CN113891281A - Dynamic adjustment method for road side unit map - Google Patents
Dynamic adjustment method for road side unit map Download PDFInfo
- Publication number
- CN113891281A CN113891281A CN202111140393.2A CN202111140393A CN113891281A CN 113891281 A CN113891281 A CN 113891281A CN 202111140393 A CN202111140393 A CN 202111140393A CN 113891281 A CN113891281 A CN 113891281A
- Authority
- CN
- China
- Prior art keywords
- target road
- map
- lane
- vehicle
- road
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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]
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a dynamic adjustment method for a road side unit map, which is mainly designed in such a way that whether vehicles driving to a target road exist at the periphery or not is judged in real time according to V2X information aiming at a road without a lane line, the judgment is used as one of conditions for adjusting an RSU map, and whether the RSU map needs to be dynamically adjusted or not is determined according to the number, the course angle and the driving speed of the vehicles driving to the target road. Compared with the solidified map setting, the RSU map dynamic updating strategy provided by the invention can avoid the waste of road resources and improve the driving safety of vehicles.
Description
Technical Field
The invention relates to the field of vehicle networking, in particular to a dynamic adjustment method for a road side unit map.
Background
V2X (Vehicle to event) is a wireless communication technology of Vehicle networking, and information interaction and sharing of Vehicle-Vehicle (V2V), Vehicle-road (V2I), Vehicle-person (V2P) and the like enable vehicles and surrounding environment to cooperate and cooperate to achieve intelligent traffic management control, Vehicle intelligent control and intelligent dynamic information service.
The Road Side Unit (RSU) is a communication gateway deployed at the Road side, collects information of Road side traffic facilities and traffic participants, uploads the information to a V2X platform, broadcasts a V2X message to the Road traffic participants, and a vehicle loaded with an On Board Unit (OBU) can know the surrounding Road condition, signal lamp real-time information and the surrounding traffic participant condition through the information broadcast by the RSU.
In CSAE 53-2020 cooperative intelligent transportation system for vehicle communication system application layer and application data interaction standard (first stage), the map data broadcast by RSU is standardized: "the road side unit broadcasts and transmits map information of local areas including intersection information, road section information, lane information, connection relations between roads and the like of the local areas to the vehicles. Also, in the standard, a predicted trajectory of the vehicle itself is requested as a necessary content in a vehicle Safety Message (BSM) broadcast by the vehicle.
At present, when an RSU manufacturer makes a map for external broadcasting, data such as longitude, latitude, altitude and the like of a road covered in the map are calibrated according to application layers of CSAE 53-2020 cooperative intelligent transportation system vehicle communication systems and application data interaction standards (first stage), then map road perfection is carried out according to contents such as speed limit, driving direction, steering and the like specified on the road, and finally the calibrated map is broadcasted to the outside. However, a large number of roads without marked lane lines exist in China at present, and for the roads, due to the lack of specified driving directions, lanes and the like, the traffic behaviors of traffic participants cannot be predicted and restrained. For such roads, there are many unreasonable situations in the conventional map calibration and broadcasting method, which may cause resource waste and traffic accidents. For example, if a road with a relatively narrow section and no lane line mark is set as a bidirectional traffic, when a vehicle runs on the road, the vehicle runs from the other direction, and there is traffic jam or even running danger; if the road in the map is fixed to a single direction, the road resource will be wasted.
Disclosure of Invention
In view of the above, the present invention aims to provide a dynamic adjustment method for a road side unit map to solve the aforementioned unreasonable problem of the existing RSU map.
The technical scheme adopted by the invention is as follows:
a dynamic adjustment method for a road side unit map comprises the following steps:
calibrating an original static map in advance based on a target road without a lane line;
receiving traffic participation information sent by a V2X system in real time;
judging whether vehicles exist within a preset distance of the periphery of the target road or not according to the traffic participation message;
if not, broadcasting the original static map to the outside;
if so, acquiring a BSM message sent by the vehicle, and judging whether the vehicle drives to the target road according to the track information in the BSM message;
if not, broadcasting the original static map to the outside;
if yes, acquiring the number of vehicles driving to the target road and course angle information;
when the number of vehicles driving to a target road is 1, adjusting the lane of the target road in the original static map into a one-way lane, wherein the lane is consistent with the passing direction of the current vehicle, and broadcasting the adjusted map to the outside;
when the number of vehicles driving to the target road is larger than 1, judging whether the current course angles of all vehicles driving to the target road are consistent;
if the current traffic directions are consistent with the traffic directions of all the vehicles, adjusting the lane of the target road in the original static map into a one-way lane, and broadcasting the adjusted map to the outside;
if the current vehicle speed is inconsistent with the target road speed, acquiring the current driving speeds of all vehicles driving to the target road, and obtaining the time for each vehicle to reach the boundary of the target road according to the driving speeds;
and adjusting the lane of the target road in the original static map into a one-way lane based on the heading angle of the adjacent vehicle corresponding to the minimum time, wherein the lane is consistent with the current passing direction of the adjacent vehicle, and the adjusted map is broadcasted to the outside.
