CN113727304B - Emergency vehicle early warning system based on 5G communication architecture and early warning method thereof - Google Patents
Emergency vehicle early warning system based on 5G communication architecture and early warning method thereof Download PDFInfo
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- CN113727304B CN113727304B CN202111297103.5A CN202111297103A CN113727304B CN 113727304 B CN113727304 B CN 113727304B CN 202111297103 A CN202111297103 A CN 202111297103A CN 113727304 B CN113727304 B CN 113727304B
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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]
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B31/00—Predictive alarm systems characterised by extrapolation or other computation using updated historic data
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
Abstract
The invention provides an emergency vehicle early warning system based on a 5G communication framework and an early warning method thereof, the early warning system acquires road video stream data and point cloud data through a roadside acquisition unit, transmits the acquired data to a 5G mobile edge computing unit for fusion processing through 5G roadside customer premise equipment, extracts structured data of an emergency vehicle and transmits the structured data to a 5G vehicle-mounted processing unit, and the 5G vehicle-mounted processing unit performs emergency vehicle early warning processing on the basis of real-time state information and emergency vehicle information of the vehicle to generate corresponding early warning structured data which are respectively used for prompting a driver of the vehicle and vehicle monitoring personnel. The emergency vehicle early warning system provided by the invention has strong mobile edge computing capability, provides computing power for road cross-media multi-source heterogeneous information fusion and data processing, and enables data interaction to be more efficient, accurate and low in time delay, so that the accuracy and the real-time performance of emergency vehicle early warning are improved.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to an emergency vehicle early warning system based on a 5G communication architecture and an early warning method thereof.
Background
In order to realize automatic driving of the intelligent vehicle, a 5G road side network system based on mobile edge calculation can be built by relying on 5G communication with low delay, high reliability and large capacity, and meanwhile, a management and control system under a vehicle-road cooperative environment is built. The cooperative vehicle-road can effectively compensate blind points in perception, and the automatic driving is changed from the past individual combat into organized efficient cooperative cooperation. Under the cooperative environment of the vehicle and the road, how to realize data processing of processing flow on each system node, realize perception fusion data processing and high-efficiency, accurate and low-delay data exchange, and provide accurate and rapid emergency vehicle early warning processing for the internet connection vehicle becomes a problem to be solved urgently.
Disclosure of Invention
The invention solves the problems of how to realize data processing on each node of the vehicle-road cooperation system, perception fusion data processing and efficient, accurate and low-delay data exchange in the prior art.
In order to solve the above problems, a first aspect of the present invention provides an emergency vehicle early warning system based on a 5G communication architecture, including a vehicle-mounted end device, a roadside end device and an intelligent network cloud control platform, where the vehicle-mounted end device includes a 5G vehicle-mounted processing unit and a vehicle-mounted prompting unit, the roadside end device includes a roadside acquisition unit, a 5G roadside customer premise equipment, a 5G mobile edge computing unit, and a 5G roadside unit, and where,
the roadside acquisition unit is used for acquiring lane-level real-time video stream data and laser radar point cloud data of a road and sending the video stream data and the point cloud data to roadside client premise equipment;
the roadside customer premise equipment is used for sending the video stream data and the point cloud data to a mobile edge computing unit;
the mobile edge computing unit is used for carrying out fusion processing on the video stream data and the point cloud data, extracting emergency vehicle information in a road, and sending the emergency vehicle information to the road side unit and the intelligent network cloud control platform;
the road side unit is used for sending the emergency vehicle information to the vehicle-mounted processing unit;
the vehicle-mounted processing unit is used for acquiring real-time state information of a vehicle, performing emergency vehicle early warning processing according to the real-time state information of the vehicle and the emergency vehicle information, generating first early warning information and second early warning information, sending the first early warning information to the intelligent network cloud control platform, and sending the second early warning information to the vehicle-mounted prompting unit;
the intelligent network cloud control platform is used for processing the first early warning information and the emergency vehicle information to generate page display information;
and the vehicle-mounted prompting unit is used for generating an early warning prompt according to the second early warning information so as to prompt a driver of the vehicle to avoid an emergency vehicle.
Optionally, the moving edge calculation unit includes:
a fusion processing unit, configured to perform fusion processing on the video stream data and the point cloud data, and generate a structured data frame of an emergency vehicle in a road, where the structured data frame of the emergency vehicle at least includes: the data frame ID, the second-level timestamp and the accurate timestamp of the structured data frame of the emergency vehicle, the node ID of the mobile edge computing unit which issues the structured data frame of the emergency vehicle, the event unique identification ID, the data source type ID, the emergency vehicle type ID, the early warning prompt information ID, the license plate information of the emergency vehicle, the vehicle speed of the emergency vehicle, the current state of the emergency vehicle, the longitude information of the emergency vehicle, the latitude information of the emergency vehicle and the height information of the emergency vehicle;
and the sending unit is used for sending the structured data frame of the emergency vehicle to the road side unit and the intelligent network connection cloud control platform.
Optionally, the moving edge calculation unit further includes: a first normalization module for encapsulating structured data of the emergency vehicle into an RSI message;
the sending unit is further used for sending the RSI message to the road side unit and the intelligent network connection cloud control platform.
Optionally, the first normalization module comprises: the high-precision map module is used for storing map information;
the transmitting unit is further used for transmitting the map information to a road side unit.
Optionally, the on-board processing unit comprises a second standardized module, a short-range wireless communication module, and an emergency vehicle warning processing module, wherein,
the second standardization module is used for carrying out standardization packaging processing on the vehicle real-time state information to generate a vehicle BSM message;
the short-range wireless communication module is used for receiving the RSI message and the map information;
the emergency vehicle early warning processing module is used for performing emergency vehicle early warning processing according to the vehicle BSM message, the RSI message and the map information to generate a structured data frame of first early warning information and a structured data frame of second early warning information, sending the structured data frame of the first early warning information to the intelligent network connection cloud control platform, and sending the structured data frame of the second early warning information to the vehicle-mounted prompting unit.
Optionally, the structured data frame of the first warning information includes: the first early warning information comprises structured data frame ID information, second-level time stamps, accurate time stamps, data source IDs, event unique identification IDs, data source IDs, special vehicle type IDs, prompt information types and emergency vehicle license plate information; and/or the presence of a gas in the gas,
the structured data frame of the second warning information at least comprises: the second early warning information comprises a structured data frame ID, an accurate timestamp, emergency vehicle position information, an emergency vehicle driving attribute, an emergency vehicle direction attribute, an actual distance from the vehicle to the emergency vehicle, a safe distance from the vehicle to the emergency vehicle, a current speed of the emergency vehicle, a road section name of the emergency vehicle and an emergency vehicle steering attribute.
A second aspect of the present invention provides an emergency vehicle warning method applied to the emergency vehicle warning system, including:
the road side acquisition unit acquires lane-level real-time video stream data and laser radar point cloud data of a road and sends the video stream data and the point cloud data to 5G road side customer premise equipment;
the 5G roadside customer premise equipment sends the video stream data and the point cloud data to a 5G mobile edge computing unit;
the 5G mobile edge computing unit performs fusion processing on the video stream data and the point cloud data, extracts emergency vehicle information in a road, and sends the emergency vehicle information to a 5G road side unit and an intelligent network cloud control platform;
the 5G road side unit sends the emergency vehicle information to a 5G vehicle-mounted processing unit;
the 5G vehicle-mounted processing unit acquires real-time state information of a vehicle, carries out emergency vehicle early warning processing according to the real-time state information of the vehicle and the emergency vehicle information, generates first early warning information and second early warning information, sends the first early warning information to the intelligent network cloud control platform, and sends the second early warning information to the vehicle-mounted prompting unit;
the intelligent network cloud control platform processes the first early warning information and the emergency vehicle information to generate page display information;
and the vehicle-mounted prompting unit generates an early warning prompt according to the second early warning information so as to prompt the driver of the vehicle to avoid the emergency vehicle.
Optionally, the 5G vehicle-mounted processing unit obtains real-time state information of a vehicle, performs emergency vehicle early warning processing according to the real-time state information of the vehicle and the emergency vehicle information, generates first early warning information and second early warning information, sends the first early warning information to the intelligent internet cloud control platform, and sends the second early warning information to the vehicle-mounted prompting unit specifically includes:
performing fusion processing on the video stream data and the point cloud data to generate a structured data frame of an emergency vehicle in a road, wherein the structured data frame of the emergency vehicle at least comprises: the data frame ID, the second-level timestamp and the accurate timestamp of the structured data frame of the emergency vehicle, the node ID of the mobile edge computing unit which issues the structured data frame of the emergency vehicle, the event unique identification ID, the data source type ID, the emergency vehicle type ID, the early warning prompt information ID, the license plate information of the emergency vehicle, the vehicle speed of the emergency vehicle, the current state of the emergency vehicle, the longitude information of the emergency vehicle, the latitude information of the emergency vehicle and the height information of the emergency vehicle;
and encapsulating the structured data of the emergency vehicle into RSI information, and sending the RSI information to the road side unit and the intelligent network connection cloud control platform.
Optionally, the 5G vehicle-mounted processing unit obtains real-time state information of a vehicle, performs emergency vehicle early warning processing according to the real-time state information of the vehicle and the emergency vehicle information, generates first early warning information and second early warning information, sends the first early warning information to the intelligent internet cloud control platform, and sends the second early warning information to the vehicle-mounted prompting unit specifically includes:
obtaining the real-time state information of the vehicle, and carrying out standardized packaging processing on the real-time state information of the vehicle to generate a BSM message of the vehicle;
receiving map information and the RSI message;
and performing emergency vehicle early warning processing according to the vehicle BSM message, the RSI message and the map information, generating a structured data frame of first early warning information and a structured data frame of second early warning information, sending the structured data frame of the first early warning information to the intelligent networking cloud control platform, and sending the structured data frame of the second early warning information to the vehicle-mounted prompting unit.
Optionally, the structured data frame of the first warning information includes: structured data frame ID information, second-level time stamps, precision time stamps, data source IDs, event unique identification IDs, data source IDs, special vehicle type IDs, prompt information types, and emergency vehicle license plate information of the first warning information, and/or,
the structured data frame of the second warning information at least comprises: the second early warning information comprises a structured data frame ID, an accurate timestamp, emergency vehicle position information, an emergency vehicle driving attribute, an emergency vehicle direction attribute, an actual distance from the vehicle to the emergency vehicle, a safe distance from the vehicle to the emergency vehicle, a current speed of the emergency vehicle, a road section name of the emergency vehicle and an emergency vehicle steering attribute.
The invention has the beneficial effects that: the emergency vehicle early warning system acquires road video stream data and point cloud data through the road side acquisition unit, transmits the acquired data to the 5G mobile edge calculation unit through the 5G road side customer premise equipment for fusion processing, extracts structured data of an emergency vehicle, and transmits the structured data to the vehicle-mounted unit, and the 5G vehicle-mounted processing unit performs emergency vehicle early warning processing on the basis of real-time state information of the vehicle and emergency vehicle information to generate corresponding early warning structured data which are respectively used for prompting a driver of the vehicle and vehicle monitoring personnel. The embodiment of the invention provides an emergency vehicle early warning system based on a 5G communication architecture, which has strong mobile edge computing capability, provides computing power for road cross-media multi-source heterogeneous information fusion and data processing, enables data interaction to be more efficient, accurate and low in time delay, and improves the accuracy and real-time performance of emergency vehicle early warning.
Drawings
Fig. 1 is a schematic structural diagram of an emergency vehicle warning system based on a 5G communication architecture according to a first embodiment of the present invention;
fig. 2 is a flowchart illustrating an emergency vehicle warning method applied to the emergency vehicle warning system according to the first embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
An embodiment of the present invention provides an emergency vehicle warning system based on a 5G communication architecture, which includes, as shown in fig. 1: the intelligent network cloud control system comprises vehicle-mounted end equipment, roadside end equipment and an intelligent network cloud control platform 6, wherein the vehicle-mounted end equipment comprises a 5G vehicle-mounted processing unit 5, a 5G vehicle-mounted customer premise equipment 7 and a vehicle-mounted prompt unit 8, and the roadside end equipment comprises a roadside acquisition unit 1, a 5G roadside customer premise equipment 2, a 5G mobile edge calculation unit 3 and a 5G roadside unit 4. The road side acquisition unit 1 is used for acquiring lane-level real-time video stream data and laser radar point cloud data of a road, and sending the video stream data and the point cloud data to 5G road side customer premise equipment 2; the 5G roadside customer premise equipment 2 is used for receiving and sending the video stream data and the point cloud data to a 5G mobile edge calculation unit 3; the 5G mobile edge computing unit 3 is used for receiving the video stream data and the point cloud data, performing fusion processing on the video stream data and the point cloud data, extracting emergency vehicle information in a road, and sending the emergency vehicle information to the 5G road side unit 4 and the intelligent network cloud control platform 6; the 5G road side unit 4 is used for receiving and sending the emergency vehicle information to a 5G vehicle-mounted processing unit 5; the 5G vehicle-mounted processing unit 5 is used for acquiring real-time state information of a vehicle, receiving the emergency vehicle information, performing emergency vehicle early warning processing according to the real-time state information and the emergency vehicle information, generating first early warning information and second early warning information, sending the first early warning information to the intelligent network cloud control platform 6, and sending the second early warning information to the vehicle-mounted prompting unit 8 through the 5G vehicle-mounted customer premise equipment 7; the intelligent network cloud control platform 6 is used for receiving the first early warning information and the emergency vehicle information and performing matching processing to generate first prompt information; and the vehicle-mounted prompting unit 8 receives second early warning information, generates an early warning prompt according to the second early warning information, and prompts a driver of the vehicle to carry out emergency vehicle avoidance processing.
The roadside acquisition unit 1 comprises a vehicle-mounted high-definition camera and a laser radar, lane-level real-time video stream data of a road is acquired through the high-definition camera mounted at the front end of a vehicle, and lane-level real-time point cloud data is acquired through the laser radar. Preferably, the real-time video stream is in flv format and the point cloud data is in bin format.
