CN113747388B - Emergency communication method for vehicle - Google Patents
Emergency communication method for vehicle Download PDFInfo
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- CN113747388B CN113747388B CN202111016839.0A CN202111016839A CN113747388B CN 113747388 B CN113747388 B CN 113747388B CN 202111016839 A CN202111016839 A CN 202111016839A CN 113747388 B CN113747388 B CN 113747388B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
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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]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention provides an emergency communication method of vehicles, which is used for a multi-user collaborative interactive navigation and emergency control system, and realizes the autonomous communication function between vehicles and a cloud information processing unit and between vehicles by constructing a vehicle queue, establishes a surrounding vehicle queue list and performs information sharing integration, and realizes the functions of camera image and vehicle state sharing, automatic emergency information distribution, surrounding environment information review of vehicles in front and the like between anonymous vehicles running on the same road section. The method is applied to an emergency control system, can automatically transfer danger avoidance information and surrounding images of nearby vehicles, solves the user requirements that the foggy weather is in continuous collision, danger avoidance is delayed, traffic jam is not known about the road conditions in front, emergency communication is absent from sudden disasters, pictures cannot be shared in communication interruption areas, and the like, is used for finding blind area obstacles of the vehicles and navigation and emergency communication of the vehicles, and provides front real-time video and image information for users when the vehicles are seriously blocked.
Description
Technical Field
The invention belongs to the field of automobile navigation, automatic driving emergency risk avoidance and image interaction, and particularly relates to a multi-user collaborative interactive navigation and emergency control technology.
Background
In automatic driving, in order to improve the running safety of vehicles, it is necessary to manage the vehicles in a train, control braking, and share information between the vehicles.
The prior art has the following patent information disclosures related to fleet management, automatic driving and unmanned aerial vehicle control: for example, CN202010234623.0 discloses a vehicle team intersection obstacle avoidance control method based on a multi-level leader pigeon group theory, CN201810818222.2 discloses an intelligent network traffic management system oriented to mobile sharing, CN201280069382.2 discloses a method and equipment for collective navigation, and the like, which cannot be used for emergency traffic accident avoidance, do not have functions of image information sharing and the like, and some lack information communication among vehicles, and some are centralized decision-making and not distributed control, and these technologies cannot solve the user requirements of early-stage collision avoidance hysteresis, traffic jam incapability of knowing front road conditions, emergency communication lack in emergency disasters, incapability of sharing pictures in communication interruption areas and the like in foggy days, cannot effectively feed back to rear vehicles through recognition of road abnormal conditions, remind the rear vehicles of finding obstacles or vehicles in blind areas, and provide support for the avoidance and rescue information transmission in emergency traffic accidents.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a vehicle emergency communication method which is used for a multi-user collaborative interactive navigation and emergency control system, and performs information sharing integration through a surrounding vehicle queue list established by the system, so that functions of sharing camera images and vehicle states, automatically distributing emergency information, consulting surrounding environment information of a front vehicle and the like among anonymous vehicles running on the same road section are realized, the vehicle emergency communication method is used for a navigation system and an emergency communication system for finding blind areas of the vehicle and the vehicle, and provides front real-time video and image information for a user when the vehicle is seriously blocked, and reference advice is provided for the user.
The technical scheme of the invention is as follows:
the emergency communication method for the vehicle is used for a multi-user collaborative interactive navigation and emergency control system and is characterized by comprising a vehicle-end information processing unit and an information transmission unit, wherein emergency information is sent and received in an emergency communication mode during emergency communication, and the method comprises the following steps of:
(1) The vehicle-end information processing unit acquires surrounding environment information through the environment sensing sensor and confirms the running state of the vehicle.
(2) Judging whether the vehicle collides, if so, entering the next step, and if not, entering the step (5).
(3) The information transmission unit judges whether network connection exists, if yes, the next step is carried out, and if not, the step (7) is carried out.
(4) And sending a rescue request signal through the eCall or the mobile network, and then emptying the cache.
(5) Judging whether other vehicle rescue data are cached, if so, entering the next step, and if not, ending.
(6) And (3) judging whether the cached data is within the set time, if so, returning to the step (3), and if not, emptying the cache.
(7) Judging whether the user inputs a new message, if so, entering the next step, and if not, entering the step (9).
(8) And updating the user message of the vehicle.
(9) Judging whether the surrounding vehicle queues can be accessed wirelessly, if yes, entering the next step, and if no, entering the dormancy.
(10) And transmitting the user buffer information, the position, the driving path, the surrounding vehicle photos and other fault information of the vehicle to surrounding vehicle buffer.
(11) Inquiring whether surrounding vehicles have messages sent to the vehicle by the cloud, if so, entering the next step, and if not, entering the dormancy.