In at least one possible implementation manner, the adjusting the lane of the target road in the original static map to be a one-way lane based on the heading angle of the adjacent vehicle corresponding to the minimum time includes:
and adjusting the lane of the target road in the original static map into a one-way lane based on the course angle of the adjacent vehicle corresponding to the minimum time in sequence, keeping the one-way lane until the adjacent vehicle drives away from the target road, re-determining a new adjacent vehicle according to the driving speed of other vehicles driving to the target road, and the like, and dynamically adjusting and broadcasting the map.
In at least one possible implementation manner, the adjusting the lane of the target road in the original static map to be a one-way lane based on the heading angle of the adjacent vehicle corresponding to the minimum time includes:
and adjusting the lane of the target road in the original static map into a one-way lane based on the heading angle of the adjacent vehicle corresponding to the minimum time in sequence, keeping the lane until the adjacent vehicle drives away from the target road, re-determining a new adjacent vehicle according to the time of other vehicles driving towards the target road reaching the boundary of the target road, and by analogy, dynamically adjusting and broadcasting the map.
In at least one possible implementation manner, the pre-calibrating the original static map based on the target road without the lane line includes: and pre-calibrating an initial lane line of the target road in an original static map.
In at least one possible implementation manner, the traffic participation message includes: and obtaining the vehicle driving information of the area around the target road by taking the vehicle as a traffic participant.
In at least one possible implementation manner, the obtaining the time of each vehicle reaching the target road boundary according to the driving speed includes: and calculating the time of the vehicle edge to reach a preset position at the intersection of the target road.
In at least one possible implementation manner, the receiving, in real time, the traffic participation message sent by the V2X system includes: and periodically receiving the traffic participation message sent by the V2X system according to a preset sampling frequency.
In at least one possible implementation, the traffic participation message is acquired with a sampling period of 50 ms.
The main design concept of the invention is that whether vehicles driving to a target road exist in the periphery is judged in real time according to V2X information as one of conditions for adjusting the RSU map aiming at the road without a lane line, and whether the RSU map needs to be dynamically adjusted is determined according to the number, the course angle and the driving speed of the vehicles driving to the target road. Compared with the solidified map setting, the RSU map dynamic updating strategy provided by the invention can avoid the waste of road resources and improve the driving safety of vehicles.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described with reference to the accompanying drawings, in which:
fig. 1 is a flowchart of a dynamic adjustment method for a road side unit map according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
The present invention provides an embodiment of a dynamic adjustment method for a road side unit map, specifically, as shown in fig. 1, the method includes:
step S1, calibrating an original static map in advance based on the target road without the lane line;
step S2, receiving the traffic participation message sent by the V2X system in real time;
step S3, judging whether vehicles exist within a preset distance of the periphery of the target road according to the traffic participation message;
if not, executing the step S100, and broadcasting the original static map to the outside;
if yes, executing step S4, obtaining the BSM message sent by the vehicle, and judging whether the vehicle drives to the target road according to the track information in the BSM message;
if not, executing the step S100, and broadcasting the original static map to the outside;
if yes, executing step S5, obtaining the number of vehicles driving to the target road and the course angle information;
step S6, when the number of vehicles driving to the target road is 1, adjusting the lane of the target road in the original static map into a one-way lane, wherein the lane is consistent with the passing direction of the current vehicle, and broadcasting the adjusted map to the outside;
step S7, when the number of vehicles driving to the target road is more than 1, judging whether the current heading angles of all vehicles driving to the target road are consistent;
if yes, executing step S71, adjusting the lane of the target road in the original static map into a one-way lane, and the lane is consistent with the current passing direction of all vehicles, and broadcasting the adjusted map to the outside;
if not, executing step S8, acquiring the running speeds of all current vehicles driving to the target road, and obtaining the time for each vehicle to reach the boundary of the target road according to the running speeds;
and step S9, adjusting the lane of the target road in the original static map into a one-way lane based on the heading angle of the adjacent vehicle corresponding to the minimum time, wherein the lane is consistent with the current passing direction of the adjacent vehicle, and the adjusted map is broadcasted to the outside.