The 5G roadside Customer Premise Equipment 2 serves as 5G terminal Equipment, a 5G communication module is arranged in the 5G terminal Equipment, a 5G internet of things special network card can be inserted, a network port is supported to be connected with front-end Equipment such as a camera and a laser radar, data of the roadside acquisition unit 1 is pushed to the 5G mobile edge calculation unit 3 through 5G GNB, wherein the English name corresponding to the roadside Customer Premise Equipment is Customer Premise Equipment, and is called CPE for short.
The 5G Mobile Edge Computing unit 3 is a high-performance 5G private network server, and an internal integrated perception fusion algorithm module is responsible for performing fusion processing on real-time video stream data and point cloud data, and extracting structured data of an emergency vehicle in the data stream, and an english name corresponding to the Mobile Edge Computing unit is Mobile Edge Computing, MEC for short, wherein a frame of structured data format of the emergency vehicle is shown in the following table 1:
TABLE 1 Emergency vehicle structured data frame Format
Wherein, data frame id: 1 Byte, value range: 0-255, cycling from 0 after each frame id +1 is sent out and 255 are sent out;
second-level time stamping: 4 Byte, unix time accurate to seconds.
Precise time stamping: 2 Byte, the value range is as follows: and 0-1000, which represents the millisecond time of the data frame in the second.
Data source ID: 13Byte, calculating MEC unit node id for the edge of message distribution.
Event unique identification id: 4 Byte, transmit 10-bit Unix timestamp.
The data source is as follows: the intelligent street lamp comprises an electric alarm 0X01, a bayonet 0X02, an intelligent street lamp camera 0X03, microwaves 0X04, geomagnetism 0X05, a laser radar 0X06 and infrared thermal imaging 0X 07.
The special vehicle type: 0X01 ambulance, 0X02 fire truck, 0X03 dangerous for two passengers and one dangerous for one passenger and 0X04 business car, wherein the dangerous for two passengers and one dangerous for one passenger refers to a chartered bus for traveling, more than three classes of passenger buses and special road vehicles for transporting dangerous chemicals, fireworks and crackers and civil explosives.
The type of the prompt message: yield 0X01 ahead, avoid 0X02 ahead.
License plate information: and 9 bytes are the license plate information of the vehicle.
Vehicle speed: 2 Byte, the value range is as follows: 0 to 8191; the default resolution is 0.02 m/s.
The vehicle state: normal 0X01, fire 0X02, fault 0X 03.
Longitude of the emergency vehicle: 4 Byte, the value range is as follows: -1799999999-1800000001; is the original GPS (G84 coordinate system) 10^ 7.
Latitude of the emergency vehicle: 4 Byte, the value range is as follows: -900000000-900000001; is the original GPS (G84 coordinate system) 10^ 7.
Height of emergency vehicle: 4 Byte, the value range is as follows: -900000000-900000001; is the original GPS (G84 coordinate system) 10^ 7.
Preferably, the 5G moving edge calculation unit 3 has a reception unit for receiving the video stream data and the point cloud data, a fusion processing unit, and a transmission unit; the fusion processing unit is used for performing fusion processing on the video stream data and the point cloud data and extracting the structured data of the emergency vehicles in the road, wherein the structured data of one frame of emergency vehicles at least comprises: the emergency vehicle comprises a data frame ID, a second-level timestamp, an accurate timestamp of a structured data frame of the emergency vehicle, a node ID of a 5G mobile edge computing unit 3 which issues the structured data frame of the emergency vehicle, an event unique identification ID, a data source type ID, a special vehicle type ID, early warning prompt information ID, license plate information of the emergency vehicle, the speed of the emergency vehicle, the current state of the emergency vehicle, the longitude information of the emergency vehicle, the latitude information of the emergency vehicle and the height information of the emergency vehicle; the sending unit is used for sending the structured data of the emergency vehicle to the 5G road side unit 4 and the intelligent network cloud control platform 6.
Preferably, the 5G mobile edge computing unit 3 further includes a first standardization module, after the 5G mobile edge computing unit 3 extracts the structured data, the standardization module performs standardization and encapsulation to obtain an RSI message according to data defined in "CSAE 53-2020 cooperative intelligent transportation system for vehicle communication system application layer and application data interaction standard (first stage)" published by the chinese society for automotive engineering, the encapsulation process is sequentially performed by UPER encoding and DSMP encapsulation, please refer to "part 3 of dedicated short-range communication for cooperative intelligent transportation system: network layer and application layer specifications.
Preferably, the first standardization module includes a high-precision map module, the high-precision map module is configured to store map information, and the sending Unit is further configured to send the map information to the 5G roadside Unit 4, where an english name corresponding to the roadside Unit is Road Side Unit, which is referred to as RSU for short.
On one hand, the 5G mobile edge computing unit 3 sends the encapsulated RSI message to the 5G road side unit 4 through the 5G GNB, the 5G road side unit 4 sends the received information to the 5G vehicle-mounted processing unit 5, and on the other hand, the 5G mobile edge computing unit 3 sends the structured data of the emergency vehicle to the intelligent network cloud control platform 6 through the network port.
