CN116386362A

CN116386362A - Vehicle-road cooperation method, device, terminal equipment and vehicle-road cooperation system

Info

Publication number: CN116386362A
Application number: CN202310310548.5A
Authority: CN
Inventors: 陈二伟; 严增辉; 张思雨; 郭树刚
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2023-03-28
Filing date: 2023-03-28
Publication date: 2023-07-04

Abstract

The application provides a vehicle-road cooperation method, a vehicle-road cooperation device, terminal equipment and a vehicle-road cooperation system, wherein the method is applied to the terminal equipment; the terminal device is independent of the vehicle and comprises a first communication interface and a second communication interface; the method comprises the following steps: acquiring vehicle-road cooperative data through a first communication interface, and acquiring vehicle data through a second communication interface; outputting prompt information according to the vehicle-road cooperative data and the vehicle data; the prompt information comprises early warning information or guiding information. Through the technical scheme provided by the application, the terminal equipment can provide low-cost and expandable V2X service for the vehicle without the TBOX, so that the vehicle is safer and more intelligent.

Description

Vehicle-road cooperation method, device, terminal equipment and vehicle-road cooperation system

Technical Field

The application relates to the technical field of internet of vehicles, in particular to a vehicle-road cooperation method, a vehicle-road cooperation device, terminal equipment and a vehicle-road cooperation system.

Background

With the continuous development of intelligent traffic technology, information interaction between vehicles and the outside and between vehicles is realized through a Vehicle-to-evaluation (V2X) technology, so as to provide Vehicle-road cooperative service for users, and the intelligent traffic technology has become a research hotspot in the current intelligent traffic field.

Currently, V2X functions depend on vehicle remote communication Terminals (TBOX), so vehicles with low factory configuration cannot use V2X functions if no TBOX controller is built in; also, if the TBOX is installed during subsequent use, it is not only cumbersome but also costly.

Disclosure of Invention

The purpose of the application is to provide a vehicle-road cooperation method, a vehicle-road cooperation device, terminal equipment and a vehicle-road cooperation system, so that convenience in acquiring vehicle-road cooperation information is improved, and low-cost and extensible V2X service can be provided for vehicles without TBOX.

In a first aspect, the present application provides a vehicle-road collaboration method, which is applied to a terminal device; the terminal device is independent of the vehicle and comprises a first communication interface and a second communication interface; the method comprises the following steps:

acquiring vehicle-road cooperative data through the first communication interface and acquiring vehicle data through the second communication interface;

and outputting prompt information according to the vehicle-road cooperative data and the vehicle data.

In a second aspect, the present application provides a vehicle-road cooperation device, including:

the acquisition module is used for acquiring the vehicle road cooperative data through the first communication interface and acquiring the vehicle data through the second communication interface;

And the processing module is used for outputting prompt information according to the vehicle-road cooperative data and the vehicle data.

In a third aspect, the present application provides a terminal device, including; a memory for storing executable program code; and a processor for calling and running the executable program code from the memory, so that the terminal device executes the steps in the method.

In a fourth aspect, the present application provides a vehicle-road collaboration system, the vehicle-road collaboration system comprising: vehicle, vehicle-road cooperative apparatus, and terminal apparatus according to the third aspect; wherein, the liquid crystal display device comprises a liquid crystal display device,

the terminal device is configured to receive vehicle-road coordination data of the vehicle-road coordination device and vehicle data of the vehicle, so as to implement the steps in the method.

The application provides a vehicle-road cooperation method, which is applied to terminal equipment; the terminal device is independent of the vehicle and comprises a first communication interface and a second communication interface; the method comprises the following steps: acquiring vehicle-road cooperative data through a first communication interface, and acquiring vehicle data through a second communication interface; and outputting prompt information according to the vehicle-road cooperative data and the vehicle data. According to the technical scheme provided by the application, the terminal equipment can acquire the vehicle-road cooperative data and the vehicle data through the preset different communication interfaces, the vehicle-road cooperative data can be acquired without installing TBOX, the convenience of acquiring the data is improved, and the cost of acquiring the data is reduced; the terminal equipment outputs prompt information according to the vehicle-road cooperative data and the vehicle data, and can provide V2X service for the vehicle without the TBOX, so that the vehicle is safer and more intelligent.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.

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

fig. 2 is a schematic flow chart of a vehicle-road collaboration method provided in an embodiment of the present application;

fig. 3 is a schematic structural diagram of a terminal device provided in an embodiment of the present application;

fig. 4 is a schematic structural diagram of a vehicle-road cooperative device according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail with reference to the accompanying drawings, and the described embodiments should not be construed as limiting the present application, and all other embodiments obtained by those skilled in the art without making any inventive effort are within the scope of the present application.

