WO2019000745A1 - Terminal v2x, système et procédé de gestion pour multisystème v2x compatible - Google Patents

Terminal v2x, système et procédé de gestion pour multisystème v2x compatible Download PDF

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Publication number
WO2019000745A1
WO2019000745A1 PCT/CN2017/108667 CN2017108667W WO2019000745A1 WO 2019000745 A1 WO2019000745 A1 WO 2019000745A1 CN 2017108667 W CN2017108667 W CN 2017108667W WO 2019000745 A1 WO2019000745 A1 WO 2019000745A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
information
data
surrounding
receiving
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Application number
PCT/CN2017/108667
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English (en)
Chinese (zh)
Inventor
王龙翔
张盈盈
Original Assignee
深圳市金溢科技股份有限公司
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Publication date
Application filed by 深圳市金溢科技股份有限公司 filed Critical 深圳市金溢科技股份有限公司
Publication of WO2019000745A1 publication Critical patent/WO2019000745A1/fr

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0965—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages responding to signals from another vehicle, e.g. emergency vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40006—Architecture of a communication node
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/52—Network services specially adapted for the location of the user terminal
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/56—Provisioning of proxy services
    • H04L67/565—Conversion or adaptation of application format or content
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN

Definitions

  • the invention relates to the field of Intelligent Transportation System (ITS), in particular to a V2X terminal, system and management method compatible with multi-system V2X.
  • ITS Intelligent Transportation System
  • WAVE Wireless Access in Vehicular Environments
  • ETSI-ITS European Telecommunications Standards Institute-Intelligent Transport Systems, European Telecommunications Standards Protocol-Intelligent Transportation System
  • LTE-V LongTermEvolution-Vehicle
  • V2X vehicle to X, vehicle communication / vehicle communication
  • the present invention provides a management method compatible with a multi-system V2X, including:
  • the surrounding vehicle data is transmitted based on at least two of WAVE, ETSI-ITS, and/or LTE-V standards, and after receiving the surrounding vehicle data according to a corresponding technique, the surrounding vehicle data is decoded and converted into a first standard. format;
  • the driver is alerted or controlled based on the vehicle travel information and the surrounding vehicle data in a first standard format.
  • step of receiving vehicle state information of the installed vehicle is specifically:
  • the step of receiving vehicle location information of the installed vehicle is specifically;
  • the longitude, latitude, altitude, and direction angle information of the vehicle is received by the positioning module and converted into a third standard format.
  • the transmission is a point-to-point communication based on the OCB mode
  • the transmission is based on the ITS-G5A access mode.
  • step of generating the vehicle travel information according to the vehicle state information and the vehicle location information is specifically:
  • Processing is performed after acquiring vehicle state information of the installed vehicle and vehicle location information of the installed vehicle, and generating vehicle travel information including historical route information of the vehicle and prediction of predicting the travel track of the vehicle Path information.
  • the surrounding vehicle data is vehicle status information and vehicle position information of other vehicles.
  • receiving, in the receiving, surrounding vehicle data transmitted by a V2X terminal on another vehicle wherein the surrounding vehicle data is transmitted based on any at least two of WAVE, ETSI-ITS, and/or LTE-V standards,
  • the driver is alerted or controlled according to the vehicle driving information and the surrounding vehicle data.
  • the vehicle step it also includes;
  • the other vehicles After receiving the vehicle state information and the vehicle location information of the installed vehicle and other vehicles, the other vehicles are classified and saved according to the relative positions of the installed vehicles and other vehicles.
  • step of alerting or controlling the driver according to the vehicle driving information and the surrounding vehicle data specifically includes:
  • Determining the threat of the other vehicle to the installed vehicle according to vehicle state information of the installed vehicle, vehicle position information, vehicle state information of other vehicles, vehicle position information, and vehicle travel information of the installed vehicle And prioritize the threats and prioritize the most dangerous threats.
  • the present invention also discloses a V2X terminal compatible with a multi-system V2X, including:
  • a receiving module configured to receive vehicle state information and vehicle location information of the vehicle
  • a sensor data processing module configured to generate vehicle travel information according to the vehicle state information and the vehicle location information
  • a wireless receiving module configured to receive surrounding vehicle data sent by a V2X terminal on another vehicle and decode the data into a first standard format
  • the wireless receiving module includes any one of a WAVE device, an ETSI-ITS device, and an LTE-V device. At least two, the WAVE device, the ETSI-ITS device, and the LTE-V device are respectively configured to decode and convert the surrounding vehicle data into a first standard after receiving the surrounding vehicle data according to a corresponding technology format;
  • a processing module for the surrounding vehicle according to the vehicle travel information and the first standard format
