CN113706914B - Narrow road section dispatching and passing method and system based on V2X - Google Patents
Narrow road section dispatching and passing method and system based on V2X Download PDFInfo
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- CN113706914B CN113706914B CN202110773223.1A CN202110773223A CN113706914B CN 113706914 B CN113706914 B CN 113706914B CN 202110773223 A CN202110773223 A CN 202110773223A CN 113706914 B CN113706914 B CN 113706914B
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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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/48—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for in-vehicle communication
Abstract
The invention relates to the technical field of automobiles, in particular to a narrow road section dispatching and passing method and system based on V2X. The narrow road section dispatching passing method based on V2X comprises the following steps: acquiring map building information of a target road section; acquiring vehicle information through V2X vehicle-mounted equipment carried by a passing vehicle, and sending the vehicle information to roadside equipment; road side equipment acquires road condition information of a target road section and sends the vehicle information, the map building information and the road condition information to a cloud platform; and the cloud platform comprehensively analyzes the vehicle information, the mapping information and the road condition information and makes vehicle collection guidance according to an analysis result. Strategy coverage in a larger range can be realized through V2X, and planning of a large overall view is realized, so that each vehicle has respective form track planning, and the track planning can effectively assist a vehicle owner to drive to a specified position to complete intersection.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a narrow road section dispatching and passing method and system based on V2X.
Background
At present, vehicles pass in some narrow areas, if the traffic flow is small, old drivers can command the vehicles of both sides to pass according to own judgment, and the main auxiliary means is to observe the surrounding situation through an AVM and look around a camera to judge whether the vehicles can pass safely. If a large amount of traffic flow meets, if the traffic flow is suddenly increased in an important holiday, long-time congestion in some narrow areas can be caused, the congestion is further increased along with time, and the problem of large-range traffic cannot be solved through local scheduling due to the view field of a driver at this time.
Both the driver commands and the 360-degree panoramic image can only solve the traffic problem in a narrow area in a small range, and once the traffic flow is increased, the driver cannot be restrained.
Disclosure of Invention
Therefore, a V2X-based narrow road section dispatching passing method is needed to be provided for solving the problems that when a narrow road section is in traffic jam, dispatching cannot be performed from a large range, vehicles are guided to converge, and the vehicles are guided to return to pass as soon as possible. The specific technical scheme is as follows:
a narrow road section dispatching passing method based on V2X comprises the following steps:
acquiring map building information of a target road section;
acquiring vehicle information through V2X vehicle-mounted equipment carried by a passing vehicle, and sending the vehicle information to roadside equipment;
the road side equipment acquires road condition information of a target road section and sends the vehicle information, the map building information and the road condition information to a cloud platform;
and the cloud platform comprehensively analyzes the vehicle information, the mapping information and the road condition information and makes vehicle collection guidance according to an analysis result.
Further, the V2X onboard device includes but is not limited to: the system comprises a V2X controller, an antenna, a customization system and a connecting wire harness;
the V2X controller includes but is not limited to: the system comprises an LTE-V module, an MCU, a 4G module and a high-precision positioning module;
the V2X controller is to: periodically broadcasting the signal of the vehicle to acquire information of other vehicles and drive test information;
the antenna comprises one or more of: the antenna comprises a 4G antenna, a 5G antenna, an LTE-V antenna and a GNSS antenna, wherein the antennas are used for receiving and transmitting signals;
the customization system is integrated in an in-vehicle infotainment system.
Further, the roadside apparatus includes, but is not limited to: the device comprises a processor unit, a storage unit, a camera, a laser radar, a positioning module, a differential positioning module, a communication module, an environment sensor and a signal lamp control module;
the processor is used for processing and sending information;
the communication module includes: the system comprises a C-V2X communication module and a cellular communication module, wherein the C-V2X communication module is used for road side equipment and vehicle to vehicle communication, and the cellular communication module is used for road side equipment and remote scheduling information to communicate;
the positioning module is used for: providing time calibration and position information acquisition services for road side equipment;
the differential positioning module is used for: acquiring local road differential data, and providing differential positioning auxiliary information for a vehicle through the C-V2X communication module;
the environmental sensors include, but are not limited to: temperature and humidity sensor, wind speed sensor.
Further, the cloud platform comprehensively analyzes the vehicle information, the mapping information and the road condition information, and makes a vehicle collection guidance according to an analysis result, and the method specifically comprises the following steps:
and the cloud platform calculates the intersection area of the vehicles of both sides and calculates whether the vehicles pass according to edge physical collision.
