CN113724519A - Vehicle control system, road side equipment and vehicle and road cooperative system - Google Patents
Vehicle control system, road side equipment and vehicle and road cooperative system Download PDFInfo
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- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
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Abstract
The present disclosure provides a vehicle control system, roadside equipment and vehicle-road cooperative system, wherein, this system includes: the vehicle automatic driving device and the vehicle road cooperative terminal are both arranged on the target vehicle and are in communication connection; acquiring vehicle path cooperative data transmitted by a target equipment end in a driving environment where a target vehicle is located through a vehicle path cooperative terminal, and sending the vehicle path cooperative data to a vehicle automatic driving device; the vehicle-road cooperative data are data obtained by sensing the surrounding environment of the target equipment end by the target equipment end; and receiving the lane cooperation data through the automatic vehicle driving device, fusing the lane cooperation data and the target perception data, and controlling the driving state of the target vehicle according to the fusion result. The technical scheme provided by the embodiment of the disclosure can improve the control precision of the target vehicle, thereby further improving the safety of the target vehicle and reducing the danger coefficient of the target vehicle.
Description
Technical Field
The disclosure relates to the technical field of automatic driving, in particular to a vehicle control system, road side equipment and a vehicle and road cooperative system.
Background
In order to improve the control accuracy of the automatic driving vehicle, besides installing a sensor for sensing environmental information on the vehicle, a human-computer interaction device can be installed on the vehicle, and the human-computer interaction device is used for providing environmental information or warning information outside the vehicle for a driver so that the driver can perform corresponding driving actions according to the received information.
Although the conventional man-machine interaction device can transmit corresponding information to a driver and receive provided information input by the driver, the man-machine interaction device can easily ignore the corresponding information transmitted to the driver, and particularly, the driver can hardly transmit the information to the outside through the man-machine interaction device in an emergency driving state. As a result, existing autonomous vehicles present potential hazards and safety hazards.
Disclosure of Invention
The embodiment of the disclosure at least provides a vehicle control system, a road side device and a vehicle and road cooperation system.
In a first aspect, at least one embodiment of the present disclosure provides a vehicle control system, including: the system comprises a vehicle automatic driving device and a vehicle-road cooperative terminal, wherein the vehicle automatic driving device and the vehicle-road cooperative terminal are both installed on a target vehicle and are in communication connection; the vehicle-road cooperative terminal is configured to acquire vehicle-road cooperative data transmitted by a target device end in a driving environment where the target vehicle is located, and send the vehicle-road cooperative data to the vehicle automatic driving device, wherein the vehicle-road cooperative data is data obtained by sensing the surrounding environment of the target device end by the target device end; the automatic vehicle driving device is configured to receive the vehicle-road coordination data, fuse the vehicle-road coordination data with target perception data, and control the driving state of the target vehicle according to a fusion result, wherein the target perception data is obtained by perceiving the driving environment of the target vehicle by the target vehicle.
In the embodiment of the disclosure, data obtained by sensing the surrounding environment of the target device end by the target device end is obtained, and the obtained lane cooperative data and the target sensing data are fused, so that richer and more comprehensive sensing information can be provided for a vehicle control system of a target vehicle; when the driving state of the target vehicle is controlled according to the fusion result of the vehicle-road cooperative data and the target perception data, the control precision of the target vehicle can be improved, so that the safety of the target vehicle is further improved, and the danger coefficient of the target vehicle is reduced.
In an optional implementation manner, the target device side includes at least one of: road side equipment and vehicle and road cooperative terminals carried by other traffic participants.
According to the description, the target equipment end is set as the vehicle-road cooperative terminal carried by the road side equipment and other traffic participants, the perception information of other traffic participating objects and/or the perception information of the traffic indicating object can be obtained, so that the deficiency of target perception data is made up, the perception capability of the target vehicle is improved, meanwhile, richer and more reliable judgment bases are provided for a prediction and decision planning module of the target vehicle, the safety and the reaction capability of the target vehicle in the automatic driving process are improved, meanwhile, the potential safety hazard of the automatic driving vehicle is eliminated, the control precision of the automatic driving vehicle is improved, and the safety of a driver is further ensured.
In an alternative embodiment, the vehicle autopilot device includes: a sensor system and a data processor; the sensor system is configured to collect data of a driving environment where the target vehicle is located and send the collected data to the data processor; the data processor is configured to receive the vehicle-road coordination data and the data collected by the sensor system, determine the target perception data according to the data collected by the sensor system, and fuse the vehicle-road coordination data and the target perception data to control the driving state of the target vehicle according to a fusion result.
According to the description, the acquired vehicle-road cooperative data and the target perception data are fused, so that richer and more comprehensive perception information can be provided for a vehicle control system of a target vehicle; when the driving state of the target vehicle is controlled according to the fusion result of the vehicle-road cooperative data and the target perception data, the control precision of the target vehicle can be improved, so that the safety of the target vehicle is further improved, and the danger coefficient of the target vehicle is reduced.
In an optional embodiment, the vehicle control system further comprises: a power supply device, wherein the power supply device is mounted on the target vehicle; the power supply device is configured to supply electric power to the vehicle automatic driving device and the vehicle-road cooperation terminal.
In an optional embodiment, the vehicle control system further comprises: the first communication module is used for realizing communication connection between the vehicle automatic driving device and the vehicle-road cooperative terminal; the first communication module comprises: a wireless communication unit, and/or a wired communication unit.