The 5G road side unit 4 is provided with a wireless short-range communication module, wherein the working frequency of the wireless short-range communication module is 5905-5925 MHZ, the communication system can be DSRC or LTE-V, and the wireless short-range communication module is responsible for broadcasting the packaged RSI message and the MAP message.
By integrating the standard module in the 5G mobile edge computing unit 3, the data processing efficiency can be improved, and the data interaction between the 5G mobile edge computing unit 3 and the 5G roadside unit 4 can be reduced.
It should be noted that the 5G moving edge calculation unit 3 integrated standardization module may also be integrated in the 5G road side unit 4.
The English name corresponding to the 5G vehicle-mounted processing Unit 5 is an On board Unit, OBU for short, wherein the 5G vehicle-mounted processing Unit 5 comprises a second standardized processing module, a wireless short-range communication module and an emergency vehicle early warning algorithm processing module.
The second normalization processing module is configured to perform normalization packaging processing on the vehicle real-time status information to generate a vehicle BSM message, where the vehicle real-time status information specifically includes: the vehicle GPS position information, the vehicle running direction angle information, the vehicle speed, the vehicle running history GPS position information and the like.
The generating of the vehicle BSM message specifically includes: performing UPER coding on the data in ASN format on the original data stream, then encapsulating a data packet header, wherein the format of the packet header adopts DSM encapsulation format, and the encapsulation method refers to the group standard part 3 of short-range communication special for the cooperative intelligent transportation system: network layer and application layer Specification CSAE 157 and 2020 application layer and application data interaction Standard (second stage) of cooperative Intelligent transportation System for vehicles.
The wireless short-range communication module is used for communicating with the 5G road side unit 4, acquiring RSI information and MAP information pushed by the 5G mobile edge calculation unit 3 through the 5G road side unit 4, and realizing real-time storage.
According to the system provided by the embodiment of the invention, the first standardized processing module and the second standardized processing module are arranged, so that the communication data in the system is processed by adopting a standardized format, vehicles of different types and road side end equipment can be well accessed into the system platform to operate, and the compatibility of the system is improved.
The emergency vehicle early warning algorithm processing module performs emergency vehicle early warning processing according to the vehicle BSM message, the RSI message and the map information, generates a structured data frame of first early warning information and a structured data frame of second early warning information, sends the structured data frame of the first early warning information to the cloud control display platform, and sends the structured data frame of the second early warning information to the vehicle-mounted prompting unit 8. The format of the structured data frame of the first warning information is as follows:
table 2 structured data frame format of first warning information
The format of the structured data frame of the second warning information is shown in table 3 below:
table 3 structured data frame format of second early warning information
Wherein, in table 3:
data frame id: 1 Byte, value range: 0-255, cycling from 0 after each frame id +1 is sent out and 255 are sent out;
second-level time stamping: 4 Byte, unix time accurate to seconds.
Precise time stamping: 2 Byte, the value range is as follows: and 0-1000, the millisecond time of the data frame in the second is shown, the time of the data frame splitting 60000 milliseconds in the current minute is shown, and the information precision reaches millisecond level.
Longitude: 4 Byte, the value range is as follows: -1799999999-1800000001; is original GPS 10^ 7.
Latitude: 4 Byte, the value range is as follows: -900000000-900000001; is original GPS 10^ 7.
Height: 2 Byte, the value range is as follows: -4096-61439; original GPS 10.
Emergency vehicle driving attributes: 1 Byte, 0x01 until heel, 0x02 straight lane subtended, 0x03 curve heel, 0x04 curve subtended, 0x05 intersection subtended.
Emergency vehicle orientation attributes: 1 Byte, 0x00 meaningless, 0x01 anterior, 0x02 posterior.
Actual distance from emergency vehicle: 2 Byte, the value range is 0-65535, and the resolution is 1 cm;
safe distance to emergency vehicle: 2 Byte, the value range is 0-65535, and the resolution is 1 cm;
emergency vehicle speed: 1 Byte, value range: 0 to 255, unit: km/h;
name of road section where the emergency vehicle is located: 30 Byte, in UTF-8 format, for example: three routes in the blessing.
Steering attribute of a lane where the emergency vehicle is located: 1 Byte (Byte), the setting of each bit in the Byte is specifically shown in table 4 below:
TABLE 4 Emergency vehicle Turn Attribute settings
A left turn set to 1 indicates that the emergency vehicle is in a left turn lane;
a straight set to 1 indicates that the emergency vehicle is in a straight lane;
a right turn setting of 1 indicates that the emergency vehicle is in a right turn lane;
the turnaround setting is 1, which indicates that the emergency vehicle is in the turnaround lane;
the intelligent network cloud control platform 6 is a service display platform for early warning of the emergency vehicle, the two paths of the 5G mobile edge computing unit 3 and the 5G vehicle-mounted customer premise equipment 7 are used for acquiring the structural data of the emergency vehicle and the structural data of the first early warning prompt information respectively, and the two structural data contain relevant information of the emergency vehicle, so that a page display image is generated after the two structural data are matched in real time and displayed for vehicle monitoring personnel.
The emergency vehicle early warning system provided by the embodiment of the invention acquires road video stream data and point cloud data through the road side acquisition unit, sends the acquired data to the 5G mobile edge calculation unit through the 5G road side customer premise equipment for fusion processing, extracts the structured data of the emergency vehicle, and sends the structured data to the 5G vehicle-mounted processing unit, and the 5G vehicle-mounted processing unit carries out emergency vehicle early warning processing on the basis of the real-time state information and the emergency vehicle information of the vehicle to generate corresponding early warning structured data which are respectively used for prompting a driver of the vehicle and vehicle monitoring personnel. The embodiment of the invention provides an emergency vehicle early warning system based on a 5G communication architecture, which has strong mobile edge computing capability, provides computing power for road cross-media multi-source heterogeneous information fusion and data processing, enables data interaction to be more efficient, accurate and low in time delay, and improves the accuracy and real-time performance of emergency vehicle early warning.
Based on the first embodiment of the present invention, the second embodiment of the present invention provides an emergency vehicle early warning method applied to the emergency vehicle early warning system, as shown in fig. 2, the method includes:
s1, the road side acquisition unit acquires lane level real-time video stream data and laser radar point cloud data of a road, and sends the video stream data and the point cloud data to 5G road side customer premise equipment;
s2, the 5G roadside customer premise equipment sends the video stream data and the point cloud data to a 5G mobile edge calculation unit;
s3, the 5G mobile edge computing unit performs fusion processing on the video stream data and the point cloud data, extracts emergency vehicle information in a road, and sends the emergency vehicle information to a 5G road side unit and an intelligent network cloud control platform;
s4, the 5G road side unit sends the emergency vehicle information to a 5G vehicle-mounted processing unit;
s5, the 5G vehicle-mounted processing unit acquires real-time state information of the vehicle, carries out emergency vehicle early warning processing according to the real-time state information of the vehicle and the emergency vehicle information, generates first early warning information and second early warning information, sends the first early warning information to an intelligent network cloud control platform, and sends the second early warning information to a vehicle-mounted prompting unit;
s6, the intelligent networking cloud control platform processes the first early warning information and the emergency vehicle information to generate page display information; and the vehicle-mounted prompting unit generates an early warning prompt according to the second early warning information so as to prompt the driver of the vehicle to avoid the emergency vehicle.
Wherein, step S5 specifically includes:
performing fusion processing on the video stream data and the point cloud data to generate a structured data frame of an emergency vehicle in a road, wherein the structured data frame of the emergency vehicle at least comprises: the data frame ID, the second-level timestamp and the precise timestamp of the structured data frame of the emergency vehicle, the node ID of the 5G mobile edge computing unit which issues the structured data frame of the emergency vehicle, the event unique identification ID, the data source type ID, the emergency vehicle type ID, the early warning prompt information ID, the license plate information of the emergency vehicle, the vehicle speed of the emergency vehicle, the current state of the emergency vehicle, the longitude information of the emergency vehicle, the latitude information of the emergency vehicle and the height information of the emergency vehicle;
and encapsulating the emergency vehicle structured data into RSI information, and sending the RSI information to the 5G road side unit and the intelligent network cloud control platform.
Step S5 specifically includes:
obtaining the real-time state information of the vehicle, and carrying out standardized packaging processing on the real-time state information of the vehicle to generate a BSM message of the vehicle;
receiving the RSI message and map information;
and performing emergency vehicle early warning processing according to the vehicle BSM message, the RSI message and the map information to generate a structured data frame of first early warning information and a structured data frame of second early warning information, sending the structured data frame of the first early warning information to the intelligent networking cloud control platform, and sending the structured data frame of the second early warning information to a vehicle-mounted prompting unit.