Further, the cloud platform comprehensively analyzes the vehicle information, the mapping information and the road condition information, and makes a vehicle collection guidance according to an analysis result, and the method specifically comprises the following steps:
the cloud platform analyzes information fed back by different road end systems, and adopts different preset strategies to carry out vehicle collection guidance on different road conditions;
the method comprises the following steps of:
when the traffic flow is small, the cloud platform sends a corresponding strategy to a corresponding road end system, and the road end system sends an instruction to a corresponding vehicle;
when the traffic flow is large, the cloud platform starts to search a solution passing decision from the intersection area, and radiates the decision of the adjacent road section outwards until the whole traffic flow passes through a certain road section.
In order to solve the technical problem, the system for narrow road section dispatching and passing based on the V2X is further provided, and the specific technical scheme is as follows:
a V2X-based narrow road section dispatching passing system comprises: the system comprises road side equipment, V2X vehicle-mounted equipment and a cloud platform;
the roadside apparatus is to: acquiring map building information of a target road section;
the V2X vehicle-mounted device is used for: acquiring corresponding vehicle information and sending the vehicle information to road side equipment;
the roadside apparatus is further to: acquiring road condition information of a target road section, and sending the vehicle information, the mapping information and the road condition information to a cloud platform;
the cloud platform is configured to: and comprehensively analyzing the vehicle information, the mapping information and the road condition information, and making vehicle collection guidance according to an analysis result.
Further, the V2X onboard device includes but is not limited to: the system comprises a V2X controller, an antenna, a customization system and a connecting wire harness;
the V2X controller includes but is not limited to: the system comprises an LTE-V module, an MCU, a 4G module and a high-precision positioning module;
the V2X controller is to: periodically broadcasting the signal of the vehicle to acquire information of other vehicles and drive test information;
the antenna comprises one or more of: the antenna comprises a 4G antenna, a 5G antenna, an LTE-V antenna and a GNSS antenna, wherein the antennas are used for receiving and transmitting signals;
the customization system is integrated in an in-vehicle infotainment system.
Further, the roadside apparatus includes, but is not limited to: the device comprises a processor unit, a storage unit, a camera, a laser radar, a positioning module, a differential positioning module, a communication module, an environment sensor and a signal lamp control module;
the processor is used for processing and sending information;
the communication module includes: the system comprises a C-V2X communication module and a cellular communication module, wherein the C-V2X communication module is used for road side equipment and vehicle to vehicle communication, and the cellular communication module is used for road side equipment and remote scheduling information to communicate;
the positioning module is used for: providing time calibration and position information acquisition services for road side equipment;
the differential positioning module is used for: acquiring local road differential data, and providing differential positioning auxiliary information for the vehicle through the C-V2X communication module;
the environmental sensors include, but are not limited to: temperature and humidity sensor, wind speed sensor.
Further, the cloud platform is further configured to: and calculating the intersection area of the vehicles of the two parties, and calculating whether the vehicles pass according to edge physical collision.
Further, the cloud platform is further configured to: analyzing information fed back by different road end systems, and adopting different preset strategies to carry out vehicle collection guidance on different road conditions;
the cloud platform is further configured to: when the traffic flow is small, the cloud platform sends a corresponding strategy to a corresponding road end system, and the road end system sends an instruction to a corresponding vehicle;
when the traffic flow is large, the cloud platform starts to search a solution passing decision from the intersection area, and radiates the decision of the adjacent road section outwards until the whole traffic flow passes through a certain road section.
The invention has the beneficial effects that: a narrow road section dispatching and passing method based on V2X comprises the following steps: acquiring map building information of a target road section; acquiring vehicle information through V2X vehicle-mounted equipment of a passing vehicle, and sending the vehicle information to roadside equipment; the road side equipment acquires road condition information of a target road section and sends the vehicle information, the map building information and the road condition information to a cloud platform; and the cloud platform comprehensively analyzes the vehicle information, the mapping information and the road condition information and makes vehicle collection guidance according to an analysis result. Strategy coverage in a larger range can be realized through V2X, and planning of a large overall view is realized, so that each vehicle has respective form track planning, and the track planning can effectively assist a vehicle owner to drive to a specified position to complete intersection.
