a wireless device for receiving or sending vehicle interaction information. The V2V wireless device is connected with the Vehicle-mounted transfer equipment, and information communication interaction between the V2V wireless device and a VOBC (Vehicle-mounted Controller) is realized. And the vehicle head end and the vehicle tail end of the vehicle A and the vehicle B are both provided with an obstacle detection device, and the obstacle detection devices are connected with the vehicle-mounted transfer equipment, so that the obstacle detection information is transmitted to the VOBC. The VOBC and the TCMS (Train Control and Management System) are connected with the vehicle-mounted transit equipment to realize the interaction of instructions and vehicle states between the VOBC and the TCMS.
The inter-vehicle communication flow between the a vehicle and the B vehicle may be as follows:
(1) When the vehicle A normally runs, the obstacle detection device at the front end of the vehicle A is started and is in an activated state, the obstacle detection device at the rear end is started and is in a dormant state, and the V2V wireless devices at both ends are started and are also in the dormant state (but can be passively activated); normal operation is understood to mean, among other things: the method comprises the following steps of automatically running a vehicle, activating a front-end obstacle detection device of a travelling crane, sleeping a rear-end obstacle detection device and sleeping wireless devices at two ends;
(2) When the front-end obstacle detection device on the vehicle A detects that an obstacle exists in the front of the vehicle A in the running process, and the obstacle detection device preliminarily judges that the probability is that the train exists, the obstacle detection device sends a position signal and a vehicle existence obstacle and the probability is that the train exists to the VOBC through the vehicle-mounted transit equipment; if the obstacle detection device preliminarily judges that an obstacle exists but not a vehicle, the vehicle A applies braking to stop the vehicle;
(3) The VOBC on the vehicle A receives the information, and if the distance between the vehicle A and the obstacle is smaller than the safety braking distance, the VOBC adopts emergency braking to stop; if the distance between the vehicle A and the obstacle is larger than or equal to the safe braking distance, the next step is carried out;
(4) The VOBC on the vehicle A sends an activation instruction to the front end V2V wireless device of the vehicle A, so that the front end V2V wireless device of the vehicle A is converted from a dormant state to an activation state, namely, the vehicle-vehicle communication function of the vehicle A is started;
(5) After a VOBC (vehicle body controller) on a vehicle A receives an activation effective feedback of a front-end V2V wireless device of the vehicle A, an 'activation instruction' and 'vehicle confirmation information' are continuously sent to an obstacle of a suspected vehicle for a plurality of periods, if the front side is not a real vehicle, a step (6) is executed, and if the front side is a real vehicle (temporarily determined as a vehicle B), a step (7) is executed;
(6) If the front obstacle confirmation reply is not received in a plurality of periods sent by the vehicle A, namely the 'activation instruction' and the 'confirmation message', judging that the front vehicle is not a real vehicle, and stopping the vehicle A by adopting safe braking;
(7) After the vehicle A sends the 'activation instruction' and the 'confirmation information', the tail end V2V wireless device of the front vehicle (namely the vehicle B) receives the information and is activated, and forwards the information to the VOBC on the vehicle B, and the VOBC on the vehicle B sends the confirmation information through the tail end V2V wireless device;
(8) After the vehicle A receives the confirmation reply of the front vehicle B, the vehicle A sends a vehicle A number and a vehicle B information inquiry request;
(9) After receiving a vehicle information inquiry request sent by the vehicle A, the vehicle B sends vehicle information (such as the number of a vehicle, the current speed, the acceleration and the like) of the vehicle B to the vehicle A through a tail end V2V wireless device of the vehicle B;
(10) The VOBC on the vehicle A receives the feedback of the 'vehicle information' of the vehicle B, and the safety situation is pre-judged by combining the driving state of the vehicle A;
(11) If the distance between the two vehicles does not influence the driving safety of the vehicle A, the vehicle A continues to drive normally;
(12) If the distance between the two vehicles possibly influences the driving safety of the vehicle A, the vehicle A adopts braking to meet the requirement of safe driving;
(13) When the distance between the vehicle A and the vehicle B is larger than the obstacle detection distance, the obstacle detection device at the front end of the vehicle A does not detect the vehicle B any more and the scene lasts for a period of time, or the obstacle detection device at the front end of the vehicle A does not detect the obstacle and the scene lasts for a period of time, the VOBC on the vehicle A automatically sends a sleep instruction to the V2V wireless device at the front end of the vehicle A;
(14) When the back end V2V wireless device on the B vehicle no longer receives the information sent by the front end V2V wireless device on the a vehicle for a period of time, the VOBC on the B vehicle automatically sends a sleep command to the back end V2V wireless device on the B vehicle.