Further, the adjusting the lane of the target road in the original static map to a one-way lane based on the heading angle of the neighboring vehicle corresponding to the minimum time comprises:
and adjusting the lane of the target road in the original static map into a one-way lane based on the course angle of the adjacent vehicle corresponding to the minimum time in sequence, keeping the one-way lane until the adjacent vehicle drives away from the target road, re-determining a new adjacent vehicle according to the driving speed of other vehicles driving to the target road, and the like, and dynamically adjusting and broadcasting the map.
Further, the real-time receiving of the traffic participation message sent by the V2X system includes: and periodically receiving the traffic participation message sent by the V2X system according to a preset sampling frequency.
In summary, the main design concept of the present invention is to determine whether there is a vehicle driving to a target road in the periphery of a lane-free road according to the V2X message in real time, as one of the conditions for adjusting the RSU map, and further determine whether to dynamically adjust the RSU map according to the number, the heading angle, and the driving speed of the vehicle driving to the target road. Compared with the solidified map setting, the RSU map dynamic updating strategy provided by the invention can avoid the waste of road resources and improve the driving safety of vehicles.
In the embodiments of the present invention, "at least one" means one or more, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, and means that there may be three relationships, for example, a and/or B, and may mean that a exists alone, a and B exist simultaneously, and B exists alone. Wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" and similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, and c may represent: a, b, c, a and b, a and c, b and c or a and b and c, wherein a, b and c can be single or multiple.
The structure, features and effects of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the above embodiments are merely preferred embodiments of the present invention, and it should be understood that technical features related to the above embodiments and preferred modes thereof can be reasonably combined and configured into various equivalent schemes by those skilled in the art without departing from and changing the design idea and technical effects of the present invention; therefore, the invention is not limited to the embodiments shown in the drawings, and all the modifications and equivalent embodiments that can be made according to the idea of the invention are within the scope of the invention as long as they are not beyond the spirit of the description and the drawings.
Claims (8)
1. A dynamic adjustment method for a road side unit map is characterized by comprising the following steps:
calibrating an original static map in advance based on a target road without a lane line;
receiving traffic participation information sent by a V2X system in real time;
judging whether vehicles exist within a preset distance of the periphery of the target road or not according to the traffic participation message;
if not, broadcasting the original static map to the outside;
if so, acquiring a BSM message sent by the vehicle, and judging whether the vehicle drives to the target road according to the track information in the BSM message;
if not, broadcasting the original static map to the outside;
if yes, acquiring the number of vehicles driving to the target road and course angle information;
when the number of vehicles driving to a target road is 1, adjusting the lane of the target road in the original static map into a one-way lane, wherein the lane is consistent with the passing direction of the current vehicle, and broadcasting the adjusted map to the outside;
when the number of vehicles driving to the target road is larger than 1, judging whether the current course angles of all vehicles driving to the target road are consistent;
if the current traffic directions are consistent with the traffic directions of all the vehicles, adjusting the lane of the target road in the original static map into a one-way lane, and broadcasting the adjusted map to the outside;
if the current vehicle speed is inconsistent with the target road speed, acquiring the current driving speeds of all vehicles driving to the target road, and obtaining the time for each vehicle to reach the boundary of the target road according to the driving speeds;
and adjusting the lane of the target road in the original static map into a one-way lane based on the heading angle of the adjacent vehicle corresponding to the minimum time, wherein the lane is consistent with the current passing direction of the adjacent vehicle, and the adjusted map is broadcasted to the outside.
2. The dynamic adjustment method for rsu map according to claim 1, wherein the adjusting the lane of the target road in the original static map to a one-way lane based on the minimum time-corresponding heading angle of the neighboring vehicle comprises:
and adjusting the lane of the target road in the original static map into a one-way lane based on the course angle of the adjacent vehicle corresponding to the minimum time in sequence, keeping the one-way lane until the adjacent vehicle drives away from the target road, re-determining a new adjacent vehicle according to the driving speed of other vehicles driving to the target road, and the like, and dynamically adjusting and broadcasting the map.