As can be seen from the above description, by providing a wired or wireless communication manner between the vehicle-road coordination terminal and the vehicle automatic driving device, the installation manner of the vehicle control system can be simplified, so that the installation scene of the vehicle control system is enlarged, and the installation requirement on the target vehicle is reduced, thereby meeting the use requirements of more users.
In an optional embodiment, the vehicle control system further comprises: and the vehicle-road cooperative terminal is in communication connection with the target equipment terminal through a C-V2X communication module.
As can be seen from the above description, the C-V2X communication module is used to implement the communication connection between the vehicle-road coordination terminal and the target device end in the vehicle control system of the present disclosure, and the vehicle-road coordination data transmitted by the target device end can be stably received, so as to implement the stable operation of the vehicle control system, and ensure the operation safety of the target vehicle.
In an optional implementation manner, the vehicle automatic driving device is configured to send a UDP connection request to the vehicle-road coordination terminal, where the UDP connection request carries connection identification information of the vehicle-road coordination terminal; and the vehicle-road cooperation terminal is configured to verify the received UDP connection request, and establish communication connection between the vehicle-road cooperation terminal and the vehicle automatic driving device under the condition that the verification is passed.
In an alternative embodiment, the vehicle automatic driving device is configured to start a target thread for receiving the vehicle-road coordination data after establishing a communication connection with the vehicle-road coordination terminal.
As can be seen from the above description, the UDP connection between the vehicle-road coordination terminal and the vehicle automatic driving apparatus has the advantages of low latency and low packet loss rate, so that the vehicle control system can stably operate by the above processing method, so as to improve the control accuracy of the vehicle control system.
In a second aspect, an embodiment of the present disclosure further provides a roadside apparatus, including: a roadside terminal device and a broadcast communication device; the road side terminal equipment is configured to receive the vehicle and road cooperation data sent by the control equipment; the broadcast communication device is configured to broadcast the vehicle-road coordination data to a vehicle control system, so that the vehicle control system fuses the received vehicle-road coordination data and target perception data, and controls the driving state of a target vehicle according to a fusion result, wherein the target perception data is obtained by the target vehicle perceiving the driving environment of the target vehicle.
In the embodiment of the disclosure, by receiving the vehicle-road coordination data sent by the control device of the traffic indication object and transmitting the vehicle-road coordination data to the vehicle-road coordination terminal of the vehicle control system, the acquired vehicle-road coordination data and the target perception data are fused, so that richer and more comprehensive perception information can be provided for the vehicle control system of the target vehicle; when the driving state of the target vehicle is controlled according to the fusion result of the vehicle-road cooperative data and the target perception data, the control precision of the target vehicle can be improved, so that the safety of the target vehicle is further improved, and the danger coefficient of the target vehicle is reduced.
In an alternative embodiment, the control device comprises: a cloud control device, and/or a controller of a traffic indication device.
As can be seen from the above description, in the embodiment of the present disclosure, by using the cloud control device and the traffic indication device, and by using the controller in combination to transmit the corresponding data to the roadside device, the comprehensiveness of the contents covered by the vehicle-road cooperative data can be further improved, so that the control accuracy of the vehicle control system is further improved.
In an alternative embodiment, the broadcast communication device includes: a C-V2X communication device.
In a third aspect, an embodiment of the present disclosure further provides a vehicle-road coordination system, including: the system comprises a vehicle control system and a roadside device, wherein the vehicle control system is installed on a target vehicle, and the roadside device is installed in a driving environment where the target vehicle is located; the road side equipment is configured to receive the vehicle and road cooperation data sent by the control equipment and broadcast the vehicle and road cooperation data; the vehicle control system is configured to acquire the vehicle-road cooperation data transmitted by the roadside device, fuse the vehicle-road cooperation data with target perception data, and control the driving state of the target vehicle according to a fusion result, wherein the vehicle-road cooperation data is data obtained by the roadside device perceiving the surrounding environment of the roadside device, and the target perception data is data obtained by the target vehicle perceiving the driving environment of the target vehicle.
In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly described below, and the drawings herein incorporated in and forming a part of the specification illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the technical solutions of the present disclosure. It is appreciated that the following drawings depict only certain embodiments of the disclosure and are therefore not to be considered limiting of its scope, for those skilled in the art will be able to derive additional related drawings therefrom without the benefit of the inventive faculty.
FIG. 1 is a schematic diagram illustrating a vehicle control system provided by an embodiment of the present disclosure;
FIG. 2 is a schematic diagram illustrating a structure of an automatic driving device of a vehicle in a vehicle control system provided by an embodiment of the disclosure;
FIG. 3 is a schematic diagram illustrating a human-machine interface within a target vehicle in a vehicle control system provided by an embodiment of the present disclosure;
FIG. 4 is a schematic diagram illustrating another vehicle control system provided by an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a roadside apparatus provided by an embodiment of the present disclosure;
fig. 6 is a schematic diagram illustrating a communication manner between a target device end and a vehicle-road cooperative terminal in the roadside device apparatus provided by the embodiment of the disclosure;
fig. 7 shows a schematic structural diagram of a vehicle-road coordination system provided in an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, not all of the embodiments. The components of the embodiments of the present disclosure, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure, presented in the figures, is not intended to limit the scope of the claimed disclosure, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making creative efforts, shall fall within the protection scope of the disclosure.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The term "and/or" herein merely describes an associative relationship, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.