In order to realize the embodiment, the application also provides a vehicle.
FIG. 5 is a block diagram of a vehicle according to one embodiment of the present application. It should be noted that the vehicle in the present application may be a train or an automobile. The vehicle may be a vehicle having an unmanned system.
As shown in fig. 5, the vehicle 500 may include: a first wireless device 510, a first obstacle detection device 520, and an onboard controller 530. Specifically, the first wireless device 510 is used for receiving or transmitting vehicle interaction information. The first obstacle detection device 520 is used to detect whether a suspected vehicle obstacle exists in front of the running of the host vehicle. The on-board controller 530 is configured to control the first wireless apparatus 510 to switch from the sleep state to the active state when the first obstacle detecting device 520 detects that a suspected vehicle obstacle exists ahead of the host vehicle in operation, and to control the host vehicle to perform inter-vehicle communication with the host vehicle based on the first wireless apparatus 510 in the active state and a host vehicle wireless apparatus on the host vehicle, and to control the first wireless apparatus 510 to switch from the active state to the sleep state when the first obstacle detecting device 520 does not detect the host vehicle any more for the first target time.
In an embodiment of the present application, the specific implementation process of the vehicle-mounted controller 530 controlling the vehicle-to-vehicle communication between the host vehicle and the host vehicle based on the first wireless device 510 in the activated state and the host vehicle wireless device on the host vehicle may be as follows: based on the first wireless device 510 in the activated state, sending interaction information to the suspected vehicle to detect whether the suspected vehicle is a real vehicle; if the suspected vehicle is detected to be a real vehicle, receiving confirmation reply information sent by the wireless device of the front vehicle so as to establish inter-vehicle communication between the vehicle and the front vehicle; the confirmation reply message is a confirmation reply fed back after the front vehicle wireless device receives the activated interactive message.
In one embodiment of the present application, the onboard controller 530 is further configured to: after receiving the acknowledgement information transmitted by the wireless device on the preceding vehicle, transmitting the own vehicle information of the own vehicle and a vehicle information inquiry request to the preceding vehicle through the first wireless device 510 in an activated state; the vehicle information inquiry request is used for indicating a front vehicle to feed back vehicle information of the front vehicle; receiving vehicle information fed back by a front vehicle through a front vehicle wireless device in an activated state; performing safety situation prejudgment according to the vehicle information fed back by the front vehicle and the driving state of the vehicle; if the result of the safety situation prejudgment is that the distance between the vehicle and the front vehicle does not influence the driving safety of the vehicle, controlling the vehicle to continue to normally run; if the result of the safety situation prejudgment is that the distance between the vehicle and the front vehicle influences the driving safety of the vehicle, the vehicle is controlled to adopt braking so as to meet the safe driving requirement.
In one embodiment of the present application, the onboard controller 530 is further configured to: and when the suspected vehicle is detected to be a non-vehicle, controlling the vehicle to apply parking brake.
In one embodiment of the present application, the onboard controller 530 is further configured to: when first obstacle detection device 520 detects that an obstacle other than a vehicle is present ahead of the host vehicle in the traveling direction, the host vehicle is controlled to apply parking brake.
In one embodiment of the present application, the onboard controller 530 is further configured to: after the first obstacle detection device 520 detects that a suspected vehicle obstacle exists in front of the running of the host vehicle, acquiring the position information of the obstacle detected by the first obstacle detection device 520 before controlling the first wireless device 510 on the host vehicle to switch from a sleep state to an active state; judging whether the distance between the vehicle and the obstacle is smaller than the safe braking distance or not according to the position information of the obstacle; if the distance between the vehicle and the obstacle is smaller than the safe braking distance, controlling the vehicle to stop by emergency braking; if the distance between the host vehicle and the obstacle is greater than or equal to the safe braking distance, a step of controlling the first wireless device 510 on the host vehicle to switch from the sleep state to the active state is performed.