In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is to be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with one another without conflict.

In the following description, the terms "first", "second", "third" and the like are merely used to distinguish similar objects and do not represent a specific ordering of the objects, it being understood that the "first", "second", "third" may be interchanged with a specific order or sequence, as permitted, to enable embodiments of the present application described herein to be practiced otherwise than as illustrated or described herein.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the present application.

In the related art, V2X includes various application communication application scenarios such as Vehicle-to-Vehicle (V2V), vehicle-to-Infrastructure (V2I), vehicle-to-Pedestrian (V2P), vehicle-to-Network (V2N), etc., at present, functions such as front collision early warning, lane changing assistance, left turn assistance, cooperative adaptive cruise control, etc., functions such as speed suggestion, traffic priority, road condition early warning, red light early warning, current weather influence early warning, parking space and charging pile position, etc., functions such as weak and protection of a road user, etc., and functions such as real-time traffic planning, map updating, etc., based on V2N communication, etc., can be realized based on V2V communication, and functions such as speed suggestion, traffic priority, road condition early warning, red light early warning, parking space and charging pile position, etc., can be realized based on V2P communication.

The V2X aims at reducing traffic accidents, reducing traffic jams, improving traffic efficiency, reducing emission of automobile pollutants and the like. According to the related research results, if all domestic vehicles have the functions of V2V-based intersection movement assistance and left turn assistance, 40-60 thousands of collision accidents and 19-27 thousands of casualties can be reduced each year, and 780-1080 lives can be saved. In addition, if other V2V and V2I applications are added, the V2X system can reduce 80% of non-alcoholic automobile traffic accidents at the highest. In addition, the V2X technology will enable adaptive CO-driving, thereby reducing emissions of pollutants such as CO2, CO, lead and sulphur oxides. According to the related research results, the vehicle with the V2X function can reduce the oil consumption and the pollutant emission by 4-25%. Meanwhile, V2X is also an important means for realizing automatic driving, can make up for the defect of insufficient viewing distance of vehicle-mounted sensors such as cameras, radars and the like, and improves the perception capability of vehicles under special conditions such as intersections, severe weather environments and the like.

In summary, the V2X technology can realize a large number of functions, improving the safety of the vehicle, and providing better driving experience for the user, so that the V2X technology is in a rapid development stage and is highly valued by all parties.

However, existing V2X technology relies primarily on TBOX. The TBOX is a vehicle-mounted system with a Smart OBD interface and a CAN analysis function, and CAN provide multi-source information support for holographic information perception of a vehicle by carrying out real-time information interaction with a road side system and other vehicle-mounted systems in a V2X technology, so that a data calculation basis is provided for vehicle-mounted application for improving the safety, the traffic efficiency and the information service level of the vehicle. Optionally, the V2X functions that TBOX can implement include: front collision early warning, out-of-control early warning, emergency electronic brake light, no-pass early warning, left turn assistance, intersection assistance, blind area/lane change early warning, red light early warning, curve speed limit early warning, weather early warning, crosswalk pedestrian early warning.

It can be appreciated that the TBOX needs to be bound to the vehicle before delivery, and if the vehicle is relatively long in version or low in configuration, the user cannot expand the V2X function based on personal requirements in the subsequent use process, so that the intelligent use experience in the vehicle use process is greatly reduced.

In order to solve the technical problems, the embodiment of the application provides the vehicle-road cooperation method, which improves the convenience of acquiring the vehicle-road cooperation information and can provide low-cost and expanded V2X service for users.

The following describes in detail the technical scheme of the vehicle-road cooperation method according to the embodiment of the present application with reference to the accompanying drawings.

Fig. 1 is a schematic structural diagram of a vehicle-road collaboration system according to an embodiment of the present application.

Referring to fig. 1, the vehicle-road cooperative system may include a vehicle 10, a terminal device 20, and a plurality of vehicle-road cooperative devices 30.

In the embodiment of the present application, an in-vehicle system is provided in the vehicle 10. The vehicle-mounted system can be an electronic control unit (Electronic Control Unit, ECU) which utilizes various sensors and data acquisition and exchange of buses to judge the state of the vehicle and the intention of a driver and controls the automobile through an actuator; the vehicle-mounted system can also be a vehicle-mounted multimedia Host (HUT), can realize all home computer functions, supports functions such as in-vehicle surfing, video entertainment, satellite positioning, voice navigation, games, telephones and the like, and can also realize specific functions such as visual reversing, fault detection and the like.

In the embodiment of the present application, the terminal device 20 is an electronic device with a man-machine interaction function, such as a mobile phone, a tablet computer, and various portable, pocket, hand-held, computer-built mobile devices. It should be noted that the method and the terminal device described in the embodiments of the present application may be applied to various application scenarios, such as a single system scenario, a co-terminal multi-system scenario, a multi-account scenario, a single series of multi-terminal scenarios, and so on. In some embodiments, the terminal device 20 may include a touch screen disposed on a surface of the terminal device 20. Alternatively, the touch screen may be a planar touch screen or a curved touch screen, which is not specifically limited in the embodiment of the present application; alternatively, the shape of the touch screen may be rectangular or circular, which is not specifically limited in the embodiments of the present application.

It should be noted that, the terminal device 20 in the embodiment of the present application has its own central processing unit (central processing unit, CPU) and client, independent of the vehicle 10, and does not need to be integrated in the TBOX controller. The terminal device 20 may establish a communication connection with the vehicle 10, and the communication connection may be a wired connection or a wireless connection, which is not specifically limited in the embodiment of the present application.

In the embodiment of the present application, the vehicle-road cooperative device 30 may be a traffic infrastructure having V2X functions. Optionally, the vehicle 10, the terminal device 20 and the plurality of vehicle-road cooperative devices 30 perform network interaction to form information sharing.

In the embodiment of the present application, the terminal device 20 is configured to receive the vehicle-road coordination data of the vehicle-road coordination device 30 and the vehicle data of the vehicle 10, so as to implement the vehicle-road coordination method provided in the present application.

Optionally, the vehicle-road cooperative system may further include a base station; when the terminal device 20 is within the coverage area of the cellular network of the base station, the terminal device 20 may perform data interaction with the base station through a preset vehicle-road cooperative communication interface.

The vehicle-road cooperation method provided in the embodiment of the present application is described below with reference to the system architecture shown in fig. 1. It should be noted that the above application scenario is only shown for the convenience of understanding the spirit and principles of the present application, and embodiments of the present application are not limited in any way in this respect. Instead, the pushing method of the update task provided in the present application may be applied to any applicable scenario.

Fig. 2 is a schematic flow chart of a vehicle-road collaboration method according to an embodiment of the present application.

Referring to fig. 2, the vehicle-road cooperation method may be applied to the terminal device 20 shown in fig. 1, and includes the steps of:

step 201, acquiring vehicle-road cooperative data through a first communication interface, and acquiring vehicle data through a second communication interface.

In the embodiment of the application, the vehicle-road cooperative data comprise surrounding environment data, composition and rule information of vehicle-road cooperative traffic lights, tide lane information and the like; the vehicle data includes vehicle position, steering wheel angle, vehicle status, etc.

In this embodiment of the present application, the first communication interface may be a direct communication PC5 interface, and the first communication interface may also be a cellular network communication UU interface, and the first communication interface may also be an integrated interface obtained by combining the UU interface and the PC5 interface, which is not specifically limited in this embodiment of the present application.

In some embodiments, before step 201, the vehicle-road collaboration method further includes:

the network interconnection is carried out between the first communication interface and preset vehicle-road cooperative equipment; the first communication interface comprises a PC5 interface and/or a UU interface;

and a wireless connection or a wired connection is established with the vehicle based on V2X technology through a second communication interface.

In this embodiment of the present application, the preset vehicle-road cooperative device may be a vehicle-road cooperative traffic light, and the preset vehicle-road cooperative device may also be other traffic infrastructures with vehicle-road cooperative functions, which is not specifically limited in this embodiment of the present application.

In the embodiment of the application, the wireless connection may include a wireless bluetooth connection, a wireless broadband connection (WIFI), and the like, and the wired connection may include a universal serial bus (Universal Serial Bus, USB) connection, a type-c connection, and the like.

The PC5 interface is a short-distance direct communication interface among the vehicle, the terminal equipment and the vehicle-road cooperative equipment; the UU interface is a communication interface between the terminal equipment and the base station, and may enable reliable communication over long distances and over a larger range. That is, the data transmission performed by the PC5 interface does not pass through the base station, and the data transmission performed by the UU interface needs to pass through the base station. When the terminal equipment supporting the V2X function is in the coverage of the cellular network, a UU interface can be used under the control of the cellular network; whether or not the network coverage exists, the terminal equipment and the vehicle-road cooperative equipment can adopt a PC5 interface to carry out V2X communication.

In this way, UU interfaces and/or PC5 interfaces are mutually supported, so that V2X service transmission is facilitated, and effective redundancy is formed to ensure communication reliability; the mobile phone is connected with the vehicle in a wired or wireless way through the communication interfaces such as WIFI, USB, type-c and Bluetooth of the mobile phone, so that the convenience of receiving the vehicle data is improved.

And 202, outputting prompt information according to the vehicle-road coordination data and the vehicle data.

In this embodiment of the present application, the prompt information includes early warning information or guiding information.

In this embodiment of the present application, the early warning information may be road condition prompt information, and the early warning information may also be risk prompt information, which is not specifically limited in this application. The road condition prompt information comprises road traffic accident prompt information, road icing prompt information, road visibility prompt information, road speed limit prompt information, road congestion prompt information, road construction information prompt information and the like; the risk prompt information comprises prompt information of too fast speed of the vehicle, prompt information of internal components of the vehicle such as engine failure, prompt information of unsatisfied safety distance of the rear vehicle, and the like.

In an alternative embodiment, the vehicle-road coordination data includes road condition information within a predetermined range of the current road, and step 202 includes: and generating corresponding road condition prompt information according to the road condition information and the vehicle data in the preset range of the current road.

Therefore, the terminal equipment can generate corresponding road condition prompt information through the road condition information and the vehicle data acquired by different communication interfaces, so that traffic accidents are avoided, and road traffic efficiency is improved.

In this embodiment, if the first communication interface is a PC5 interface, step 202 includes: the CPU of the terminal equipment outputs prompt information according to the vehicle-road cooperative data and the vehicle data; if the first communication interface is a UU interface, step 202 includes: the terminal equipment transmits the acquired vehicle-road cooperative data and the vehicle data to the cloud server, receives the prompt information calculated by the cloud server and outputs the prompt information.

In this embodiment, outputting the prompt information may include: and outputting prompt information through a man-machine interaction interface of the terminal equipment.

In some embodiments, the hint information includes guidance information; step 202 comprises:

obtaining guiding information according to tide lane rules in the vehicle-road cooperative data and vehicle positions in the vehicle data; the guiding information is used for guiding the passing direction of the tide lane or applying for the tide lane;

and outputting the tidal lane guidance content through a man-machine interaction interface.

In the embodiment of the application, the tide lane rule comprises the passing direction and the passing time of the tide lane.

In this embodiment of the present Application, the man-machine interaction interface may be a display interface of an Application (APP) on the terminal device.

In the embodiment of the application, the guiding information for applying for the tidal lane refers to information for guiding the user to apply for the tidal channel to the relevant departments on the APP of the terminal device.

For example, according to the tidal lane rules and the vehicle position, a tidal lane is obtained in front of which only left turn is allowed at 9 a.m. to 6 a.m. in the afternoon; the acquired time is 12 am, guide information indicating that the traffic direction is left turn is generated, and the guide information is output on the APP of the terminal equipment.

As another example, according to the tidal lane rules and vehicle position, a tidal lane is obtained that has a front that only allows left turn at 9 a.m. to 6 a.m. in the afternoon. The acquired time is 12 pm, however, critical patients are taken in the ambulance, and the ambulance needs to turn right to go to a nearby hospital for emergency treatment. At this time, the use of the tidal tunnel can be applied to the relevant department on the APP of the terminal device based on the guidance information, and after approval by the relevant department, the vehicle is marked as a special vehicle, the traveling direction of the tidal lane is changed to the right, and the ambulance can approach the tidal lane to the destination in a short time. Thus, the problem of delaying rescuing critical patients due to road blockage is solved.

For another example, the unspecified vehicle may apply for an emergency rescue privilege application to the traffic management department by submitting information such as pictures, videos, audios and the like on the APP of the terminal device. Thus, the problem that the common private car in the emergency can not be identified by the traffic management system, so that accidents occur is solved.

By the method, the user obtains the traffic direction of the tidal lane according to the guiding information, so that traffic rules are prevented from being violated or traffic accidents are prevented from occurring due to the fact that the user runs in wrong directions; if special circumstances occur, tidal lanes can be applied based on the guidance information, which is advantageous for saving time to the greatest extent.

In some embodiments, the hint information includes pre-warning information; step 202 comprises:

a1, determining a vehicle driving scene according to surrounding environment data in the vehicle-road cooperative data and a vehicle state in the vehicle data;

a2, if the vehicle driving scene meets the triggering condition of the dangerous scene, determining early warning information corresponding to the dangerous scene; the early warning information comprises early warning content and early warning modes;

a3, outputting the early warning content through a man-machine interaction interface according to an early warning mode.

In the embodiment of the present application, the surrounding environment data may include vehicle data within a preset range. The preset range may be 1 meter, and the preset range may also be 5 meters, which is not specifically limited in the embodiment of the present application.

In the embodiment of the application, the vehicle state may include a vehicle speed and a vehicle acceleration; wherein the vehicle speed may include stationary, low-speed travel, high-speed travel; vehicle acceleration may include acceleration, deceleration, and uniform velocity.

In this embodiment of the present application, the driving scene may include straight running, reversing, U-turn, left turning, right turning, arc, leaving a lane, merging into a lane, and the like.

Optionally, the terminal device sends the determined vehicle driving scene to the cloud server through the UU interface, and the cloud server judges whether the triggering condition of the dangerous scene is met.

Optionally, the terminal device uses the database in its own CPU to determine whether the determined driving scene of the vehicle meets the triggering condition of the dangerous scene.

In this embodiment of the present application, the triggering conditions of the dangerous scene may include: traffic accident on the front road, road icing, excessively low road visibility, vehicle speed greater than road speed limit, road congestion on the front road, road construction on the front road and the like; the triggering conditions of the dangerous scene may also include: pedestrians, vehicle internal components such as engine faults, unsatisfied safety distances of rear vehicle distances and the like exist in the vision blind area; the triggering conditions of the dangerous scene may also include the need to let the ambulance pass, which is not particularly limited in the embodiment of the present application.

In the embodiment of the application, the early warning content comprises a voice early warning message, an image early warning message, a vibration early warning message and the like which are generated aiming at a dangerous scene; correspondingly, the early warning modes comprise voice early warning, graphic early warning, vibration early warning and the like.

Optionally, on the APP of the terminal device, the user may set the early warning modes corresponding to different dangerous scenes by himself.

Therefore, the driving scene of the vehicle is determined through the surrounding environment data and the vehicle state, and the early warning information is timely output when the driving scene meets the triggering condition of the dangerous scene, so that accidents caused by improper operation of a user are avoided, and the driving safety of the user is ensured.

In some embodiments, determining early warning information corresponding to the dangerous scene in A2 includes:

if a plurality of dangerous scenes exist, selecting a target dangerous scene according to a preset corresponding relation; the corresponding relation is the corresponding relation between the dangerous scene and the priority;

and determining early warning content and early warning modes corresponding to the target dangerous scene.

In this embodiment of the present application, the preset corresponding relationship may be set by a technician when the vehicle leaves the factory, or may be set by a user during a use process of the terminal device, or may be updated from an initial corresponding relationship set by the technician or the terminal device, which is not specifically limited in this embodiment of the present application.

If there are multiple dangerous scenes as the front road congestion and the engine fault, the priority of the engine fault is higher than that of the front road congestion according to the preset corresponding relation, the target dangerous scene is selected as the engine fault, and the early warning content and the early warning mode corresponding to the engine fault are determined.

Therefore, when a plurality of dangerous scenes exist, the dangerous scene with the highest priority is selected, and the driving safety of the user is ensured.

In some embodiments, after the vehicle data is acquired through the second communication interface in step 201, the vehicle road coordination method further includes:

if the vehicle data represent that the vehicle collides, rescue information is generated; the rescue information comprises vehicle position and vehicle fault information;

acquiring rescue service stations nearby the vehicle according to the position of the vehicle;

and sending the rescue information to a rescue service site.

In the embodiment of the application, the vehicle fault information may include a battery state, a collision degree, a damaged portion, and the like of the vehicle.

Therefore, when the vehicle collides, the terminal equipment automatically generates rescue information containing the vehicle position and the vehicle fault information without actively dialing a rescue call, and sends the rescue information to a nearby rescue service station, so that the delay of rescue time due to the loss of consciousness of personnel in the vehicle is avoided.

In some embodiments, after generating the rescue information, the method further includes: outputting the rescue information at a man-machine interaction interface; if the cancel instruction is received within the preset time period, stopping executing the subsequent steps.

Optionally, the preset time period may be 5 seconds, and the preset time period may also be set by the user, which is not specifically limited in this embodiment of the present application.

Therefore, the secondary confirmation mechanism is arranged for sending the rescue information, and a user can cancel the sending of the rescue information by inputting a cancel instruction on the man-machine interaction interface of the terminal equipment, so that the false sending of the rescue information during small-sized collision is effectively avoided.

In some embodiments, obtaining the vehicle road collaboration data through the first communication interface in step 201 includes:

and updating the vehicle-road cooperative data by utilizing the vehicle-road cooperative traffic light information and the rule information acquired through the first communication interface.

In this embodiment of the present application, the rule information includes at least an operation period of the vehicle-road cooperative traffic light within a preset range of a front road sent by the vehicle-road cooperative traffic light. The preset range may be 500 meters square or 1 km square, which is not specifically limited in the embodiment of the present application.

In the embodiment of the application, updating the cooperative data of the vehicle road is completed in the running process of the vehicle.

In the embodiment of the application, the vehicle-road cooperative traffic light may be a vehicle-road cooperative traffic light, or may be a vehicle-road cooperative tide lane signal lamp, which is not particularly limited in the embodiment of the application.

In this embodiment of the present application, the vehicle-road cooperative traffic light information may be a composition of the vehicle-road cooperative traffic light.

It should be noted that, the vehicle-road cooperative traffic light in the embodiment of the present application has a V2X wireless communication module, through which the vehicle-road cooperative traffic light can periodically broadcast its own composition to vehicles driving into a square circle within 1 km, for example, the vehicle-road cooperative traffic light is composed of traffic lights with three colors of red, green and yellow, and the operation periods of the traffic lights, for example, the duration of the red, green and yellow lights, are broadcast.

Alternatively, the vehicle-road cooperative traffic lights may be periodically varied and the duration of each of its partial signal lights may be dynamically set. For example, the duration of the traffic lights of the vehicle road can be fixed, the last period and the next period, and the duration of the red lights and the green lights are the same; for another example, the duration of the red light and the green light may be dynamically set, that is, the duration of the red light and the green light may be adjustable, and the duration of the red light and the green light may be different from the last period to the next period.

By way of example, the traffic flow at the intersection can be analyzed and calculated by the traffic lights, the running period of the signal lights with three colors of red, green and yellow is dynamically set according to the calculation and analysis result, and the duration of the signal light with one color is adaptively prolonged or shortened; then, the vehicle road cooperated with the traffic light sends a signal carrying the composition and the operation period to the vehicle which enters the square circle within 1 km through the V2X wireless communication module; and the terminal equipment updates the vehicle-road cooperative data related to the traffic lights stored in the APP by utilizing the received signals.

It may be understood that the vehicle-road cooperative traffic light information and the rule information may also be obtained from the cloud server through a UU interface, which is not specifically limited in the embodiment of the present application.

In this way, the terminal equipment updates own vehicle-road cooperative data in the driving process without occupying other time; meanwhile, prompt information can be obtained based on the latest vehicle-road cooperative data, so that the sensitivity of outputting the prompt information is improved, and the safety of vehicles is ensured.

In some embodiments, after updating the vehicle-road cooperative data using the vehicle-road cooperative traffic light information and the rule information acquired through the first communication interface, the vehicle-road cooperative method further includes:

generating a target vehicle speed according to the running period, the distance between the vehicle and the road cooperative traffic light and the current time; the target vehicle speed is the vehicle speed of the vehicle driving to the vehicle-road cooperative traffic light in a time period corresponding to the traffic indicator light of the traffic light;

and outputting the target vehicle speed through a man-machine interaction interface in the running process of the vehicle.

In this embodiment of the present application, the man-machine interaction interface may be a display interface of an APP on the terminal device.

The terminal equipment receives the vehicle-road cooperative traffic light information and the rule information periodically sent by the V2X wireless communication module of the vehicle-road cooperative traffic light after the vehicle is driven into the road where the vehicle-road cooperative traffic light is located; acquiring longitude, latitude, running direction, speed, acceleration and braking signals of a vehicle, and calculating the position and running direction of the vehicle; calculating the speed of the vehicle running to the traffic light in the time period corresponding to the green light of the traffic light according to the position and running direction of the vehicle, the running period, the distance between the vehicle and the road cooperative traffic light and the current time; and outputting the vehicle speed through a display interface of the APP.

Therefore, the speed of the vehicle is dynamically adjusted in real time according to the information and rules of the traffic lights in the front road, so that the traffic lights can be driven within the corresponding time period of the traffic lights, and the traffic efficiency is improved.

Fig. 3 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

Referring to fig. 3, in combination with the above embodiment, the terminal device includes a vehicle communication module 301, a scene algorithm module 302, a function application module 303, and a man-machine interaction module 304.

In the embodiment of the application, the terminal device, for example, the APP on the mobile phone, may be set to a vehicle mode or a pedestrian mode. When set to the vehicle mode, the terminal device may constitute a V2X function system with the vehicle; when the pedestrian mode is set, the terminal equipment is used as a road pedestrian to participate in the vehicle-road cooperative system. In the pedestrian mode, the position information of the pedestrian can be sent to other vehicles, so that the other vehicles can conveniently realize the vehicle-road cooperation method in the embodiment, the positions of the other vehicles can be obtained from the cloud server, and the early warning information is output according to the positions of the other vehicles, so that the vehicle-road cooperation method is not particularly limited.

In this embodiment, the vehicle communication module 301 performs wired or wireless connection with the vehicle through a communication interface such as WIFI, USB, type-c and bluetooth carried by the terminal device, receives data of the vehicle, such as signals of a vehicle position, a vehicle speed, a steering wheel angle, a vehicle state, and the like, and can send early warning information obtained by APP operation to the vehicle.

In the embodiment of the present application, the scene algorithm module 302 performs various early warning scene algorithm calculations according to the vehicle state data and the surrounding vehicle state data.

In this embodiment of the present application, the function application module 303 implements various scene applications of the V2X vehicle end and the pedestrian end, including priority processing of various early warning information, generating an alarm mode, and sending the alarm mode to the man-machine interaction module or the vehicle for early warning prompt.

In this embodiment, the man-machine interaction module 304 may customize alarm modes such as sound, image, vibration, etc.

Thus, the V2X function of the vehicle is realized through the terminal equipment and the APP on the terminal equipment, and the problems that the V2X function is not supported by the vehicle and the TBOX post-assembly cost is high are solved.

It should be noted that, in this embodiment, the descriptions of the same steps and the same content as those in other embodiments may refer to the descriptions in other embodiments, and are not repeated here.

The following are device embodiments of the present application, which may be used to perform method embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the method embodiments of the present application.

Fig. 4 is a schematic structural diagram of a vehicle-road cooperative device according to an embodiment of the present application.

Referring to fig. 4, the vehicle-road coordination apparatus 400 may be applied to a method provided in the corresponding embodiment of fig. 2, where the vehicle-road coordination apparatus 400 includes:

An acquiring module 401, configured to acquire vehicle road cooperative data through a first communication interface, and acquire vehicle data through a second communication interface;

and the processing module 402 is used for outputting prompt information according to the vehicle road cooperative data and the vehicle data.

In other embodiments of the present application, based on the above scheme, the processing module 402 is further configured to:

the network interconnection is carried out between the first communication interface and preset vehicle-road cooperative equipment;

and establishing wireless connection or wired connection with the vehicle based on the vehicle wireless communication V2X technology through a second communication interface.

determining a vehicle driving scene according to surrounding environment data in the vehicle data and the vehicle state in the vehicle-road cooperative data;

if the vehicle driving scene meets the triggering condition of the dangerous scene, determining early warning information corresponding to the dangerous scene; the early warning information comprises early warning content and early warning modes;

and outputting the early warning content through a man-machine interaction interface according to an early warning mode.

and sending the rescue information to a rescue service site.

In other embodiments of the present application, based on the above scheme, the obtaining module 401 is further configured to:

updating the vehicle-road cooperative data by using the vehicle-road cooperative traffic light information and the rule information acquired through the first communication interface; the rule information at least comprises the running period of the vehicle-road cooperative traffic light in a preset range of a front road sent by the vehicle-road cooperative traffic light.

And outputting the tide lane guiding information through a man-machine interaction interface.

Referring to fig. 5, the terminal device 500 may be applied to a method provided in the corresponding embodiment of fig. 2, where the terminal device 500 includes: a processor 501, a memory 502, and a communication bus 503, wherein:

a communication bus 503 is used to enable a communication connection between the processor 501 and the memory 502;

the processor 501 is configured to execute a communication interaction program stored in the memory 502 to implement the following steps:

acquiring vehicle-road cooperative data through a first communication interface, and acquiring vehicle data through a second communication interface;

The terminal device obtains vehicle road cooperative data through a first communication interface and obtains vehicle data through a second communication interface; outputting prompt information according to the vehicle-road cooperative data and the vehicle data; in this way, the terminal equipment can acquire the vehicle-road cooperative data and the vehicle data through different preset communication interfaces, so that the convenience of acquiring the data is improved; the terminal equipment outputs prompt information according to the vehicle-road cooperative data and the vehicle data, and can provide low-cost and expandable V2X service for the vehicle without the TBOX, so that the vehicle is safer and more intelligent.

Embodiments of the present application provide a computer readable storage medium storing one or more programs, where the one or more programs may be executed by one or more processors to implement a process in a vehicle road collaboration method as provided in the corresponding embodiment of fig. 2, which is not described herein.

It should be noted here that: the description of the storage medium and apparatus embodiments above is similar to that of the method embodiments described above, with similar benefits as the method embodiments. For technical details not disclosed in the embodiments of the storage medium and the apparatus of the present application, please refer to the description of the method embodiments of the present application for understanding.

The computer storage medium/Memory may be a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable programmable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable programmable Read Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), a magnetic random access Memory (Ferromagnetic Random Access Memory, FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a Read Only optical disk (Compact Disc Read-Only Memory, CD-ROM); but may also be various terminals such as mobile phones, computers, tablet devices, personal digital assistants, etc., that include one or any combination of the above-mentioned memories.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment of the present application" or "the foregoing embodiments" or "some implementations" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" or "an embodiment of the present application" or "the foregoing embodiment" or "some embodiments" or "some implementations" in various places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application. The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of units is only one logical function division, and there may be other divisions in actual implementation, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.

The methods disclosed in the several method embodiments provided in the present application may be arbitrarily combined without collision to obtain a new method embodiment.

The features disclosed in the several product embodiments provided in the present application may be combined arbitrarily without conflict to obtain new product embodiments.

The features disclosed in the several method or apparatus embodiments provided in the present application may be arbitrarily combined without conflict to obtain new method embodiments or apparatus embodiments.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read Only Memory (ROM), a magnetic disk or an optical disk, or the like, which can store program codes.

Alternatively, the integrated units described above may be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially or partially contributing to the related art, and the computer software product may be stored in a storage medium, and include several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the methods of the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a removable storage device, a ROM, a magnetic disk, or an optical disk.

It should be noted that the drawings in the embodiments of the present application are only for illustrating schematic positions of respective devices on the terminal device, and do not represent actual positions in the terminal device, the actual positions of respective devices or respective areas may be changed or shifted according to actual situations (for example, structures of the terminal device), and proportions of different portions in the terminal device in the drawings do not represent actual proportions.

The foregoing is merely an embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. The vehicle-road cooperation method is characterized by being applied to terminal equipment; the terminal device is independent of the vehicle and comprises a first communication interface and a second communication interface; the method comprises the following steps:

2. The method of claim 1, wherein prior to the obtaining vehicle coordination data via the first communication interface and obtaining vehicle data via the second communication interface, the method further comprises:

and the first communication interface is in network interconnection with preset vehicle-road cooperative equipment, and the second communication interface is in wireless connection or wired connection with the vehicle based on the vehicle wireless communication V2X technology.

3. The method of claim 1, wherein the prompt message comprises an early warning message; the outputting of the prompt information according to the vehicle-road cooperative data and the vehicle data includes:

and outputting the early warning content through a man-machine interaction interface according to the early warning mode.

4. The method of claim 1, wherein after the acquiring vehicle data via the second communication interface, the method further comprises:

acquiring rescue service stations nearby the vehicle according to the vehicle position;

and sending the rescue information to the rescue service site.

5. The method of claim 1, wherein the obtaining vehicle coordination data via the first communication interface comprises:

updating the vehicle-road cooperative data by using the vehicle-road cooperative traffic light information and the rule information acquired through the first communication interface; the rule information at least comprises the running period of the vehicle-road cooperative traffic light within a preset range of a front road sent by the vehicle-road cooperative traffic light.

6. The method of claim 5, wherein after the updating the vehicle-road cooperative data using the vehicle-road cooperative traffic light information and the rule information acquired through the first communication interface, the method further comprises:

generating a target vehicle speed according to the running period, the distance between the vehicle and the vehicle-road cooperative traffic light and the current time; the target vehicle speed is the vehicle speed of the vehicle driving to the vehicle-road cooperative traffic light in a time period corresponding to the traffic indicator light of the traffic light;

7. The method of claim 1, wherein the hint information includes guidance information; the outputting of the prompt information according to the vehicle-road cooperative data and the vehicle data includes:

obtaining the guiding information according to tide lane rules in the vehicle-road cooperative data and vehicle positions in the vehicle data; the guiding information is used for guiding the passing direction of the tide lane or applying for the tide lane;

8. A vehicle-road cooperative apparatus, characterized by comprising:

9. A terminal device, characterized in that the terminal device comprises:

a memory for storing executable program code;

a processor for calling and running the executable program code from the memory, causing the terminal device to perform the method of any one of claims 1 to 7.

10. A vehicle-road collaboration system, the vehicle-road collaboration system comprising: vehicle, road cooperative apparatus, and terminal apparatus according to claim 9; wherein, the liquid crystal display device comprises a liquid crystal display device,

the terminal device is configured to receive vehicle-road coordination data of the vehicle-road coordination device and vehicle data of the vehicle, so as to implement the method according to any one of claims 1 to 7.