Through research, the existing man-machine interaction device can send corresponding information to a driver and receive provided information input by the driver, but the man-machine interaction device can easily ignore the corresponding information sent to the driver, and particularly, in an emergency driving state, the driver can hardly send the information to the outside through the man-machine interaction device. As a result, existing autonomous vehicles present potential hazards and safety hazards.
Based on the research, the present disclosure provides a vehicle control system, roadside equipment and a vehicle-road cooperative system. In the embodiment of the disclosure, data obtained by sensing the surrounding environment (for example, other traffic participating objects and/or traffic indicating objects) of the target device end by the target device are obtained, and the obtained vehicle path cooperative data and the target sensing data are fused, so that richer and more comprehensive sensing information can be provided for a vehicle control system of a target vehicle; when the driving state of the target vehicle is controlled according to the fusion result of the vehicle-road cooperative data and the target perception data, the control precision of the target vehicle can be improved, so that the safety of the target vehicle is further improved, and the danger coefficient of the target vehicle is reduced.
For the understanding of the present embodiment, a detailed description will be given first of all of a vehicle control system disclosed in the embodiment of the present disclosure.
Referring to fig. 1, a schematic structural diagram of a vehicle control system provided in an embodiment of the present disclosure is shown, and as shown in fig. 1, the vehicle control system includes: the vehicle automatic driving device 10 and the vehicle-road cooperation terminal 20. The vehicle automatic driving device 10 and the vehicle-road cooperative terminal 20 are both mounted on the target vehicle, and the vehicle automatic driving device 10 and the vehicle-road cooperative terminal 20 are communicatively connected.
The vehicle-road cooperative terminal 20 is configured to acquire vehicle-road cooperative data transmitted by a target device end in a driving environment where the target vehicle is located, and send the vehicle-road cooperative data to the vehicle automatic driving device, where the vehicle-road cooperative data is data obtained by sensing a surrounding environment of the target device end by the target device end.
In specific implementation, the vehicle-road coordination data can be obtained by sensing other traffic participating objects and/or traffic indicating objects in the environment where the target equipment end is located through the target equipment end.
Here, the other traffic-participating object may be understood as an object in which other vehicles, pedestrians, and the like on the road on which the target vehicle travels are moving, and the other traffic-participating object is not particularly limited by the present disclosure. The traffic indication object may be understood as an object for indicating traffic, such as a traffic light, a traffic indicator, etc., on a road on which the target vehicle travels, and the present disclosure does not specifically limit the type of the traffic indication object.
The vehicle-road cooperation terminal 20 is mounted on the target vehicle, and is connected in communication with the vehicle automatic driving apparatus 10 and the target device side. In an alternative embodiment, the vehicle-road cooperation terminal 20 may be an on board unit (obu).
The target device side may be a fixed transmission device installed on a road, or may be a transmission device capable of moving, for example, the target device side may be a device installed on a moving object and capable of establishing a communication connection with the vehicle-road cooperation terminal 20.
And the vehicle automatic driving device 10 is configured to receive the vehicle-road coordination data, fuse the vehicle-road coordination data with target perception data, and control the driving state of the target vehicle according to a fusion result, wherein the target perception data is obtained by perceiving the driving environment of the target vehicle by the target vehicle.
As can be seen from the above description, the vehicle automatic driving apparatus may fuse the vehicle-road coordination data and the target perception data after receiving the vehicle-road coordination data. Specifically, the vehicle-road cooperative data and the target perception data may be fused through a data fusion model, and the specific fusion algorithm of the data fusion model is not specifically limited in the present disclosure.
In the embodiment of the present disclosure, a sensor for acquiring target sensing data is mounted on the target vehicle in advance, for example, the sensor may include sensors such as an Inertial Measurement Unit (IMU), a Global Positioning System (GPS), and a camera, and in addition, may also include other sensors, which is not limited in the present disclosure.
It is understood that the target vehicle is a vehicle having an automatic driving function; and the target vehicle may be any one type of vehicle, for example, the target vehicle may be a car, a bus, a small bus, a truck, or various types of engineering vehicles.
For a target vehicle with a large size, such as a bus, a small bus or a truck, due to the large size of the vehicle, a blind field of view is likely to occur during driving of the vehicle, and the blind field of view can be understood as an area that cannot be sensed by a sensor on the vehicle. At this time, the sensor mounted on the vehicle cannot sense the object in the area, so that target sensing data is incomplete, and at this time, certain potential safety hazards are easily brought to the automatic driving vehicle.
However, in the embodiment of the present disclosure, by acquiring the vehicle-road cooperative data, the relevant information of the object included in the area that cannot be sensed by the sensor can be acquired, so as to make up for the deficiency of the target sensing data, improve the sensing capability of the target vehicle, and provide a richer and more reliable judgment basis for the prediction and decision planning module of the target vehicle, thereby improving the safety and the response capability of the target vehicle in the automatic driving process, and at the same time, eliminating the potential safety hazard of the automatic driving vehicle, improving the control precision of the automatic driving vehicle, and further ensuring the safety of the driver.
In the embodiment of the disclosure, data obtained by sensing the surrounding environment of the target device end by the target device end is obtained, and the obtained lane cooperative data and the target sensing data are fused, so that richer and more comprehensive sensing information can be provided for a vehicle control system of a target vehicle; when the driving state of the target vehicle is controlled according to the fusion result of the vehicle-road cooperative data and the target perception data, the control precision of the target vehicle can be improved, so that the safety of the target vehicle is further improved, and the danger coefficient of the target vehicle is reduced.
