CN116189418A - Vehicle-road cooperative system, control method thereof and storage medium - Google Patents

Abstract

The application provides a vehicle way cooperation system, vehicle way cooperation system includes: the road side base station at least comprises a road side unit and an edge computing unit; the vehicle-mounted unit, the road side unit, the edge calculation unit, the road condition acquisition unit and the road condition prompting unit are connected through a distributed soft bus; the image acquisition unit and the edge calculation unit are connected through a data line; the vehicle-mounted unit is used for collecting driving information; the road condition acquisition unit is used for collecting road information and vehicle information; the image acquisition unit is used for collecting road condition images; the road side unit and the edge computing unit share driving information, road information and vehicle information through a distributed soft bus; the road side unit completes access authentication of the vehicle-mounted unit according to the vehicle information, and the edge computing unit generates driving auxiliary data according to the driving information, the road information, the vehicle information and the road condition image; and the vehicle-mounted unit outputs a driving prompt according to the driving auxiliary data.

Description

Vehicle-road cooperative system, control method thereof and storage medium

Technical Field

The present disclosure relates to the field of communications technologies, and in particular, to a vehicle-road collaboration system, a control method thereof, and a storage medium.

Background

At present, the road traffic infrastructure is gradually complete, intelligent traffic technologies such as a vehicle-road cooperative system and the like enter the life of people, and the travel of people is facilitated. In the current vehicle-road cooperative system, the hardware unit has a complex structure, various data are required to be converted and transmitted for many times, the operation and maintenance difficulties are high, and the circulation of the data is limited. Along with the increase of road data, the current vehicle-road cooperative system cannot meet the requirements of low time delay and high stability, and is difficult to support the practical implementation of the automatic driving technology.

Disclosure of Invention

The application provides a vehicle-road cooperative system, a control method thereof and a storage medium, which are used for supporting the practicability of an automatic driving technology.

In a first aspect, the present application provides a vehicle-road collaboration system, the vehicle-road collaboration system comprising: the road side base station at least comprises a road side unit and an edge computing unit; the vehicle-mounted unit, the road side unit, the edge computing unit, the road condition acquisition unit and the road condition prompting unit are connected through a distributed soft bus; the image acquisition unit is connected with the edge calculation unit through a data line; the vehicle-mounted unit is used for collecting driving information of the carried vehicle; the road condition acquisition unit is used for collecting road information and vehicle information; the image acquisition unit is used for collecting road condition images and transmitting the road condition images to the edge calculation unit through the data line; the road side unit and the edge computing unit share the driving information, the road information and the vehicle information through the distributed soft bus; the road side unit completes access authentication of the vehicle-mounted unit according to the vehicle information, and after the access authentication is completed, the edge calculation unit generates driving auxiliary data according to the driving information, the road information, the vehicle information and the road condition image and sends the driving auxiliary data to the vehicle-mounted unit; and the vehicle-mounted unit receives the driving auxiliary data and outputs a driving prompt to a user according to the driving auxiliary data.

In a second aspect, the present application provides a control method of a vehicle-road cooperation system, where the control method is applied to a road-side base station of the vehicle-road cooperation system according to any one of the embodiments provided in the present application, the control method includes:

completing access authentication of the vehicle-mounted unit according to the vehicle information;

after the access authentication is completed, acquiring the driving information uploaded by the vehicle-mounted unit, acquiring the road information and the vehicle information uploaded by the road condition acquisition unit, and acquiring the road condition image uploaded by the image acquisition unit;

and generating driving auxiliary data according to the driving information, the road information, the vehicle information and the road condition image, and sending the driving auxiliary data to the vehicle-mounted unit.

In a third aspect, the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement a method of controlling a vehicle-road cooperative system as any one of the embodiments provided in the present application.