Wherein the structured data frame of the first warning information comprises: structured data frame ID information, second-level time stamp, precise time stamp, data source ID, event unique identification ID, data source ID, special vehicle type ID, prompt information type and emergency vehicle license plate information of the first early warning information, and/or structured data frame of the second early warning information at least comprises: the second early warning information comprises a structured data frame ID, an accurate timestamp, emergency vehicle position information, an emergency vehicle driving attribute, an emergency vehicle direction attribute, an actual distance from the vehicle to the emergency vehicle, a safe distance from the vehicle to the emergency vehicle, a current speed of the emergency vehicle, a road section name of the emergency vehicle, and an emergency vehicle steering attribute.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. An emergency vehicle warning system based on a 5G communication architecture, comprising: the system comprises vehicle-mounted end equipment, road side end equipment and an intelligent network cloud control platform (6), wherein the vehicle-mounted end equipment comprises a 5G vehicle-mounted processing unit (5), 5G vehicle-mounted customer premise equipment (7) and a vehicle-mounted prompting unit (8), the road side end equipment comprises a road side acquisition unit (1), 5G road side customer premise equipment (2), a 5G mobile edge calculation unit (3) and a 5G road side unit (4),
the road side acquisition unit (1) is used for acquiring lane-level real-time video stream data and laser radar point cloud data of a road and sending the video stream data and the point cloud data to the 5G road side customer premise equipment (2), wherein the 5G road side customer premise equipment (2) is 5G CPE equipment;
the 5G roadside customer premise equipment (2) is used for sending the video stream data and the point cloud data to the 5G mobile edge computing unit (3) through a 5G GNB, wherein the 5G mobile edge computing unit (3) is a 5G MEC device;
the 5G mobile edge computing unit (3) is used for carrying out fusion processing on the video stream data and the point cloud data, extracting emergency vehicle information in a road, sending the emergency vehicle information to the 5G road side unit (4) through a 5G GNB, and sending the emergency vehicle information to the intelligent network cloud control platform (6) through a network port;
the 5G road side unit (4) is used for sending the emergency vehicle information to the 5G vehicle-mounted processing unit (5), wherein the 5G road side unit (4) is a 5G road side RSU unit;
the 5G vehicle-mounted processing unit (5) is used for acquiring real-time state information of a vehicle, performing emergency vehicle early warning processing according to the real-time state information of the vehicle and the emergency vehicle information, generating first early warning information and second early warning information, sending the first early warning information to the intelligent network interconnection cloud control platform (6) through the 5G vehicle-mounted customer premise equipment (7), and sending the second early warning information to the vehicle-mounted prompting unit (8);
the intelligent network cloud control platform (6) is used for processing the first early warning information and the emergency vehicle information to generate page display information, wherein the emergency vehicle information is a structured data frame of an emergency vehicle, and the structured data frame of the emergency vehicle at least comprises: the data frame ID, the second-level timestamp and the precise timestamp of the structured data frame of the emergency vehicle, the node ID of the 5G mobile edge computing unit (3) which issues the structured data frame of the emergency vehicle, the event unique identification ID, the data source type ID, the emergency vehicle type ID, the early warning prompt information ID, the license plate information of the emergency vehicle, the speed of the emergency vehicle, the current state of the emergency vehicle, the longitude information of the emergency vehicle, the latitude information of the emergency vehicle and the height information of the emergency vehicle; the first warning information includes: the first early warning information comprises structured data frame ID information, second-level time stamps, accurate time stamps, data source IDs, event unique identification IDs, data source IDs, special vehicle type IDs, prompt information types and emergency vehicle license plate information;
and the vehicle-mounted prompting unit (8) is used for generating an early warning prompt according to the second early warning information so as to prompt a driver of the vehicle to avoid an emergency vehicle.
2. The system according to claim 1, wherein the 5G moving edge calculation unit (3) comprises:
the fusion processing unit is used for performing fusion processing on the video stream data and the point cloud data to generate a structured data frame of an emergency vehicle in a road;
and the sending unit is used for sending the structured data frame of the emergency vehicle to the 5G road side unit (4) and the intelligent network cloud control platform (6).
3. The system according to claim 2, wherein the 5G moving edge calculation unit (3) further comprises: a first normalization module for encapsulating structured data of the emergency vehicle into an RSI message;
the sending unit is further used for sending the RSI message to the 5G road side unit (4) and the intelligent network cloud control platform (6).
4. The system of claim 3, wherein the first normalization module comprises: the high-precision map module is used for storing map information;
the transmitting unit is also used for transmitting the map information to the 5G road side unit (4).
5. The system according to claim 4, characterized in that said 5G onboard processing unit (5) comprises a second standardized module, a short-range wireless communication module and an emergency vehicle warning processing module, wherein,
the second standardization module is used for carrying out standardization packaging processing on the vehicle real-time state information to generate a vehicle BSM message;
the short-range wireless communication module is used for receiving the RSI message and the map information;
the emergency vehicle early warning processing module is used for performing emergency vehicle early warning processing according to the vehicle BSM message, the RSI message and the map information, generating a structured data frame of the first early warning information and a structured data frame of the second early warning information, sending the structured data frame of the first early warning information to the intelligent internet cloud control platform (6), and sending the structured data frame of the second early warning information to the vehicle-mounted prompting unit (8).
6. The system of claim 5, wherein:
the structured data frame of the second warning information at least comprises: the second early warning information comprises a structured data frame ID, an accurate timestamp, emergency vehicle position information, an emergency vehicle driving attribute, an emergency vehicle direction attribute, an actual distance from the vehicle to the emergency vehicle, a safe distance from the vehicle to the emergency vehicle, a current speed of the emergency vehicle, a road section name of the emergency vehicle and an emergency vehicle steering attribute.