3. The dynamic adjustment method for rsu map according to claim 1, wherein the adjusting the lane of the target road in the original static map to a one-way lane based on the minimum time-corresponding heading angle of the neighboring vehicle comprises:
and adjusting the lane of the target road in the original static map into a one-way lane based on the heading angle of the adjacent vehicle corresponding to the minimum time in sequence, keeping the lane until the adjacent vehicle drives away from the target road, re-determining a new adjacent vehicle according to the time of other vehicles driving towards the target road reaching the boundary of the target road, and by analogy, dynamically adjusting and broadcasting the map.
4. The dynamic adjustment method for rsu map according to claim 1, wherein the pre-calibrating the original static map based on the target road without lane lines comprises: and pre-calibrating an initial lane line of the target road in an original static map.
5. The dynamic adjustment method for rsu map of claim 1, wherein the traffic participation message comprises: and obtaining the vehicle driving information of the area around the target road by taking the vehicle as a traffic participant.
6. The dynamic adjustment method for the rsu map of claim 1, wherein the deriving the time for each vehicle to reach the target road boundary according to the driving speed comprises: and calculating the time of the vehicle edge to reach a preset position at the intersection of the target road.
7. The dynamic adjustment method for the road side unit map according to any one of claims 1 to 6, wherein the receiving the traffic participation message sent by the V2X system in real time comprises: and periodically receiving the traffic participation message sent by the V2X system according to a preset sampling frequency.
8. The dynamic adjustment method for the rsu map of claim 7, wherein the traffic participation message is obtained with a sampling period of 50 ms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111140393.2A CN113891281B (en) | 2021-09-28 | 2021-09-28 | Dynamic adjustment method for road side unit map |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111140393.2A CN113891281B (en) | 2021-09-28 | 2021-09-28 | Dynamic adjustment method for road side unit map |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113891281A true CN113891281A (en) | 2022-01-04 |
| CN113891281B CN113891281B (en) | 2023-08-22 |
Family
ID=79007207
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111140393.2A Active CN113891281B (en) | 2021-09-28 | 2021-09-28 | Dynamic adjustment method for road side unit map |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113891281B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104933882A (en) * | 2015-05-20 | 2015-09-23 | 浙江吉利汽车研究院有限公司 | Traffic intersection driving assistance method and system |
| KR101889085B1 (en) * | 2017-12-07 | 2018-08-16 | 렉스젠(주) | Apparatus for generating traffic information using vehicle trajectory and method thereof |
| US20180299274A1 (en) * | 2017-04-17 | 2018-10-18 | Cisco Technology, Inc. | Real-time updates to maps for autonomous navigation |
| WO2018225198A1 (en) * | 2017-06-07 | 2018-12-13 | 日産自動車株式会社 | Map data correcting method and device |
| CN109756867A (en) * | 2018-12-29 | 2019-05-14 | 广州中国科学院软件应用技术研究所 | A kind of bus or train route collaboration car-mounted terminal application system based on LTE-V |
| WO2019116447A1 (en) * | 2017-12-12 | 2019-06-20 | 三菱電機株式会社 | Map updating device, map updating system, and map updating method |
| US20190187723A1 (en) * | 2017-12-15 | 2019-06-20 | Baidu Usa Llc | System for building a vehicle-to-cloud real-time traffic map for autonomous driving vehicles (advs) |
| CN110470311A (en) * | 2019-07-08 | 2019-11-19 | 浙江吉利汽车研究院有限公司 | A kind of ground drawing generating method, device and computer storage medium |
| CN110853386A (en) * | 2018-08-21 | 2020-02-28 | 上海擎感智能科技有限公司 | Vehicle, server and lane road condition construction prompting method based on 5G technology |
| US20200152059A1 (en) * | 2018-11-09 | 2020-05-14 | Toyota Research Institute, Inc. | Temporal based road rule changes |
| CN111583630A (en) * | 2020-04-10 | 2020-08-25 | 河北德冠隆电子科技有限公司 | Brand-new road high-precision map rapid generation system and method based on space-time trajectory reconstruction |