The application provides a vehicle road cooperation system, includes: the road side base station at least comprises a road side unit and an edge computing unit; the vehicle-mounted unit, the road side unit, the edge calculation unit, the road condition acquisition unit and the road condition prompting unit are connected through a distributed soft bus; the image acquisition unit and the edge calculation unit are connected through a data line; the vehicle-mounted unit is used for collecting driving information of the carried vehicle; the road condition acquisition unit is used for collecting road information and vehicle information; the image acquisition unit is used for collecting road condition images and transmitting the road condition images to the edge calculation unit through the data line; the road side unit and the edge computing unit share driving information, road information and vehicle information through a distributed soft bus; the road side unit completes access authentication of the vehicle-mounted unit according to the vehicle information, and after the access authentication is completed, the edge computing unit generates driving auxiliary data according to the driving information, the road information, the vehicle information and the road condition image and sends the driving auxiliary data to the vehicle-mounted unit; and the vehicle-mounted unit receives the driving auxiliary data and outputs a driving prompt to a user according to the driving auxiliary data. The vehicle-mounted unit, the road side unit, the edge computing unit, the road condition acquisition unit and the road condition prompting unit are connected through the distributed soft bus, the characteristic of short-distance high-speed information transmission of the distributed soft bus is utilized, so that the road side unit and the edge computing unit share driving information, road information and vehicle information through the distributed soft bus, the image acquisition unit and the edge computing unit are connected through the data line, excessive occupation of communication resources by information with large data quantity is avoided, access authentication of the vehicle unit and driving auxiliary data generation are completed, the difficulty of system wiring is reduced, the operation and maintenance cost is reduced, the time delay of information interaction is reduced, and the stability of information transmission is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a first conventional vehicle road system according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a first vehicle road system according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a first roadside base station provided in an embodiment of the present application;

FIG. 4 is a schematic flow chart of a first distributed soft bus implementation authentication provided by an embodiment of the present application;

fig. 5 is a schematic structural diagram of a first vehicle road system according to an embodiment of the present application;

fig. 6 is a schematic flowchart of a control method of the first vehicle road system according to the embodiment of the present application.

Reference numerals illustrate:

200. a road rail; 100. a vehicle-road cooperative system; 11. a roadside base station, 111, a roadside unit; 112. an edge calculation unit; 113. a controller; 114. a first PCIe line; 115. a second PCIe line; 12. a vehicle-mounted unit; 13. an image acquisition unit; 14. a road condition acquisition unit; 141. a laser radar; 142. a millimeter wave communication machine; 143. a weather sensor; 15. a road condition prompting unit; 151. a prompt screen; 152. traffic indicator lights; 153. traffic indication marks; 17. and a data line.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

It should be noted that the description herein of "first," "second," etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implying an indication of the number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," and the like in various places are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be regarded as not exist and not within the protection scope of the present application.

The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.

As shown in fig. 1, the communication node of the current intelligent transportation system includes: the four communication nodes are mutually communicated to establish an information processing framework of the whole intelligent transportation system. However, the three communication nodes, namely the drive test base station, the vehicle-mounted unit and the cloud server, exist independently, are communicated through a network, and the drive test base station and the edge computing unit are communicated through a data line, so that the circuit layout is complex. In traffic management, a road side base station receives information of a vehicle-mounted unit through a mobile network, and sends prompt information to the vehicle-mounted unit, and an edge calculation unit is used for bearing a large amount of calculation tasks and is a core for processing information of the road side base station so as to adjust driving conditions according to traffic rules on the basis of processing results.

The intelligent traffic system has the defects of complex line layout, high operation and maintenance difficulty, high operation and maintenance cost, high time delay and low stability of an information transmission mode based on a mobile network, and difficulty in playing a larger role in traffic conditions with complex conditions and rapid change.

As shown in fig. 2, the present application provides a vehicle-road cooperative system 100, where the vehicle-road cooperative system 100 includes: the road side base station 11, the on-board unit 12, the image acquisition unit 13, the road condition acquisition unit 14 and the road condition prompting unit 15, and the road side base station 11 at least includes a road side unit 111 and an edge calculation unit 112. The vehicle-mounted unit 12, the road side unit 111, the edge calculation unit 112, the road condition acquisition unit 14 and the road condition prompting unit 15 are connected through a distributed soft bus; the image acquisition unit 13 and the edge calculation unit 112 are connected by a data line 17.

The in-vehicle unit 12 is used for collecting driving information of the mounted vehicle. The road condition acquisition unit 14 is used for collecting road information and vehicle information. The image acquisition unit 13 is used for collecting the road condition image and transmitting the road condition image to the edge calculation unit 112 through a data line. The roadside unit 111 and the edge calculation unit 112 share driving information, road information, and vehicle information through a distributed soft bus. The roadside unit 111 completes the access authentication of the on-vehicle unit 12 according to the vehicle information, and after the access authentication is completed, the edge calculation unit 112 generates driving assistance data according to the driving information, the road information, the vehicle information, and the road condition image, and transmits the driving assistance data to the on-vehicle unit 12. The in-vehicle unit 12 receives the driving assistance data and outputs a driving prompt to the user according to the driving assistance data.

The image acquisition unit 13 is typically an AI-aware camera, and the road condition image collected by the AI-aware camera is a picture or video with high definition and large data volume. If the road condition image is transmitted through the distributed soft bus, more communication transmission resources are required to be occupied, and other signals are affected to be transmitted, so that the image acquisition unit 13 and the edge calculation unit 112 are connected through the data line of the entity, and the information transmission efficiency of the vehicle-road cooperation system 100 can be optimized.

In some embodiments, the roadside base station 11 includes a controller 113, and the roadside unit 111 and the edge calculation unit 112 are connected to the controller 113 by PCIe lines, ethernet, wireless networks, or the like.

Illustratively, as shown in fig. 3, the base station 11 further includes a controller 113, the roadside unit 111 is connected to the controller 113 through a first PCIe line 114, and the edge calculation unit 112 is connected to the controller 113 through a second PCIe line 115. The controller 113 can not only issue control instructions to the roadside unit 111 and the edge calculation unit 112, but also act as an information relay hub of the roadside unit 111 and the edge calculation unit 112.

The road side unit 111 and the edge computing unit 112 are connected not only through the first PCIe line 114, the second PCIe line 115 and the controller 113, but also through the distributed soft bus, so that a function of sharing data of the distributed soft bus is utilized, multiple data can be transmitted simultaneously, data transmission efficiency is improved, and time delay of data transmission can be reduced more.

It should be noted that, in the present application, the on-board unit 12, the road side unit 111, the edge computing unit 112, the road condition obtaining unit 14 and the road condition prompting unit 15 are all installed with a preset operating system, and based on the preset operating system, the on-board unit 12, the road side unit 111, the edge computing unit 112, the road condition obtaining unit 14 and the road condition prompting unit 15 can be connected through a distributed soft bus to form a super terminal. The predetermined operating system includes an open source hong Meng operating system, such as Kaihong OS.

Based on the distributed soft bus, the road side base station 11 can rapidly complete identity recognition and access authentication of the vehicle-mounted unit 12, information collected by the vehicle-mounted unit 12 and the road condition obtaining unit 14 can also be directly obtained by the road side base station 11, and generated driving auxiliary data can also be directly sent to the vehicle-mounted unit 12, so that steps of forwarding to a server and requesting to obtain to the server are omitted, and time delay of a system is reduced.

According to the vehicle-road cooperative system, the vehicle-mounted unit, the road side unit, the edge computing unit, the road condition obtaining unit and the road condition prompting unit are connected through the distributed soft bus, the characteristic of short-distance high-speed information transmission of the distributed soft bus is utilized, so that the road side unit and the edge computing unit share driving information, road information and vehicle information through the distributed soft bus, the image obtaining unit and the edge computing unit are connected through the data line, communication resources are prevented from being excessively occupied by information with large data quantity, access authentication and driving auxiliary data generation of the vehicle unit are further completed, difficulty of system wiring is reduced, accordingly operation and maintenance cost is reduced, time delay of information interaction is also reduced, and stability of information transmission is improved.

In order to more clearly describe the technical solutions of the present application, the vehicle-road cooperative system 100 of the present application is further described through the following embodiments, and it should be understood that the following embodiments are provided for supplementary explanation of the technical solutions of the present application, and are not intended to limit the present application.