Drawings
Fig. 1 is a flowchart illustrating a V2X-based method for scheduling traffic in a narrow road section according to an embodiment;
FIG. 2 is a schematic diagram of a simulated vehicle intersection according to an embodiment;
FIG. 3 is a schematic diagram of a simulated vehicle convergence according to an embodiment;
FIG. 4 is a schematic view of a traffic flow plan in accordance with an embodiment;
FIG. 5 is a schematic diagram of a bicycle plan in accordance with an exemplary embodiment;
FIG. 6 is a schematic illustration of a greater bicycle flow rate according to an embodiment;
FIG. 7 is a schematic illustration of an embodiment of an exploded strategy for a right-heading vehicle;
FIG. 8 is a schematic diagram of the path of two vehicles along road B after disassembly according to the embodiment;
fig. 9 is a schematic block diagram of a traffic scheduling system for a narrow road section based on V2X according to an embodiment.
Description of reference numerals:
900. a narrow road section dispatching and passing system based on V2X,
901. the equipment at the side of the road is provided with a road side device,
902. a V2X vehicle-mounted device,
903. and (4) cloud platform.
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
First, some terms to be referred to in the present embodiment will be explained below:
V2X: vehicle to evolution, i.e. the exchange of information from vehicle to external.
Referring to fig. 1 to 8, in the present embodiment, a V2X-based narrow road section dispatching passing method can be applied to a V2X-based narrow road section dispatching passing system, where the V2X-based narrow road section dispatching passing system includes: the vehicle-mounted equipment comprises road-side equipment, V2X vehicle-mounted equipment and a cloud platform, wherein the V2X vehicle-mounted equipment is installed on a specific passing vehicle, and the road-side equipment is installed on the side of a target road, namely, the paving of the road-side equipment on a part of narrow road sections which are easy to jam is required. Specifically, a telegraph pole is arranged beside the target road end, and the road side equipment is arranged on the telegraph pole. The following is a detailed description:
step S101: and acquiring the information of the map building of the target road section.
Step S102: the vehicle information is acquired through V2X vehicle-mounted equipment carried by a passing vehicle, and the vehicle information is sent to the road side equipment.
Step S103: and the road side equipment acquires road condition information of a target road section and sends the vehicle information, the map building information and the road condition information to a cloud platform.
Step S104: and the cloud platform comprehensively analyzes the vehicle information, the mapping information and the road condition information and makes vehicle collection guidance according to an analysis result.
First, the roadside apparatus and the V2X vehicle-mounted apparatus related to the above will be explained:
road Side Equipment (RSE) is a highly intelligent embedded information platform. Its main hardware architecture includes but is not limited to: processor unit, storage unit, camera, laser radar, positioning module, differential positioning module, communication module, environment sensor and signal lamp control module
The communication module includes: the system comprises a C-V2X communication module and a cellular communication module, wherein the C-V2X communication module is used for performing vehicle-road communication between road side equipment and a vehicle, and the road side equipment provides information such as signal lamps and road conditions for the vehicle through the C-V2X equipment and receives motion state information sent by the vehicle.
The cellular communication module is used for the road side equipment to communicate with the cloud platform to realize data exchange. The road side equipment sends vehicle and environment condition information to the cloud platform, and the cloud platform sends road reminding information, software upgrading management information, strategies and the like to the road side equipment.
The processor is configured to process and send information, and specifically may be: the processor is a center for analyzing and processing different network communication data by the roadside device, is communicated with a V2X vehicle and other V2X devices through an accessed C-V2X communication module, is communicated with a cloud platform through a cellular communication module, is communicated with a detection sensor (laser radar, a camera and the like) through a self physical interface (a serial port and a network port), processes and distributes acquired data to the vehicle and the cloud platform, simultaneously sends a scheduling strategy sent by the cloud platform to the vehicle, checks vehicle execution conditions through the detection sensor and assists scheduling.
The positioning module includes: and a GPS/BDS positioning module. And the GPS/BDS positioning module is used for providing time calibration and position information acquisition services for the road side equipment.
The differential positioning module is a high-precision differential positioning module, and the high-precision differential positioning module is used for: local road differential data are acquired, and differential positioning auxiliary information is provided for the vehicle through the C-V2X communication module.
The environmental sensors include, but are not limited to: temperature and humidity sensor, wind speed sensor. After road environment data are collected by the road side equipment, the road side equipment is packaged into standard vehicle networking messages through a vehicle networking application program, the standard vehicle networking messages are broadcast to surrounding vehicles through the C-V2X module, and the standard vehicle networking messages are sent to the cloud platform through the cellular network module.
