CN113949998B - Emergency information processing control method - Google Patents
Emergency information processing control method Download PDFInfo
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- CN113949998B CN113949998B CN202111014769.5A CN202111014769A CN113949998B CN 113949998 B CN113949998 B CN 113949998B CN 202111014769 A CN202111014769 A CN 202111014769A CN 113949998 B CN113949998 B CN 113949998B
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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
Abstract
The invention provides an emergency information processing control method which is used for a multi-user collaborative interactive navigation and emergency control system. According to the method, the autonomous communication function between the vehicles and the cloud information processing unit and between the vehicles is achieved by constructing the vehicle queue, a surrounding vehicle queue list is established and information sharing and integration are carried out, and the functions of sharing camera images and vehicle states, automatically distributing emergency information, looking up surrounding environment information of front vehicles and the like between anonymous vehicles running on the same road section are achieved. The system is applied to an emergency control system, can automatically transmit danger avoiding information and images around nearby vehicles, meets the user requirements of delayed vehicle collision danger avoiding in foggy days, traffic jam without knowing the front road condition, emergency communication lack in sudden disasters, incapability of sharing pictures in communication interruption areas and the like, is used for navigation and emergency communication of vehicles and finding blind area obstacles, provides front real-time video and image information for users during serious traffic jam, and provides reference suggestions for the users.
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 order to improve the safety of vehicle driving in automatic driving, it is necessary to perform queue management and brake control on vehicles and perform information sharing between vehicles.
The prior art has the following motorcade management, autopilot and unmanned aerial vehicle control related patent information disclosures: for example, CN202010234623.0 discloses a fleet intersection obstacle avoidance control method based on a multi-level leader pigeon group theory, CN201810818222.2 discloses an intelligent internet-connected traffic management system facing mobile sharing, CN201280069382.2 discloses a method and equipment for collective navigation, and the like, some of the methods and equipment cannot be used for emergency traffic accident risk avoidance, do not have functions of image information sharing, and some of the technologies lack information communication between vehicles, and some of the methods and equipment are centralized decision-making and are not distributed control.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an emergency information processing control method applied to a multi-user collaborative interactive navigation and emergency control system, which realizes the functions of sharing camera images and vehicle states, automatically distributing emergency information, consulting the surrounding environment information of front vehicles and the like among anonymous vehicles running on the same road section by establishing a surrounding vehicle queue list and carrying out information sharing and integration, is used for a navigation system and an emergency communication system of vehicles and finding blind area obstacles and vehicles, provides front real-time video and image information for users when the vehicles are seriously blocked, and provides reference suggestions for the users.
The technical scheme of the invention is as follows:
an emergency information processing control method is used for a multi-user collaborative interactive navigation and emergency control system, the system comprises a vehicle queue establishing unit, a vehicle-end information processing unit and an information transmission unit, and the emergency information processing steps at a vehicle end are as follows:
(1) The method comprises the steps of connecting with a cloud server through a network to obtain a surrounding vehicle list;
(2) The vehicle queue management system is connected with other vehicles in the vehicle queue through a network, and synchronizes queue information of other vehicles in the queue, the vehicle and the cloud processing unit;
(3) Acquiring surrounding environment information through an environment perception sensor, and confirming the running state of the vehicle;
(4) Confirming whether the owner authorizes the third party to use the information, if so, entering the step (5), and if not, entering the step (8);
(5) Anonymizing and processing vehicle information, video and audio information inside and outside the vehicle according to the authorized range and the law rule;
(6) Judging whether peripheral queue vehicles exist or not, and judging whether a cloud information processing unit requests to acquire information such as images around the vehicles or not, 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 information such as images, processed models, data, emergency and emergency instructions to be transmitted to surrounding vehicles;
(9) Judging whether data feedback is obtained or not, if so, entering a step (10), and if not, entering a step (11);
(10) Synthesizing and perspective road scene real-time videos of surrounding vehicles, and displaying the videos; wherein risk-free vehicles and shelters that do not require driver attention are displayed as semi-transparent outlines;
(11) Judging whether conditions such as pedestrians, non-motor vehicles, obstacles, animals, road conditions and the like exist around; if yes, entering the step (12), otherwise, ending;
(12) Highlighting the obstacle on the perspective road scene video;
(13) Judging whether braking is needed according to the danger level and the distance, and if so, entering a step (14);
(14) Lighting a brake lamp to carry out danger avoiding operation;
(15) Judging whether the vehicle has collided, if so, entering the step (16), and if not, entering the step (18)
(16) Judging whether the collision video needs to be processed according to laws and regulations, if so, entering the step (17)
(17) Anonymizing, blurring and modeling to process data such as field video and images;
(18) Sending warning information to rear queue vehicles and a cloud information processing unit, wherein the warning information comprises information such as positions, lanes and images, and the cloud information processing unit sends the warning information to certain terminals and vehicle-mounted terminals around the obstacle;
(19) Judging whether the vehicles in the queue send alarm information, if so, entering a step (20), and if not, ending;
(20) Displaying the alarm information, executing the forced instruction and then ending.
Further, the vehicle queue establishing unit is configured at the vehicle end and used for receiving the position information periodically sent by the vehicle in real time and establishing a queue of other vehicles around for each vehicle through vehicle positioning information, navigation planning and a near-distance V2X communication system.
Further, the vehicle-side information processing unit is configured on each vehicle, and adopts distributed processing, so that each vehicle establishes a current vehicle surrounding environment model according to environment information detected by an environment sensing sensor of the vehicle or information such as a vehicle surrounding environment model, data, an alarm, an emergency instruction and the like generated after processing according to images received by other vehicles and images transmitted by other vehicles, compares the current vehicle surrounding environment model with known data, performs positioning, navigation, prediction and decision making, transmits information required by other control units, and sends a control instruction.
Further, in the emergency information processing control method provided by the invention, the vehicle-end information processing unit is also used for receiving and integrating information such as videos transmitted by surrounding vehicles in real time, establishing a 3D model around the vehicle, pasting real-time video images, and realizing a perspective navigation interface on a navigation map so as to see through the surrounding vehicles and find the states of the vehicles and obstacles in front, rear, left and right blind areas.
Further, according to the emergency information processing control method provided by the invention, the information transmission unit is used for carrying out low-delay communication between the vehicle and other surrounding vehicles through a private Bluetooth, wiFi or 5G data transmission protocol, transmitting information processed by the vehicle end information processing unit, and carrying out information transmission between the vehicle and the cloud platform through the mobile internet; and carrying out information caching and transporting operation when the network is not connected, and carrying out information sharing operation when the network is normally connected.
Further, according to the emergency information processing control method provided by the invention, when a vehicle collides, the information transmission unit transmits information such as the time and place of collision to surrounding vehicles and/or a cloud server by the vehicle-side information transmission unit; when a vehicle breaks down, the fault vehicle transmits fault information such as a vehicle position, a driving path, a vehicle surrounding picture and the like to surrounding vehicles and/or a cloud server through a vehicle-end information transmission unit.
It can be seen from the above technical solutions that the present invention is an emergency information processing control method applied to a multi-user collaborative interactive navigation and emergency control system, and the design of the multi-user collaborative interactive navigation and emergency control system is mainly considered from the following aspects:
some vehicles on the road have an automatic driving function, can sense the surrounding road environment, but the road condition information outside the sensing range or in the blind area shielded by the surrounding vehicles needs to be provided by other vehicles. And vehicles on the road without the automatic driving function can also obtain traffic road information uploaded by the automatic driving vehicles around through the cloud so as to obtain the prompt and driving suggestion under partial emergency situations.
The signal transmission between the automatic driving vehicle and the vehicle without the automatic driving function or the road user can be realized by connecting the 4G and the 5G with the cloud information processing unit or the navigation software server, and the 5G, the WiFi and the Bluetooth directly establish point-to-point communication with the surrounding vehicles to transmit information.
The communication between the autonomous vehicles and the intelligent transportation infrastructure establishes network connection through a V2X technology or a cloud information processing unit.
The application scenarios of the invention are as follows:
the vehicle that drives at a high speed probably receives the place ahead vehicle shelter can not discover some barriers, and when the place ahead vehicle was promptly avoided, the place behind vehicle reaction can lead to the accident in time, needs to share vehicle image vision between the vehicle, widens the place behind vehicle vision to avoid the accident to take place.
When the accident of the front vehicle cannot be identified in heavy fog weather or the chain collision cannot be avoided in time, the rear vehicle needs to be reminded of emergency braking in time so as to avoid the chain collision.
When the road is blocked in the fifth, national day and spring festival periods, the rear vehicle is not clear of the reason of the traffic blockage in the front, the passing time required for recovering the smoothness cannot be evaluated in time, the traffic blockage is caused by missing the opportunity for adjusting the driving route, the live video or image of the traffic blockage in the front needs to be shared in time, and support is provided for the decision of a driver.
When emergency such as acute diseases occur in a traffic jam area, a driver is not familiar with other drivers around, the information transmission speed is low, and the driver needs to ask for help from the vehicles with traffic jams around in time.
When dangerous chemical vehicles leak or burn due to a traffic accident and rear vehicles are not clear of the field condition, the escape opportunity is delayed, the images of the accident site in front need to be shared in time, and warning is provided for emergency avoidance of the rear vehicles.
When accidents such as vehicle rollover, anchoring and the like occur in an area without network signals, a vehicle rescue request cannot be sent, vehicles which may run cannot find accident vehicles and miss rescue opportunities, information such as vehicle tracks, states before the accident, recording of a period of time after the accident and conversation recording of a driver and a voice assistant need to be actively shared in time, the information is cached and transported to the area with the network by means of vehicles running around to be uploaded to a cloud rescue platform, and 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 is matched with other functional units of the system, and through constructing a vehicle queue, the autonomous communication function between vehicles and a cloud information processing unit and between vehicles is realized, a list of surrounding vehicle queues is established and information sharing and integration are carried out, so that the functions of sharing camera images and vehicle states, automatically distributing emergency information, looking up surrounding environment information of front vehicles and the like among anonymous vehicles running on the same road section are realized, and the queue based on vehicle positions can be used for automatically transmitting risk avoiding information and surrounding images of nearby vehicles, so that the user requirements of delay of vehicle collision and risk avoidance in foggy days, traffic jam without knowing front road conditions, emergency communication lack, pictures 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 of vehicles, provides front real-time video and image information for users when the vehicles are in serious traffic jam, provides reference suggestions for the users, and improves the capability of surrounding vehicle drivers for finding safety risks and avoiding accidents.
Drawings
Fig. 1 is a schematic diagram of a hardware configuration of an emergency control system according to the present invention.
FIG. 2 is a schematic diagram of emergency hedge in the event of a collision;
in the figure, S101, S105, S107, S106, S108, S109 and S1010 are all one vehicle in the queue; s102 is the number of the vehicle, the number of other vehicles around the vehicle is provided with a symbol related to the driving direction of the vehicle by the single vehicle, the + represents the front in the same direction, and the-represents the back in the same direction. S104 is a collision accident occurrence position.
Fig. 3 is a logic diagram of emergency information processing and delivery according to the present invention.
Fig. 4 is a logic block diagram of a cloud information processing unit of the emergency control system according to the present invention.
Fig. 5 is a logic block diagram of emergency communication of the emergency control system according to the present invention.
Detailed Description
The invention is further illustrated below with reference to the accompanying drawings:
the invention is used for a multi-user cooperative interactive navigation and emergency control system, an automatic driving automobile related to the system is provided with various environment sensing sensors, such as a laser radar, a millimeter wave radar, an ultrasonic radar, a camera and the like, and navigation equipment, signals of the sensors are transmitted to each controller through a CAN bus and a vehicle-mounted Ethernet bus, a driving domain controller fuses information provided by each sensor to make decisions, and the functions of steering, braking, power and the like of the automobile are controlled, so that the automatic driving of various scenes is realized.
Specifically, referring to fig. 1, hardware required for full-function operation of the multi-user collaborative interactive navigation and emergency control system includes at least one driving controller with redundant functions, at least two laser radars, six millimeter wave high-definition 4D image radars, four panoramic cameras, six panoramic cameras, a high-precision navigation controller, a near-to-middle-distance combined front-view camera, and a vehicle-mounted communication terminal. Partial functions of the system can transmit important information to surrounding vehicle-mounted terminals or mobile terminals using networking navigation programs through the cloud information processing unit, so that the capabilities of surrounding vehicle drivers of finding safety risks and avoiding accidents are improved.
In one specific embodiment, the multi-user collaborative interactive navigation and emergency control system comprises the following functional units:
and the vehicle queue establishing unit is used for receiving the position information periodically sent by the vehicles in real time and establishing a queue of other vehicles around each vehicle through vehicle positioning information, navigation planning and a close-range V2X communication system.
The vehicle queue establishing unit can independently operate at a vehicle end and a cloud end, and is synchronous with each other in real time, and the cloud end assists in maintenance. And at the vehicle end, processing the road field queue information in real time, inquiring the list when the cloud end is used for issuing early warning information, wherein part of cloud end information sources come from a cloud platform of a third party and can be used as vehicle end information supplement.
And the vehicle-end information processing unit is configured on each vehicle, adopts distributed processing, and is used for each vehicle to receive information such as models (data, alarms, emergency instructions and the like) generated after processing according to the information collected by the environment perception sensor of the vehicle or images transmitted by other vehicles.
The information transmission unit is used for carrying out low-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 transmission between the vehicle and the cloud platform through the mobile internet; and carrying out information caching and transporting operation when the network is not connected, and carrying out information sharing operation when the network is normally connected.
And the information caching and transporting unit is used for repeatedly transmitting information between the vehicle with the collision or the fault and the cloud server in an information caching and relay communication mode when the network around the vehicle with the collision or the fault is not connected.
The cloud information processing unit is configured in the cloud server, is used for receiving the vehicle information and processes the vehicle information, and comprises: when vehicle collision information is received, pushing an early warning instruction to an in-vehicle APP such as a rear vehicle navigation map; after vehicle fault information is received, audio and video around a fault vehicle or an accident vehicle are remotely checked through a network, driving parameters and paths before vehicle accidents are analyzed, a rescue scheme is determined, and current rescue progress, inquiry content, the rescue scheme and the like are pushed to nearby vehicles with networks.
For emergency danger avoidance in the case of collision, referring to fig. 2, the number of each vehicle in a vehicle queue is V0 in a vehicle V0 in a fleet; peripheral vehicles, vehicle numbers V + n, n =1, 2, 3 in front of the vehicle traveling direction 823082308230; the vehicle number V-n, n =1, 2, 3 \8230;. The vehicle rear is provided with a vehicle-mounted display. When the vehicle itself collides, the information of the time, the place and the like of the collision is transmitted to surrounding vehicles through a network, so that the vehicle can perform the control of reminding, decelerating, braking, queuing, passing and the like.
Referring to fig. 3, when the emergency information processing is performed at the vehicle end, the method provided by the present invention is adopted, and 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 vehicle queue management system is connected with other vehicles in a vehicle queue through a network, and synchronizes queue information of other vehicles in the queue, the vehicle and the cloud processing unit;
3. acquiring surrounding environment information through an environment perception sensor, and confirming the running state of the vehicle;
4. confirming whether the owner authorizes the third party to use the information, if so, entering the step (5), and if not, entering the step (8);
5. anonymizing and processing vehicle information, video and audio information inside and outside the vehicle according to the authorized range and the law;
6. judging whether peripheral queue vehicles exist or not, and judging whether a cloud information processing unit requests to acquire information such as images around the vehicles, 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 information such as images, processed models, data, emergency and emergency instructions to be transmitted to surrounding vehicles;
9. judging whether data feedback is obtained or not, if so, entering a step (10), and if not, entering a step (11);
10. synthesizing and perspective road scene real-time videos of surrounding vehicles, and displaying the videos; wherein risk-free vehicles and shelters that do not require driver attention are displayed as semi-transparent outlines;
11. judging whether conditions such as pedestrians, non-motor vehicles, obstacles, animals, road conditions and the like exist around; if yes, entering the step (12), otherwise, ending;
12. highlighting the obstacle on the video of the perspective road scene;
13. judging whether braking is needed or not according to the danger level and the distance, and if so, entering a step (14);
14. lighting a brake lamp to perform danger avoiding operation such as forced braking deceleration, lane changing and the like;
15. judging whether the vehicle has collided, if so, entering the step (16), and if not, entering the step (18)
16. Judging whether the collision video needs to be processed according to laws and regulations, and if so, entering a step (17);
17. anonymizing, blurring and modeling to process data such as field video and images;
18. sending warning information to rear queue vehicles and a cloud information processing unit, wherein the warning information comprises information such as positions, lanes and images, and the cloud information processing unit sends the warning information to certain terminals and vehicle-mounted terminals around the obstacle;
19. judging whether the vehicles in the queue send alarm information, if so, entering a step (20), and if not, ending;
20. and displaying the alarm information, executing the forced instruction and then ending.
In a further embodiment, when the vehicle is in collision danger avoidance, the vehicles establish a vehicle queue based on the positioning information of the navigation system, when one vehicle is in collision, voice prompt information is immediately pushed to surrounding users through communication modes such as a server of a navigation map provider, 4G/5G, bluetooth and WiFi, the vehicle behind the vehicle is prompted to brake immediately, and a brake lamp is quickly flickered to prompt the vehicle behind the vehicle.
In a further embodiment, during information caching transportation, the fault vehicle transmits current vehicle state and position information to vehicles passing by the periphery, the vehicles around transmit received information to the vehicle running faster or the vehicle ahead because the vehicles do not have the network, and the information is uploaded to a cloud server and submitted to customer service staff when the vehicle with the information cached runs to a network position. After receiving the fault information, the customer service staff can push information cache to nearby vehicles through a background according to the current rescue progress and inquiry content, search for the faulty vehicle when the fault vehicle reaches the position nearby the specified position, transmit the cache data to the faulty vehicle, inquire personnel in the vehicle through a voice system on the vehicle, try to transmit the answer to the customer service staff through the relay communication mode after obtaining the answer.
In a further embodiment, when a vehicle collides, the vehicle with the collision transmits information such as time, place and the like of the 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 navigation map of a rear vehicle; the early warning instruction comprises: for a close-range vehicle, controlling the vehicle to implement an instruction of forced deceleration or emergency braking so as to prompt a user and avoid secondary damage caused by continuous vehicle collision; and controlling an instruction of immediately lighting a brake lamp close to a vehicle behind the road, and guiding a user to decelerate and avoid the obstacle through images and sounds of a head-up display system or an instrument display screen.
In a further embodiment, when a traffic lane is narrowed due to the conditions of vehicle collision or temporary road closure construction and the like, if limited lane is allowed to pass under the road conditions, a rear vehicle is informed through a queue system not to overtake/change the lane on the road section, the lane with the accident is avoided, and the vehicle is sequentially queued according to the number of the lanes which can pass through the accident section in the driving process at a certain distance from the accident section to pass through the accident section at a constant speed, so that the passing efficiency is improved.
In a further embodiment, the system establishes a fast sharing network of a vehicle queue through Bluetooth, wiFi, 5G or a mobile network based on a driving direction provided by RTK, GNSS positioning, an inertial navigation sensor and navigation software, wherein the network is formed by serially connecting Bluetooth, wiFi, 5G or mobile terminal private networks of a plurality of users and distributing data through a cloud information processing unit, and can also distribute data through a third party cloud information processing unit such as WeChat and Gade maps. The user can set up in on-vehicle amusement information terminal incall to turn on/off and share the tachograph of oneself, 360 panorama current image, millimeter wave radar, laser radar, through private wiFi, 5G agreement or high in the clouds information processing unit transmission data when having the request around, updates a picture through the compression every second, and supports sharing between a plurality of wiFi or 5G terminals, supports no network area to collect the distribution of buffering information or relay forwarding.
Referring to fig. 4, this embodiment shows the steps executed by the cloud information processing unit in the cloud server:
1. and synchronizing the vehicle, the cloud end, the positions of the surrounding vehicles and the queue information.
2. And (4) judging whether a vehicle has collided, if not, entering the step (9), and if so, entering the step (3).
3. And requesting to transmit images, processed models, data and other information to the fault vehicle and other vehicles around.
4. And (5) judging whether data feedback is obtained or not, if so, entering the step (5), and if not, entering the step (1).
5. And synthesizing the road scene real-time panoramic video and the model of the accident scene, displaying the video and the model on a display screen, and recording recent data and archiving the data.
6. And (4) judging whether the fault vehicle is a dangerous chemical vehicle, if so, entering the step (7), and if not, entering the step (9).
7. And informing surrounding vehicles in the vehicle queue to evacuate, and informing vehicles in the surrounding possibly affected distance to avoid danger in real time.
8. And sending the failure information of the dangerous chemical vehicle to a third-party navigation cloud information processing unit through WeChat, a Gaode map and the like.
9. And (4) judging whether the rescue control personnel request data such as site audio, if so, entering the step (10), and if not, entering the step (11).
10. And outputting data such as audio and driving records to rescuers.
11. And (4) judging whether the surrounding vehicles request the scene video of the accident vehicle, if so, entering the step (12), and if not, entering the step (15).
12. And (5) 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. And anonymity, blurring and modeling process data such as live video and images.
14. And outputting the audio-video information to the vehicle requesting the image.
15. And (5) judging that a vehicle approaches behind the historical driving path of the fault vehicle, if so, entering a step (16), and if not, entering a 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 information such as the position and the lane 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 and run at a constant speed, so that the behaviors of reducing the overall passing efficiency, such as blocking, lane changing and the like in an accident road section are avoided.
Referring to fig. 5, this embodiment shows the steps of sending and receiving emergency information in an emergency communication manner at the vehicle end, the vehicle end information processing unit and the information caching transportation unit:
1. and acquiring surrounding environment information through an environment perception sensor, and confirming the running state of the vehicle.
2. And (5) judging whether the vehicle has collided, if so, entering the next step, and if not, entering the step (5).
3. And (4) 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 an eCall or a mobile network, and then emptying the buffer.
5. And judging whether other vehicle rescue data are cached, if so, entering the next step, and if not, ending.
6. And (4) judging whether the cache data is in the set time (24 hours), if so, returning to the step (3), and if not, emptying the cache.
7. And (4) 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 own vehicle user message.
9. And judging whether the peripheral vehicle queue can be accessed wirelessly, if so, entering the next step, and if not, entering the sleep mode.
10. And transmitting fault information such as the cache message of the user of the vehicle, the position, the driving path, the picture of the surrounding vehicle and the like to the cache of the surrounding vehicle.
11. And inquiring whether the surrounding vehicles have a message sent to the vehicle at the cloud end, if so, entering the next step, and if not, entering the dormancy.
12. Request message transmission, play message to user, and then go to sleep.
13. After waiting for a while, step (3) is entered again.
As can be seen from the above embodiments, the system may implement some or all of the following functions:
vehicle queue: the vehicle regularly sends the position information to the cloud server, and the vehicle establishes a queue of other vehicles around for each vehicle through vehicle positioning information, navigation planning and a close-range V2X communication system, so that a propagation path is provided for sharing information.
Information transmission: the vehicle-mounted low-delay communication system has the advantages that private Bluetooth, wiFi and 5G data transmission protocols are used, low-delay communication between the vehicle and other vehicles around hundreds of meters is achieved, and the low-delay communication system 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, posture, size and braking distance; the information transmission between the vehicle and the cloud information processing unit is realized through the mobile internet.
Distributed processing: information collected by a camera, a millimeter wave radar and a laser radar of the vehicle or information such as a generated model, data, an alarm, an emergency instruction and the like is transmitted to a rear vehicle after images transmitted by other vehicles are processed, so that the operation resources of vehicle processing information in the whole system are saved.
Perspective and finding blind zone obstacles: by integrating information such as videos transmitted by surrounding vehicles in real time, a 3D model around the vehicles is established, and real-time video images are attached, so that the function of seeing through surrounding vehicles to find the states of the vehicles and obstacles in all blind areas, namely front, rear, left and right blind areas can be realized, and traffic accidents caused by the blind areas in the visual field can be avoided. The whole vehicle can realize a perspective navigation friendly interface on a 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 road condition ahead, and if the front vehicle brakes and decelerates, the brake lamp of the rear vehicle flashes rapidly at the speed of 3 to 10 times per second to remind the rear vehicle to brake.
Avoiding chain collision: when the collision happens, the warning is sent to surrounding vehicles and the cloud information processing unit immediately, the cloud information processing unit sends out an early warning instruction for APP pushing in the vehicle such as a rear vehicle navigation map, the brake lamp is turned on immediately to guide the user to decelerate and avoid obstacles, and for close-distance vehicles, forced deceleration or emergency braking is implemented and the user is prompted, so that secondary damage caused by continuous collision is avoided.