(12) The request message propagates, plays the message to the user, and then goes to sleep.
(13) After waiting for a period of time, the method enters step (3) again.
Further, the vehicle-end information processing unit is configured on each vehicle, and is used for each vehicle to establish a current vehicle surrounding environment model according to the environment information detected by the environment sensing sensor of the vehicle or the information such as the images transmitted by other vehicles, the vehicle surrounding environment model generated after processing, data, alarm, emergency instructions and the like, compare the current vehicle surrounding environment model with the known data, perform positioning, navigation, prediction and decision, transmit the information required by other control units and send control instructions.
The information transfer unit is further used for carrying out low-time-delay communication between the vehicle and other surrounding vehicles through a private Bluetooth, wiFi or 5G data transmission protocol, transmitting the information processed by the vehicle-end information processing unit, and carrying out information transfer between the vehicle and the cloud platform through the mobile internet; when the surrounding network of the vehicle with collision or failure is not connected, information is repeatedly transmitted between the vehicle with collision or failure and the cloud server in an information caching and relay communication mode, and information sharing operation is carried out when the network connection is normal.
Further, the information transmission unit performs information buffering and relay communication in the following specific ways: the method comprises the steps that a collision or fault vehicle transmits current vehicle state and position information to surrounding vehicles passing through, surrounding vehicles cache and transmit the current vehicle state and position information to vehicles running faster or vehicles in front of the surrounding vehicles for caching and transmitting until the vehicles with the cached information run to a network position, the information is uploaded to a cloud server, the cloud server pushes information cache to nearby vehicles through a background according to current rescue progress and inquiry content, the vehicles with the cached information search for the fault vehicles when reaching the nearby designated positions, and the cache data are transmitted to the fault vehicles.
Further, when the vehicle collides, the information transmission unit transmits information such as time, place and the like of the collision to surrounding vehicles and/or cloud servers through the vehicle-end information transmission unit; when the vehicle breaks down, the fault vehicle transmits fault information such as the vehicle position, the driving path, the surrounding photos of the vehicle and the like to surrounding vehicles and/or cloud servers through the vehicle end information transmission unit.
Further, the vehicle-end information processing unit is further used for receiving and integrating information such as videos transmitted by surrounding vehicles in real time, establishing a 3D model around the vehicles, attaching real-time video images, and realizing perspective navigation interfaces on a navigation map so as to perspective the surrounding vehicles and find the states of the vehicles and obstacles in all dead zones of front, rear, left and right.
From the above technical solutions, the present invention is mainly considered from the following aspects:
some vehicles on the road have an automatic driving function, and can sense the surrounding road environment, but road condition information of blind areas shielded by surrounding vehicles or outside the sensing range is required to be provided by other vehicles. And the vehicles with no automatic driving function on the road can acquire the traffic road information uploaded by surrounding automatic driving vehicles through the cloud to acquire prompts and driving suggestions in partial emergency.
The signal transmission between the automatic driving vehicle and the vehicle or road user without the automatic driving function can be realized by connecting the cloud information processing unit or the navigation software server through 4G and 5G, and the 5G, wiFi and Bluetooth directly establish point-to-point communication with surrounding vehicles to transmit information.
The communication between the automatic driving vehicle and the intelligent traffic infrastructure is established through a V2X technology or a cloud information processing unit.
The application scene of the invention is as follows:
the vehicles running at high speed can be blocked by the front vehicles and can not find some obstacles, when the front vehicles avoid emergently, the rear vehicles react untimely and can cause accidents, the vehicles need to share the vision of vehicle images, and the view of the rear vehicles is widened, so that the accidents are avoided.
When the large fog weather can not identify the front vehicle fault to break down or avoid the interlink collision in time, the rear vehicle needs to be reminded of emergency braking in time so as to avoid the interlink collision.
When traffic jam occurs on roads in the period of five-one, national celebration and spring festival, the reason of front traffic jam is not clear for the rear vehicle, the passing time required for restoration smoothness cannot be estimated in time, the traffic jam is caused by the fact that the driver is blocked behind due to the fact that the driver is not right to adjust the driving route, and the support is provided for decision making of the driver by timely sharing live videos or images of the front traffic jam.
When emergency such as acute diseases occurs in the traffic jam area, the driver is unfamiliar with other surrounding drivers, and the information transmission speed is low, so that the driver needs to ask for help to the surrounding traffic jam vehicles in time.
When dangerous chemical vehicles leak or burn due to traffic accidents, the rear vehicles are not clear of the scene conditions, so that the escape time is delayed, the images of the scene of the front accidents need to be shared in time, and warning is provided for the emergency avoidance of the rear vehicles.