In an optional embodiment, the target device side includes at least one of: the road side equipment and the vehicle and road cooperation terminal carried by other traffic participants can be an On Board Unit (OBU).
Here, the roadside apparatus may be used to perceive a traffic indication object in the driving environment in which the target vehicle is located.
The following describes the road side equipment and the vehicle-road cooperative terminals carried by other traffic participants respectively.
In case one, the target device side is a road side device.
The roadside device may be understood as a roadside device (RSU) in an intelligent traffic management system. The roadside device can be in communication connection with the traffic indicator light and/or in communication connection with the camera device arranged on the road, wherein the communication mode of the communication connection can be wireless communication and/or wired communication, and the disclosure is not particularly limited thereto.
If the roadside device is in communication connection with the traffic indicator light, the traffic indicator light may send the state information of the traffic indicator light to the roadside device in real time, for example, information such as a traffic indicator light for one intersection, a display color of a left turn indicator light, a display color of a right turn indicator light, a display color of a forward turn indicator light, and a countdown time of the traffic indicator light in each direction.
If the roadside equipment is in communication connection with the camera device, the camera device can send real-time image data of a road to the roadside equipment, and the camera device can also identify an image containing a traffic police from a large number of collected images and identify an indicating action of the traffic police in the image; and then, sending the images containing the traffic police and the indication action of the traffic police corresponding to each image to the roadside equipment.
It should be noted that, in the embodiment of the present disclosure, the roadside device may transmit emergency information to the vehicle-road coordination terminal, in addition to transmitting the perception data of the traffic indication object to the vehicle-road coordination terminal, for example: and the like emergency information such as collapse of XXX roads, earthquake in XXX area, tsunami in XXX area, emergency criminal event in XXX area and the like.
And in the second situation, the target equipment terminal is a vehicle-road cooperative terminal carried by other traffic participants.
It is understood that the traffic participant may be a moving object such as a vehicle traveling on a road, a pedestrian traveling on a road, or the like. The vehicle may be a private vehicle, a utility vehicle, a special vehicle (e.g., police, 120 emergency, 119 fire, military, etc. type of vehicle).
Other traffic participants may carry a vehicle-road coordination terminal, which is not the vehicle-road coordination terminal 20 in the vehicle control system in the embodiment of the present disclosure, but is another vehicle-road coordination terminal capable of being in communication connection with the vehicle-road coordination terminal 20.
According to the description, the target equipment end is set as the vehicle-road cooperative terminal carried by the road side equipment and other traffic participants, the perception information of other traffic participating objects and/or the perception information of the traffic indicating object can be obtained, so that the deficiency of target perception data is made up, the perception capability of the target vehicle is improved, meanwhile, richer and more reliable judgment bases are provided for a prediction and decision planning module of the target vehicle, the safety and the reaction capability of the target vehicle in the automatic driving process are improved, meanwhile, the potential safety hazard of the automatic driving vehicle is eliminated, the control precision of the automatic driving vehicle is improved, and the safety of a driver is further ensured.
In an alternative embodiment, as shown in fig. 2, a vehicle automatic driving apparatus 10 includes: the sensor system 11 and the data processor 12, as shown in fig. 2, the sensor system 11 and the data processor 12 are communicatively connected.
And the sensor system 11 is configured to collect data of the driving environment of the target vehicle and send the collected data to the data processor.
And the data processor 12 is configured to receive the vehicle-road coordination data and the data acquired by the sensor system, determine the target perception data according to the data acquired by the sensor system, and fuse the vehicle-road coordination data and the target perception data to control the driving state of the target vehicle according to a fusion result.
In the embodiment of the present disclosure, the sensor System is installed at a designated position of a body of a target vehicle, and the sensor System may include a plurality of sensors with different functions, for example, the sensor may include sensors such as an Inertial Measurement Unit (IMU), a Global Positioning System (GPS), and an image pickup device, and in addition, may include other sensors, which is not limited in the present disclosure.
Specifically, an image analysis module may be built in the image pickup apparatus. The image analysis module is used for analyzing and processing the image after acquiring the image of the driving environment where the target vehicle is located to obtain a corresponding image result, wherein the image analysis module can be used for analyzing and processing the image by a preset neural network, and the image analysis process of the neural network is not specifically limited by the disclosure. After the analysis results in the image, the image result may be determined as data in the target perception data.
After receiving the target sensing data and the data acquired by the sensor system, the data processor can determine the target sensing data according to the data acquired by the sensor system, and fuse the target sensing data and the vehicle-road cooperative data to obtain a fusion result.
As can be seen from the above description, the vehicle-road coordination data may be status information of the traffic light, and/or include an image of the traffic police and an indication action of the traffic police corresponding to the image; the vehicle-road coordination data can also be pose data of other traffic participating objects in the driving environment of the target vehicle.
After the data processor obtains the fusion result, the fusion result can be sent to a prediction and decision planning module of the vehicle control system, so that the prediction and decision planning module generates a corresponding driving control scheme according to the fusion result, and the driving state of the target vehicle is controlled according to the driving control scheme.
The following describes a fusion process of the vehicle-road cooperative data and the target perception data, and the following is specifically described:
the vehicle-road coordination data comprises a plurality of pieces of data, each piece of data carries corresponding identification information, and the identification information is marked as identification information A1, and the identification information A1 is used for representing objects (traffic indication objects and other traffic participation objects) corresponding to the data. The target perception data determined based on the data acquired by the sensor system comprises a plurality of pieces of data, each piece of data carries corresponding identification information, and the identification information is marked as identification information A2, and the identification information A2 is used for representing an object corresponding to the data. At this time, the identification information a1 and the identification information a2 may be matched to obtain data that matches in the vehicle cooperation data and the target perception data, and the matched data may be fused to obtain a fusion result.
For example, when one object in the target sensing data is a traffic light, the identification information a2 of the sensing data corresponding to the traffic light may be acquired, and the identification information a2 may be matched with the identification information a1 in the vehicle-road coordination data, so as to obtain the vehicle-road coordination data matched with the identification information a 2. For example, the state data of the traffic lights in the target perception data is as follows: and when the vehicle runs straight, the red light and the countdown are carried out for 20 seconds, the state data about the traffic indicator light in the vehicle and road cooperative data are as follows: the straight-going-red-light-countdown is carried out for 18 seconds, at this time, the target sensing data and the vehicle-road cooperative data can be fused to obtain a fusion result, for example, an optional fusion mode is as follows: and modifying the state data of the traffic indicator lamps in the target perception data into: go straight-red-count down for 18 seconds.
According to the description, the acquired vehicle-road cooperative data and the target perception data are fused, so that richer and more comprehensive perception information can be provided for a vehicle control system of a target vehicle; when the driving state of the target vehicle is controlled according to the fusion result of the vehicle-road cooperative data and the target perception data, the control precision of the target vehicle can be improved, so that the safety of the target vehicle is further improved, and the danger coefficient of the target vehicle is reduced.
It should be noted that, in the embodiment of the present disclosure, the vehicle control system may further include a human-machine interaction interface, where the human-machine interaction interface is installed inside the target vehicle, and the human-machine interaction interface may be configured to display the fusion result, and in addition, may also display the driving control scheme generated by the prediction and decision planning module.
For example, as shown in fig. 3, a schematic diagram of an alternative human-machine interaction interface is shown, and as can be seen from fig. 3, the color of the traffic light and the countdown time on the straight road of the target vehicle are included in the human-machine interaction interface, and besides, the distance between the target vehicle and the traffic light, for example, 15 meters, can be displayed in the human-machine interaction interface. In addition, the predicted passing time of the target vehicle, for example, 10 seconds of predicted passing, can be displayed in the human-computer interaction interface. It should be noted that the display color of the traffic light shown in fig. 3 can be converted in real time according to the fusion result.
In an alternative embodiment, on the basis of the vehicle control system shown in fig. 1, as shown in fig. 4, the vehicle control system in the embodiment of the present disclosure further includes: a first communication module 41.
Specifically, the first communication module 41 is connected with the on-board unit 42 (i.e., the vehicle-road cooperation terminal 20) and the vehicle automatic driving device 10, respectively, for realizing communication connection between the vehicle automatic driving device and the vehicle-road cooperation terminal 20.
It is understood that the first communication module 41 includes: a wireless communication unit, and/or a wired communication unit.
Specifically, in the embodiment of the present disclosure, the wireless communication unit may be a bluetooth communication unit, a wifi communication unit, a radio frequency communication unit, or other wireless communication units; the wired communication unit may be an ethernet communication unit or the like. It should be noted that any communication method that can be used to implement the present disclosure is within the scope of the present disclosure.
As can be seen from the above description, by providing a wired or wireless communication manner between the vehicle-road coordination terminal and the vehicle automatic driving device, the installation manner of the vehicle control system can be simplified, so that the installation scene of the vehicle control system is enlarged, and the installation requirement on the target vehicle is reduced, thereby meeting the use requirements of more users.
In an optional implementation manner, the vehicle automatic driving apparatus is configured to send a UDP (User Datagram Protocol) connection request to the vehicle-road coordination terminal, where the UDP connection request carries connection identification information of the vehicle-road coordination terminal.
And the vehicle-road cooperation terminal is configured to verify the received UDP connection request, and establish communication connection between the vehicle-road cooperation terminal and the vehicle automatic driving device under the condition that the verification is passed.
In the embodiment of the present disclosure, a target drive for achieving a communication connection between the vehicle automatic driving apparatus 10 and the vehicle-road cooperative terminal 20 may be installed in the vehicle automatic driving apparatus 10 in advance.
After the vehicle automatic driving apparatus installs the target drive, the vehicle automatic driving apparatus may be driven to transmit a UDP connection request to the processor of the vehicle-road coordination terminal.
And after the processor of the vehicle-road cooperative terminal acquires the UDP request, verifying the UDP connection request according to the identification information carried in the UDP request, and establishing communication connection between the vehicle-road cooperative terminal and the automatic vehicle driving device under the condition that the verification is passed. At this time, the vehicle-road cooperation terminal can transmit the vehicle-road cooperation data to the vehicle automatic driving device through the communication connection.
In the embodiment of the disclosure, after the communication connection between the vehicle-road coordination terminal and the vehicle automatic driving device is established, the vehicle automatic driving device may send the heartbeat signal to the vehicle-road coordination terminal at regular time. And if the bus route coordination terminal does not receive the heartbeat signal sent by the automatic vehicle driving device within the preset time period, disconnecting the communication connection between the automatic vehicle driving device 10 and the bus route coordination terminal 20.
