WO2020038427A1 - Method, device and system for establishing communication connection between vehicles - Google Patents

Method, device and system for establishing communication connection between vehicles Download PDF

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Publication number
WO2020038427A1
WO2020038427A1 PCT/CN2019/101921 CN2019101921W WO2020038427A1 WO 2020038427 A1 WO2020038427 A1 WO 2020038427A1 CN 2019101921 W CN2019101921 W CN 2019101921W WO 2020038427 A1 WO2020038427 A1 WO 2020038427A1
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WIPO (PCT)
Prior art keywords
vehicle
target
vehicles
controller
information
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PCT/CN2019/101921
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French (fr)
Chinese (zh)
Inventor
薄云览
刘伟华
Original Assignee
比亚迪股份有限公司
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Publication date
Application filed by 比亚迪股份有限公司 filed Critical 比亚迪股份有限公司
Priority to BR112021003301-7A priority Critical patent/BR112021003301A2/en
Publication of WO2020038427A1 publication Critical patent/WO2020038427A1/en

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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02Services making use of location information
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02Services making use of location information
    • H04W4/023Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/06Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30Services specially adapted for particular environments, situations or purposes
    • H04W4/40Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W76/00Connection management
    • H04W76/10Connection setup

Definitions

  • the present application relates to the technical field of vehicles, and in particular, to a method, a device, and a system for establishing a communication connection between vehicles.
  • vehicles can directly establish communication connections through on-board controllers.
  • a turnout section on the front side that is, there may be a situation where the turnout needs to be pulled.
  • the current turnout is positioned, and communication between car 1 and car 3 has been established. If the car 1 needs to take a lateral approach, it needs to pull the turnout to the reverse position. At this time, the vehicle 1 needs to communicate with the vehicle 2 in the current turnout section in front, and it must first disconnect the communication connection with the vehicle 3, and then establish a communication connection with the vehicle 2. The entire process takes a long time and the operation efficiency is relatively low.
  • This application is intended to solve at least one of the technical problems in the related technology.
  • the first purpose of this application is to propose a method for establishing a communication connection between vehicles, which is used to solve the need to disconnect the communication connection with an existing vehicle when the vehicle route is switched in the prior art, and then re-establish the connection with the existing vehicle.
  • the delay deviation caused by the communication connection of other vehicles, and the operation efficiency is relatively low.
  • the second purpose of this application is to propose another method for establishing a communication connection between vehicles.
  • the third object of the present application is to provide a vehicle-mounted controller.
  • a fourth object of the present application is to propose a target controller.
  • a fifth object of the present application is to propose a communication connection system between vehicles.
  • a sixth object of the present application is to provide a device for establishing a communication connection between vehicles.
  • the ninth object of the present application is to propose another device for establishing a communication connection between vehicles.
  • an embodiment of the first aspect of the present application proposes a method for establishing a communication connection between vehicles, which is applied to a vehicle-mounted controller, where the vehicle-mounted controller is located in the vehicle, and includes:
  • the vehicle-mounted controller obtains the position system information of all vehicles through the target controller in the current jurisdiction and chooses to establish communication with vehicles within a certain range, which avoids the need to disconnect the existing communication connection when the vehicle route is switched. Then the delay deviation caused by re-establishing the communication connection improves the operation efficiency.
  • an embodiment of the second aspect of the present application proposes another method for establishing a communication connection between vehicles, which is applied to a target controller, the target controller is set beside a track and used to manage Vehicles, including:
  • the method for establishing a communication connection between vehicles in the embodiment of the present application obtains the position information of all vehicles in a jurisdiction area, and sends a vehicle location broadcast packet containing the position information of all vehicles to all vehicle-mounted controllers in the jurisdiction area, so that the vehicle
  • the controller determines the target vehicle that meets the communication conditions and obtains the running information of the target vehicle according to the position information of all the vehicles and a preset distance threshold. Therefore, the vehicle-mounted controller obtains the position system information of all vehicles through the target controller in the current jurisdiction and chooses to establish communication with vehicles within a certain range, which avoids the need to disconnect the existing communication connection when the vehicle route is switched. Then the delay deviation caused by re-establishing the communication connection improves the operation efficiency.
  • an embodiment of the third aspect of the present application provides a vehicle-mounted controller, including:
  • a receiving unit configured to receive a vehicle location broadcast packet sent by a target controller
  • An analysis obtaining unit configured to analyze the vehicle location broadcast packet, and obtain location information of all vehicles in the area under the jurisdiction of the target controller;
  • a determining unit configured to determine a target vehicle that meets the communication conditions according to the position information of all the vehicles and a preset distance threshold
  • a establishing receiving unit is configured to establish a communication link with the target vehicle, and receive operation information of the target vehicle through the communication link.
  • the vehicle-mounted controller of the embodiment of the present application receives the vehicle location broadcast packet sent by the target controller and analyzes the vehicle location broadcast packet to obtain the position information of all vehicles within the area under the jurisdiction of the target controller, so as to obtain The information and the preset distance threshold determine the target vehicle that meets the communication conditions, and finally the communication link with the target vehicle, and receives the operation information of the target vehicle through the communication link. Therefore, the vehicle-mounted controller obtains the position system information of all vehicles through the target controller in the current jurisdiction and chooses to establish communication with vehicles within a certain range, which avoids the need to disconnect the existing communication connection when the vehicle route is switched. Then the delay deviation caused by re-establishing the communication connection improves the operation efficiency.
  • an embodiment of the fourth aspect of the present application provides a target controller, including:
  • An obtaining unit configured to obtain position information of all vehicles in a jurisdiction
  • a sending unit configured to send a vehicle location broadcast packet containing the position information of all the vehicles to all vehicle-mounted controllers in the jurisdiction area, so that the vehicle-mounted controller may
  • the distance threshold determines a target vehicle that meets the communication conditions and acquires the running information of the target vehicle.
  • the target controller in the embodiment of the present application obtains the position information of all vehicles in the jurisdiction and sends a vehicle location broadcast packet containing the position information of all vehicles to all vehicle controllers in the jurisdiction, so that the vehicle controller
  • the vehicle's position information and a preset distance threshold determine the target vehicle that meets the communication conditions and obtains the running information of the target vehicle. Therefore, the vehicle-mounted controller obtains the position system information of all vehicles through the target controller in the current jurisdiction and chooses to establish communication with vehicles within a certain range, which avoids the need to disconnect the existing communication connection when the vehicle route is switched. Then the delay deviation caused by re-establishing the communication connection improves the operation efficiency.
  • an embodiment of the fifth aspect of the present application provides a system for establishing a communication connection between vehicles, including:
  • each vehicle device includes the on-vehicle controller according to the third aspect embodiment.
  • an embodiment of a sixth aspect of the present application provides a device for establishing a communication connection between vehicles, including a memory, a processor, and a computer program stored in the memory and executable on the processor.
  • the processor executes the program, the method for establishing a communication connection between vehicles according to the embodiment of the first aspect is implemented.
  • an embodiment of a ninth aspect of the present application provides a device for establishing a communication connection between vehicles, including a memory, a processor, and a computer program stored in the memory and executable on the processor.
  • the processor executes the program, the method for establishing a communication connection between vehicles according to the embodiment of the second aspect above is implemented.
  • FIG. 1 is an example diagram of a manner for establishing communication between vehicles in the prior art
  • FIG. 2 is a schematic structural diagram of a system for establishing a communication connection between vehicles according to an embodiment of the present application.
  • FIG. 3 is a schematic flowchart of a method for establishing a communication connection between vehicles according to an embodiment of the present application
  • FIG. 4 is a schematic flowchart of another method for establishing a communication connection between vehicles according to an embodiment of the present application
  • FIG. 5 is a schematic diagram of establishing a hardware connection between a vehicle-mounted controller and a target controller according to an embodiment of the present application
  • FIG. 6 is a schematic flowchart of another method for establishing a communication connection between vehicles according to an embodiment of the present application.
  • FIG. 7 is a schematic flowchart of still another method for establishing a communication connection between vehicles according to an embodiment of the present application.
  • FIG. 8 is a schematic flowchart of another method for establishing a communication connection between vehicles according to an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a vehicle-mounted controller according to an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a target controller according to an embodiment of the present application.
  • FIG. 11 is a schematic structural diagram of a device for establishing a communication connection between vehicles according to an embodiment of the present application.
  • This application proposes a vehicle A communication connection system is established between the vehicle controller and the target controller of the current jurisdiction to obtain the position system information of all vehicles, and choose to establish communication with vehicles within a certain range.
  • the vehicle route is switched, there is no need to disconnect the The communication connection of existing vehicles improves operational efficiency.
  • the system for establishing a communication connection between vehicles in the embodiment of the present application includes a target controller 20 and a plurality of vehicles, wherein each vehicle is provided with an on-vehicle controller 10.
  • the target controller 20 acquires the position information of all the vehicles in the jurisdiction area and sends a vehicle position broadcast packet containing the position information of all the vehicles to all the vehicle-mounted controllers 10 in the jurisdiction area.
  • the vehicle-mounted controller 10 can receive the vehicle location broadcast packet sent by the target controller 20, the vehicle-mounted controller 10 analyzes the vehicle location broadcast packet, and obtains the position information of all vehicles in the area under the jurisdiction of the target controller 20, according to the The position information and a preset distance threshold determine a target vehicle that meets the communication conditions, establishes a communication link between the onboard controller 10 and the target vehicle, and receives operation information of the target vehicle through the communication link.
  • the vehicle-mounted controller obtains the position information of all vehicles through the target controller in the current jurisdiction, and chooses to establish communication with vehicles within a certain range. Delay deviations caused by re-establishing communication connections have improved operational efficiency.
  • the current turnout is in position, and the car 1 obtains the position information of all cars through the target controller of the current jurisdiction, and selects the cars 2 and 3 within a certain range. Establish communication. If the car 1 needs to take a lateral approach, you need to pull the turnout to the reverse position. At this time, the car 1 can directly communicate with the car 2 in the current turnout section in front of it. This avoids the need to disconnect from the car 3 when the car route is switched. Opening a communication connection and then re-establishing a communication connection with the vehicle 2 delays caused by deviations, which improves operational efficiency.
  • FIG. 3 is a schematic flowchart of a method for establishing a communication connection between vehicles according to an embodiment of the present application.
  • the method for establishing a communication connection between vehicles shown in this embodiment is applied to a vehicle-mounted controller, and the vehicle-mounted controller is located in the vehicle.
  • the method for establishing a communication connection between the vehicles includes the following steps:
  • each on-board controller can find its corresponding target controller. It can be understood that as the vehicle moves, that is, the position of the vehicle changes, its corresponding target controller may change. In other words, each target controller next to a track has its corresponding jurisdiction. Among them, the size of the jurisdiction can be selected and set according to the actual application needs.
  • vehicle-mounted controller in each vehicle After the vehicle-mounted controller in each vehicle establishes a communication connection with the target controller in the current jurisdiction, it can receive the target control in the current jurisdiction. Vehicle location broadcast packet sent by the transmitter.
  • the vehicle-mounted controller may parse the vehicle location broadcast packet through a preset protocol (such as the RSSP-II protocol, the 802.11 protocol, etc.) to obtain the location information of all vehicles in the area.
  • a preset protocol such as the RSSP-II protocol, the 802.11 protocol, etc.
  • the vehicle-mounted controller can accurately obtain the specific location information of each vehicle in this jurisdiction. For example, vehicle A is at position X, vehicle B is at position Y, etc., so it can be determined how many meters vehicle A is from the host vehicle, and how many meters vehicle B is from the host vehicle.
  • a target vehicle that satisfies the communication conditions can be filtered.
  • the preset distance threshold is 50 meters, that is, when the host vehicle needs to establish communication with the vehicle within 50 meters and within the vehicle, so that the host vehicle is the center, the host vehicle is 50 meters away and the The vehicles inside are vehicle C and vehicle D respectively, so that the target vehicle is determined to be vehicle C and vehicle D.
  • the preset distance threshold can be selected and set according to actual application requirements.
  • the preset distance threshold is determined by the processing cycle of the vehicle controller and the communication time between each vehicle.
  • the processing cycle of the vehicle controller is 10ms
  • the communication time between each vehicle is 1ms. That is to say, the vehicle-mounted controller can only communicate with 10 vehicles in a processing cycle, that is, this preset distance threshold needs to be set at a distance including the target vehicle of 10 vehicles or less.
  • the difference between the preset distance threshold and the distance authorized for vehicle movement is greater than the preset threshold. It can be understood that when the vehicle travels, there will also be a change in the communication area range that results in the need to establish communication with vehicles entering the area and disconnect communication with vehicles leaving the area, but due to the preset distance threshold and vehicle movement authorization The difference in the distance of the vehicle is greater than a preset threshold value, and will not affect the calculation of the distance for vehicle movement authorization.
  • the preset distance threshold is 10km, and the vehicle's authorized movement distance is generally several hundred meters in the forward direction. When the vehicle is moving forward, communication has been established with the vehicle, there is no delay effect, and the operation efficiency is improved.
  • a communication link between the vehicle-mounted controller and the target vehicle is established, and operation information of the target vehicle is received through the communication link. That is, the communication between the vehicle-mounted controllers can be used to obtain the vehicle's operating speed, operating mode, operating direction and other operating information, and calculate the mobile authorization in conjunction with the turnout status and line speed limit.
  • the communication link can be selected according to the actual application needs. For example, in order to speed up the communication speed and improve the traffic efficiency, different networks or wireless communication devices can be selected to establish a connection, thereby further improving the operational efficiency.
  • RSSP-II Secure Socket Transfer Protocol
  • security protocol is not limited to this standard, and other custom protocols that meet EN50159 can also be used.
  • the method for establishing a communication connection between vehicles in the embodiment of the present application is to obtain the position information of all vehicles in the area by receiving a vehicle position broadcast packet sent by a target controller in a jurisdiction to which the vehicle controller currently belongs. , So as to determine the target vehicle that meets the communication conditions according to the position information of all vehicles and a preset distance threshold, and finally establish a communication link between the vehicle controller and the target vehicle, and receive the operation information of the target vehicle through the communication link. Therefore, the vehicle-mounted controller obtains the position system information of all vehicles through the target controller in the current jurisdiction and chooses to establish communication with vehicles within a certain range, which avoids the need to disconnect the existing communication connection when the vehicle route is switched. Then the delay deviation caused by re-establishing the communication connection improves the operation efficiency.
  • each vehicle-mounted controller needs to establish a communication connection with the target controller, so that the target controller can manage the vehicles in the jurisdiction and provide the vehicles that will enter the jurisdiction.
  • Send a vehicle location broadcast packet Specifically described in conjunction with FIG. 4 as follows:
  • FIG. 4 is a schematic flowchart of another method for establishing a communication connection between vehicles according to an embodiment of the present application. As shown in FIG. 4, before step 101, the method further includes:
  • Step 201 Acquire real-time position information of the vehicle.
  • Step 202 Determine an identifier of a target controller in a jurisdiction to which the vehicle belongs according to a first electronic map and real-time location information in the vehicle-mounted controller.
  • Step 203 Send communication request information to the corresponding target controller according to the identifier of the target controller, where the communication request information includes: first version information of the first electronic map and real-time location information of the vehicle, so that the target controller stores itself.
  • the second version information of the second electronic map is compared with the first version information, and according to the second electronic map, it is determined whether the jurisdiction area monitored by the target controller contains real-time location information of the vehicle.
  • step 204 if the target controller determines that the second version information is the same as the first version information and the monitored jurisdiction area contains real-time location information, it receives a communication establishment response message fed back by the target controller.
  • the in-vehicle controller and the target controller may choose a variety of hardware modes to establish a connection.
  • the communication connection between the vehicle-mounted controller and the target controller is shown in Figure 5 above, and it is based on LTE-M (Long Term Evolution-Machine-to-Machine) / LTE-U (Long Term Evolution-Unlicensed ) Wireless communication mode, eNode (eLTE node) base stations are arranged along the track, wireless controllers are arranged in the control center or station room to manage the base stations next to the track, and the core network is used for business interaction between different subsystems.
  • the access switch is used for data access of the target controller of the signal system
  • the TAU train access unit
  • the switch is used for data interaction between the on-board controller and the TAU.
  • the vehicle can obtain the real-time position information of the vehicle through its own vehicle-mounted controller, and determine the target of the jurisdiction area to which the real-time position information belongs through related processing methods.
  • Controller ID the identifier of each target controller is unique, that is, the corresponding unique target controller can be found through its identifier.
  • the area identifier of the jurisdiction area to which the real-time location information belongs can be determined according to the first electronic map in the vehicle-mounted controller, the pre-stored control information is queried, and the first target controller identifier corresponding to the area identifier is obtained.
  • the vehicle-mounted controller can actively send the communication request information to the corresponding target controller according to the target controller identification, so that after receiving the communication request information, the target controller obtains the first of the first electronic map by analyzing the communication request information.
  • the version information and the real-time location information thereby comparing the second version information of the second electronic map stored with itself with the first version information.
  • the first electronic map is an electronic map stored in the vehicle controller
  • the second electronic map is an electronic map stored in the target controller
  • the first version information is version information corresponding to the first electronic map
  • the second version information is Version information corresponding to the second electronic map.
  • the second electronic map can be used to determine whether the jurisdiction monitored by the target controller contains real-time location information. After the monitoring area contains real-time location information, a communication establishment response message is sent to the vehicle-mounted controller, that is, the vehicle-mounted controller and the target controller establish a secure communication connection.
  • step 104 the number of target vehicles for communication needs to be determined in advance to ensure the processing capability of the on-board controller. Specifically described in conjunction with FIG. 6 as follows:
  • FIG. 6 is a schematic flowchart of another method for establishing a communication connection between vehicles according to an embodiment of the present application. As shown in FIG. 6, before step 104, the method further includes:
  • step 301 the maximum value of the target vehicle that can be connected is determined according to the calculation period of the vehicle-mounted controller and the unit communication time.
  • step 302 it is determined whether the number of target vehicles is greater than the maximum number. If it is known that the number of target vehicles is greater than the number of communications, the target vehicles are screened according to the position information of the target vehicles so that the number of target vehicles is less than or equal to the maximum value.
  • each in-vehicle controller has a certain calculation cycle and can determine the number of communication of the vehicle in combination with its unit communication time, so that the target vehicle can be filtered based on the location information of the target vehicle when the number of target vehicles is greater than the number of communication. Make the number of target vehicles less than or equal to the number of communications to further improve operational efficiency.
  • the time when the on-board controller of the vehicle communicates with other on-board controllers is the unit communication time. For example, the time between the on-board controller A and the on-board controller B is 1 second, then the on-board controller A is determined. The unit communication time is 1 second; if the calculation period of the vehicle-mounted controller A is 10 seconds, and the unit communication time is 1 second, the communication amount of the vehicle to which the vehicle-mounted controller A belongs is determined to be 10.
  • the method of screening the target vehicle can be selected according to the actual application needs.
  • the position of the vehicle controller is used as the reference position, and the reference range is determined according to the reference position and a preset reference distance. Within the reference range, the communication link with the target vehicle is retained; if the location of the target vehicle is outside the reference range, the communication link with the target vehicle is disconnected.
  • the target vehicle can be screened by controlling the distance to the on-board controller within a certain range.
  • the target vehicle can be controlled to the number of communications.
  • a target vehicle that is relatively close and does not exceed the number of communications is randomly selected to establish a communication connection. As a result, operation efficiency and safety are further improved.
  • FIG. 7 is a schematic flowchart of another method for establishing a communication connection between vehicles according to an embodiment of the present application. As shown in FIG. 7, a method for establishing a communication connection between the vehicles includes:
  • Step 401 Obtain position information of all vehicles in a jurisdiction.
  • Step 402 Send a vehicle location broadcast packet containing the position information of all vehicles to all vehicle-mounted controllers in the jurisdiction, so that the vehicle-mounted controller determines the target vehicle that meets the communication conditions according to the location information of all vehicles and a preset distance threshold. And obtain the running information of the target vehicle.
  • the target controller can establish connections with the on-board controllers of all vehicles in the jurisdiction, so that the location information of all vehicles can be determined. Thereby, it is possible to send a vehicle position broadcast packet including the position information of all the vehicles to all the vehicle-mounted controllers in the jurisdiction.
  • the vehicle-mounted controller determines a target vehicle that satisfies the communication conditions according to the position information of all vehicles and a preset distance threshold, and obtains the operation information of the target vehicle.
  • the method for establishing a communication connection between vehicles in the embodiment of the present application obtains the position information of all vehicles in a jurisdiction area, and sends a vehicle location broadcast packet containing the position information of all vehicles to all vehicle-mounted controllers in the jurisdiction area so that the vehicle
  • the controller determines the target vehicle that meets the communication conditions according to the position information of all vehicles and a preset distance threshold, and obtains the running information of the target vehicle. Therefore, the vehicle-mounted controller obtains the position system information of all vehicles through the target controller in the current jurisdiction and chooses to establish communication with vehicles within a certain range, which avoids the need to disconnect the existing communication connection when the vehicle route is switched. Then the delay deviation caused by re-establishing the communication connection improves the operation efficiency.
  • FIG. 8 is a schematic flowchart of still another method for establishing a communication connection between vehicles according to an embodiment of the present application. As shown in FIG. 8, the method for establishing a communication connection between the vehicles further includes:
  • Step 501 Obtain fault information of a vehicle-mounted controller or fault information of a communication link with the vehicle-mounted controller.
  • Step 502 Determine a fault area according to the fault information and the last position information of the vehicle before the fault.
  • Step 503 Send a fault broadcast message including the fault area to other vehicle-mounted controllers in the jurisdiction.
  • the target controller calculates the blocked area based on the last position letter before disconnection, and broadcasts the faulty section to all vehicles, and other vehicles receive After the broadcast message is reached, the fault zone cannot be entered. Further improve operational security.
  • FIG. 9 is a schematic structural diagram of a vehicle-mounted controller according to an embodiment of the present application.
  • the in-vehicle controller includes a receiving unit 11, an analysis obtaining unit 12, a determining unit 13, and a establishing receiving unit 14.
  • the receiving unit 11 is configured to receive a vehicle location broadcast packet sent by a target controller in a jurisdiction to which the vehicle controller currently belongs.
  • the analysis obtaining unit 12 is configured to analyze the vehicle location broadcast packet to obtain location information of all vehicles in the area.
  • a determining unit 13 is configured to determine a target vehicle that meets the communication conditions according to the position information of all the vehicles and a preset distance threshold.
  • the establishment receiving unit 14 is configured to establish a communication link between the vehicle-mounted controller and the target vehicle, and receive operation information of the target vehicle through the communication link.
  • the real-time location information of the vehicle can also be obtained, and the target controller identifier of the jurisdiction to which the real-time location information belongs is determined according to the first electronic map in the vehicle controller, and the target controller is sent to the target controller according to the target controller identifier.
  • Communication request information where the communication request information includes: first version information of the first electronic map and real-time location information, so that the target controller compares the second version information of the second electronic map stored by itself with the first version information And determine, according to the second electronic map, whether the jurisdiction monitored by the target controller contains real-time location information and receives a communication establishment response message fed back by the target controller, wherein the communication establishment response message is the target controller's knowledge of the second version information and the first The version information is the same and is sent after the monitored jurisdiction contains real-time location information.
  • the number of vehicle communications can also be determined based on the computing cycle and unit communication time of the on-board controller, and the number of target vehicles is greater than the number of communications.
  • the target vehicles are screened so that the number of target vehicles is less than or equal to the number of communications.
  • the vehicle-mounted controller in the embodiment of the present application receives the vehicle location broadcast packet sent by the target controller in the jurisdiction to which the vehicle controller currently belongs, and analyzes the vehicle location broadcast packet to obtain the position information of all vehicles in the area.
  • the vehicle's position information and a preset distance threshold determine the target vehicle that meets the communication conditions.
  • a communication link between the on-board controller and the target vehicle is established, and the operation information of the target vehicle is received through the communication link. Therefore, the vehicle-mounted controller obtains the position system information of all vehicles through the target controller in the current jurisdiction and chooses to establish communication with vehicles within a certain range, which avoids the need to disconnect the existing communication connection when the vehicle route is switched. Then the delay deviation caused by re-establishing the communication connection improves the operation efficiency.
  • FIG. 10 is a schematic structural diagram of a target controller according to an embodiment of the present application.
  • the vehicle-mounted controller includes: an obtaining unit 21 and a sending unit 22.
  • the obtaining unit 21 is configured to obtain position information of all vehicles in a jurisdiction.
  • the sending unit 22 is configured to send a vehicle location broadcast packet containing the position information of all vehicles to all vehicle-mounted controllers in the jurisdiction, so that the vehicle-mounted controller determines that the communication conditions are met according to the location information of all vehicles and a preset distance threshold.
  • the target vehicle and obtain the running information of the target vehicle.
  • the fault information of the on-board controller determines the fault area according to the last position information of the vehicle controller corresponding to the vehicle failure; and send the other vehicle controllers within the jurisdiction to include the fault Area failure broadcast message.
  • the target controller method in the embodiment of the present application obtains the location information of all vehicles in the jurisdiction and sends a vehicle location broadcast packet containing the location information of all vehicles to all vehicle controllers in the jurisdiction, so that the vehicle controller
  • the position information of all vehicles and the preset distance threshold determine the target vehicle that meets the communication conditions and obtains the operation information of the target vehicle. Therefore, the vehicle-mounted controller obtains the position system information of all vehicles through the target controller in the current jurisdiction and chooses to establish communication with vehicles within a certain range, which avoids the need to disconnect the existing communication connection when the vehicle route is switched. Then the delay deviation caused by re-establishing the communication connection improves the operation efficiency.
  • This embodiment also provides a schematic structural diagram of a system for establishing a communication connection between vehicles.
  • the vehicle-to-vehicle communication system includes: the target controller described in the previous embodiment and a plurality of vehicle equipment, wherein each vehicle equipment includes the vehicle-mounted controller described in the previous embodiment.
  • FIG. 11 is a schematic structural diagram of a device for establishing a communication connection between vehicles according to an embodiment of the present application.
  • the device for establishing a communication connection between the vehicles includes:
  • the device for establishing a communication connection between vehicles further includes:
  • the communication interface 1003 is used for communication between the memory 1001 and the processor 1002.
  • the memory 1001 is configured to store a computer program that can be run on the processor 1002.
  • the memory 1001 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), for example, at least one disk memory.
  • the processor 1002 is configured to implement a method for establishing a communication connection between vehicles according to the foregoing embodiment when the program is executed.
  • the communication interface 1003, the memory 1001, and the processor 1002 may be connected to each other through a bus and complete communication with each other.
  • the bus may be an Industry Standard Architecture (ISA) bus, an External Device Component (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Wait.
  • ISA Industry Standard Architecture
  • PCI External Device Component
  • EISA Extended Industry Standard Architecture
  • the bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is used in FIG. 11, but it does not mean that there is only one bus or one type of bus.
  • the memory 1001, the processor 1002, and the communication interface 1003 may complete communication with each other through an internal interface.
  • the processor 1002 may be a central processing unit (Central Processing Unit), or a specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or may be configured to implement one or more of the embodiments of the present application. integrated circuit.
  • CPU Central Processing Unit
  • ASIC Application Specific Integrated Circuit
  • This embodiment also provides a vehicle, which includes a camera, a satellite positioning component, and a device for establishing a communication connection between the vehicles as described above.
  • This embodiment also provides a non-transitory computer-readable storage medium on which a computer program is stored, which is characterized in that when the program is executed by a processor, the method for establishing a communication connection between vehicles as described above is implemented.
  • This embodiment also provides a computer program product that, when executed by an instruction processor in the computer program product, implements the method for establishing a communication connection between vehicles as described above.
  • first and second are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality” is at least two, for example, two, three, etc., unless it is specifically and specifically defined otherwise.
  • Any process or method description in a flowchart or otherwise described herein can be understood as representing a module, fragment, or portion of code that includes one or more executable instructions for implementing steps of a custom logic function or process
  • the scope of the preferred embodiments of this application includes additional implementations in which the functions may be performed out of the order shown or discussed, including performing the functions in a substantially simultaneous manner or in the reverse order according to the functions involved. It is understood by those skilled in the art to which the embodiments of the present application pertain.
  • Logic and / or steps represented in a flowchart or otherwise described herein, for example, a sequenced list of executable instructions that may be considered to implement a logical function, may be embodied in any computer-readable medium, For use by, or in combination with, an instruction execution system, device, or device (such as a computer-based system, a system that includes a processor, or another system that can fetch and execute instructions from an instruction execution system, device, or device) Or equipment.
  • a "computer-readable medium” may be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.
  • computer-readable media include the following: electrical connections (electronic devices) with one or more wirings, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disk read-only memory (CDROM).
  • the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable Processing to obtain the program electronically and then store it in computer memory.