When accidents such as rollover and anchoring of the vehicle occur in an area without network signals, a vehicle rescue request cannot be sent out, and a possibly driven vehicle cannot find an accident vehicle and miss rescue time, information such as a vehicle track, a state before the accident, a recording of a period of time after the accident, a conversation recording of a driver and a voice assistant and the like needs to be actively shared in time, and the information is cached and transported to the area with the network by virtue of surrounding vehicles to be uploaded to a cloud rescue platform, so that guidance is provided for timely rescue.
The invention has the following technical effects:
the invention is applied to a multi-user collaborative interactive navigation and emergency control system, and constructs a vehicle queue through matching with other functional units of the system, realizes the autonomous communication function between the vehicle and a cloud information processing unit and between the vehicles, establishes a surrounding vehicle queue list and performs information sharing integration, the functions of sharing camera images and vehicle states, automatically distributing emergency information, consulting surrounding environment information of vehicles in front and the like among anonymous vehicles running on the same road section are realized, the queue based on the vehicle positions can be used for automatically transmitting danger avoidance information and surrounding images of nearby vehicles, and the user demands that the vehicles are in continuous collision in foggy days, danger avoidance is delayed, traffic jam is not known about the road conditions in front, emergency communication is absent in sudden disasters, pictures cannot be shared in communication interruption areas and the like are solved. The invention can be used for a navigation system and an emergency communication system for finding blind area obstacles and vehicles, provides front real-time video and image information for users when the vehicles are seriously blocked, provides reference suggestions for the users, and improves the capability of finding safety risks and avoiding accidents for surrounding vehicle drivers.
Drawings
Fig. 1 is a schematic diagram of the hardware configuration of the emergency control system according to the present invention.
FIG. 2 is a schematic illustration of emergency evacuation in the event of a collision;
in the figure, S101, S105, S107, S106, S108, S109, S1010 are each one vehicle in the queue; s102 is the number of the vehicle, and the number of the other vehicles around is given by the single vehicle itself with a symbol related to the own traveling direction, "+" indicates forward direction and "-" indicates backward direction. S104 is the collision accident occurrence position.
FIG. 3 is a schematic diagram of network-free coverage area information cache transportation;
in the figure, S203 is a cloud server monitored by a customer service person; s201 represents a cloud end transmitting data link, S204 represents a relay information uploading link; s202 and S205 are areas covered by a mobile communication network; s206, S207, S208, S209, S210, S211, S212, S213, S214 are vehicles traveling on the road; s215 denotes the number of the vehicle, and the faulty vehicle sequentially numbers the surrounding vehicles in the traveling direction and in the front and rear directions. The front vehicles running in the same direction are numbered vr+n, n=1, 2 and 3 … …; the rear vehicles running in the same direction are numbered VR-n, n=1, 2 and 3 … …; the front vehicle running in the reverse direction is numbered vl+n, n=1, 2, 3 … …; the rear vehicles traveling in the reverse direction are numbered VL-n, n=1, 2, 3 … ….
Fig. 4 is a logic block diagram of the emergency communication of the present invention.
FIG. 5 is a logic block diagram of emergency information transfer at the vehicle end of the emergency control system.
FIG. 6 is a logic block diagram of a cloud information processing unit of the emergency control system.
Detailed Description
The invention is further illustrated in the following, taken in conjunction with the accompanying drawings:
the automatic driving automobile related to the emergency control system is provided with various environmental sensors, such as a laser radar, a millimeter wave radar, an ultrasonic radar, a camera and the like, navigation equipment, signals of the sensors are transmitted to each controller through a CAN bus and a vehicle-mounted Ethernet bus, and a driving domain controller fuses information provided by each sensor to make decisions, controls functions of steering, braking, power and the like of the automobile and realizes automatic driving of various scenes.
Specifically, referring to fig. 1, hardware required for the full-function operation of the emergency control system includes at least one driving controller with a redundant function, at least two laser radars, six millimeter wave high-definition 4D image radars, four panoramic cameras, six looking-around cameras, a high-precision navigation controller, a near-middle-distance combined front-view camera and a vehicle-mounted communication terminal. The system has the advantages that part of functions can transmit important information to surrounding vehicle terminals or mobile terminals using networking navigation programs through the cloud information processing unit, so that the capability of surrounding vehicle drivers to find safety risks and avoid accidents is improved.
In a specific embodiment, the multi-user collaborative interactive navigation and emergency control system comprises the following functional units:
the vehicle queue establishing unit is used for receiving the position information sent by the vehicles regularly in real time and establishing the queues of other surrounding vehicles for each vehicle through the vehicle positioning information, the navigation planning and the short-distance V2X communication system.
The vehicle queue establishing unit can independently operate at the vehicle end and the cloud end, and is mutually synchronous in real time, and the cloud end assists in maintenance. And at the vehicle end, the road field queue information is processed in real time, a list is queried when the cloud end is used for issuing early warning information, and part of cloud information sources come from a cloud platform of a third party and can be used as vehicle end information supplement.