The V2X onboard device includes but is not limited to: a V2X controller (which may be VBOX in this embodiment), an antenna, a customization system, a connection harness;
the V2X controller includes but is not limited to: the system comprises an LTE-V module, an MCU, a 4G module and a high-precision positioning module; the V2X controller is to: periodically broadcasting the signal of the vehicle to acquire information of other vehicles and drive test information; in this embodiment, the vehicle may obtain roadside policy information, and send the roadside policy information to the intelligent driving area controller for processing, thereby implementing path planning.
The antenna comprises one or more of: the antenna comprises a 4G antenna, a 5G antenna, an LTE-V antenna and a GNSS antenna, wherein the antennas are used for receiving and transmitting signals;
the customization system is integrated into the vehicle-mounted infotainment system for display and provides relevant information to the driver.
It should be noted that the information of the target road section mapping in step S101 may be, in the present embodiment, preferably, the road section high-precision mapping is completed by using a laser radar, a camera, a high-precision positioning device, and the like, through a special vehicle. And outputting the map data to the cloud platform. Namely, the cloud platform acquires high-precision map information of different road sections.
The road side equipment is equipped with one of a laser radar and a camera, or both, and monitors the vehicles on the corresponding road section. The roadside device can acquire relevant information (vehicle speed, positioning and vehicle width height) of passing vehicles in a monitoring range through a camera or a laser radar of the roadside device and information transmitted to a road end by the vehicles based on V2X communication. All roadside equipment can be transmitted to the cloud platform to judge the distribution and traffic conditions of vehicles at the whole road end.
Further, the cloud platform comprehensively analyzes the vehicle information, the mapping information and the road condition information, and makes a vehicle converging guidance according to an analysis result, and the method specifically includes the following steps: and the cloud platform calculates the intersection area of the vehicles of both sides and calculates whether the vehicles pass according to edge physical collision.
The method specifically comprises the following steps: through the high-precision map and the V2X equipment, the cloud platform can calculate the possible intersection positions according to relevant information (vehicle speed, positioning, lane curvature, distance and the like), and judge whether the intersection meets the traffic condition or not according to the information (including lane width, gradient, curvature and the like) of the high-precision map.
Judging the passing conditions: the cloud platform can obtain models of vehicles and roads through parameters input by the road end and the vehicle end to simulate and calculate whether the vehicles can pass through.
The cloud platform calculates the intersection area of the vehicles of the two parties, and then calculates whether the vehicles pass according to the edge physical collision, mainly according to whether the vehicles collide with the opposite vehicles or exceed the edge of the road. As shown in fig. 2, through virtual simulation calculation, the vehicle can be in physical collision and cannot pass through.
Edge physical collision calculation: based on the calculation method of the physical model, as shown in fig. 3, virtual vehicle tracks are formed, all vehicles run close to the right side of the lane edge, vehicles running in the opposite direction meet at the position shown in the figure according to the speed, and at this time, whether the outer frame edges of the two vehicles meet is judged according to the vehicle models of the vehicles to judge whether the two vehicles can collide. The judgment basis is as follows: whether or not the coordinate area of the vehicle model of the counterpart coincides with the coordinate area of the host vehicle.
Further, the cloud platform comprehensively analyzes the vehicle information, the mapping information and the road condition information, and makes a vehicle converging guidance according to an analysis result, and the method specifically includes the following steps: the cloud platform analyzes information fed back by different road end systems, and adopts different preset strategies to carry out vehicle collection guidance on different road conditions; the method comprises the following steps of: when the traffic flow is small, the cloud platform sends a corresponding strategy to a corresponding road end system, and the road end system sends an instruction to a corresponding vehicle; when the traffic flow is large, the cloud platform starts to search a solution passing decision from the intersection area, and radiates the decision of the adjacent road section outwards until the whole traffic flow passes through a certain road section.
The method specifically comprises the following steps: when the cloud platform is used for processing scheduling problems, strategies of all road sections are decomposed according to traffic flow conditions fed back by each road side device, a passing strategy of an intersection point is planned at first, if traffic flow is small, passing of other road sections is not affected, a corresponding track planning path is sent to a corresponding vehicle, time arrangement is carried out, and intersection is guided. And the cloud platform sends the corresponding strategy to the corresponding road side equipment, and the road side of the road section sends an instruction to the corresponding vehicle according to the strategy, observes the vehicle execution condition and commands the vehicle to execute step by step on time. Such as the traffic flow plan of fig. 4. The strategy is continuously refined from large to small, and the strategy is executed from traffic flow to each quantity of vehicles. As in the single car plan of fig. 5.