  • each part of the application may be implemented by hardware, software, firmware, or a combination thereof.
  • multiple steps or methods may be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • Discrete logic circuits with logic gates for implementing logic functions on data signals Logic circuits, ASICs with suitable combinational logic gate circuits, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.
  • a person of ordinary skill in the art can understand that all or part of the steps carried by the methods in the foregoing embodiments can be implemented by a program instructing related hardware.
  • the program can be stored in a computer-readable storage medium.
  • the program is When executed, one or a combination of the steps of the method embodiment is included.
  • each functional unit in each embodiment of the present application may be integrated into one processing module, or each unit may exist separately physically, or two or more units may be integrated into one module.
  • the above integrated modules may be implemented in the form of hardware or software functional modules. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.
  • the aforementioned storage medium may be a read-only memory, a magnetic disk, or an optical disk.

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Abstract

The present application provides a method, device and system for establishing a communication connection between vehicles. The method is applied in a vehicle-mounted controller. The vehicle-mounted controller is located in a vehicle, and comprises: receiving a vehicle location broadcast packet sent by a target controller; parsing the vehicle location broadcast packet to obtain location information of all the vehicles within a management region of the target controller; determining, according to the location information of all the vehicles and a preset distance threshold, a target vehicle meeting a communication condition; and establishing a communication link with the target vehicle and receiving operation information of the target vehicle by means of the communication link. Hence, the vehicle-mounted controller obtains location system information of all the vehicles by means of the target controller within the current management region, and selects to establish a communication with a vehicle within a certain range, which avoids the delay deviation caused by disconnecting the existing communication and then re-establishing a communication connection during vehicle route switch, and improves the operation efficiency.

Description

车辆之间建立通信连接方法、装置及系统Method, device and system for establishing communication connection between vehicles
相关申请的交叉引用Cross-reference to related applications
本申请要求比亚迪股份有限公司于2018年08月23日提交的、申请名称为“车辆之间建立通信连接方法、装置及系统”的、中国专利申请号“201810967680.2”的优先权。This application claims the priority of Chinese Patent Application No. “201810967680.2”, submitted by BYD Co., Ltd. on August 23, 2018, with the application name of “Method, Device and System for Establishing Communication Connection Between Vehicles”.
技术领域Technical field
本申请涉及车辆技术领域,尤其涉及一种车辆之间建立通信连接方法、装置及系统。The present application relates to the technical field of vehicles, and in particular, to a method, a device, and a system for establishing a communication connection between vehicles.
背景技术Background technique
目前,在相关列车全自动运行系统中,车辆之间可以通过车载控制器直接建立通信连接。但是,当前方存在道岔区段时,也就是存在需要扳动道岔的可能情况,例如图1所示,当前道岔处于定位,车1与车3之间已经建立通信。如果车1需要走侧向进路,则需要扳动道岔到反位。此时车1需要与前方当前道岔区段的车2进行通信,必须先与车3断开通信连接,再与车2建立通信连接,整个过程时间较长,运营效率比较低。At present, in the automatic train operation system of related trains, vehicles can directly establish communication connections through on-board controllers. However, when there is a turnout section on the front side, that is, there may be a situation where the turnout needs to be pulled. For example, as shown in FIG. 1, the current turnout is positioned, and communication between car 1 and car 3 has been established. If the car 1 needs to take a lateral approach, it needs to pull the turnout to the reverse position. At this time, the vehicle 1 needs to communicate with the vehicle 2 in the current turnout section in front, and it must first disconnect the communication connection with the vehicle 3, and then establish a communication connection with the vehicle 2. The entire process takes a long time and the operation efficiency is relatively low.
申请内容Application content
本申请旨在至少在一定程度上解决相关技术中的技术问题之一。This application is intended to solve at least one of the technical problems in the related technology.
为此,本申请的第一个目的在于提出一种车辆之间建立通信连接方法,用于解决现有技术中车辆进路切换时,需要断开与已有车辆的通信连接,然后重新建立与其他车辆的通信连接造成的时延偏差,运营效率比较低的问题。For this reason, the first purpose of this application is to propose a method for establishing a communication connection between vehicles, which is used to solve the need to disconnect the communication connection with an existing vehicle when the vehicle route is switched in the prior art, and then re-establish the connection with the existing vehicle. The delay deviation caused by the communication connection of other vehicles, and the operation efficiency is relatively low.
本申请的第二个目的在于提出另一种车辆之间建立通信连接方法。The second purpose of this application is to propose another method for establishing a communication connection between vehicles.
本申请的第三个目的在于提出一种车载控制器。The third object of the present application is to provide a vehicle-mounted controller.
本申请的第四个目的在于提出一种目标控制器。A fourth object of the present application is to propose a target controller.
本申请的第五个目的在于提出一种车辆之间建立通信连接系统。A fifth object of the present application is to propose a communication connection system between vehicles.
本申请的第六个目的在于提出一种车辆之间建立通信连接装置。A sixth object of the present application is to provide a device for establishing a communication connection between vehicles.
本申请的第九个目的在于提出另一种车辆之间建立通信连接装置。The ninth object of the present application is to propose another device for establishing a communication connection between vehicles.
为达上述目的,本申请第一方面实施例提出了一种车辆之间建立通信连接方法,应用于车载控制器,所述车载控制器位于所述车辆内,包括:To achieve the above object, an embodiment of the first aspect of the present application proposes a method for establishing a communication connection between vehicles, which is applied to a vehicle-mounted controller, where the vehicle-mounted controller is located in the vehicle, and includes:
接收目标控制器发送的车辆位置广播包;Receiving the vehicle location broadcast packet sent by the target controller;
对所述车辆位置广播包进行解析,获取目标控制器管辖区域内的所有车辆的位置信息;Parse the vehicle location broadcast packet to obtain the location information of all vehicles within the area under the jurisdiction of the target controller;
根据所述所有车辆的位置信息和预设的距离阈值确定满足通信条件的目标车辆;Determining, according to the position information of all the vehicles and a preset distance threshold, a target vehicle that meets the communication conditions;
建立与所述目标车辆之间的通信链路,并通过所述通信链路接收所述目标车辆的运行信息。Establishing a communication link with the target vehicle, and receiving operation information of the target vehicle through the communication link.
本申请实施例的车辆之间建立通信连接方法,通过接收目标控制器发送的车辆位置广播包,并对车辆位置广播包进行解析,获取目标控制器管辖区域内的所有车辆的位置信息,从而根据所有车辆的位置信息和预设的距离阈值确定满足通信条件的目标车辆,最后建立与目标车辆之间的通信链路,并通过通信链路接收目标车辆的运行信息。由此,车载控制器通过当前所属管辖区域的目标控制器获取所有车的位置系信息,并选择与一定范围内的车辆建立通信,避免了车辆进路切换时,需要断开已有通信连接,然后重新建立通信连接造成的时延偏差,提高了运营效率。In the method for establishing a communication connection between vehicles in the embodiment of the present application, by receiving a vehicle position broadcast packet sent by a target controller, and analyzing the vehicle position broadcast packet, the position information of all vehicles in the area under the jurisdiction of the target controller is obtained, so that The position information of all vehicles and the preset distance threshold determine the target vehicle that meets the communication conditions. Finally, a communication link is established with the target vehicle, and the operation information of the target vehicle is received through the communication link. Therefore, the vehicle-mounted controller obtains the position system information of all vehicles through the target controller in the current jurisdiction and chooses to establish communication with vehicles within a certain range, which avoids the need to disconnect the existing communication connection when the vehicle route is switched. Then the delay deviation caused by re-establishing the communication connection improves the operation efficiency.