The vehicle end information processing unit is configured on each vehicle, adopts distributed processing and is used for each vehicle to acquire information according to the environment sensing sensor of the vehicle or receive information such as images transmitted by other vehicles, models generated after processing (information such as data, alarm and emergency instructions) and the like;
the information transfer unit is used for carrying out low-time-delay communication between the vehicle and other vehicles around hundreds of meters through a private Bluetooth, wiFi or 5G data transmission protocol, transmitting the information processed by the vehicle-end information processing unit, and carrying out information transfer between the vehicle and the cloud platform through a mobile internet; when the network is not connected, information caching transportation operation is carried out, and when the network connection is normal, information sharing operation is carried out;
the information caching and transporting unit is used for repeatedly transmitting information between the vehicle with collision or failure and the cloud server in an information caching and relay communication mode when the surrounding network of the vehicle with collision or failure is not connected;
the cloud information processing unit is configured in the cloud server and is used for receiving and processing vehicle information and comprises: when the vehicle collision information is received, pushing an early warning instruction to an in-vehicle APP such as a rear vehicle navigation map; after the vehicle fault information is received, the audio and video of the surroundings of the fault vehicle or the accident vehicle are remotely checked through a network, the driving parameters and paths before the vehicle accident are analyzed, the rescue scheme is determined, and the current rescue progress, inquiry content, the rescue scheme and the like are pushed to the vehicles with the network nearby.
Emergency avoidance in the event of a collision referring to fig. 2, vehicles V0 in the fleet, each vehicle having its own number V0 in the fleet; surrounding vehicles, vehicle numbers v+n, n=1, 2, 3 … … in front of the vehicle running direction; vehicle number V-n, n=1, 2, 3 … …. When the vehicle collides, information such as time, place and the like of the collision is transmitted to surrounding vehicles through a network, so that the vehicles execute control such as reminding, decelerating, braking, queuing and passing.
Network coverage area free information cache transport referring to fig. 3, a faulty vehicle V0, each vehicle in the fleet considers itself to be V0; the front vehicles running in the same direction are numbered vr+n, n=1, 2 and 3 … …; the rear vehicles running in the same direction are numbered VR-n, n=1, 2 and 3 … …; the front vehicle running in the reverse direction is numbered vl+n, n=1, 2, 3 … …; the rear vehicles running in the reverse direction are numbered VL-n, n=1, 2, 3 … …; the fault vehicle transmits information such as vehicle position, driving path, vehicle surrounding photo and the like to surrounding vehicle cache through a wireless network, the surrounding vehicle is driven to a position with a mobile network, the information is uploaded to a server, after receiving the fault information, a customer service personnel can push information cache to nearby vehicles through a background according to current rescue progress and inquiry content, search for the fault vehicle when the fault vehicle reaches the vicinity of a designated position, and transmit cache data to the fault vehicle.
The part of the electrical appliance architecture of the emergency control system is that a navigation satellite antenna provides navigation position signals to be transmitted to vehicle-mounted multimedia equipment, a camera provides images of the surrounding environment of the vehicle to the vehicle-mounted multimedia equipment, and a 4G/5G/WiFi module built in the vehicle-mounted multimedia provides a network communication function; when the network is not connected, performing caching operation, and when the network connection is normal, performing sharing operation; the driver interacts through the vehicle-mounted multimedia terminal, and the vehicles are connected through special 5G, bluetooth and WiFi protocols so as to transmit data with vehicles or mobile terminals which do not support V2X for other road users; each vehicle is in wireless connection with a cloud end, and the cloud end server processes and distributes data according to legal and legal requirements, privacy protection anonymization processing and image processing.
In a further embodiment, when the vehicle collides and avoids danger, the vehicle establishes a vehicle queue based on positioning information of a navigation system, when one of the vehicles collides, voice prompt information is immediately pushed to surrounding users through communication modes such as a server, 4G/5G, bluetooth, wiFi and the like of a navigation map provider, the coming vehicle behind the vehicle is reminded to be braked immediately, and a brake lamp is flash to remind the vehicle behind.
In a further embodiment, during information caching transportation, the fault vehicle transmits current vehicle state and position information to surrounding vehicles, the surrounding vehicles transmit the received information to vehicles running faster or vehicles ahead because of no network until the vehicles with the information cached are driven to a network position, and the information is uploaded to a cloud server and submitted to customer service personnel. After receiving the fault information, the customer service personnel can push information cache to nearby vehicles through the background according to the current rescue progress and the query content, search for the fault vehicle when the information cache reaches the vicinity of the designated position, transmit the cache data to the fault vehicle, query personnel in the vehicle through a voice system on the vehicle, acquire answers and then try to transmit the answers to the answers through the relay communication mode.