In one embodiment of the present application, the onboard controller 530 may calculate the safe braking distance by: determining a road section civil engineering speed limit value of the current position of the vehicle according to the position of the vehicle; determining a safety braking trigger curve of the vehicle according to the civil engineering speed limit value of the road section at the current position of the vehicle; and calculating the safe braking distance according to the safe braking triggering curve, the current speed and the deceleration of the vehicle.
In one embodiment of the present application, the onboard controller 530 is further configured to: determining the current speed of the vehicle when a vehicle information inquiry request is sent to the vehicle; finding out target response time corresponding to the current vehicle speed from a pre-established corresponding table of the vehicle speed and the response time; and adjusting the feedback waiting time of the vehicle information inquiry according to the target response time corresponding to the current vehicle speed.
It should be noted that the vehicle according to the embodiment of the present application may be a vehicle capable of traveling in both directions. In order to satisfy the characteristic of bidirectional driving of the vehicle, in the embodiment of the present application, the vehicle may have two wireless devices and two obstacle detection devices thereon, i.e., a first wireless device, a first obstacle detection device, a second wireless device, and a second obstacle detection device. For example, as shown in fig. 6, the vehicle 500 may further include a second wireless device 540, a second obstacle detection device 550 and an on-board relay device 560, in addition to the first wireless device 510, the first obstacle detection device 520 and the on-board controller 530. Wherein the first obstacle detecting device 510 is arranged at the head end of the vehicle 500; the second obstacle detecting device 550 is disposed at a rear end of the vehicle 500, wherein the second obstacle detecting device 550 disposed at the rear end of the vehicle is in a sleep state.
Wherein the second wireless device 540 may be used to receive or transmit vehicle interaction information. In an embodiment of the present application, the onboard controller 530 is further configured to: when the second wireless device 540 receives the interaction information sent by the wireless device on the following vehicle, the second wireless device 540 is controlled to switch from the dormant state to the active state, and confirmation reply information is sent to the following vehicle based on the second wireless device 540 in the active state so as to establish vehicle-to-vehicle communication between the vehicle and the following vehicle; the second wireless device 540 is disposed at the tail end of the vehicle, and the first wireless device 510 is disposed at the head end of the vehicle.
In one embodiment of the present application, the onboard controller 530 is further configured to: when the second wireless device 540 does not receive the information transmitted by the wireless device on the following vehicle any more for the second target time, the second wireless device 540 is controlled to switch from the active state to the dormant state.
The vehicle-mounted transfer equipment 560 is used for receiving and forwarding information; the first wireless device 510 and the second wireless device 540 respectively form a channel with the vehicle-mounted controller 530 through the vehicle-mounted relay device 560, and the first obstacle detecting device 520 and the second obstacle detecting device 550 respectively form a channel with the vehicle-mounted controller 530 through the vehicle-mounted relay device 560.
According to the vehicle of the embodiment of the application, the obstacle detection device on the vehicle is controlled to detect whether a suspected vehicle obstacle exists in front of the vehicle in running, if the obstacle detection device detects that the suspected vehicle obstacle exists in front of the vehicle in running, the first wireless device on the vehicle is controlled to be switched from the dormant state to the active state, the vehicle and the front vehicle are controlled to perform inter-vehicle communication based on the first wireless device in the active state and the front vehicle wireless device on the front vehicle, and when the obstacle detection device does not detect the front vehicle any more within the first target time, the first wireless device is controlled to be switched from the active state to the dormant state. The wireless device of the vehicle is switched from the dormant state to the activated state only when the detection result of the obstacle detection device of the vehicle judges that the vehicle is suspected of being an obstacle, so that the vehicle-vehicle communication function of the vehicle is started, the effective information transmission of the vehicle-vehicle communication is ensured by depending on the effective detection distance and the credible detection result of the obstacle detection device, and the problem that the vehicle-vehicle communication cannot be subjected to information interaction due to overlarge vehicle distance is avoided; in addition, the 'vehicle-vehicle communication' function of the vehicle is mainly started and dormant by the detection result information of the obstacle detection device, so that the 'vehicle-vehicle communication' working time can be greatly shortened, and the interference on other equipment caused by the 'vehicle-vehicle communication' is reduced.