If the automatic vehicle driving device 10 stops sending the heartbeat signal to the vehicle-road coordination terminal, it indicates that the target vehicle is in an un-started state, at this time, the communication connection between the automatic vehicle driving device 10 and the vehicle-road coordination terminal 20 is disconnected, and the reception of the vehicle-road coordination data can be stopped, so that the waste of the computing resources of the vehicle control system is avoided.
In the embodiment of the present disclosure, the vehicle automatic driving device may be further configured to start a target thread for receiving the vehicle-road coordination data after establishing the communication connection with the vehicle-road coordination terminal.
Specifically, after the communication connection between the on-board unit OBU and the vehicle automatic driving apparatus is established, the data processor in the vehicle automatic driving apparatus starts a thread (i.e., a target thread) to continuously receive a message sent by the on-board cooperative terminal OBU, where the message is generated by performing decoding and parsing processing after receiving a broadcast message broadcast by a target device via the on-board cooperative terminal OBU. Through the corresponding protocol specification, the data processor processes the message content, extracts the required information and sends the information to the upper layer for application processing.
As can be seen from the above description, the UDP connection between the vehicle-road coordination terminal and the vehicle automatic driving apparatus has the advantages of low latency and low packet loss rate, so that the vehicle control system can stably operate by the above processing method, so as to improve the control accuracy of the vehicle control system.
In an optional embodiment, the vehicle control system further comprises: a C-V2X (vehicle to aircraft, contact of vehicle and anything) communication module, wherein the C-V2X communication module is arranged in the vehicle-road cooperation terminal 20.
Specifically, the C-V2X communication module is used to implement communication connection between the vehicle-road coordination terminal 20 and the target device.
As shown in fig. 4, the target device side includes: roadside devices, and/or other on-board units 43 (i.e., vehicle-to-road coordination terminals carried by other traffic participants in the driving environment of the target vehicle).
As shown in FIG. 4, the on-board unit 42 in the vehicle control system may establish a communication connection with the roadside apparatus 30 through the C-V2X communication module, and establish a communication connection with the other on-board units 43 through the C-V2X communication module.
For example, the roadside apparatus 30 may transmit the C-V2X broadcast information to the outside, and at this time, when the on-board unit 42 in the vehicle control system is located in the coverage of the C-V2X broadcast information, the C-V2X broadcast information may be received through the C-V2X communication module, and the C-V2X broadcast information may be transmitted to the vehicle automatic driving device through the target thread, where the C-V2X broadcast information includes the vehicle-road coordination data.
For another example, the other on-board units 43 may transmit C-V2X broadcast information to the outside, and at this time, when the on-board unit 42 in the vehicle control system is located in the coverage area of the C-V2X broadcast information, the C-V2X broadcast information may be received through the C-V2X communication module, and the C-V2X broadcast information may be transmitted to the vehicle automatic driving device through the target thread, where the C-V2X broadcast information includes vehicle-road coordination data.
As can be seen from the above description, the C-V2X communication module is used to implement the communication connection between the vehicle-road coordination terminal and the target device end in the vehicle control system of the present disclosure, and the vehicle-road coordination data transmitted by the target device end can be stably received, so as to implement the stable operation of the vehicle control system, and ensure the operation safety of the target vehicle.
In an embodiment of the present disclosure, the vehicle control system further includes: a power supply device, wherein the power supply device is mounted on the target vehicle.
Specifically, the power supply device is configured to supply electric power to the vehicle automatic driving device and the vehicle-road cooperation terminal.
It will be appreciated that the power supply apparatus may be incorporated into a vehicle control system to provide electrical power over wiring to the overall vehicle control system to provide for operation of the vehicle control system.
In addition, the vehicle system can be supplied with power through a vehicle-mounted power supply device built in the target vehicle; the user can select one of the two functional devices as a default energy supply device and the other as a standby energy supply device, so that the normal operation of the vehicle control system can be ensured when the default energy supply device is not available or lacks electric energy through switching the energy supply devices.
Referring to fig. 5, based on the same inventive concept, the disclosed embodiment further provides a roadside apparatus 30, including: a roadside terminal device 31 and a broadcast communication device 32.
And the road side terminal equipment 31 is configured to receive the vehicle-road coordination data transmitted by the control equipment.
And the broadcast communication device 32 is configured to broadcast the vehicle-road coordination data to a vehicle control system, so that the vehicle control system fuses the received vehicle-road coordination data and target perception data, and controls the driving state of the target vehicle according to a fusion result, wherein the target perception data is obtained by perceiving the driving environment of the target vehicle by the target vehicle.
In the embodiment of the disclosure, by receiving the vehicle-road coordination data sent by the control device of the traffic indication object and transmitting the vehicle-road coordination data to the vehicle-road coordination terminal of the vehicle control system, the acquired vehicle-road coordination data and the target perception data are fused, so that richer and more comprehensive perception information can be provided for the vehicle control system of the target vehicle; when the driving state of the target vehicle is controlled according to the fusion result of the vehicle-road cooperative data and the target perception data, the control precision of the target vehicle can be improved, so that the safety of the target vehicle is further improved, and the danger coefficient of the target vehicle is reduced.
In an embodiment of the present disclosure, a control apparatus includes: a cloud control device, and/or a controller of a traffic indication device.
In case one, the control device includes: cloud controlling means.
At this time, the cloud control device may send corresponding indication information to the roadside device according to the cloud computing result thereof, so that the roadside device sends corresponding broadcast information to the outside according to the indication information.
Case two, the control device includes: a controller for a traffic indicating device.
The Controller of the traffic indicating device may be understood as a Controller of a traffic indicating lamp, for example, a PLC (Programmable Logic Controller), and may be other types of controllers besides the above, which is not specifically limited by the present disclosure.
As can be seen from the above description, in the embodiment of the present disclosure, by using the cloud control device and the traffic indication device, and by using the controller in combination to transmit the corresponding data to the roadside device, the comprehensiveness of the contents covered by the vehicle-road cooperative data can be further improved, so that the control accuracy of the vehicle control system is further improved.
In an embodiment of the present disclosure, a broadcast communication apparatus includes: a C-V2X communication device.
In the embodiment of the present disclosure, a communication manner between the roadside device, the vehicle-mounted unit OBU of another vehicle, and the vehicle-mounted unit OBU installed on the target vehicle is shown in fig. 6, where the vehicle-mounted unit OBU installed on the target vehicle may decode and analyze the C-V2X message broadcast by the roadside device and the vehicle-road coordination terminal of another vehicle, so as to obtain vehicle-road coordination data included in the C-V2X message.
As can be seen from the above description, the C-V2X communication module is used to implement the communication connection between the vehicle-road coordination terminal and the target device end in the vehicle control system of the present disclosure, and the vehicle-road coordination data transmitted by the target device end can be stably received, so as to implement the stable operation of the vehicle control system, and ensure the operation safety of the target vehicle.
Referring to fig. 7, based on the same inventive concept, an embodiment of the present disclosure further provides a vehicle-road coordination system, including: a vehicle control system 70 and a roadside apparatus 30, wherein the vehicle control system 70 is mounted on a target vehicle, and the roadside apparatus 30 is erected on a roadside.
The roadside device 30 is configured to receive the vehicle-road cooperation data sent by the control device and broadcast the vehicle-road cooperation data.
In the embodiment of the present disclosure, as shown in fig. 7, the roadside apparatus 30 includes: a roadside terminal device 31 and a broadcast communication device 32. And the road side terminal equipment 31 is configured to receive the vehicle-road coordination data transmitted by the control equipment. A broadcast communication device 32 configured to broadcast the vehicle road coordination data to a vehicle control system.
In an alternative embodiment, the control device comprises: a cloud control device, and/or a controller of a traffic indication device.
In case one, the control device includes: cloud controlling means.
At this time, the cloud control device may send corresponding indication information to the roadside device according to the cloud computing result thereof, so that the roadside device sends corresponding broadcast information to the outside according to the indication information.
Case two, the control device includes: a controller for a traffic indicating device.
The Controller of the traffic indicating device may be understood as a Controller of a traffic indicating lamp, for example, a PLC (Programmable Logic Controller), and may be other types of controllers besides the above, which is not specifically limited by the present disclosure.
As can be seen from the above description, in the embodiment of the present disclosure, by using the cloud control device and the traffic indication device, and by using the controller in combination to transmit the corresponding data to the roadside device, the comprehensiveness of the contents covered by the vehicle-road cooperative data can be further improved, so that the control accuracy of the vehicle control system is further improved.
In an embodiment of the present disclosure, a broadcast communication apparatus includes: a C-V2X communication device.
In the embodiment of the present disclosure, a communication manner between the roadside device and the vehicle-road coordination terminal 20 in the vehicle control system is shown in fig. 7, where the vehicle-road coordination terminal 20 may decode and analyze the C-V2X message of the roadside device 30, so as to obtain the vehicle-road coordination data included in the C-V2X message. The vehicle-road cooperative terminal 20 may be an on-board unit OBU.
As can be seen from the above description, the C-V2X communication module is used to implement the communication connection between the vehicle-road coordination terminal and the target device end in the vehicle control system of the present disclosure, and the vehicle-road coordination data transmitted by the target device end can be stably received, so as to implement the stable operation of the vehicle control system, and ensure the operation safety of the target vehicle.
The vehicle control system is configured to acquire the vehicle-road cooperation data transmitted by the roadside device, fuse the vehicle-road cooperation data with target perception data, and control the driving state of the target vehicle according to a fusion result, wherein the vehicle-road cooperation data is data obtained by the roadside device perceiving the surrounding environment of the roadside device, and the target perception data is data obtained by the target vehicle perceiving the driving environment of the target vehicle.
In the disclosed embodiment, as shown in fig. 7, the vehicle control system 70 includes: the vehicle automatic driving device 10 and the vehicle-road cooperation terminal 20. The vehicle automatic driving device 10 and the vehicle-road cooperative terminal 20 are both mounted on the target vehicle, and the vehicle automatic driving device 10 and the vehicle-road cooperative terminal 20 are communicatively connected.
The vehicle-road cooperative terminal 20 is configured to acquire vehicle-road cooperative data transmitted by a target device end in a driving environment where the target vehicle is located, and send the vehicle-road cooperative data to the vehicle automatic driving device, where the vehicle-road cooperative data is data obtained by sensing an environment around the target device end by the target device end. The vehicle-road cooperation terminal 20 is mounted on the target vehicle, and is connected in communication with the vehicle automatic driving apparatus 10 and the target device side. The target device side may be a fixed transmission device installed on a road, or may be a transmission device capable of moving, for example, the target device side may be a device installed on a moving object and capable of establishing a communication connection with the vehicle-road cooperation terminal 20.