If the traffic flow is too large, when the subsequent traffic flow is influenced, the problem road section needs to be finally solved through the intersection region- > the adjacent road section- > similar to a recursive solution, the solution passing decision is searched from the intersection region, and the adjacent road section decision is radiated outwards until the whole traffic flow passing strategy is completed on a certain road section.
As shown in fig. 6: when the flow of the single vehicle is increased, the prior traffic strategy is not feasible. At this time, the multi-path section needs to be decomposed, and a traffic strategy is made. FIG. 7 is an exploded strategy for driving a vehicle to the right. Decomposed A-road segment, the path of two vehicles. Fig. 8 is an exploded rear B-road, two-vehicle path.
Through continuous decomposition, the road end system of each road section gives each vehicle different strategies to finish the dispatching work of the vehicles and enable the vehicles to pass through the intersection orderly. The core of the whole system is similar to that of a virtual traffic police which directs traffic at each intersection.
The vehicle communicates with a road end system through V2X equipment, a high-precision map of the road section is obtained, then positioning fusion of the road end equipment and the road side equipment is carried out, positioning is obtained, then the position to be moved is known according to a strategy sent by the road end, the classical vehicle track planning problem is completed, where I want to move and how to move.
A narrow road section dispatching and passing method based on V2X comprises the following steps: acquiring map building information of a target road section; acquiring vehicle information through V2X vehicle-mounted equipment carried by a passing vehicle, and sending the vehicle information to roadside equipment; the road side equipment acquires road condition information of a target road section and sends the vehicle information, the map building information and the road condition information to a cloud platform; and the cloud platform comprehensively analyzes the vehicle information, the mapping information and the road condition information and makes vehicle collection guidance according to an analysis result. Strategy coverage in a larger range can be realized through V2X, and planning of a large overall view is realized, so that each vehicle has respective form track planning, and the track planning can effectively assist a vehicle owner to drive to a specified position to complete intersection. The traffic participants can act in sequence to form effective dredging.
And the whole planning in the steps is completed by the cloud platform, and the road end detection and the strategy execution are realized by the road end. Edge calculations alleviate the central burden.
Referring to fig. 2 to 9, in the present embodiment, a V2X-based traffic system 900 for narrow road section dispatching is implemented as follows:
a V2X-based narrow section dispatch transit system 900 comprising: a roadside apparatus 901, a V2X onboard apparatus 902, and a cloud platform 903; the roadside apparatus 901 is configured to: acquiring map building information of a target road section; the V2X in-vehicle device 902 is configured to: acquiring corresponding vehicle information and sending the vehicle information to roadside equipment 901; the roadside apparatus 901 is further configured to: acquiring road condition information of a target road section, and sending the vehicle information, the mapping information and the road condition information to a cloud platform 903; the cloud platform 903 is configured to: and comprehensively analyzing the vehicle information, the mapping information and the road condition information, and making vehicle collection guidance according to an analysis result.
First, the roadside apparatus 901 and the V2X vehicle-mounted apparatus 902 related to the above are explained:
road Side Equipment 901 (RSE) is a highly intelligent embedded information platform. Its main hardware architecture includes but is not limited to: processor unit, storage unit, camera, laser radar, positioning module, differential positioning module, communication module, environment sensor and signal lamp control module
The communication module includes: the system comprises a C-V2X communication module and a cellular communication module, wherein the C-V2X communication module is used for vehicle-to-vehicle communication between road side equipment 901 and a vehicle, and the road side equipment 901 provides information such as signal lamps and road conditions for the vehicle through the C-V2X equipment and receives motion state information sent by the vehicle.
The cellular communication module is used for the roadside device 901 to communicate with the cloud platform 903 to realize data exchange. The roadside apparatus 901 transmits vehicle and environmental condition information to the cloud platform 903, and the cloud platform 903 transmits road prompting information, software upgrade management information, policies, and the like to the roadside apparatus 901.
The processor is configured to process and send information, and specifically may be: the processor is a center for the roadside device 901 to analyze and process different network communication data, communicates with a V2X vehicle and other V2X devices through an accessed C-V2X communication module, communicates with the cloud platform 903 through a cellular communication module, communicates with a detection sensor (laser radar, camera, etc.) through a self physical interface (serial port, network port), processes and distributes acquired data to the vehicle and the cloud platform 903, meanwhile sends a scheduling policy sent by the cloud platform 903 to the vehicle, checks vehicle execution conditions through the detection sensor, and assists scheduling.