为达上述目的,本申请第二方面实施例提出了另一种车辆之间建立通信连接方法,应用于目标控制器,所述目标控制器设置在轨旁,用于管理位于其管辖区域内所有车辆,包括:In order to achieve the above object, an embodiment of the second aspect of the present application proposes another method for establishing a communication connection between vehicles, which is applied to a target controller, the target controller is set beside a track and used to manage Vehicles, including:
获取管辖区域内所有车辆的位置信息;Get the location information of all vehicles in the jurisdiction;
向所述管辖区域内的所有车载控制器发送包含所述所有车辆的位置信息的车辆位置广播包,以使所述车载控制器根据所述所有车辆的位置信息和预设的距离阈值,确定满足通信条件的目标车辆,并获取所述目标车辆的运行信息。Sending a vehicle location broadcast packet containing the location information of all vehicles to all vehicle-mounted controllers in the jurisdiction area, so that the vehicle-mounted controller determines that it meets the requirements based on the location information of all vehicles and a preset distance threshold Communicate with the target vehicle under conditions, and obtain operating information of the target vehicle.
本申请实施例的车辆之间建立通信连接方法,通过获取管辖区域内所有车辆的位置信息,并向管辖区域内的所有车载控制器发送包含所有车辆的位置信息的车辆位置广播包,以使车载控制器根据所有车辆的位置信息和预设的距离阈值确定满足通信条件的目标车辆并获取目标车辆的运行信息。由此,车载控制器通过当前所属管辖区域的目标控制器获取所有车的位置系信息,并选择与一定范围内的车辆建立通信,避免了车辆进路切换时,需要断开已有通信连接,然后重新建立通信连接造成的时延偏差,提高了运营效率。The method for establishing a communication connection between vehicles in the embodiment of the present application obtains the position information of all vehicles in a jurisdiction area, and sends a vehicle location broadcast packet containing the position information of all vehicles to all vehicle-mounted controllers in the jurisdiction area, so that the vehicle The controller determines the target vehicle that meets the communication conditions and obtains the running information of the target vehicle according to the position information of all the vehicles and a preset distance threshold. Therefore, the vehicle-mounted controller obtains the position system information of all vehicles through the target controller in the current jurisdiction and chooses to establish communication with vehicles within a certain range, which avoids the need to disconnect the existing communication connection when the vehicle route is switched. Then the delay deviation caused by re-establishing the communication connection improves the operation efficiency.
为达上述目的,本申请第三方面实施例提出了一种车载控制器,包括:To achieve the above object, an embodiment of the third aspect of the present application provides a vehicle-mounted controller, including:
接收单元,用于接收目标控制器发送的车辆位置广播包;A receiving unit, configured to receive a vehicle location broadcast packet sent by a target controller;
解析获取单元,用于对所述车辆位置广播包进行解析,获取目标控制器管辖区域内的所有车辆的位置信息;An analysis obtaining unit, configured to analyze the vehicle location broadcast packet, and obtain location information of all vehicles in the area under the jurisdiction of the target controller;
确定单元,用于根据所述所有车辆的位置信息和预设的距离阈值确定满足通信条件的目标车辆;A determining unit, configured to determine a target vehicle that meets the communication conditions according to the position information of all the vehicles and a preset distance threshold;
建立接收单元,用于建立与所述目标车辆之间的通信链路,并通过所述通信链路接收所述目标车辆的运行信息。A establishing receiving unit is configured to establish a communication link with the target vehicle, and receive operation information of the target vehicle through the communication link.
本申请实施例的车载控制器,通过接收目标控制器发送的车辆位置广播包,并对车辆 位置广播包进行解析,获取目标控制器管辖区域内的所有车辆的位置信息,从而根据所有车辆的位置信息和预设的距离阈值确定满足通信条件的目标车辆,最后与目标车辆之间的通信链路,并通过通信链路接收目标车辆的运行信息。由此,车载控制器通过当前所属管辖区域的目标控制器获取所有车的位置系信息,并选择与一定范围内的车辆建立通信,避免了车辆进路切换时,需要断开已有通信连接,然后重新建立通信连接造成的时延偏差,提高了运营效率。The vehicle-mounted controller of the embodiment of the present application receives the vehicle location broadcast packet sent by the target controller and analyzes the vehicle location broadcast packet to obtain the position information of all vehicles within the area under the jurisdiction of the target controller, so as to obtain The information and the preset distance threshold determine the target vehicle that meets the communication conditions, and finally the communication link with the target vehicle, and receives the operation information of the target vehicle through the communication link. Therefore, the vehicle-mounted controller obtains the position system information of all vehicles through the target controller in the current jurisdiction and chooses to establish communication with vehicles within a certain range, which avoids the need to disconnect the existing communication connection when the vehicle route is switched. Then the delay deviation caused by re-establishing the communication connection improves the operation efficiency.
为达上述目的,本申请第四方面实施例提出了一种目标控制器,包括:In order to achieve the above object, an embodiment of the fourth aspect of the present application provides a target controller, including:
获取单元,用于获取管辖区域内所有车辆的位置信息;An obtaining unit, configured to obtain position information of all vehicles in a jurisdiction;
发送单元,用于向所述管辖区域内的所有车载控制器发送包含所述所有车辆的位置信息的车辆位置广播包,以使所述车载控制器根据所述所有车辆的位置信息和预设的距离阈值,确定满足通信条件的目标车辆并获取所述目标车辆的运行信息。A sending unit, configured to send a vehicle location broadcast packet containing the position information of all the vehicles to all vehicle-mounted controllers in the jurisdiction area, so that the vehicle-mounted controller may The distance threshold determines a target vehicle that meets the communication conditions and acquires the running information of the target vehicle.
本申请实施例的目标控制器,通过获取管辖区域内所有车辆的位置信息,并向管辖区域内的所有车载控制器发送包含所有车辆的位置信息的车辆位置广播包,以使车载控制器根据所有车辆的位置信息和预设的距离阈值,确定满足通信条件的目标车辆并获取目标车辆的运行信息。由此,车载控制器通过当前所属管辖区域的目标控制器获取所有车的位置系信息,并选择与一定范围内的车辆建立通信,避免了车辆进路切换时,需要断开已有通信连接,然后重新建立通信连接造成的时延偏差,提高了运营效率。The target controller in the embodiment of the present application obtains the position information of all vehicles in the jurisdiction and sends a vehicle location broadcast packet containing the position information of all vehicles to all vehicle controllers in the jurisdiction, so that the vehicle controller The vehicle's position information and a preset distance threshold determine the target vehicle that meets the communication conditions and obtains the running information of the target vehicle. Therefore, the vehicle-mounted controller obtains the position system information of all vehicles through the target controller in the current jurisdiction and chooses to establish communication with vehicles within a certain range, which avoids the need to disconnect the existing communication connection when the vehicle route is switched. Then the delay deviation caused by re-establishing the communication connection improves the operation efficiency.