In a further embodiment, when a vehicle collides, the collided vehicle transmits information such as time, place and the like of collision to surrounding vehicles and a cloud information processing unit through a vehicle-mounted communication terminal, and the cloud information processing unit pushes an early warning instruction to an in-vehicle APP such as a rear vehicle navigation map; the early warning instruction comprises: for a close-range vehicle, controlling the vehicle to execute a command of forced deceleration or emergency braking so as to prompt a user and avoid secondary injury caused by chain collision; and controlling an instruction of immediately lighting a brake lamp when the vehicle approaches to the rear of the road, and guiding a user to slow down and avoid obstacles through images and sounds of a head-up display system or an instrument display screen.
In a further embodiment, when the traffic lane is narrowed after the vehicle collides or under the condition of temporary road sealing construction of a road or the like, if the road condition allows limited traffic lane to pass, the queue system informs the rear vehicle that the vehicle does not need to overtake or change lanes at the road section, avoids the traffic lane with accidents, and the traffic efficiency is improved by queuing the traffic lane sections at a constant speed according to the number of the traffic lanes in sequence in the running process at a certain distance from the accident road section.
In a further embodiment, the system establishes a fast sharing network of the vehicle queue through bluetooth, wiFi, 5G or a mobile network based on the running direction provided by the RTK, GNSS positioning, inertial navigation sensor and navigation software, and the network distributes data through a cloud information processing unit by connecting bluetooth, wiFi, 5G or a mobile terminal private network of a plurality of users in series, or distributes data through a third party cloud information processing unit such as a WeChat, a Goldmap and the like. The user can set to start/close and share own running recorder, 360 panoramic current images, millimeter wave radar and laser radar in the vehicle-mounted entertainment information terminal incall, when a request is made around, data are transmitted through a private WiFi, 5G protocol or cloud information processing unit, one compressed picture is updated every second, sharing among a plurality of WiFi or 5G terminals is supported, and no network area is supported to collect and cache information for distribution or relay forwarding.
Referring to fig. 4, this embodiment shows the steps of sending and receiving emergency information by using an emergency communication mode when the vehicle end information processing unit and the information buffer transportation unit are in emergency communication at the vehicle end:
1. and acquiring surrounding environment information through an environment sensing sensor, and confirming the running state of the vehicle.
2. Judging whether the vehicle collides, if so, entering the next step, and if not, entering the step (5).
3. Judging whether network connection exists, if so, entering the next step, and if not, entering the step (7).
4. And sending a rescue request signal through the eCall or the mobile network, and then emptying the cache.
5. Judging whether other vehicle rescue data are cached, if so, entering the next step, and if not, ending.
6. And judging whether the cached data is within a set time (24 hours), if so, returning to the step (3), and if not, emptying the cache.
7. Judging whether the user inputs a new message, if so, entering the next step, and if not, entering the step (9).
8. And updating the user message of the vehicle.
9. Judging whether the surrounding vehicle queues can be accessed wirelessly, if yes, entering the next step, and if no, entering the dormancy.
10. And transmitting the user buffer information, the position, the driving path, the surrounding vehicle photos and other fault information of the vehicle to surrounding vehicle buffer.
11. Inquiring whether surrounding vehicles have messages sent to the vehicle by the cloud, if so, entering the next step, and if not, entering the dormancy.