In some embodiments, the on-board unit 12 and the road side base station 11 implement an automatic networking within the range of the signals of the distributed soft bus where the on-board unit 12 arrives at the road side base station 11.

Illustratively, prior to automatic networking, the on-board units 12 gather nearby road side base stations 11 via a distributed soft bus, and the road side base stations 11 also gather nearby on-board units 12 via a distributed soft bus. The distributed soft bus supports short-range communication, so that communication connection can be realized only when the on-board unit 12 and the road side base station 11 enter the signal range of the distributed soft bus, thereby realizing automatic networking.

The automatic networking is realized through the distributed soft bus, a large number of vehicle-mounted units 12 can be supported to be simultaneously accessed, the automation degree is high, and the connection process is more efficient.

In some embodiments, the vehicle information includes a second connection code and a second authentication code, and the road condition acquisition unit 14 collects the vehicle information and transmits the vehicle information to the roadside base station 11.

In some embodiments, in the signal range of the distributed soft bus where the road side base station 44 is located, the road side base station 11 sends the first connection code through a preset communication channel of the distributed soft bus, and the on-board unit 12 sends the second connection code through the preset communication channel; the road side base station 11 receives the second connection code through a preset communication channel and is in communication connection with the vehicle-mounted unit 12 through the second connection code; the in-vehicle unit 12 receives the first connection code through a preset communication channel, and performs communication connection with the road side base station 11 through the first connection code.

The process of mutual discovery between the road side base station 11 and the on-board unit 12 based on the distributed soft bus includes: 1. letting the other device discover itself (send specific data packets to the other device); 2. let itself discover the other device (receive the specific data packet sent by the other device). In this process, the roadside base station 11 and the on-board unit 12 are switched back and forth in three states, including: a device discovered state, a device sent state, and a device listening state.

Device discovered status: the device in this state will select one of a plurality of preset communication Channels, for example, preset communication Channels 1, 6, and 11, and the specific data packet contains a Probe Request frame containing P2PIE information, and these three preset communication Channels are called as a Social Channels.

Device transmission status: the device does not respond to Probe Request frames of other devices when transmitting the Probe Request frames to each frequency band in the "device found state", and is called a device transmission state in this case. After the device sending state is completed, the next device monitoring state is entered.

Device monitor status: in this state the device will select one of the preset communication channels 1, 6, 11 to listen (note: one device determines the preset communication channel to listen to and no further changes will occur throughout the life of the device) to receive data packets sent by the other device over the preset communication channel. And detecting the received data packet, and if a Probe Request frame with P2P IE information is received, sending a Probe Response frame to respond. After the response, the next step is to enter the device transmission state.

The roadside base station 11 and the on-board unit 12 switch back and forth between the device transmitting state and the device monitoring state, so that the roadside base station 11 and the on-board unit 12 can be found. When the roadside base station 11 and the on-board unit 12 respond to the Probe Response frame of the other party, respectively, the distributed soft bus is notified at the same time, and the mutual discovery is successful.

After the road side base station 11 and the vehicle-mounted unit 12 are discovered mutually, the connection can be performed only through the authentication of the distributed soft bus so as to become super equipment, thereby realizing automatic networking and realizing data sharing.

In some embodiments, after the roadside base station 11 is communicatively connected to the on-board unit 12, the roadside base station transmits a first authentication code to the distributed soft bus, and the on-board unit 12 transmits a second authentication code to the distributed soft bus; the distributed soft bus authenticates the first authentication code and the second authentication code, and after the authentication passes, the road side base station 11 and the vehicle-mounted unit 12 realize automatic networking.

Both the road side base station 11 and the vehicle-mounted unit 12 can register unique network id to the distributed soft bus and submit the device information of the device. In order to ensure the uniqueness of the network id, a randomly generated UUID is used as the network id.

As shown in fig. 4, after the roadside base station 11 and the on-board unit 12 discover each other, the roadside base station 11 first sends authentication to the distributed soft bus, specifically, sends a first authentication code to the distributed soft bus, where the first authentication code may be a KV (Key-Value) string. After the distributed soft bus receives the first authentication code, the first authentication code is analyzed to obtain the equipment information and the network ID of the road side base station 11 included in the first authentication code, authentication judgment is carried out according to the equipment information and the network ID, and after the judgment is passed, the road side base station 11 is informed to be on line. Similarly, the on-board unit 12 sends a second authentication code to the distributed soft bus, after the distributed soft bus receives the second authentication code, the second authentication code is analyzed to obtain the equipment information and the network id of the on-board unit 12 included in the second authentication code, authentication judgment is performed according to the equipment information and the network id, and after the authentication is passed, the on-board unit 12 is notified to be on line. After authentication of both the roadside base station 11 and the on-board unit 12, the distributed soft bus also performs: the on-line notification of the in-vehicle unit 12 is transmitted to the on-vehicle unit 12, and the on-line notification of the on-line base station 11 is transmitted to the on-vehicle unit 12.

The above-described automatic networking process is applicable not only to the roadside base station 11 and the on-vehicle unit 12, but also to the realization of automatic networking between any plurality of opposite directions in the roadside base station 11, the on-vehicle unit 12, the roadside unit 111, the edge calculation unit 112, the road condition acquisition unit 14, and the road condition presentation unit 15.

In some embodiments, the roadside base station 11 realizes automatic networking through the distributed soft bus, the road condition acquisition unit 14 and the road condition prompting unit 15 within the signal range of the distributed soft bus where the roadside base station 11 is located.

In some embodiments, the plurality of roadside base stations 11 are within the signal range of the same distributed soft bus, the plurality of roadside base stations 11 implement automatic networking, and information interaction can be performed between the plurality of roadside base stations 11 within the signal range.

The distributed soft bus is not only beneficial to improving the data transmission efficiency of each unit in the vehicle-road cooperative system 100, but also beneficial to simplifying the hardware layout of the vehicle-road cooperative system 100.

In some embodiments, the vehicle-road cooperative system 100 is installed on the road cross bar 200, the road side base station 11 is installed in the middle area of the road cross bar 200, the image acquisition unit 13 is closely adjacent to the road side base station, and the road condition acquisition unit 14 and the road condition prompting unit 15 are installed at both sides of the road side base station.

As illustrated in fig. 5, the road condition acquisition unit 14 includes a laser radar 141, a millimeter wave communicator 142, and an air condition sensor 143, for example. The road condition prompting unit 15 includes a prompting screen 151, a traffic indication lamp 152, and a traffic indication flag 153. The image acquisition unit 13 includes an AI-aware camera 131. The traffic rail 200 is erected above the road, and the length direction of the rail is perpendicular to the road direction. The roadside base station 11 is installed in the middle region of the road cross bar 200, and thus, it is possible to make the signal range of the distributed soft bus more uniformly cover the road, to enlarge the service area of the roadside base station 11, and to improve the stability of communication with the on-vehicle unit 12. The AI-aware camera 131 is in close proximity to the roadside base station 11, which can reduce the length of the data line between the AI-aware camera 131 and the roadside base station 11, and reduce the layout cost. The laser radar 141, the millimeter wave communicator 142, the weather sensor 143, the prompt screen 151, the traffic indication lamp 152 and the traffic indication sign 153 are connected with the road side base station 11 through the distributed soft bus without an entity data line, and therefore, can be arranged on two sides of the road side base station 11 according to actual requirements of a road.

It should be noted that, in the above example, the vehicle-road coordination system 100 is described in an analysis manner, in practical application, various changes and combinations may be performed according to traffic management requirements, for example, the AI-sensing camera 131, the lidar 141, the millimeter wave communicator 142, the weather sensor 143, the prompt screen 151, the traffic indicator light 152 and the traffic indicator mark 153 may be all provided in a plurality, and the positions of the traffic indicator light 152 may also be changed on the road crossbars at two ends of the road base station 11, for example, the traffic indicator light 152 is provided beside the road base station 11, so that vehicles at two sides on the road can better observe the traffic indicator light 152.