The positioning module includes: and a GPS/BDS positioning module. The GPS/BDS positioning module is responsible for providing time calibration and location information acquisition services for the roadside apparatus 901.
The differential positioning module is a high-precision differential positioning module, and the high-precision differential positioning module is used for: local road differential data are acquired, and differential positioning auxiliary information is provided for the vehicle through the C-V2X communication module.
The environmental sensors include, but are not limited to: temperature and humidity sensor, wind speed sensor. After the road side device 901 collects road environment data, the road environment data is packaged into a standard vehicle networking message through a vehicle networking application program, the standard vehicle networking message is broadcast to surrounding vehicles through a C-V2X module, and the standard vehicle networking message is sent to the cloud platform 903 through a cellular network module.
The V2X in-vehicle devices 902 include, but are not limited to: a V2X controller (which may be VBOX in this embodiment), an antenna, a customization system, a connection harness;
the V2X controller includes but is not limited to: the system comprises an LTE-V module, an MCU, a 4G module and a high-precision positioning module; the V2X controller is to: periodically broadcasting the signal of the vehicle to acquire information of other vehicles and drive test information; in this embodiment, the vehicle may acquire policy information of the road side, and send the policy information to the intelligent driving area controller for processing, thereby implementing path planning.
The antenna comprises one or more of: the antenna comprises a 4G antenna, a 5G antenna, an LTE-V antenna and a GNSS antenna, wherein the antennas are used for receiving and transmitting signals;
the customization system is integrated in a vehicle-mounted infotainment system for displaying and providing relevant information for a driver.
In the present embodiment, the information of the map of the target road segment may preferably be the map of the target road segment, which is created by a special vehicle, using a laser radar, a camera, a high-precision positioning device, and the like. The map data is output to the cloud platform 903. That is, the cloud platform 903 acquires high-precision map information of different road sections.
The above roadside apparatus 901 is equipped with one of a laser radar or a camera, or both, and monitors the vehicle of the corresponding road section. The roadside apparatus 901 can acquire the relevant information (vehicle speed, location, vehicle width height) of the passing vehicles in the monitoring range through the camera or laser radar of the roadside apparatus and the information transmitted to the roadside by the vehicles based on the V2X communication. All road side equipment 901 will transmit to cloud platform 903, in order to judge the distribution of the vehicles at the whole road end, the traffic situation.
Further, the cloud platform 903 is further configured to: and calculating the intersection area of the vehicles of the two parties, and calculating whether the vehicles pass according to edge physical collision. The method specifically comprises the following steps: through the high-precision map and the V2X device, the cloud platform 903 may calculate the possible intersection positions according to the related information (vehicle speed, positioning, lane curvature, distance, etc.), and determine whether the intersection meets the traffic conditions according to the information (including lane width, gradient, curvature, etc.) of the high-precision map.
Judging the passing conditions: the cloud platform 903 can obtain models of vehicles and roads through parameters input by a road end and a vehicle end to simulate whether the calculation is passable or not.
The cloud platform 903 calculates the intersection area of the vehicles of both sides, and then calculates whether to pass according to the edge physical collision, mainly according to whether to collide with the oncoming vehicle or exceed the edge of the road. The vehicle can be physically collided and cannot pass through the virtual simulation calculation shown in FIG. 2.
Edge physical collision calculation: based on the calculation method of the physical model, as shown in fig. 3, virtual vehicle tracks are formed, all vehicles run close to the right side of the lane edge, vehicles running in the opposite direction meet at the position shown in the figure according to the speed, and at this time, whether the outer frame edges of the two vehicles meet is judged according to the vehicle models of the vehicles to judge whether the two vehicles can collide. The judgment basis is as follows: whether the coordinate area of the counterpart vehicle model coincides with the coordinate area of the own vehicle.
Further, the cloud platform 903 is further configured to: analyzing information fed back by different road end systems, and adopting different preset strategies to carry out vehicle collection guidance on different road conditions; the cloud platform 903 is further configured to: when the traffic flow is small, the cloud platform 903 sends a corresponding strategy to a corresponding road end system, and the road end system sends an instruction to a corresponding vehicle; when the traffic flow is large, the cloud platform 903 starts to search a solution passing decision from the intersection area, and radiates a decision of an adjacent road section outwards until a certain road section completes the full traffic flow.