-
2021
- 2021-09-28 CN CN202111140393.2A patent/CN113891281B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104933882A (en) * | 2015-05-20 | 2015-09-23 | 浙江吉利汽车研究院有限公司 | Traffic intersection driving assistance method and system |
| US20180299274A1 (en) * | 2017-04-17 | 2018-10-18 | Cisco Technology, Inc. | Real-time updates to maps for autonomous navigation |
| WO2018225198A1 (en) * | 2017-06-07 | 2018-12-13 | 日産自動車株式会社 | Map data correcting method and device |
| KR101889085B1 (en) * | 2017-12-07 | 2018-08-16 | 렉스젠(주) | Apparatus for generating traffic information using vehicle trajectory and method thereof |
| WO2019116447A1 (en) * | 2017-12-12 | 2019-06-20 | 三菱電機株式会社 | Map updating device, map updating system, and map updating method |
| US20190187723A1 (en) * | 2017-12-15 | 2019-06-20 | Baidu Usa Llc | System for building a vehicle-to-cloud real-time traffic map for autonomous driving vehicles (advs) |
| CN110853386A (en) * | 2018-08-21 | 2020-02-28 | 上海擎感智能科技有限公司 | Vehicle, server and lane road condition construction prompting method based on 5G technology |
| US20200152059A1 (en) * | 2018-11-09 | 2020-05-14 | Toyota Research Institute, Inc. | Temporal based road rule changes |
| CN109756867A (en) * | 2018-12-29 | 2019-05-14 | 广州中国科学院软件应用技术研究所 | A kind of bus or train route collaboration car-mounted terminal application system based on LTE-V |
| CN110470311A (en) * | 2019-07-08 | 2019-11-19 | 浙江吉利汽车研究院有限公司 | A kind of ground drawing generating method, device and computer storage medium |
| CN111583630A (en) * | 2020-04-10 | 2020-08-25 | 河北德冠隆电子科技有限公司 | Brand-new road high-precision map rapid generation system and method based on space-time trajectory reconstruction |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113891281B (en) | 2023-08-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3557893B1 (en) | Multi-level hybrid vehicle-to-anything communications for cooperative perception | |
| US20200004268A1 (en) | Method and apparatus for determining validity of message received by vehicle in automated vehicle & highway systems | |
| US9911334B2 (en) | Connected vehicle traffic safety system and a method of warning drivers of a wrong-way travel | |
| CN106781547B (en) | Traffic signal lamp intelligent control method, road side equipment and system | |
| US8902080B2 (en) | Vehicle-mounted narrow-band wireless communication apparatus and roadside-to-vehicle narrow-band wireless communication system | |
| US10943478B2 (en) | Traffic control method, and apparatus | |
| US9253753B2 (en) | Vehicle-to-vehicle safety transceiver using time slots | |
| US9129532B2 (en) | Hybrid protocol transceiver for V2V communication | |
| US10802110B2 (en) | Vehicular radar interference management using basic safety messages | |
| CN104537852A (en) | Road accident prompting method based on vehicle-road collaboration | |
| US20200001868A1 (en) | Method and apparatus for updating application based on data in an autonomous driving system | |
| US10431092B2 (en) | Method for performing a cooperative driving maneuver | |
| WO2013163265A1 (en) | V2v safety system using vehicle location as vehicle identification | |
| Marilisa et al. | C-ITS communication: an insight on the current research activities in the European Union | |
| EP1296305A1 (en) | Apparatus and system for inter-vehicle communication | |
| US11381953B2 (en) | Method for vehicle-to-vehicle communication | |
| JP2020027645A (en) | Server, wireless communication method, computer program, and on-vehicle device | |
| US10667295B2 (en) | Method for Internet of Vehicles (IoV) electric traffic sign information broadcast with Quality of Service (QoS) guaranteed mechanism based on conflict detection | |
| CN110944298B (en) | V2X full duplex location assistance for vehicle to all V2X recipients | |
| US11990033B2 (en) | Method for controlling vehicles | |
| US11776398B2 (en) | Apparatus, system and method for merging and applying intersection data for a vehicle | |
| US11709258B2 (en) | Location data correction service for connected vehicles | |
| CN113891281A (en) | Dynamic adjustment method for road side unit map | |
| US11170648B2 (en) | Vehicle information distributing method and system | |
| US20230007453A1 (en) | Generating subgroups from a vehicular micro cloud |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |