CN114245340A - C-V2X-based urban road and vehicle cooperative cloud control vehicle guiding system - Google Patents
C-V2X-based urban road and vehicle cooperative cloud control vehicle guiding system Download PDFInfo
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Abstract
The invention provides a C-V2X-based urban road vehicle-road cooperative cloud control vehicle guiding system which comprises a cloud control platform and a plurality of groups of road side units, wherein each road side unit comprises an infrastructure unit and a road side communication unit, the infrastructure unit is used for carrying out multi-dimensional perception on a road and sending perception data to the cloud control platform through the road side communication unit, the cloud control platform obtains vehicle information through a corresponding channel to track a corresponding vehicle as a specific vehicle, the cloud control platform generates a reminding field surrounding the specific vehicle according to the position information of the specific vehicle, and sends the position information of the specific vehicle to the road side communication unit in the reminding field so that the road side communication unit in the reminding field sends early warning information to a vehicle-mounted terminal of a networked vehicle in the communication range. According to the scheme, monitoring of relevant departments on the specific vehicle can be achieved, meanwhile, a reminding field can be generated for monitoring of the specific vehicle, and early warning information is sent to the vehicle in the reminding field so that the vehicle can be prepared for avoidance in advance.
Description
Technical Field
The invention belongs to the technical field of intelligent transportation, and particularly relates to an urban road vehicle-road cooperative cloud control vehicle guiding system based on C-V2X.
Background
At present, with the rapid increase of the holding quantity of motor vehicles in China, the traffic flow of urban roads also rises rapidly, so that the problems of traffic jam and the like become increasingly serious. In the aspect of urban road information service, the conventional vehicle-mounted navigation, mobile phone navigation and the like can only realize road static navigation and external service of a small amount of road condition congestion data, and real-time reminding aiming at macroscopic road real-time accidents, accident occurrence lanes, microscopic zebra crossings, intersection region pedestrians and motor vehicles potential collisions is not enough, so that efficient interconnection and intercommunication between motor vehicle drivers and road conditions can not be realized. In addition, the traditional navigation service has data intercommunication barriers among different enterprises, the data of the urban intelligent road infrastructure is more real-time and closely related to urban traffic management, and urban traffic control, road guidance and the like are difficult to reach numerous urban travelers. The novel internet road traffic system taking the vehicle-road cooperation technology and the vehicle networking technology as the core provides an effective way for solving the existing road traffic problem. With the advent of the 5G era and the gradually clear route of C-V2X, C-V2X (Cellular Vehicle-to-event) is a new protocol supporting communication between networked vehicles and other "networked" road users and infrastructure, and at present, there is a thought that cooperative sensing, decision making and control among vehicles, roads, drivers and the like can be formed through a C-V2X network, but there is still no clear specific application and implementation method in the specific application, and there is a need for technical staff to excavate and fill up.
Disclosure of Invention
The invention aims to solve the problems and provides a C-V2X-based urban road vehicle-road cooperative cloud control vehicle guiding system.
In order to achieve the purpose, the invention adopts the following technical scheme:
the urban road vehicle and road cooperative cloud control vehicle guiding system based on C-V2X comprises a cloud control platform and a plurality of sets of road side units which are arranged on the roadside and can interact with the cloud control platform, wherein each road side unit comprises an infrastructure unit and a road side communication unit, each infrastructure unit is used for carrying out multi-dimensional perception on the road and sending perception data to the cloud control platform through the corresponding road side communication unit, and the cloud control platform obtains vehicle information through corresponding channels so as to track corresponding vehicles as specific vehicles.
In the C-V2X-based urban road vehicle-road cooperative cloud control vehicle guidance system, the cloud control platform sends vehicle information of a specific vehicle to the relevant road side units, and the relevant road side units record the vehicle information and upload perception data to the cloud control platform when monitoring the specific vehicle corresponding to the vehicle information.
In the C-V2X-based urban road vehicle-road cooperative cloud control vehicle guidance system, the infrastructure unit includes multiple roadside sensing devices and edge computing devices connected to the roadside sensing devices, the roadside sensing devices are used for performing multidimensional sensing on the road, and the edge computing devices are used for processing sensing data uploaded by the roadside sensing devices and then sending the processed sensing data to the cloud control platform through the roadside communication unit.
In the C-V2X-based urban road vehicle-road cooperative cloud control vehicle guidance system, the edge computing device is configured to perform aggregation processing on the perception data and send the processed perception data to the cloud control platform; and the cloud control platform realizes real-time position tracking of the specific vehicle according to the perception data uploaded by each road side unit.
In the C-V2X-based urban road vehicle-road cooperative cloud control vehicle guidance system, the roadside sensing device includes any one or a combination of more than one of a road condition sensor, a traffic event detection camera, a laser radar and a radar-vision all-in-one machine.
In the C-V2X-based urban road vehicle-road cooperative cloud control vehicle guidance system, the storage cloud control platform is connected to a channel system, and vehicle information is acquired through the channel system to track a corresponding vehicle as a specific vehicle;
the channel system is a management system, and managers input the vehicle information into the management system according to needs so that the cloud control platform can acquire the vehicle information.
In the C-V2X-based urban road vehicle-road cooperative cloud-controlled vehicle guidance system, the cloud control platform generates a reminding field surrounding a specific vehicle according to the position information of the specific vehicle, and issues the position information of the specific vehicle to the roadside communication unit in the reminding field so that the roadside communication unit in the reminding field sends out early warning information to the vehicle-mounted terminal of the networked vehicle in the communication range.
In the above C-V2X-based urban road vehicle-road cooperative cloud-control vehicle guidance system, the reminding field is determined by:
f(P(x,y),v,θ)＝P(x,y)+k·v·θ
wherein P (x, y) is the nearest position of a specific vehicle, v is the average speed of the downstream of a road section, theta is the heading angle of the vehicle, and k is a coefficient;
the roadside communication unit broadcasts information externally in a broadcasting mode so as to send the early warning information to the internet vehicles within the communication range.
In the C-V2X-based urban road vehicle-road cooperative cloud control vehicle guidance system, the networked vehicle directly sends a specific request containing vehicle information to the cloud control platform 2 through the vehicle-mounted terminal or sends a specific request containing vehicle information to the cloud control platform 2 through the roadside unit 1; the cloud control platform 2 makes whether the request is allowed or not according to the specific request, and if the request is allowed, the corresponding internet vehicle is calibrated to be the specific vehicle.
In the C-V2X-based urban road vehicle-road cooperative cloud-control vehicle guidance system, the specific request includes destination information, and when it is detected that the corresponding specific vehicle arrives at the destination, the cloud control platform releases the specific attribute of the specific vehicle and notifies each roadside unit.
The invention has the advantages that:
1. the urban traffic information service is constructed through the road side unit and the cloud control platform, the guiding effect is improved, such as avoidance of a specific vehicle, the traffic condition is optimized, such as the congestion condition and the accident condition are timely notified to a vehicle owner, so that the vehicle owner can plan a path better, and the occurrence of traffic accidents is effectively reduced, such as collision of the vehicle at an intersection or collision of a suddenly appearing pedestrian can be avoided;
2. the road side unit carries out different processing according to different conditions, and dynamically adjusts the sending range of the related information according to the field conditions, so that not only can a possibly affected vehicle owner obtain the related information in time, but also an unrelated vehicle owner can be prevented from receiving the information unrelated to the possibly affected vehicle owner, the possibly affected vehicle owner can interact with the vehicle and the cloud control platform in a targeted manner, and more accurate road information service under various scenes is met;
3. the vehicle track of the specific vehicle can be realized through the cloud control platform, and the monitoring of the specific vehicle by related departments is realized; meanwhile, a reminding field surrounding the specific vehicle is generated by monitoring the specific vehicle, and early warning information is sent to the vehicle in the reminding field so that the vehicle can prepare for avoidance in advance;
6. the downstream average vehicle speed is used as a basis for determining the reminding field, adaptive adjustment can be performed based on the road condition, the sensing range is expanded aiming at the congestion condition, and vehicles can be conveniently obtained in time and the driving lane is adjusted; under the unblocked condition, the early warning range is reduced, and the influence on the vehicle in a large range is avoided.
Drawings
Fig. 1 is a system structure block diagram i of an urban road vehicle-road cooperative cloud-control vehicle guidance system based on C-V2X in an embodiment of the present invention;
fig. 2 is a system structure block diagram ii of an urban road vehicle-road cooperative cloud-control vehicle guidance system based on C-V2X in the first embodiment of the present invention;
fig. 3 is a work flow chart of avoidance of a specific vehicle by the C-V2X-based urban road vehicle-road cooperative cloud-control vehicle guidance system in the first embodiment of the present invention;
fig. 4 is a system structural block diagram three of the city road vehicle-road cooperative cloud-control vehicle guidance system based on C-V2X in the first embodiment of the present invention;
fig. 5 is a working flow chart of the C-V2X-based urban road and vehicle road cooperative cloud-controlled vehicle guidance system in the specific case of a traffic accident in the second embodiment of the present invention.
Reference numerals: a roadside unit 1; an infrastructure unit 11; a roadside sensing device 12; an edge computing device 13; a roadside communication unit 14; a cloud control platform 2; a vehicle-mounted terminal 3; an in-vehicle communication unit 31; and an in-vehicle display terminal 32.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example one
As shown in fig. 1, the embodiment discloses a C-V2X-based urban road vehicle-road cooperative cloud control vehicle guidance system, which includes a cloud control platform 2 and a plurality of sets of road side units 1 that are disposed at the roadside and can interact with the cloud control platform 2, each road side unit 1 includes an infrastructure unit 11 and a road side communication unit 14, the infrastructure unit 11 is used for performing multidimensional perception on the road and sending perception data to the cloud control platform 2 through the road side communication unit 14, the cloud control platform 2 is connected to a channel system 4, and vehicle information is acquired through the channel system so as to track a corresponding vehicle as a specific vehicle.
The channel system may be a management system, and the manager inputs the vehicle information of the vehicle to be tracked into the management system according to the need, for example, according to the alarm condition, so that the cloud control platform 2 obtains the vehicle information. May be used for specific vehicle tracking.
Specifically, the infrastructure unit 11 includes multiple roadside sensing devices 12 and edge computing devices 13 connected to the roadside sensing devices 12, the roadside sensing devices 12 are used for performing multidimensional sensing on the road, the edge computing devices 13 are used for processing perception data uploaded by the roadside sensing devices 12 in an aggregation mode and then sending the processed perception data to the cloud control platform 2 through the roadside communication unit 14, and the cloud control platform 2 achieves real-time position tracking of a specific vehicle according to the perception data uploaded by each roadside unit 1.
Preferably, the cloud control platform 2 sends the vehicle information of the specific vehicle to the relevant road side unit 1, the relevant road side unit 1 records the vehicle information, in the monitoring process, the edge computing device 13 of the road side unit 1 continuously analyzes the sensing data to judge whether the specific vehicle corresponding to the vehicle information exists in the current monitoring range, and when the specific vehicle exists, the sensing data is uploaded to the cloud control platform 2, so that the position tracking of the specific vehicle can be realized, meanwhile, the necessary data is uploaded only under the condition that other special conditions do not exist, the pressure of a server can be reduced, and the transmission efficiency is improved. Certainly, the user can also set temporary real-time collection of city-wide perception data on the cloud control platform according to special needs, or collect perception data of set road sections and set ranges. The city is a city-level city or a county-level city, and the city-level city is taken as an example in the present embodiment.
Specifically, the relevant rsus 1 may be all rsus 1 in the city, or a range may be selected by a system user, and all rsus in the selected range are relevant rsus. The city to which a particular vehicle belongs may be determined based on the management system from which the vehicle information is obtained.
Specifically, the roadside sensing device 12 includes any one or combination of more of a road condition sensor, a traffic event detection camera, a lidar and a radar dome. One road side unit 1 corresponds to one road section, two road side units 1 can be partially overlapped, one road side unit 1 is provided with an edge computing device 12 and a road side communication unit 14, a plurality of road condition sensors, traffic event detection cameras, laser radars, radar vision integrated machines and other sensing devices can be arranged, and the number and the specific arrangement condition of each sensing device are determined according to the length of the road section corresponding to the road side unit 1, the road section condition and the like.
The various roadside sensing devices 12 may be connected to the edge computing device 13 by a wired connection, or may be connected to the edge computing device 13 by a wireless connection. Likewise, the edge computing device 13 may be connected to the roadside communication unit 14 by a wired manner, or may be connected to the roadside communication unit 14 by a wireless manner.
Further, as shown in fig. 2 and fig. 3, in this embodiment, based on the foregoing tracking technology for a vehicle, a guidance effect of avoiding a specific vehicle is further implemented, the cloud control platform 2 generates a reminding field surrounding the specific vehicle according to the position information of the specific vehicle, and sends the position information of the specific vehicle to the roadside communication unit 14 in the reminding field so as to send warning information, generally, avoidance warning information, to the vehicle-mounted terminal 3 of an internet-connected vehicle in the communication range by the roadside communication unit 14 in the reminding field, the vehicle-mounted terminal 3 includes a vehicle-mounted communication unit 31 and a vehicle-mounted display terminal 32, the vehicle-mounted communication unit 31 is used for communicating with the roadside communication unit 14, and the vehicle-mounted display terminal 32 is used for implementing vehicle-mounted information prompting and terminal interaction functions. The vehicle-mounted terminal 3 receives the avoidance early warning information and then displays the avoidance early warning information through the vehicle-mounted display terminal 32, and a vehicle owner makes decisions such as lane changing and the like based on the display information so as to realize avoidance of specific vehicles, such as public service vehicles such as ambulances, fire trucks and the like.
Specifically, the reminder field is determined by:
f(P(x,y),v,θ)＝P(x,y)+k·v·θ
wherein P (x, y) is the nearest position of a specific vehicle, v is the average speed of the downstream of a road section, theta is the heading angle of the vehicle, and k is a coefficient; the downstream average vehicle speed is used as a basis for determining the reminding field, adaptive adjustment can be performed based on the road condition, the sensing range is expanded aiming at the congestion condition, and the vehicles can be conveniently and timely obtained and the driving lanes are adjusted; under the unblocked condition, the early warning range is reduced, and the influence on the vehicle in a large range is avoided.
In this embodiment, the roadside communication unit 14 broadcasts information to the outside in a broadcast manner to send the warning information to the internet vehicles within the communication range. Specifically, the roadside communication unit 14 is deployed in a network deployment manner of LTE-V2XPC5+5G NRUu, provides a data communication carrier for vehicles, roads, and clouds, and can broadcast externally in a unified LTE-V communication standard when sending information to the vehicle-mounted terminal 3 in a communication range.
Further, as shown in fig. 4, the networked vehicle may directly send a specific request including vehicle information to the cloud control platform 2 through the vehicle-mounted terminal 3 or send a specific request including vehicle information to the cloud control platform 2 through the roadside unit 1, in this embodiment, preferably, the roadside unit 1 sends the specific request to the cloud control platform 2, if the vehicle a needs to be identified as a specific vehicle, the vehicle owner operates at the vehicle-mounted terminal 3 to send the specific request, the cloud control platform receives the specific request through the corresponding roadside unit 1, the cloud control platform 2 makes whether the request is allowed according to the specific request, if the request is allowed, the corresponding networked vehicle is calibrated as the specific vehicle, and the vehicle information is sent to the relevant roadside unit 1. Similarly, the cloud control platform 2 generates a reminding field surrounding the specific vehicle according to the position information of the specific vehicle, and sends the position information of the specific vehicle to the roadside communication unit 14 in the reminding field so that the roadside communication unit 14 in the reminding field sends early warning information to the vehicle-mounted terminal 3 of the networked vehicle in the communication range.
The specific request may also include a destination, and when it is detected that the specific vehicle arrives at the destination, the cloud control platform releases the specific attribute of the specific vehicle and notifies each roadside unit 1.
The manner of whether the cloud control platform 2 makes the request is as follows:
if the specific request has the vehicle position information, the initial position information of the specific vehicle can be directly acquired; if the specific request does not contain the vehicle position information, the vehicle position is determined according to the road side unit 1 sending the specific request, when the road side unit 1 uploads the specific request to the cloud control platform 2, the sensing data is uploaded to the cloud control platform 2, the cloud control platform 2 can request the sensing data from the upstream road side unit 1 and the downstream road side unit 1 of the road side unit 1, and therefore the situation that the vehicle cannot capture the vehicle sending the specific request in time due to the fact that the vehicle enters the monitoring range of the next road side unit 1 from the monitoring range of the current road side unit 1 after sending the specific request is avoided. After the vehicle position information is acquired, the vehicle information is sent to all the roadside units 1 in a set range of the position of the vehicle, so as to temporarily track the vehicle, wherein the set range is determined by a person skilled in the art according to specific situations, and can be 3-5 kilometers, for example. The cloud control platform 2 checks the vehicle (including the color of the vehicle body, the use of the vehicle, etc.) through the perception data, if the vehicle is a permanent specific vehicle, the request is directly allowed, and if the vehicle is a non-permanent specific vehicle, the request personnel can be further required to upload information such as a special reason, a certificate photo, a contact way, etc., and then the information and the specific request are forwarded to the management system to be manually checked by the management personnel. The permanent specific vehicle can be a vehicle with a specific purpose, such as a fire engine, an ambulance and the like, the cloud control platform directly allows the request when recognizing that the requesting vehicle is the vehicle through the sensing data, and the permanent specific vehicle can also be a vehicle which is authenticated by the management system in advance. The system can judge the vehicles with specific purposes by itself without authenticating and checking the vehicles with specific purposes one by one. For a general vehicle, the vehicle is authenticated by a manager in advance or is audited by the manager on the spot. The method not only meets the priority traffic requirements of special conditions, such as emergency medical delivery and the like, but also can avoid marking the ordinary vehicles as specific vehicles at will to prevent normal traffic from passing, and masters the priority traffic control right of the vehicles in the hands of users of a management system, such as a traffic police department, so as to help the traffic police department to carry out road traffic management, and provide convenience for special personnel and special conditions.
Example two
The present embodiment is similar to the embodiment except that the edge computing device 13 of the present embodiment may be always in the monitoring state. And then judging whether a specific condition exists at present according to the monitored sensing data in the monitoring process, and if so, sending the processed sensing data to the cloud control platform 2.
In particular, the specific situations include traffic accidents and road congestion. The edge computing device 13 determines whether the corresponding road section has specific situations of traffic accidents and road congestion according to the sensing data.
As shown in fig. 5, the roadside unit 1 that monitors a traffic accident uploads the sensing data processed by the edge computing device 13 to the cloud control platform 2, and sends accident information to the vehicle-mounted terminal 3 in the communication range, and a vehicle in the communication range of the roadside unit at the accident location can directly acquire information that an accident occurs at a certain position of the road segment. The cloud control platform 2 determines information such as an accident site and a road occupation condition according to the sensing data, simultaneously selects road side units 1 around the road side units 1 (with the information within a set range, such as 3 kilometers) according to the road side units 1 monitoring the traffic accident, judges the influence degree of the accident on the traffic according to the data uploading condition of other road side units 1 near the accident site, issues the accident condition such as the accident site, the road occupation condition and the influence degree to each road side unit 1 of an upstream road section within a set distance from the accident site, and the road side units 1 receiving the accident condition information send the information to the vehicle-mounted terminal 3 within a communication range. The other roadside units 1 described above are typically roadside units 1 upstream of the accident site. In addition, in this embodiment, preferably, when no specific condition exists, the roadside unit 1 does not actively upload the sensing data to the cloud control platform 2, and when the sensing data uploaded by the roadside unit 1 is not received, it can be determined that no congestion condition exists in the corresponding road segment, so that the cloud control platform determines the influence condition of the accident on the traffic according to whether the roadside unit 1 uploads the sensing data on the road segment upstream of the accident location and the sensing data uploaded by the roadside unit 1.
Preferably, the aforementioned set distance is determined according to the influence. For example, the influence situation is divided into a length of a traffic jam with a small influence within 200 meters or a traffic jam hardly caused, a length of a general traffic jam with an influence within 200 meters to 500 meters, a length of a traffic jam with a severe influence within 500 meters to 1 kilometer, and a length of a traffic jam with a severe influence above 1 kilometer, and when it is determined that the influence degree is small, the distance is set to 500 meters, when it is determined that the influence degree is general, the distance is set to 1 kilometer, when it is determined that the influence degree is severe, the distance is set to 2 kilometers, and when it is determined that the influence degree is severe, the distance is set to 5 kilometers. The classification criteria for the aforementioned influencing situations and the set distance for each influencing situation can be set by the person skilled in the art on a case-by-case basis.
As can be seen from the above, some vehicles may receive information from the roadside unit and information from the cloud control platform at the same time, and these vehicles display the information of the two parties alternately or simultaneously when receiving the information of the two parties, for example, if a vehicle located at a traffic accident site receives accident information "a traffic accident occurs at a section XX where you are located" of the roadside unit 1 ", receives influence degree" a traffic accident occurs at a section XX, and an accident causes congestion of a section XX degree in the section XX-XX degree ", the vehicle-mounted terminal 3 may also integrate the two information and display the integrated information to a vehicle owner. The vehicle-mounted terminal 3 may also include a positioning module, and the vehicle-mounted terminal 3 may provide an accurate information service conforming to the position of the vehicle owner for the vehicle owner according to the received information and the current position.
When no traffic accident exists and only road congestion exists, the road side unit 1 which monitors the road congestion uploads the sensing data processed by the edge computing device 13 to the cloud control platform 2, and the congestion information is sent to the vehicle-mounted terminal 3 in the communication range. The cloud control platform 2 draws a congested road section and a vehicle-road cooperative data map for marking congestion degree according to a city map and perception data uploaded by road side units 1 which judge as road congestion, sends the vehicle-road cooperative data map to each road side unit 1 at an upstream road section within a set distance from the congested road section, and the road side units 1 which receive information send the information to a vehicle-mounted terminal 3 within a communication range. And if a plurality of congested road sections exist currently, the vehicle-road cooperative data maps of the congested road sections are sent to corresponding road side units 1, and when one road side unit 1 is associated with the congested road sections, the vehicle-road cooperative data maps are integrated and then sent to the road side unit 1. The vehicle owner can input the destination at the vehicle-mounted terminal 3, so that the vehicle-mounted terminal 3 intercepts the part of the vehicle-road cooperative data map related to the current position and the destination position of the vehicle owner according to the destination position and displays the part to the vehicle owner. The set distance is similar to the rule of the set distance when the traffic accident is sent, and is flexibly determined according to the congestion severity, which is not described herein in detail.
Further, the edge computing device 13 of the road side unit 1 for monitoring the intersection is also used for generating an intersection scene graph according to the perception data and sending the intersection scene graph to the vehicle-mounted terminal 3 in the communication range. The data can be sent to the vehicle-mounted terminal 3 only, uploading to the cloud control platform 2 is not needed, data pressure of the cloud control platform 2 is reduced, and meanwhile the traffic accident rate of the cross road section can be reduced. The vehicle-mounted terminal 3 can show the intersection scene graph with the position of the vehicle owner as the visual angle to the vehicle owner according to the position of the vehicle owner.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Although roadside units 1 are used more herein; an infrastructure unit 11; a roadside sensing device 12; an edge computing device 13; a roadside communication unit 14; a cloud control platform 2; a vehicle-mounted terminal 3; an in-vehicle communication unit 31; an in-vehicle display terminal 32; the channel system 4, etc., but does not exclude the possibility of using other terms. These terms are used merely to more conveniently describe and explain the nature of the present invention; they are to be construed as being without limitation to any additional limitations that may be imposed by the spirit of the present invention.
Claims (10)
1. The urban road vehicle and road cooperative cloud control vehicle guiding system based on C-V2X is characterized by comprising a cloud control platform (2) and a plurality of sets of road side units (1) which are arranged on the road side and can interact with the cloud control platform (2), wherein each road side unit (1) comprises an infrastructure unit (11) and a road side communication unit (14), each infrastructure unit (11) is used for conducting multidimensional perception on the road and sending perception data to the cloud control platform (2) through the road side communication unit (14), and the cloud control platform (2) acquires vehicle information through corresponding channels so as to track corresponding vehicles as specific vehicles.
2. The C-V2X-based urban road vehicle-road cooperative cloud control vehicle guiding system according to claim 1, wherein the cloud control platform (2) sends vehicle information of a specific vehicle to the relevant road side unit (1), and the relevant road side unit (1) records the vehicle information and uploads perception data to the cloud control platform (2) when the specific vehicle corresponding to the vehicle information is monitored.
3. The C-V2X-based urban road and vehicle collaborative cloud control vehicle guiding system according to claim 1, wherein the infrastructure unit (11) comprises a plurality of road side sensing devices (12) and edge computing devices (13) connected with the road side sensing devices (12), the road side sensing devices (12) are used for carrying out multi-dimensional sensing on the road, and the edge computing devices (13) are used for processing sensing data uploaded by the road side sensing devices (12) and then sending the processed sensing data to the cloud control platform (2) through a road side communication unit (14).
4. The C-V2X-based urban road vehicle-road cooperative cloud control vehicle guiding system according to claim 3, wherein the edge computing device (13) is configured to perform aggregation processing on the perception data and send the processed perception data to the cloud control platform (2); the cloud control platform (2) realizes real-time position tracking of a specific vehicle according to perception data uploaded by each roadside unit (1).
5. The C-V2X-based urban road vehicle-road cooperative cloud control vehicle guiding system according to claim 4, wherein the roadside sensing device (12) comprises any one or more of a combination of road condition sensor, traffic event detection camera, lidar and radar-based radar-all-in-one machine.
6. The C-V2X-based urban road vehicle-road cooperative cloud control vehicle guiding system according to claim 1, wherein the storage cloud control platform (2) is connected to a channel system (4), and vehicle information is obtained through the channel system (4) to track a corresponding vehicle as a specific vehicle;
the channel system (4) is a management system, and managers input the vehicle information into the management system according to needs so that the cloud control platform (2) can acquire the vehicle information.
7. The C-V2X-based urban road and vehicle cooperative cloud control vehicle guiding system according to any one of claims 1-6, wherein the cloud control platform (2) generates a reminding field surrounding a specific vehicle according to the position information of the specific vehicle, and issues the position information of the specific vehicle to the roadside communication unit (14) in the reminding field so that the roadside communication unit (14) in the reminding field issues warning information to the vehicle-mounted terminal (3) of the networked vehicle in the communication range.
8. The C-V2X-based urban road-vehicle cooperative cloud control vehicle guiding system according to claim 7, wherein the reminding field is determined by:
f(P(x，y)，v，θ)＝P(x，y)+k·v·θ
wherein P (x, y) is the nearest position of a specific vehicle, v is the average speed of the downstream of a road section, theta is the heading angle of the vehicle, and k is a coefficient;
the roadside communication unit (14) broadcasts information outwards in a broadcasting mode so as to send the early warning information to the internet vehicles in the communication range.
9. The C-V2X-based urban road vehicle-road cooperative cloud control vehicle guiding system according to claim 7, wherein the networked vehicles send specific requests containing vehicle information to the cloud control platform 2 directly through the vehicle-mounted terminals (3) or to the cloud control platform 2 through the road side unit 1; the cloud control platform 2 makes whether the request is allowed or not according to the specific request, and if the request is allowed, the corresponding internet vehicle is calibrated to be the specific vehicle.
10. The C-V2X-based urban road vehicle-road cooperative cloud control vehicle guiding system according to claim 9, wherein the specific request includes destination information, and when it is detected that the corresponding specific vehicle arrives at the destination, the cloud control platform releases the specific attribute of the specific vehicle and notifies each roadside unit (1).
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