In order to implement the above embodiments, the present application also provides a communication device.
Fig. 7 is a schematic structural diagram of a communication device according to an embodiment of the present application. As shown in fig. 7, the communication device 700 may include: an antenna 701, a transmitter 702, a receiver 703, a memory 704, and a processor 705. Wherein, the transmitter 702 is used for transmitting vehicle interaction information to an external vehicle based on the antenna 701; the receiver 703 is used for receiving vehicle interaction information sent by an external vehicle based on the antenna 701; the memory 704 is used to store computer programs; the processor 705 is respectively connected to the transmitter 702, the receiver 703 and the memory 704 in a communication manner, and when the processor 705 executes the computer program stored in the memory 704, the vehicle-to-vehicle communication method based on the obstacle detection trigger according to any of the above embodiments of the present application is implemented.
In the description of the present application, it is to be understood that the terms "front", "back", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.
In the description of the present specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are exemplary and should not be construed as limiting the present application and that changes, modifications, substitutions and alterations in the above embodiments may be made by those of ordinary skill in the art within the scope of the present application.

Claims (12)

1. An inter-vehicle communication method triggered based on obstacle detection, comprising:
controlling an obstacle detection device on a vehicle to detect whether a suspected vehicle obstacle exists in front of the vehicle in running;
if the obstacle detection device detects that a suspected vehicle obstacle exists in front of the running of the vehicle, controlling a first wireless device on the vehicle to be switched from a dormant state to an activated state;
controlling the host vehicle and the front vehicle to perform inter-vehicle communication based on the first wireless device in the activated state and the front vehicle wireless device on the front vehicle;
controlling the first wireless device to switch from the active state to the dormant state when the obstacle detecting device no longer detects the preceding vehicle for a first target time;
controlling the host vehicle to perform inter-vehicle communication with the host vehicle based on the first wireless device in the activated state and the wireless device of the host vehicle on the host vehicle, including:
sending interactive information to the suspected vehicle obstacle to detect whether the suspected vehicle obstacle is a real vehicle or not based on the first wireless device in the activated state;
if the suspected vehicle obstacle is detected to be a real vehicle, receiving confirmation reply information sent by the wireless device of the front vehicle so as to establish inter-vehicle communication between the vehicle and the front vehicle; wherein the confirmation reply message is a confirmation reply fed back after the wireless device of the front vehicle receives the activated interactive message.
2. The method of claim 1, wherein after receiving the acknowledgement message sent by the wireless device on the leading vehicle, the method further comprises:
sending a vehicle information and vehicle information inquiry request of the vehicle to the front vehicle through a first wireless device in an activated state; wherein the vehicle information inquiry request is used for indicating the vehicle ahead to feed back the vehicle information of the vehicle ahead;
receiving vehicle information fed back by the front vehicle through a front vehicle wireless device in an activated state;
performing safety situation prejudgment according to the vehicle information fed back by the front vehicle and the driving state of the vehicle;
if the result of the safety situation prejudgment is that the distance between the vehicle and the front vehicle does not influence the driving safety of the vehicle, controlling the vehicle to continue to normally run;
and if the result of the safety situation prejudgment shows that the distance between the vehicle and the front vehicle affects the driving safety of the vehicle, controlling the vehicle to adopt braking to meet the safe driving requirement.
3. The method of claim 1, further comprising:
and if the suspected vehicle obstacle is detected to be a non-vehicle, controlling the vehicle to apply parking brake.
4. The method of claim 1, further comprising:
and if the obstacle detection device detects that an obstacle other than the vehicle exists in front of the running of the vehicle, controlling the vehicle to apply parking brake.
5. The method of claim 1, wherein after the obstacle-detection device detects the presence of a suspected vehicular obstacle ahead of the host-vehicle's travel, prior to controlling a first wireless device on the host-vehicle to switch from a dormant state to an active state, the method further comprises:
acquiring position information of the suspected vehicle obstacle detected by the obstacle detection device;
judging whether the distance between the vehicle and the suspected vehicle obstacle is smaller than a safe braking distance or not according to the position information of the suspected vehicle obstacle;
if the distance between the vehicle and the suspected vehicle obstacle is smaller than the safe braking distance, controlling the vehicle to stop by emergency braking;
and if the distance between the vehicle and the suspected vehicle obstacle is greater than or equal to the safe braking distance, executing the step of controlling the first wireless device on the vehicle to be switched from a dormant state to an activated state.
6. The method of claim 5, wherein obtaining the safe braking distance comprises:
determining a road section civil engineering speed limit value of the current position of the vehicle according to the position of the vehicle;
determining a safety braking trigger curve of the vehicle according to the civil engineering speed limit value of the road section at the current position of the vehicle;
and calculating the safe braking distance according to the safe braking trigger curve, the current speed and the deceleration of the vehicle.
7. The method of claim 2, wherein, when sending a vehicle information inquiry request to the leading vehicle, the method further comprises:
determining the current vehicle speed of the host vehicle;
finding out target response time corresponding to the current vehicle speed from a pre-established vehicle speed and response time corresponding table;
and adjusting the feedback waiting time of the vehicle information inquiry according to the target response time corresponding to the current vehicle speed.
8. The method of any one of claims 1 to 7, further comprising:
when the second wireless device on the host vehicle receives the interactive information sent by the wireless device on the rear vehicle, controlling the second wireless device on the host vehicle to switch from a dormant state to an active state; the second wireless device is arranged at the tail end of the vehicle, and the first wireless device is arranged at the head end of the vehicle;
sending a confirmation reply message to the rear vehicle based on the second wireless device in the activated state to establish inter-vehicle communication between the host vehicle and the rear vehicle.
9. The method of claim 8, further comprising:
controlling the second wireless device to switch from the active state to the dormant state when the second wireless device no longer receives information sent by the wireless device on the rear vehicle for a second target time.
10. A vehicle, characterized by comprising:
the first wireless device is used for receiving or sending vehicle interaction information;
the first obstacle detection device is used for detecting whether a suspected vehicle obstacle exists in the running front of the vehicle;
an on-board controller configured to control the first wireless device to switch from a sleep state to an active state when the first obstacle detection device detects that a suspected vehicle obstacle exists ahead of the host vehicle in the traveling direction, control the host vehicle to perform inter-vehicle communication with the host vehicle based on the first wireless device in the active state and a host vehicle wireless device on the host vehicle, and control the first wireless device to switch from the active state to the sleep state when the first obstacle detection device does not detect the host vehicle any more for a first target time;
the vehicle-mounted controller is specifically configured to:
sending interactive information to the suspected vehicle obstacle to detect whether the suspected vehicle obstacle is a real vehicle or not based on the first wireless device in the activated state;
if the suspected vehicle obstacle is detected to be a real vehicle, receiving confirmation reply information sent by the wireless device of the front vehicle so as to establish inter-vehicle communication between the vehicle and the front vehicle; wherein the confirmation reply message is a confirmation reply fed back after the wireless device of the front vehicle receives the activated interactive message.
11. The vehicle of claim 10, wherein the onboard controller is further configured to:
after receiving the acknowledgement information sent by the wireless device on the preceding vehicle, sending a vehicle information and vehicle information inquiry request of the vehicle to the preceding vehicle through the first wireless device in an activated state; wherein the vehicle information inquiry request is used for indicating the front vehicle to feed back the vehicle information of the front vehicle;
receiving vehicle information fed back by the front vehicle through a front vehicle wireless device in an activated state;
performing safety situation prejudgment according to the vehicle information fed back by the front vehicle and the driving state of the vehicle;
if the result of the safety situation prejudgment is that the distance between the vehicle and the front vehicle does not influence the driving safety of the vehicle, controlling the vehicle to continue to normally run;
and if the result of the safety situation prejudgment shows that the distance between the vehicle and the front vehicle affects the driving safety of the vehicle, controlling the vehicle to adopt braking to meet the safe driving requirement.
12. A communication device, comprising:
an antenna;
a transmitter for transmitting vehicle interaction information to an external vehicle based on the antenna;
the receiver is used for receiving vehicle interaction information sent by the external vehicle based on the antenna;
a memory for storing a computer program;
a processor communicatively connected to the transmitter, the receiver, and the memory, respectively, the processor, when executing a computer program stored on the memory, implementing the obstacle detection trigger-based vehicle-to-vehicle communication method according to any one of claims 1 to 9.
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