为达上述目的,本申请第五方面实施例提出了一种车辆之间建立通信连接系统,包括:In order to achieve the above object, an embodiment of the fifth aspect of the present application provides a system for establishing a communication connection between vehicles, including:
如第四方面实施例所述的目标控制器,以及多个车辆设备,其中,每个车辆设备包括如第三方面实施例所述的车载控制器。The target controller according to the fourth aspect embodiment, and a plurality of vehicle devices, wherein each vehicle device includes the on-vehicle controller according to the third aspect embodiment.
为达上述目的,本申请第六方面实施例提出了一种车辆之间建立通信连接装置,包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序,其特征在于,所述处理器执行所述程序时实现如上第一方面实施例所述的车辆之间建立通信连接方法。In order to achieve the above object, an embodiment of a sixth aspect of the present application provides a device for establishing a communication connection between vehicles, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the method for establishing a communication connection between vehicles according to the embodiment of the first aspect is implemented.
为达上述目的,本申请第九方面实施例提出了一种车辆之间建立通信连接装置,包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序,其特征在于,所述处理器执行所述程序时实现如上第二方面实施例所述的车辆之间建立通信连接方法。In order to achieve the above object, an embodiment of a ninth aspect of the present application provides a device for establishing a communication connection between vehicles, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the method for establishing a communication connection between vehicles according to the embodiment of the second aspect above is implemented.
本申请附加的方面和优点将在下面的描述中部分给出,部分将从下面的描述中变得明显,或通过本申请的实践了解到。Additional aspects and advantages of the present application will be given in part in the following description, part of which will become apparent from the following description, or be learned through practice of the present application.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
附图是用来提供对本申请的进一步理解,并且构成说明书的一部分,与下面的具体实施方式一起用于解释本申请,但并不构成对本申请的限制。在附图中:The drawings are used to provide a further understanding of the present application, and constitute a part of the specification. They are used to explain the present application together with the following specific implementations, but do not constitute a limitation on the present application. In the drawings:
本申请上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解,其中:The above and / or additional aspects and advantages of this application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:
图1为现有技术中车辆之间建立通信的一种方式示例图;FIG. 1 is an example diagram of a manner for establishing communication between vehicles in the prior art; FIG.
图2为本申请实施例提供的一种车辆之间建立通信连接系统的结构示意图FIG. 2 is a schematic structural diagram of a system for establishing a communication connection between vehicles according to an embodiment of the present application.
图3为本申请实施例提供的一种车辆之间建立通信连接方法的流程示意图;3 is a schematic flowchart of a method for establishing a communication connection between vehicles according to an embodiment of the present application;
图4为本申请实施例提供的另一种车辆之间建立通信连接方法的流程示意图;4 is a schematic flowchart of another method for establishing a communication connection between vehicles according to an embodiment of the present application;
图5为本申请实施例提供的车载控制器和目标控制器建立硬件连接的示意图;5 is a schematic diagram of establishing a hardware connection between a vehicle-mounted controller and a target controller according to an embodiment of the present application;
图6为本申请实施例提供的又一种车辆之间建立通信连接方法的流程示意图;6 is a schematic flowchart of another method for establishing a communication connection between vehicles according to an embodiment of the present application;
图7为本申请实施例提供的再一种车辆之间建立通信连接方法的流程示意图;7 is a schematic flowchart of still another method for establishing a communication connection between vehicles according to an embodiment of the present application;
图8为本申请实施例提供的还一种车辆之间建立通信连接方法的流程示意图;8 is a schematic flowchart of another method for establishing a communication connection between vehicles according to an embodiment of the present application;
图9为本申请实施例提供的一种车载控制器的结构示意图;FIG. 9 is a schematic structural diagram of a vehicle-mounted controller according to an embodiment of the present application; FIG.
图10为本申请实施例提供的一种目标控制器的结构示意图;10 is a schematic structural diagram of a target controller according to an embodiment of the present application;
图11为本申请实施例提供的一种车辆之间建立通信连接装置的结构示意图。FIG. 11 is a schematic structural diagram of a device for establishing a communication connection between vehicles according to an embodiment of the present application.
具体实施方式detailed description
下面详细描述本申请的实施例,所述实施例的示例在附图中示出,其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的,旨在用于解释本申请,而不能理解为对本申请的限制。Hereinafter, embodiments of the present application will be described in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary, and are intended to explain the present application, and should not be construed as limiting the present application.
下面参考附图描述本申请实施例的车辆之间建立通信连接方法、装置及系统。The method, device and system for establishing a communication connection between vehicles in the embodiments of the present application will be described below with reference to the drawings.
为了更加清楚的描述本申请实施例的车辆之间建立通信连接方法,下面首先对本申请的车辆之间建立通信连接系统进行整体上的描述。In order to more clearly describe the method for establishing a communication connection between vehicles in the embodiments of the present application, the following first describes the overall establishment of a communication connection system between vehicles of the present application.
具体地,为了避免车辆进路切换时,需要断开与已有车辆的通信连接,然后重新建立与对应进路车辆的通信连接造成的时延偏差、运营效率低,本申请提出了一种车辆之间建立通信连接系统,车载控制器通过当前所属管辖区域的目标控制器获取所有车的位置系信息,并选择与一定范围内的车辆建立通信,在车辆进路切换时,不需要断开与已有车辆的通信连接,提高运营效率。Specifically, in order to avoid switching of the vehicle route, it is necessary to disconnect the communication connection with the existing vehicle, and then re-establish the communication connection with the corresponding route vehicle, resulting in delay deviation and low operating efficiency. This application proposes a vehicle A communication connection system is established between the vehicle controller and the target controller of the current jurisdiction to obtain the position system information of all vehicles, and choose to establish communication with vehicles within a certain range. When the vehicle route is switched, there is no need to disconnect the The communication connection of existing vehicles improves operational efficiency.
具体而言,如图2所示,本申请实施例的车辆之间建立通信连接系统包括:目标控制器20,以及多个车辆,其中,每个车辆上均设有车载控制器10。Specifically, as shown in FIG. 2, the system for establishing a communication connection between vehicles in the embodiment of the present application includes a target controller 20 and a plurality of vehicles, wherein each vehicle is provided with an on-vehicle controller 10.
具体地,目标控制器20获取管辖区域内所有车辆的位置信息并向管辖区域内的所有车载控制器10发送包含所有车辆的位置信息的车辆位置广播包。Specifically, the target controller 20 acquires the position information of all the vehicles in the jurisdiction area and sends a vehicle position broadcast packet containing the position information of all the vehicles to all the vehicle-mounted controllers 10 in the jurisdiction area.
从而,车载控制器10可以接收目标控制器20发送的车辆位置广播包,车载控制器10对车辆位置广播包进行解析,获取目标控制器20管辖区域内的所有车辆的位置信息,根据 所有车辆的位置信息和预设的距离阈值,确定满足通信条件的目标车辆,建立车载控制器10与目标车辆之间的通信链路,并通过通信链路接收目标车辆的运行信息。Therefore, the vehicle-mounted controller 10 can receive the vehicle location broadcast packet sent by the target controller 20, the vehicle-mounted controller 10 analyzes the vehicle location broadcast packet, and obtains the position information of all vehicles in the area under the jurisdiction of the target controller 20, according to the The position information and a preset distance threshold determine a target vehicle that meets the communication conditions, establishes a communication link between the onboard controller 10 and the target vehicle, and receives operation information of the target vehicle through the communication link.