12. The request message propagates, plays the message to the user, and then goes to sleep.
13. After waiting for a period of time, the method enters step (3) again.
Referring to fig. 5, in a further embodiment, when the vehicle side, the vehicle queue establishment unit and the vehicle side information processing unit perform emergency information processing, the following steps are performed:
1. the method comprises the steps of connecting with a cloud server through a network to obtain a surrounding vehicle list;
2. the method comprises the steps of connecting with other vehicles in a vehicle queue through a network, and synchronizing queue information;
3. acquiring surrounding environment information through an environment sensing sensor, and confirming the running state of the vehicle;
4. confirming whether the vehicle owner authorizes the third party to use the information, if so, entering the step (5), and if not, entering the step (8);
5. anonymizing vehicle information, in-vehicle video and audio information according to the authorized range and laws and regulations;
6. judging whether a surrounding queue vehicle exists or not, and the cloud information processing unit requests to acquire information such as surrounding images of the vehicle, if so, entering a step (7), and if not, entering a step (8);
7. providing data through a network and synchronizing the data through a cloud information processing unit;
8. requesting surrounding vehicles for transmitting information such as images, models generated after processing, data, emergency instructions and the like;
9. judging whether data feedback is obtained, if so, entering a step (10), and if not, entering a step (11);
10. synthesizing and displaying real-time videos of road scenes of vehicles around perspective; wherein the risk-free vehicle and the obstacle that do not require attention from the driver are displayed as semi-transparent outlines;
11. judging whether pedestrians, non-motor vehicles, barriers, animals, road conditions are damaged or not; if yes, entering a step (12), and if not, ending;
12. highlighting an obstacle on the perspective road scene video;
13. judging whether braking is needed according to the dangerous grade and the distance, if so, entering the step (14);
14. the brake lamp is turned on to perform danger avoiding operation, such as forced braking deceleration, lane changing and the like;
15. judging whether the vehicle has collided, if so, proceeding to step (16), otherwise proceeding to step (18)
16. Judging whether collision videos need to be processed according to laws and regulations, if so, entering a step (17);
17. anonymizing, blurring and modeling data such as live video, images and the like;
18. the method comprises the steps that warning information is sent to a rear queue vehicle and a cloud information processing unit, wherein the information comprises position, lanes, images and the like, and the cloud information processing unit sends the warning information to a certain terminal and a vehicle-mounted terminal around an obstacle;
19. judging whether the vehicles in the queue send alarm information or not, if so, entering the step (20), and if not, ending;
20. and displaying the alarm information, executing the forced instruction and ending.
Referring to fig. 5, the embodiment shows steps executed by the cloud information processing unit at the cloud server:
1. vehicle position and queue information are received.
2. And (3) judging whether a vehicle collides, if not, entering the step (9), and if so, entering the step (3).
3. And requesting to transmit information such as images, models generated after processing, data and the like to the fault vehicle and other surrounding vehicles.
4. Judging whether data feedback is obtained, if so, entering the step (5), and if not, entering the step (1).
5. And synthesizing a real-time panoramic video and a model of the road scene of the accident scene, displaying the real-time panoramic video and the model on a display screen, and recording and archiving recent data.
6. And judging whether the fault vehicle is a dangerous chemical vehicle, if so, proceeding to the step (7), otherwise, proceeding to the step (9).
7. And informing surrounding vehicles in the vehicle queue to evacuate, and informing the vehicles in the distance of possible influence on the surrounding vehicles to avoid danger in real time.
8. And sending the dangerous chemical vehicle fault information to a third-party navigation cloud information processing unit.
9. Judging whether rescue control personnel request data such as on-site audio, if so, entering the step (10), and if not, entering the step (11).
10. And outputting data such as audio frequency, running record and the like to the rescue workers.
11. And judging whether surrounding vehicles request the field video of the accident vehicle, if so, proceeding to the step (12), otherwise, proceeding to the step (15).
12. Judging whether the video needs to be processed according to laws and regulations, if so, entering a step (13), and if not, entering a step (14).
13. Anonymizing, blurring, modeling live video and image data.
14. Audio and video information is output to a vehicle requesting an image.
15. And (3) judging that the vehicle approaches behind the historical running path of the fault vehicle, if yes, entering the step (16), and if not, entering the step (17).
16. And evaluating the passable width, and prompting the vehicles behind the vehicle queue to avoid the lane where the fault vehicle is located.
17. And transmitting the information of the position, the lane and the like of the fault vehicle to a third-party navigation cloud information processing unit.
18. And the third party cloud information processing unit uniformly prompts all road users to queue in a passable lane for uniform running, so that the actions of blocking, changing lanes and the like on an accident road section, which reduce the overall passing efficiency, are avoided.
As can be seen from the above embodiments, the system may perform some or all of the following functions:
vehicle alignment: the vehicles periodically send the position information to the cloud server, and the vehicles establish queues of other surrounding vehicles for each vehicle through the vehicle positioning information, the navigation planning and the short-distance V2X communication system, so that a propagation path is provided for sharing information.
Information transfer: the system is similar to proprietary Bluetooth, wiFi and 5G data transmission protocols, realizes low-delay communication between a vehicle and other vehicles around hundreds of meters, and is used for transmitting images, real-time videos, short videos and audios collected by a vehicle camera, and information such as vehicle position, acceleration, speed, track, path planning, gesture, size, braking distance and the like; the information transfer between the vehicle and the cloud information processing unit is realized through the mobile internet.
Distributed processing: the information collected by the cameras, millimeter wave radars and laser radars of the vehicles or the information such as generated models, data, alarms and emergency instructions are transmitted to the vehicles behind after images transmitted by other vehicles are processed, so that the operation resources of the vehicle processing information in the whole system are saved.