Directly hitting a rescue site: the cloud rescue platform remotely checks the fault vehicle or the audio and video around the fault vehicle through a network after the accident occurs, analyzes the driving parameters and the path of the vehicle before the accident and determines a rescue scheme.
The passing efficiency is improved: in a passable accident vehicle road section, the cloud information processing unit and the vehicles evaluate the passable width according to the images and the radar, the passable lanes are automatically queued, and the vehicles are queued at a constant speed to run at a distance of 0.5 to a plurality of kilometers when entering the accident road section, so that the behaviors of reducing the overall passing efficiency, such as blocking, lane changing and the like in the accident road section are avoided. The empty lane that is taken by the trouble vehicle can avoid the secondary to hit the car injury, provides more possibilities for the rescue.
Remote vision: and in holidays and traveling peak periods, vehicle images and places around traffic accidents on a navigation route or a route predicted based on driving habits of the user are automatically pushed by the user, and a basis is provided for a vehicle driver to evaluate the passing time required for recovering the smoothness, so that the driver can decide whether to adjust the driving route.
Emergency treatment: in emergency situations such as acute diseases and the like in a traffic jam area, a driver can send out voice help-seeking information to vehicles in a surrounding vehicle queue to explain the requirements of materials, personnel and equipment.
Emergency risk avoidance: the dangerous chemical substance vehicles detect leakage and combustion, or the surrounding vehicles intelligently recognize that the dangerous chemical substance vehicles leak or combust, the surrounding vehicles are immediately informed to evacuate, the vehicles in the surrounding possibly influenced distance are informed of real-time emergency danger avoidance, and vehicles which are close to a dangerous point and cannot run for a period of time are recommended to abandon the vehicle for escape.
Emergency information transmission: when the vehicle collides or overturns and no network exists, the voice assistant actively inquires whether the driver starts the emergency rescue information transmission or not and wants to send out a distress signal. If the user agrees, collecting vehicle body codes, accident time, a driving track before a vehicle accident, vehicle position information, recording a period of time after the accident occurs, conversation recording of a driver and a voice assistant and other information, packaging data, using the vehicle body codes and the date and time as event names, sending the data to a passing vehicle when the passing vehicle passes through the detected surrounding vehicle, uploading the information to a cloud server when the passing vehicle runs to a network coverage area, contacting rescue workers by the cloud server, packaging the recorded data of problems such as rescue arrangement and injured states needing to be known to the driver, sending the recorded data to other vehicles possibly running near the failed vehicle in the surrounding signal coverage area, transmitting the data to the failed vehicle when the other vehicles pass through the network coverage area, transmitting a driver answer to the passing vehicle to the signal coverage area by the voice assistant after finishing operations such as questioning and the like, and uploading the data to a cloud side, thereby realizing the signal transmission. The rescue information transmission function can also be implanted into public platforms such as a Goodpasture map, and the rescue information is relayed to surrounding vehicles in a vehicle queue supporting the protocol in a non-network coverage area until the vehicles are connected to a cloud platform.
Automatic triggering of information sharing: when a traffic jam or an accident is detected or a user turns on the warning lamp, surrounding vehicles are automatically reminded of taking attention to emergencies such as safety, chemicals, traffic collision and the like, and corresponding pictures are attached. Without human intervention! Quick and safe!
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, the vehicle can be bound through mobile phone navigation to achieve display of vehicle related information on the mobile phone, the mobile phone navigation function is enhanced, and the function of displaying front videos and images on the mobile phone is achieved.
Authorization: the user is informed which functions need to use which information, the user determines which information can be viewed by other drivers, which information can be provided to other vehicles for safe driving, which information can be transmitted to the cloud information processing unit, and which information can be shared with the vehicles in the queue.
And (3) information security audit: the images are uploaded to the cloud information processing unit, are audited and processed and then are issued, and are audited by the local AI when no network exists, so that discomfort caused by the accident scene pictures is avoided. Pictures and videos which are processed and audited by the cloud information processing unit or the local AI can be freely shared.
Claims (5)
1. An emergency information processing control method is used for a multi-user collaborative interactive navigation and emergency control system, the system comprises a vehicle queue establishing unit, a vehicle-end information processing unit and an information transmission unit, and the emergency information processing method is characterized in that at a vehicle end, the emergency information processing steps are as follows:
(1) The method comprises the steps of connecting with a cloud server through a network to obtain a surrounding vehicle list;
(2) The vehicle queue management system is connected with other vehicles in the vehicle queue through a network, and synchronizes queue information of other vehicles in the queue, the vehicle and the cloud processing unit;
(3) Acquiring surrounding environment information through an environment perception sensor, and confirming the running state of the vehicle;
(4) Confirming whether the owner authorizes the third party to use the information, if so, entering the step (5), and if not, entering the step (8);
(5) Anonymizing and processing vehicle information, video and audio information inside and outside the vehicle according to the authorized range and the law rule;
(6) Judging whether peripheral queue vehicles exist or not, and judging whether a cloud information processing unit requests to acquire information such as images around the vehicles, 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 information such as images, processed models, data, emergency and emergency instructions to be transmitted to surrounding vehicles;
(9) Judging whether data feedback is obtained or not, if so, entering a step (10), and if not, entering a step (11);
(10) Synthesizing and perspective road scene real-time videos of surrounding vehicles, and displaying the videos; wherein risk-free vehicles and shelters that do not require driver attention are displayed as semi-transparent outlines;
(11) Judging whether conditions such as pedestrians, non-motor vehicles, obstacles, animals, road conditions and the like exist around; if yes, entering the step (12), and if not, ending;
(12) Highlighting the obstacle on the video of the perspective road scene;
(13) Judging whether braking is needed according to the danger level and the distance, and if so, entering a step (14);
(14) Lighting a brake lamp to carry out danger avoiding operation;
(15) Judging whether the vehicle has collided, if so, entering the step (16), and if not, entering the step (18)
(16) Judging whether the collision video needs to be processed according to laws and regulations, if so, entering the step (17)
(17) Anonymizing, blurring and modeling to process data such as field video and images;
(18) Sending warning information to rear queue vehicles and a cloud information processing unit, wherein the warning information comprises information such as positions, lanes and images, and the cloud information processing unit sends the warning information to certain terminals and vehicle-mounted terminals around the obstacle;
(19) Judging whether the vehicles in the queue send alarm information, if so, entering a step (20), and if not, ending;
(20) Displaying the alarm information, executing a forced instruction, and ending;
the information transmission unit is used for carrying out low-delay communication between the vehicle and other surrounding vehicles through a private Bluetooth, wiFi or 5G data transmission protocol, transmitting information processed by the vehicle-end information processing unit, and carrying out information transmission between the vehicle and the cloud platform through the mobile internet; and carrying out information caching and transporting operation when the network is not connected, and carrying out information sharing operation when the network is normally connected.
2. The emergency information processing and controlling method according to claim 1, wherein the vehicle queue establishing unit is configured at a vehicle end, and is configured to receive position information periodically transmitted by the vehicle in real time, and establish a queue of other vehicles around each vehicle through vehicle positioning information, navigation planning and a short-distance V2X communication system.
3. The emergency information processing control method according to claim 1, wherein the vehicle-side information processing unit is configured on each vehicle, and distributed processing is adopted for each vehicle to establish a current vehicle surrounding environment model according to environment information detected by an environment sensing sensor of the vehicle or information such as an image received from other vehicles and a vehicle surrounding environment model, data, an alarm, an emergency instruction and the like generated after processing, compare the current vehicle surrounding environment model with known data, perform positioning, navigation, prediction and decision making, transmit information required by other control units, and send a control instruction.
4. The emergency information processing control method according to claim 1, wherein the vehicle-side information processing unit is further configured to receive and integrate information such as videos transmitted by surrounding vehicles in real time, establish a 3D model around the vehicle, attach real-time video images, and implement a perspective navigation interface on a navigation map to see through surrounding vehicles so as to find states of vehicles and obstacles in blind areas of front, rear, left, and right sides.
5. The emergency information processing and controlling method according to claim 1, wherein the information transmission unit transmits information about the time, place, etc. of the collision to surrounding vehicles and/or a cloud server through the vehicle-side information transmission unit when the vehicle collides; when a vehicle breaks down, the fault vehicle transmits fault information such as a vehicle position, a driving path, a vehicle surrounding picture and the like to surrounding vehicles and/or a cloud server through a vehicle-end information transmission unit.
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