In the embodiment of the disclosure, other traffic participating objects in the driving environment of the target vehicle transmitted by the target device side and/or data obtained by sensing the traffic indicating object are obtained, and the obtained lane cooperative data and the target sensing data are fused, so that richer and more comprehensive sensing information can be provided for a vehicle control system of the target vehicle; when the driving state of the target vehicle is controlled according to the fusion result of the vehicle-road cooperative data and the target perception data, the control precision of the target vehicle can be improved, so that the safety of the target vehicle is further improved, and the danger coefficient of the target vehicle is reduced.
It will be understood by those skilled in the art that in the method of the present invention, the order of writing the steps does not imply a strict order of execution and any limitations on the implementation, and the specific order of execution of the steps should be determined by their function and possible inherent logic.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present disclosure. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Finally, it should be noted that: the above-mentioned embodiments are merely specific embodiments of the present disclosure, which are used for illustrating the technical solutions of the present disclosure and not for limiting the same, and the scope of the present disclosure is not limited thereto, and although the present disclosure is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive of the technical solutions described in the foregoing embodiments or equivalent technical features thereof within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present disclosure, and should be construed as being included therein. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (12)
1. A vehicle control system, characterized by comprising: the system comprises a vehicle automatic driving device and a vehicle-road cooperative terminal, wherein the vehicle automatic driving device and the vehicle-road cooperative terminal are both installed on a target vehicle and are in communication connection;
the vehicle-road cooperative terminal is configured to acquire vehicle-road cooperative data transmitted by a target device end in a driving environment where the target vehicle is located, and send the vehicle-road cooperative data to the vehicle automatic driving device, wherein the vehicle-road cooperative data is data obtained by sensing the surrounding environment of the target device end by the target device end;
the automatic vehicle driving device is configured to receive the vehicle-road coordination data, fuse the vehicle-road coordination data with target perception data, and control the driving state of the target vehicle according to a fusion result, wherein the target perception data is obtained by perceiving the driving environment of the target vehicle by the target vehicle.
2. The vehicle control system according to claim 1, characterized in that the target device side includes at least one of: road side equipment and vehicle and road cooperative terminals carried by other traffic participants.
3. The vehicle control system according to claim 1 or 2, characterized in that the vehicle automatic driving apparatus includes: a sensor system and a data processor;
the sensor system is configured to collect data of a driving environment where the target vehicle is located and send the collected data to the data processor;
the data processor is configured to receive the vehicle-road coordination data and the data collected by the sensor system, determine the target perception data according to the data collected by the sensor system, and fuse the vehicle-road coordination data and the target perception data to control the driving state of the target vehicle according to a fusion result.
4. The vehicle control system according to any one of claims 1 to 3, characterized by further comprising: a power supply device, wherein the power supply device is mounted on the target vehicle;
the power supply device is configured to supply electric power to the vehicle automatic driving device and the vehicle-road cooperation terminal.
5. The vehicle control system according to any one of claims 1 to 4, characterized by further comprising: the first communication module is used for realizing communication connection between the vehicle automatic driving device and the vehicle-road cooperative terminal;
the first communication module comprises: a wireless communication unit, and/or a wired communication unit.
6. The vehicle control system according to any one of claims 1 to 5, wherein the vehicle-road coordination terminal and the target device terminal are communicatively connected by a C-V2X communication module.
7. The vehicle control system according to any one of claims 1 to 6,
the vehicle automatic driving device is configured to send a UDP connection request to the vehicle-road cooperative terminal, wherein the UDP connection request carries connection identification information of the vehicle-road cooperative terminal;
and the vehicle-road cooperation terminal is configured to verify the received UDP connection request, and establish communication connection between the vehicle-road cooperation terminal and the vehicle automatic driving device under the condition that the verification is passed.
8. The vehicle control system according to claim 7, wherein the vehicle automatic driving apparatus is configured to start a target thread for receiving the vehicle-road coordination data after establishing a communication connection with the vehicle-road coordination terminal.
9. A roadside apparatus characterized by comprising: a roadside terminal device and a broadcast communication device; wherein the content of the first and second substances,
the road side terminal equipment is configured to receive the vehicle and road cooperation data sent by the control equipment;
the broadcast communication device is configured to broadcast the vehicle-road coordination data to a vehicle control system, so that the vehicle control system fuses the received vehicle-road coordination data and target perception data, and controls the driving state of a target vehicle according to a fusion result, wherein the target perception data is obtained by the target vehicle perceiving the driving environment of the target vehicle.
10. The roadside apparatus according to claim 9, wherein the control apparatus includes: a cloud control device, and/or a controller of a traffic indication device.
11. The roadside apparatus of claim 9, wherein the broadcast communication apparatus comprises: a C-V2X communication device.
12. A vehicle-road coordination system, comprising: the system comprises a vehicle control system and a roadside device, wherein the vehicle control system is installed on a target vehicle, and the roadside device is installed in a driving environment where the target vehicle is located;
the road side equipment is configured to receive the vehicle and road cooperation data sent by the control equipment and broadcast the vehicle and road cooperation data;
the vehicle control system is configured to acquire the vehicle-road cooperation data transmitted by the roadside device, fuse the vehicle-road cooperation data with target perception data, and control the driving state of the target vehicle according to a fusion result, wherein the vehicle-road cooperation data is data obtained by the roadside device perceiving the surrounding environment of the roadside device, and the target perception data is data obtained by the target vehicle perceiving the driving environment of the target vehicle.
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