Perspective and finding blind area obstacle: by integrating information such as videos transmitted by surrounding vehicles in real time, a 3D model around the vehicles is built, and real-time video images are attached, so that the function of perspective of the surrounding vehicles to find the states of the vehicles and the obstacles in the dead zones of the front, back, left and right sides can be realized, and traffic accidents caused by the vision dead zones are avoided. The whole car can realize a friendly interface of perspective navigation on the navigation map. When the front vehicle starts the emergency warning lamp, the vehicle at a certain distance behind automatically lights the brake lamp and flashes to remind the rear vehicle of paying attention to the front road condition, and if the front vehicle brakes and decelerates, the rear vehicle brake lamp flashes rapidly at a speed of 3-10 times per second to remind the rear vehicle to brake.
Avoiding chain collision: when collision happens, warning is immediately sent to surrounding vehicles and the cloud information processing unit, the cloud information processing unit pushes early warning instructions to APP in vehicles such as a rear vehicle navigation map and the like, a brake lamp is immediately lightened, a user is guided to decelerate and avoid obstacles, forced deceleration or emergency braking is implemented for a close-range vehicle, the user is prompted, and secondary injuries caused by continuous collision are avoided.
Direct impact rescue scene: the cloud rescue platform remotely checks the fault vehicle or surrounding audio and video of the fault vehicle through a network after the accident occurs, analyzes driving parameters and paths of the vehicle before the accident, and determines a rescue scheme.
The passing efficiency is improved: in the passable accident vehicle section, the cloud information processing unit and the vehicle evaluate the passable width according to the images and the radars, spontaneously queue in passable lanes, and train for uniform speed running at a distance of 0.5 to several kilometers from the entering accident section, so that the actions of blocking, lane changing and the like in the accident section, which reduce the overall passing efficiency, are avoided. The lane occupied by the fault vehicle is emptied, so that secondary collision injury can be avoided, and more possibility is provided for rescue.
Remote vision: holidays and trip peak periods provide basis for users to automatically push navigation lines or vehicle images and places around traffic accidents on lines predicted based on driving habits of the users, and provide a basis for vehicle drivers to evaluate the transit time required for restoration smoothness so as to decide whether to adjust the driving route.
First aid: emergency situations such as acute diseases occur in the traffic jam area, and a driver can send voice help seeking information to vehicles in a surrounding vehicle queue to indicate the demands of materials, personnel and equipment.
Emergency risk avoidance: the dangerous chemical vehicle detects leakage and combustion, or the surrounding vehicles intelligently recognize that the dangerous chemical vehicle leaks or burns, immediately inform surrounding vehicles of evacuation, inform surrounding vehicles possibly affected by the distance of real-time emergency risk avoidance, and recommend vehicle abandoning escape for vehicles which are close to a dangerous point and can not run for a period of time.
Emergency information transfer: when the vehicle collides or overturns and no network exists, the voice assistant actively inquires whether the driver starts emergency rescue information transmission or not, and a help seeking signal is sent by a method. If the user agrees, information such as a vehicle body code, accident time, a driving track before a vehicle accident, vehicle position information and the like is collected, after the accident occurs, a period of recording is carried out, a dialogue between a driver and a voice assistant is carried out, data are packed, the vehicle body code and the date and time are taken as event names, when the passing of surrounding vehicles is detected, the data are sent to the passing vehicles, the passing vehicles travel to a network coverage area, the information is uploaded to a cloud server, the cloud server contacts rescue staff, rescue arrangement, the problem recording data such as an injury state which is needed to be known to the driver are packed, the rescue staff is issued to other vehicles which possibly travel to the vicinity of the fault vehicle, when the other vehicles pass, the data are transmitted to the fault vehicle, after operations such as asking questions are completed, the response of the driver is transmitted to the passing vehicles to the signal coverage area, and then the cloud server is uploaded, and accordingly signal transmission is achieved. The rescue information transmission function can also be implanted into public platforms such as a Goldmap, and the like, and the vehicle queues supporting the protocol in the network coverage area relay to transmit the rescue information to surrounding vehicles until the vehicles are connected to the cloud platform.
Automatic triggering information sharing: when traffic jam, accident or user turns on the warning lamp, surrounding vehicles are automatically reminded of emergency such as safety, chemicals, collision and the like, and corresponding pictures are added. No manual intervention-! Shortcut, security-!
Information intercommunication: information between the mobile phone APP and the vehicle-mounted information terminal is communicated in real time through WiFi, 5G, a cloud information processing unit and a USB interface, and relevant information of a vehicle can be displayed on the mobile phone through mobile phone navigation binding vehicles, so that a mobile phone navigation function is enhanced, and a front video and image display function is achieved on the mobile phone.
Authorization: the user is informed of which functions are required to be used, which information can be checked by other drivers and provided for other vehicles for safe driving, which information can be transmitted to the cloud information processing unit, and which information can be shared with vehicles in the queue.
Information security audit: the image uploading cloud information processing unit is audited and issued after processing, and local AI is audited when no network exists, so that discomfort caused by the accident scene photo is avoided. The cloud information processing unit or the local AI processes the audited pictures and videos can be shared freely.
Claims (5)
1. The emergency communication method for the vehicle is used for a multi-user collaborative interactive navigation and emergency control system and is characterized by comprising a vehicle-end information processing unit and an information transmission unit, wherein emergency information is sent and received in an emergency communication mode during emergency communication, and the method comprises the following steps of:
(1) The vehicle-end information processing unit acquires surrounding environment information through the environment sensing sensor and confirms the running state of the vehicle;
(2) Judging whether the vehicle has collided, if so, entering the next step, otherwise, entering the step (5)
(3) The information transmission unit judges whether network connection exists, if yes, the next step is carried out, and if not, the step (7) is carried out
(4) Sending a rescue request signal through an eCall or a mobile network, and then clearing the cache;
(5) Judging whether other vehicle rescue data are cached, if so, entering the next step, and if not, ending;
(6) Judging whether the cache data is within a set time, if so, returning to the step (3), and if not, emptying the cache;
(7) Judging whether a user inputs a new message, if so, entering the next step, and if not, entering the step (9);
(8) Updating the user information of the vehicle;
(9) Judging whether the surrounding vehicle queues can be accessed wirelessly, if yes, entering the next step, and if no, entering the dormancy;
(10) Transmitting the user buffer information, position, driving path, surrounding vehicle photo and other fault information to surrounding vehicle buffer;
(11) Inquiring whether surrounding vehicles have messages sent to the vehicle by the cloud, if so, entering the next step, and if not, entering the dormancy;
(12) Request information is transmitted, information is played to a user, and then dormancy is carried out;
(13) After waiting for a period of time, re-entering step (3);
and (9) -12) repeatedly transmitting information between the vehicle with collision or failure and the cloud server in an information caching and relay communication mode when the surrounding network of the vehicle with collision or failure is not connected, and performing information sharing operation when the network connection is normal, wherein the information caching and relay communication performed by the information transmitting unit is as follows: the method comprises the steps that a collision or fault vehicle transmits current vehicle state and position information to surrounding vehicles passing through, surrounding vehicles cache and transmit the current vehicle state and position information to vehicles running faster or vehicles in front of the surrounding vehicles for caching and transmitting until the vehicles with the cached information run to a network position, the information is uploaded to a cloud server, the cloud server pushes information cache to nearby vehicles through a background according to current rescue progress and inquiry content, the vehicles with the cached information search for the fault vehicles when reaching the nearby designated positions, and the cache data are transmitted to the fault vehicles.
2. The emergency communication method according to claim 1, wherein the vehicle-end information processing unit is configured on each vehicle, and is configured to use distributed processing, and is configured to establish a current vehicle surrounding environment model according to the environment information detected by the environment sensor of the vehicle or the image transmitted by other vehicles, the vehicle surrounding environment model generated after processing, data, alarm and emergency command information, compare with the known data, perform positioning, navigation, prediction and decision, transmit information required by other control units, and send a control command.
3. The emergency communication method of a vehicle according to claim 1, wherein the information transfer unit is configured to perform low-latency communication between the vehicle and other surrounding vehicles through a proprietary bluetooth, wiFi or 5G data transmission protocol, transfer information processed by the vehicle-side information processing unit, and perform information transfer between the vehicle and the cloud platform through the mobile internet.
4. The emergency communication method of a vehicle according to claim 1, wherein the information transfer unit, when the vehicle collides, transmits information such as time, place, etc. of the collision to surrounding vehicles and/or cloud servers through the vehicle-end information transfer unit; when the vehicle breaks down, the vehicle with the fault transmits the vehicle position, the driving path and the surrounding photo information of the vehicle to surrounding vehicles and/or cloud servers through the vehicle-end information transmission unit.
5. The emergency communication method of the vehicle according to claim 1, wherein the vehicle-end information processing unit is further configured to receive and integrate video information transmitted by surrounding vehicles in real time, build a 3D model of the surrounding vehicles, attach real-time video images, and implement a perspective navigation interface on a navigation map to perspective the surrounding vehicles so as to find the states of the vehicles and obstacles in the blind areas of the front, rear, left and right sides.
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| CN114900822A (en) * | 2022-04-25 | 2022-08-12 | 广州小鹏汽车科技有限公司 | Vehicle information interaction method, cloud device, vehicle and system |
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| CN113763737B (en) | 2023-09-22 |
| CN113949998B (en) | 2023-04-14 |
| CN113949998A (en) | 2022-01-18 |
| CN113763694B (en) | 2023-04-25 |
| CN113747388A (en) | 2021-12-03 |
| CN113763737A (en) | 2021-12-07 |
| CN113763694A (en) | 2021-12-07 |
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