In the above embodiment, the road management function of the vehicle-road cooperative system 100 that is intelligent and low in time delay is realized through the distributed soft bus is described, and in addition, the data interaction between the plurality of vehicle-road cooperative systems 100 beyond the distributed soft bus can be performed through the mobile network, so as to obtain more road information and realize more accurate road management and control.

In some embodiments, the vehicle-road collaboration system 100 further includes a cloud platform, the road side unit 111 can be in communication connection with the cloud platform, the road side unit 111 uploads the driving information, the road information, the vehicle information and the road condition image to the cloud platform, and the plurality of road side base stations 11 can share data in the cloud platform. The in-vehicle unit 12 is also capable of uploading driving information into the cloud platform via the mobile network.

The cloud platform can be an independent server, a server cluster, a cloud server for providing cloud services, a cloud database, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, a content delivery network (Content Delivery Network, CDN), basic cloud computing services such as big data and an artificial intelligence platform, and the like.

In some embodiments, the edge calculation unit 112 can obtain the data in the cloud platform through the roadside unit 111, generate driving early warning data according to the data in the cloud platform, and send the driving early warning data to the vehicle-mounted unit 12.

Illustratively, a road communicates between the area a and the area B, and the distance between the area a and the area B is far beyond the signal range of the distributed soft bus. The vehicle a in the area a collects driving information and traffic congestion information through the vehicle-mounted unit 12, and the road condition obtaining unit 14 in the area a may also collect driving information, where the driving information includes: rockfall, road collapse, vehicle accidents, and sudden extreme weather. The vehicle-mounted unit 12 of the vehicle a uploads the driving information and the traffic jam information to the cloud platform through the mobile network, and the road condition obtaining unit 14 uploads the driving information to the cloud platform through the road side unit 111 using the wireless network. When the vehicle B in the B area drives from the B area to the a area, the edge calculating unit 112 in the B area obtains the driving information in the cloud platform through the road side unit 111 in the B area, and generates driving early warning information according to the driving information, for example, the driving early warning information is a navigation avoidance reminder. The vehicle-mounted unit 12 of the vehicle B can generate various driving early warning prompts according to the driving early warning information so as to help a user of the vehicle B to avoid risks.

As shown in fig. 6, the present application further provides a control method of the vehicle-road coordination system 100, where the control method is applied to the road-side base station 11 of the vehicle-road coordination system 100 according to any one of the embodiments of the present application, and the specific steps of the control method include: S101-S103.

S101, acquiring vehicle information, and completing access authentication of the vehicle-mounted unit according to the vehicle information.

S102, after access authentication is completed, driving information uploaded by the vehicle-mounted unit is acquired, road information and vehicle information uploaded by the road condition acquisition unit are acquired, and road condition images uploaded by the image acquisition unit are acquired.

S103, driving auxiliary data are generated according to the driving information, the road information, the vehicle information and the road condition image, and the driving auxiliary data are sent to the vehicle-mounted unit.

The control method is applied to the road side base station 11 of the vehicle-road cooperative system 100 in any one of the embodiments of the application, is based on the structural layout of the vehicle-road cooperative system 100, and can improve the management efficiency of the vehicle-road cooperative system 100 by enabling the road side base station 11 to execute, and rapidly finish the access authentication and the driving auxiliary data generation of the vehicle unit, thereby reducing the operation and maintenance cost, reducing the time delay of information interaction, and improving the stability of information transmission.

The embodiments of the present application provide a computer readable storage medium storing one or more programs executable by one or more processors to implement a control method of any one of the vehicle-road collaboration systems 100 provided in the embodiments of the present application.

The computer readable storage medium may be an internal storage unit of the computer device according to the foregoing embodiment, for example, a hard disk or a memory of the computer device. The computer readable storage medium may also be an external storage device of the computer device, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, which are provided on the computer device.