  • the data alerts the driver or controls the vehicle.
  • the present invention also provides a V2X terminal compatible with a multi-system V2X, comprising: a processor and a memory, wherein the memory is used to store program instructions, and the program instructions are used to be loaded by the processor to implement Method steps as described above.
  • a multi-system V2X compatible system including a plurality of V2X terminals as described above that are respectively installed on different vehicles and are wirelessly connected.
  • a roadside device wirelessly connected to the V2X terminal is further included.
  • the technical solution of the present invention implements a unified data format for vehicle state information, vehicle state information, and surrounding vehicle data of the vehicle, thereby realizing compatible access modes of different vehicles and different communication standards, without performing equipment Modifications can support a variety of known V2X standards, extend the range of availability, and facilitate compatibility in regions that use different standards.
  • FIG. 1 is a flow chart of a method for managing a multi-mode V2X compatible with the present invention.
  • the technical standards used in each region are different, mainly including WAVE standard, ETSI-ITS standard, and LTE-V standard.
  • the function of the multi-standard V2X is provided in the first embodiment of the present invention.
  • S101 Receive vehicle state information of the installed vehicle, and receive vehicle location information of the installed vehicle;
  • the method is performed by a V2X terminal mounted on a vehicle, which is a vehicle in which a V2X terminal that performs the method is installed.
  • Receiving vehicle state information of the installed vehicle is to receive vehicle speed and braking state information of the vehicle through the CAN bus interface of the vehicle, and converting into a second standard format;
  • Receiving vehicle location information of the installed vehicle is specifically, receiving by the positioning module
  • the longitude, latitude, altitude, and direction angle information of the vehicle are converted into a third standard format.
  • the CAN bus interface is only an optional form. Since the vehicle status information is different from the content to the form of each vehicle, it needs to be converted into a standard format, that is, the second.
  • the standard format is ready for use, and the vehicle state information in this embodiment includes the vehicle speed of the vehicle, the brake state information, and the like.
  • the positioning module is also a variety of systems, such as GPS, Beidou, Galileo, etc., also need to be converted to the standard format, the third standard format for use.
  • the vehicle position information in this embodiment includes longitude, latitude, altitude, direction angle information, and the like of the vehicle, wherein the square angle is an angle between the traveling direction of the vehicle and the true north.
  • S102 Generate vehicle driving information according to the vehicle state information and the vehicle location information
  • processing is performed to generate vehicle driving information, where the driving information of the vehicle includes historical path information of the vehicle and performing the driving track of the vehicle.
  • Predicted predicted path information which is saved for use.
  • the vehicle travel information may also be a collective name of the vehicle state information of the second standard format and the vehicle travel information of the third standard format, and only the unified combination thereof is here. It is saved, and no other processing is done. It is not limited here.
  • S103 Receive and decode surrounding vehicle data sent by a V2X terminal on another vehicle, where the surrounding vehicle data is transmitted based on at least two of WAVE, ETSI-ITS, and/or LTE-V standards, according to corresponding technologies.
  • the surrounding vehicle data is decoded and converted into a first standard format; it can be understood that the surrounding vehicle data is vehicle state information, vehicle location information of other vehicles, and the V2X installed thereon
  • the terminal collects and sends.
  • the V2X terminal installed in the vehicle receives the vehicle state information and the vehicle position information of the installed vehicle and other vehicles, and classifies and saves the other vehicles according to the relative positions of the installed vehicles and other vehicles.
  • the classification of the direction in which the vehicle travels can also be classified according to the influence of other vehicles on the driving of the installed vehicle, which is not limited herein.
  • the classification save mode can quickly find the corresponding impact vehicle in order to better distinguish different application requirements, which helps to improve the timeliness of the application.
  • S104 Remind or control the driver according to the vehicle driving information and the surrounding vehicle data in a first standard format. Specifically, determining, according to vehicle state information of the installed vehicle, vehicle location information, vehicle state information of other vehicles, vehicle location information, and vehicle driving information of the installed vehicle, determining that the other vehicle is installed to the vehicle The threat of the vehicle, and the threats are graded to prioritize the most dangerous threats. It can be understood that there are various ways of processing, such as when the collision is early warning, using a sound or displaying an alarm device to remind the driver to avoid the impending danger. Or actively control the vehicle's brakes when it is determined that a hazard is about to occur to avoid serious injury to the driver. At the same time, it is reminded that the dangers of different danger levels can be predicted at the same time for reference.