The method specifically comprises the following steps: when the cloud platform 903 handles scheduling problems, the policy of each road section is decomposed according to the traffic flow condition fed back by each road side device 901, a passing policy of an intersection point is planned first, and if the traffic flow is small, passing of other road sections is not affected, a corresponding track planning path is sent to a corresponding vehicle, time arrangement is performed, and intersection is guided. The cloud platform 903 sends the corresponding strategy to the corresponding road side equipment 901, the road side of the road section sends an instruction to the corresponding vehicle according to the strategy, the vehicle execution condition is observed, and the vehicle is instructed to execute step by step on time. Such as the traffic flow plan of fig. 4. The strategy is continuously refined from large to small, and the strategy is executed from traffic flow to each quantity of vehicles. As in the single car plan of fig. 5.
If the traffic flow is too large, when the subsequent traffic flow is influenced, the problem road section needs to be finally solved through the intersection region- > the adjacent road section- > similar to a recursive solution, the solution passing decision is searched from the intersection region, and the adjacent road section decision is radiated outwards until the whole traffic flow passing strategy is completed on a certain road section.
As shown in FIG. 6: when the flow of the single vehicle is increased, the prior traffic strategy is not feasible. At this time, the multi-path section needs to be decomposed, and a traffic strategy is made. FIG. 7 is an exploded strategy for driving a vehicle to the right. Decomposed A-road segment, the path of two vehicles. Fig. 8 is an exploded rear B-road, two-vehicle path.
Through continuous decomposition, the road end system of each road section gives each vehicle different strategies to finish the dispatching work of the vehicles and enable the vehicles to pass through the intersection orderly. The core of the whole system is similar to that a virtual traffic police directs the traffic at each intersection.
The vehicle communicates with the road end system through the V2X device (i.e., the road end system corresponding to each roadside device 901), acquires the high-precision map of the road section, then acquires the location through the location fusion of the road end device and itself, and then knows the location to be visited according to the policy sent by the road end, thereby completing the classical vehicle trajectory planning problem, where i want to go, how to go.
The V2X-based narrow road section scheduling passing system 900 can achieve wider strategy coverage through V2X and achieve large-view planning, each vehicle has respective form track planning, and the track planning can effectively assist a vehicle owner to drive to a specified position to complete intersection. The traffic participants can act in sequence to form effective dredging.
And the whole planning in the above steps is completed by the cloud platform 903, and the route end detection and the strategy execution are realized by the route end. Edge calculations alleviate the central burden.
It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.
Claims (8)
1. A narrow road section dispatching passing method based on V2X is characterized by comprising the following steps:
acquiring map building information of a target road section;
acquiring vehicle information through V2X vehicle-mounted equipment of a passing vehicle, and sending the vehicle information to roadside equipment;
the road side equipment acquires road condition information of a target road section and sends the vehicle information, the map building information and the road condition information to a cloud platform;
the cloud platform comprehensively analyzes the vehicle information, the mapping information and the road condition information, and makes vehicle collection guidance according to an analysis result;
the cloud platform comprehensively analyzes the vehicle information, the mapping information and the road condition information, and makes vehicle collection guidance according to an analysis result, and the method specifically comprises the following steps:
the cloud platform analyzes information fed back by different road end systems, and adopts different preset strategies to carry out vehicle collection guidance on different road conditions;
the method comprises the following steps of:
when the traffic flow is small, the cloud platform sends a corresponding strategy to a corresponding road end system, and the road end system sends an instruction to a corresponding vehicle;
when the traffic flow is large, the cloud platform starts to search a solution passing decision from the intersection area, and radiates a decision of an adjacent road section outwards until the whole traffic flow passes through a certain road section.
2. The V2X-based narrow road section dispatching passing method according to claim 1, wherein the V2X vehicle-mounted device comprises: the system comprises a V2X controller, an antenna, a customization system and a connecting wire harness;
the V2X controller includes: the system comprises an LTE-V module, an MCU, a 4G module and a high-precision positioning module;
the V2X controller is to: periodically broadcasting the signal of the vehicle to acquire information of other vehicles and drive test information;
the antenna comprises one or more of: the antenna comprises a 4G antenna, a 5G antenna, an LTE-V antenna and a GNSS antenna, wherein the antennas are used for receiving and transmitting signals;
the customization system is integrated in an in-vehicle infotainment system.