While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (12)

1. A vehicle-road collaboration system, the vehicle-road collaboration system comprising: the road side base station at least comprises a road side unit and an edge computing unit; the vehicle-mounted unit, the road side unit, the edge computing unit, the road condition acquisition unit and the road condition prompting unit are connected through a distributed soft bus; the image acquisition unit is connected with the edge calculation unit through a data line;

the vehicle-mounted unit is used for collecting driving information of the carried vehicle;

the road condition acquisition unit is used for collecting road information and vehicle information;

the image acquisition unit is used for collecting road condition images and transmitting the road condition images to the edge calculation unit through the data line;

the road side unit and the edge computing unit share the driving information, the road information and the vehicle information through the distributed soft bus;

the road side unit completes access authentication of the vehicle-mounted unit according to the vehicle information, and after the access authentication is completed, the edge calculation unit generates driving auxiliary data according to the driving information, the road information, the vehicle information and the road condition image and sends the driving auxiliary data to the vehicle-mounted unit; and the vehicle-mounted unit receives the driving auxiliary data and outputs a driving prompt to a user according to the driving auxiliary data.

2. The vehicle-road cooperative system of claim 1, wherein the on-board unit and the road base station implement an automatic networking within a signal range of a distributed soft bus where the on-board unit arrives at the road base station.

3. The vehicle-road cooperation system according to claim 2, wherein in a signal range of a distributed soft bus where the road side base station is located, the road side base station transmits a first connection code through a preset communication channel of the distributed soft bus, and the vehicle-mounted unit transmits a second connection code through the preset communication channel;

the road side base station receives the second connection code through the preset communication channel and is in communication connection with the vehicle-mounted unit through the second connection code;

the vehicle-mounted unit receives the first connection code through the preset communication channel, and is in communication connection with the road side base station through the first connection code.

4. The vehicle-road coordination system of claim 3, wherein after said roadside base station is communicatively connected to said on-board unit, said roadside base station transmits a first authentication code to said distributed soft bus, and said on-board unit transmits a second authentication code to said distributed soft bus;

the distributed soft bus authenticates the first authentication code and the second authentication code, and after the authentication passes, the road side base station and the vehicle-mounted unit realize automatic networking.

5. The vehicular road cooperation system according to claim 1, wherein the road base station realizes automatic networking with the road condition acquisition unit and the road condition prompting unit through the distributed soft bus within a signal range of a distributed soft bus where the road base station is located.

6. The vehicle-road cooperative system of claim 1, wherein a plurality of the road-side base stations are in a signal range of the same distributed soft bus, the plurality of the road-side base stations realize automatic networking, and information interaction can be performed among the plurality of road-side base stations in the signal range.

7. The vehicle-road cooperative system of claim 1, wherein the road side base station includes a controller, and the road side unit and the edge computing unit are connected to the controller through PCIe lines, ethernet, or wireless networks.

8. The system according to claim 1, wherein the vehicle-road cooperation system is installed on a road cross bar, the road side base station is installed in a middle area of the road cross bar, the image acquisition unit is closely adjacent to the road side base station, and the road condition acquisition unit and the road condition prompting unit are installed at both sides of the road side base station.

9. The system of claim 1, wherein the vehicle-road collaboration system further comprises a cloud platform, the roadside unit is capable of communicating with the cloud platform, the roadside unit uploads the driving information, the road information, the vehicle information and the road condition image to the cloud platform, and a plurality of the roadside base stations are capable of sharing data in the cloud platform.

10. The system of claim 9, wherein the edge computing unit is capable of acquiring data in the cloud platform through the roadside unit, generating driving early warning data according to the data in the cloud platform, and transmitting the driving early warning data to the vehicle-mounted unit.

11. A control method of a vehicular cooperative system, characterized in that the control method is applied to a road side base station of the vehicular cooperative system as claimed in any one of claims 1 to 10, the control method comprising:

acquiring the vehicle information, and completing access authentication of the vehicle-mounted unit according to the vehicle information;

after access authentication is completed, acquiring the driving information, acquiring the road information and the vehicle information uploaded by the road condition acquisition unit, and acquiring the road condition image uploaded by the image acquisition unit;

and generating driving auxiliary data according to the driving information, the road information, the vehicle information and the road condition image, and sending the driving auxiliary data to the vehicle-mounted unit.

12. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to implement the control method of the vehicle-road cooperative system as claimed in claim 11.

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