  • the management method does not only provide warnings for dangerous behaviors, but also provides guidance or autopilot services to the driver in the case of system support, such as guiding free parking spaces in parking lots with roadside equipment, or The road selection is carried out at the traffic lights where the roadside equipment is installed, and will not be described here.
  • the transmission is a point-to-point communication based on an OCB (OutsidetheContext of a Basic Service Set) mode;
  • the communication mode also includes:
  • WAVE MAC Mainly responsible for channel coordination, channel switching, time slot synchronization, etc., and provides QoS-guaranteed data transmission for upper-layer applications. Its data plane can support both WSMP (WAVE Short Message Protocol) and IPv6 data services.
  • WSMP Wi-Fi Short Message Protocol
  • IPv6 IPv6 data services
  • WSMP is a simple network/transport layer protocol.
  • the data packets carried by the WSMP are generally short and are an unreliable transmission protocol. It is mainly responsible for providing interfaces for different application service requests (Channel Service Request, Provider Service Request, User Service Request, etc.), and assigning corresponding network resources to each application according to the request for supply and use.
  • the WAVE security module is mainly used to ensure the security of data communication and ensure that the information sent by each terminal is authentic.
  • TCP/IPv6 Provides Internet access for terminals. Currently, it is mainly used for terminal to obtain and verify digital certificates.
  • the terminal access network does not need to perform operations such as association and authentication, which greatly shortens the access time of the terminal.
  • the WAVE security module is introduced to ensure data security, and the timeliness is improved based on the unified data format report. More conducive to the application of the vehicle network.
  • This mode includes:
  • GeoNetworking A geographically-based routing exchange model that allows data to be transmitted over multiple hops in the network, providing direct service support for upper-layer transport protocols.
  • BTP Basic Transport Protocol
  • GeoNetworking-N6 Used to provide multi-hop capability for IPv6.
  • the ETSI-ITS security module is used to ensure the security of data communication.
  • multi-hop propagation can be implemented between V2X terminals, and the access time of the terminal is shortened.
  • the security module is introduced to ensure data security, and the timeliness is improved on the basis of unified data format reporting, which is more conducive to Application of vehicle networks.
  • a V2X terminal compatible with a multi-system V2X includes:
  • a receiving module configured to receive vehicle state information and vehicle location information of the vehicle
  • a sensor data processing module configured to generate vehicle travel information according to the vehicle state information and the vehicle location information
  • a wireless receiving module configured to receive surrounding vehicle data sent by a V2X terminal on another vehicle and decode the data into a first standard format
  • the wireless receiving module includes any one of a WAVE device, an ETSI-ITS device, and an LTE-V device. At least two, the WAVE device, the ETSI-ITS device, and the LTE-V device are respectively configured to decode and convert the surrounding vehicle data into a first standard after receiving the surrounding vehicle data according to a corresponding technology format;
  • a processing module for the surrounding vehicle according to the vehicle travel information and the first standard format
  • the data alerts the driver or controls the vehicle.
  • V2X terminal compatible with a multi-system V2X, comprising: a processor and a memory, the memory for storing program instructions for being loaded by the processor to implement as described in Embodiment 1 Method steps.
  • a multi-format V2X compatible system comprising a plurality of V2X terminals as described above that are respectively mounted on different vehicles and are wirelessly connected.
  • the system also includes a roadside device that is wirelessly coupled to the V2X terminal.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Health & Medical Sciences (AREA)
  • Computing Systems (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un procédé de gestion pour multisystème V2X compatible, consistant : à recevoir des informations d'état de véhicule concernant un véhicule installé, et à recevoir des informations de position de véhicule concernant le véhicule installé (S101) ; à générer des informations de conduite de véhicule en fonction des informations d'état de véhicule et des informations de position de véhicule (S102) ; à recevoir des données de véhicules environnants envoyées par des terminaux V2X concernant d'autres véhicules et à les décoder, les données de véhicules environnants étant transmises sur la base d'au moins deux quelconques normes parmi WAVE, ETSI-ITS et/ou LTE-V, et après que les données de véhicules environnants sont reçues selon la technologie correspondante, à décoder les données de véhicules environnants et à les convertir en un premier format normalisé (S103) ; et à envoyer un rappel à un conducteur ou à contrôler le véhicule en fonction des informations de conduite de véhicule et des données de véhicules environnants dans le premier format normalisé (S104). La présente invention prend en charge une pluralité de normes V2X connues, étend une portée disponible, et facilite la mise en œuvre de la compatibilité dans des zones où des normes différentes sont utilisées.
PCT/CN2017/108667 2017-06-29 2017-10-31 Terminal v2x, système et procédé de gestion pour multisystème v2x compatible WO2019000745A1 (fr)

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CN201710517460.5A CN109215388A (zh) 2017-06-29 2017-06-29 一种兼容多制式v2x的v2x终端、系统及管理方法

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