7. An emergency vehicle warning method applied to the emergency vehicle warning system according to any one of claims 1 to 6, comprising:
the road side acquisition unit (1) acquires lane level real-time video stream data and laser radar point cloud data of a road, and sends the video stream data and the point cloud data to 5G road side customer premise equipment (2), wherein the 5G road side customer premise equipment (2) is 5G CPE equipment;
the 5G roadside customer premise equipment (2) sends the video stream data and the point cloud data to a 5G mobile edge computing unit (3) through a 5G GNB, wherein the 5G mobile edge computing unit (3) is a 5G MEC device;
the 5G mobile edge computing unit (3) performs fusion processing on the video stream data and the point cloud data, extracts emergency vehicle information in a road, sends the emergency vehicle information to the 5G road side unit (4) through a 5G GNB, and sends the emergency vehicle information to the intelligent network connection cloud control platform (6) through a network port;
the 5G road side unit (4) sends the emergency vehicle information to a 5G vehicle-mounted processing unit (5), wherein the 5G road side unit (4) is a 5G road side RSU unit;
the 5G vehicle-mounted processing unit (5) acquires real-time state information of a vehicle, carries out emergency vehicle early warning processing according to the real-time state information of the vehicle and the emergency vehicle information, generates first early warning information and second early warning information, sends the first early warning information to the intelligent network cloud control platform (6) through 5G vehicle-mounted customer premise equipment (7), and sends the second early warning information to the vehicle-mounted prompting unit (8);
the intelligent network cloud control platform (6) processes the first early warning information and the emergency vehicle information to generate page display information; wherein the emergency vehicle information is a structured data frame of an emergency vehicle, and the structured data frame of the emergency vehicle at least comprises: the data frame ID, the second-level timestamp and the precise timestamp of the structured data frame of the emergency vehicle, the node ID of the 5G mobile edge computing unit (3) which issues the structured data frame of the emergency vehicle, the event unique identification ID, the data source type ID, the emergency vehicle type ID, the early warning prompt information ID, the license plate information of the emergency vehicle, the speed of the emergency vehicle, the current state of the emergency vehicle, the longitude information of the emergency vehicle, the latitude information of the emergency vehicle and the height information of the emergency vehicle; the first warning information includes: the first early warning information comprises structured data frame ID information, second-level time stamps, accurate time stamps, data source IDs, event unique identification IDs, data source IDs, special vehicle type IDs, prompt information types and emergency vehicle license plate information;
and the vehicle-mounted prompting unit (8) generates an early warning prompt according to the second early warning information so as to prompt the driver of the vehicle to avoid the emergency vehicle.
8. The method according to claim 7, wherein the 5G vehicle-mounted processing unit (5) obtains real-time state information of a vehicle, performs emergency vehicle early warning processing according to the real-time state information of the vehicle and the emergency vehicle information, generates first early warning information and second early warning information, sends the first early warning information to the intelligent internet cloud control platform (6), and sends the second early warning information to a vehicle-mounted prompting unit (8), specifically comprising:
fusing the video stream data and the point cloud data to generate a structured data frame of the emergency vehicle in the road;
and encapsulating the structured data of the emergency vehicle into RSI messages, and sending the RSI messages to 5G of the road side unit (4) and the intelligent network cloud control platform (6).
9. The method according to claim 8, wherein the 5G vehicle-mounted processing unit (5) obtains real-time state information of a vehicle, performs emergency vehicle early warning processing according to the real-time state information of the vehicle and the emergency vehicle information, generates first early warning information and second early warning information, sends the first early warning information to the intelligent internet cloud control platform (6), and sends the second early warning information to a vehicle-mounted prompting unit (8), specifically comprising:
obtaining the real-time state information of the vehicle, and carrying out standardized packaging processing on the real-time state information of the vehicle to generate a BSM message of the vehicle;
receiving map information and the RSI message;
and performing emergency vehicle early warning processing according to the vehicle BSM message, the RSI message and the map information to generate a structured data frame of first early warning information and a structured data frame of second early warning information, sending the structured data frame of the first early warning information to the intelligent networking cloud control platform (6), and sending the structured data frame of the second early warning information to the vehicle-mounted prompting unit (8).
10. The method of claim 9, wherein:
the structured data frame of the second warning information at least comprises: the second early warning information comprises a structured data frame ID, an accurate timestamp, emergency vehicle position information, an emergency vehicle driving attribute, an emergency vehicle direction attribute, an actual distance from the vehicle to the emergency vehicle, a safe distance from the vehicle to the emergency vehicle, a current speed of the emergency vehicle, a road section name of the emergency vehicle and an emergency vehicle steering attribute.
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