3. The V2X-based narrow road section dispatching traffic method according to claim 1, wherein the road side equipment comprises: the device comprises a processor unit, a storage unit, a camera, a laser radar, a positioning module, a differential positioning module, a communication module, an environment sensor and a signal lamp control module;
the processor is used for processing and sending information;
the communication module includes: the system comprises a C-V2X communication module and a cellular communication module, wherein the C-V2X communication module is used for road side equipment and vehicle to vehicle communication, and the cellular communication module is used for road side equipment and remote scheduling information to communicate;
the positioning module is used for: providing time calibration and position information acquisition services for road side equipment;
the differential positioning module is used for: acquiring local road differential data, and providing differential positioning auxiliary information for a vehicle through the C-V2X communication module;
the environmental sensor includes: temperature and humidity sensor, wind speed sensor.
4. The V2X-based narrow road section scheduling passing method according to claim 1, wherein the cloud platform comprehensively analyzes the vehicle information, the mapping information and the road condition information and makes a vehicle-converging guidance according to an analysis result, and specifically comprises the following steps:
and the cloud platform calculates the intersection area of the vehicles of both sides and calculates whether the vehicles pass according to edge physical collision.
5. A narrow road section dispatching and passing system based on V2X is characterized by comprising: the system comprises road side equipment, V2X vehicle-mounted equipment and a cloud platform;
the roadside apparatus is to: acquiring map building information of a target road section;
the V2X vehicle-mounted device is used for: acquiring corresponding vehicle information, and sending the vehicle information to road side equipment;
the roadside apparatus is further to: acquiring road condition information of a target road section, and sending the vehicle information, the mapping information and the road condition information to a cloud platform;
the cloud platform is to: comprehensively analyzing the vehicle information, the mapping information and the road condition information, and making a vehicle-converging guide according to an analysis result;
the cloud platform is further configured to: analyzing information fed back by different road end systems, and adopting different preset strategies to carry out vehicle collection guidance on different road conditions;
the cloud platform is further configured to: when the traffic flow is small, the cloud platform sends a corresponding strategy to a corresponding road end system, and the road end system sends an instruction to a corresponding vehicle;
when the traffic flow is large, the cloud platform starts to search a solution passing decision from the intersection area, and radiates the decision of the adjacent road section outwards until the whole traffic flow passes through a certain road section.
6. The V2X-based narrow road section dispatching passing system according to claim 5, wherein the V2X vehicle-mounted device comprises: the system comprises a V2X controller, an antenna, a customization system and a connecting wire harness;
the V2X controller includes: the system comprises an LTE-V module, an MCU, a 4G module and a high-precision positioning module;
the V2X controller is to: periodically broadcasting the signal of the vehicle to acquire information of other vehicles and drive test information;
the antenna comprises one or more of: the antenna comprises a 4G antenna, a 5G antenna, an LTE-V antenna and a GNSS antenna, wherein the antennas are used for receiving and transmitting signals;
the customization system is integrated in an in-vehicle infotainment system.
7. The V2X-based narrow road section dispatching traffic system according to claim 5,
the roadside apparatus includes: the device comprises a processor unit, a storage unit, a camera, a laser radar, a positioning module, a differential positioning module, a communication module, an environment sensor and a signal lamp control module;
the processor is used for processing and sending information;
the communication module includes: the system comprises a C-V2X communication module and a cellular communication module, wherein the C-V2X communication module is used for road side equipment and vehicle to vehicle road communication, and the cellular communication module is used for road side equipment and remote scheduling information to communicate;
the positioning module is used for: providing time calibration and position information acquisition services for road side equipment;
the differential positioning module is used for: acquiring local road differential data, and providing differential positioning auxiliary information for a vehicle through the C-V2X communication module;
the environmental sensor includes: temperature and humidity sensor, wind speed sensor.
8. The V2X-based narrow section dispatching traffic system according to claim 5, wherein the cloud platform is further configured to: and calculating the intersection area of the vehicles of the two parties, and calculating whether the vehicles pass according to edge physical collision.
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| CN114927000A (en) * | 2022-05-17 | 2022-08-19 | 重庆长安汽车股份有限公司 | Narrow road meeting reminding method and system, vehicle and storage medium |
| CN114879535B (en) * | 2022-07-06 | 2022-09-27 | 苏州清研精准汽车科技有限公司 | Transmission visual field infrared transmission vehicle simulation system and realization platform |
| CN115331441A (en) * | 2022-08-09 | 2022-11-11 | 贵阳信息技术研究院 | Narrow curve passage control system and method based on vehicle-road cooperation |
| CN116740923B (en) * | 2023-05-15 | 2024-02-06 | 江苏中科惠软信息技术有限公司 | Auxiliary road remittance queuing passing method based on vehicle, road and cloud cooperation |
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