由此,车载控制器通过当前所属管辖区域的目标控制器获取所有车的位置信息,并选择与一定范围内的车辆建立通信,避免了车辆进路切换时,需要断开已有通信连接,然后重新建立通信连接造成的时延偏差,提高了运营效率。Therefore, the vehicle-mounted controller obtains the position information of all vehicles through the target controller in the current jurisdiction, and chooses to establish communication with vehicles within a certain range. Delay deviations caused by re-establishing communication connections have improved operational efficiency.
作为一种场景实现,如上述图1所示的情况,当前道岔处于定位,车1通过当前所属管辖区域的目标控制器获取所有车的位置信息,并选择与一定范围内的车2、车3建立通信。如果车1需要走侧向进路,则需要扳动道岔到反位,此时车1可以直接与前方当前道岔区段的车2进行通信,避免了车辆进路切换时,需要与车3断开通信连接,然后重新与车2建立通信连接造成的时延偏差,提高了运营效率。As a scenario implementation, as in the situation shown in FIG. 1 above, the current turnout is in position, and the car 1 obtains the position information of all cars through the target controller of the current jurisdiction, and selects the cars 2 and 3 within a certain range. Establish communication. If the car 1 needs to take a lateral approach, you need to pull the turnout to the reverse position. At this time, the car 1 can directly communicate with the car 2 in the current turnout section in front of it. This avoids the need to disconnect from the car 3 when the car route is switched. Opening a communication connection and then re-establishing a communication connection with the vehicle 2 delays caused by deviations, which improves operational efficiency.
图3为本申请实施例提供的一种车辆之间建立通信连接方法的流程示意图。本实施例示出的车辆之间建立通信连接方法应用于车载控制器,车载控制器位于车辆内。如图3所示,该车辆之间建立通信连接方法包括以下步骤:FIG. 3 is a schematic flowchart of a method for establishing a communication connection between vehicles according to an embodiment of the present application. The method for establishing a communication connection between vehicles shown in this embodiment is applied to a vehicle-mounted controller, and the vehicle-mounted controller is located in the vehicle. As shown in FIG. 3, the method for establishing a communication connection between the vehicles includes the following steps:
S101、接收目标控制器发送的车辆位置广播包。S101. Receive a vehicle location broadcast packet sent by a target controller.
S102、对车辆位置广播包进行解析,获取目标控制器管辖区域内的所有车辆的位置信息。S102. Parse the vehicle location broadcast packet to obtain the location information of all vehicles in the area under the jurisdiction of the target controller.
本实施例中,每一个车载控制器都能够找到其对应的目标控制器,可以理解的是,随着车辆的移动,也就是车辆的位置发生变化,其对应的目标控制器可能发生变化。也就是说,每一个轨旁的目标控制器都有其对应的管辖区域。其中,管辖区域的大小可以根据实际应用需要进行选择设置。In this embodiment, each on-board controller can find its corresponding target controller. It can be understood that as the vehicle moves, that is, the position of the vehicle changes, its corresponding target controller may change. In other words, each target controller next to a track has its corresponding jurisdiction. Among them, the size of the jurisdiction can be selected and set according to the actual application needs.
还可以理解的是,在一个管辖区域里面可以有很多车辆,每辆车上的车载控制器在与当前所属管辖区域的目标控制器建立通信连接后,都可以接收到当前所属管辖区域的目标控制器发送的车辆位置广播包。It can also be understood that there can be many vehicles in a jurisdiction. After the vehicle-mounted controller in each vehicle establishes a communication connection with the target controller in the current jurisdiction, it can receive the target control in the current jurisdiction. Vehicle location broadcast packet sent by the transmitter.
具体地,车载控制器在接收到车辆位置广播包以后,可以通过预设协议(比如RSSP-II协议、802.11协议等)对车辆位置广播包进行解析,从而获取区域内所有车辆的位置信息。也就是说,车载控制器可以准确获取这个管辖区域范围内每一个车辆的具体位置信息。比如车辆A在位置X,车辆B在位置Y等,从而可以确定车辆A距离本车辆多少米,车辆B距离本车辆多少米。Specifically, after receiving the vehicle location broadcast packet, the vehicle-mounted controller may parse the vehicle location broadcast packet through a preset protocol (such as the RSSP-II protocol, the 802.11 protocol, etc.) to obtain the location information of all vehicles in the area. In other words, the vehicle-mounted controller can accurately obtain the specific location information of each vehicle in this jurisdiction. For example, vehicle A is at position X, vehicle B is at position Y, etc., so it can be determined how many meters vehicle A is from the host vehicle, and how many meters vehicle B is from the host vehicle.
S103、根据所有车辆的位置信息和预设的距离阈值确定满足通信条件的目标车辆。S103. Determine a target vehicle that meets the communication conditions according to the position information of all vehicles and a preset distance threshold.
S104、建立与目标车辆之间的通信链路,并通过通信链路接收目标车辆的运行信息。S104. Establish a communication link with the target vehicle, and receive operation information of the target vehicle through the communication link.
具体地,在获取区域内所有车辆的位置信息后,再结合预先设置好的距离阈值就可以筛选出满足通信条件的目标车辆。举例而言,预先设置好的距离阈值为50米,也就是说, 当本车辆需要与本车辆距离50米以及之内的车辆建立通信,从而以本车辆为中心,本车辆距离50米以及之内的车辆分别为车辆C和车辆D,从而确定目标车辆为车辆C和车辆D。Specifically, after acquiring the position information of all vehicles in the area, combined with a preset distance threshold, a target vehicle that satisfies the communication conditions can be filtered. For example, the preset distance threshold is 50 meters, that is, when the host vehicle needs to establish communication with the vehicle within 50 meters and within the vehicle, so that the host vehicle is the center, the host vehicle is 50 meters away and the The vehicles inside are vehicle C and vehicle D respectively, so that the target vehicle is determined to be vehicle C and vehicle D.
其中,预设的距离阈值可以根据实际应用需要进行选择设置。作为一种可能的情况,预设的距离阈值由车载控制器的处理周期和每一次车辆之间的通信时间决定,比如车载控制器的处理周期为10ms,每一次车辆之间的通信时间为1ms,也就是说在一个处理周期内车载控制器只能与10辆车进行通信,也就是说这个预设的距离阈值需要设置在包含目标车辆小于等于10车辆的距离。The preset distance threshold can be selected and set according to actual application requirements. As a possible situation, the preset distance threshold is determined by the processing cycle of the vehicle controller and the communication time between each vehicle. For example, the processing cycle of the vehicle controller is 10ms, and the communication time between each vehicle is 1ms. That is to say, the vehicle-mounted controller can only communicate with 10 vehicles in a processing cycle, that is, this preset distance threshold needs to be set at a distance including the target vehicle of 10 vehicles or less.
需要说明的是,预设的距离阈值和车辆移动授权的距离的差值大于预设门限值。可以理解的是,当车辆行进过程中,也会存在通信区域范围变化导致需要与进入该区域的车辆建立通信,与离开该区域的车辆断开通信,但是由于预设的距离阈值和车辆移动授权的距离的差值大于预设门限值,不会对车辆移动授权的距离计算等造成影响。例如预设的距离阈值为10km,而车辆的移动授权的距离一般为前行方向几百米,当车辆前进中,已经与车辆建立通信,不存在时延影响,提高了运营效率。It should be noted that the difference between the preset distance threshold and the distance authorized for vehicle movement is greater than the preset threshold. It can be understood that when the vehicle travels, there will also be a change in the communication area range that results in the need to establish communication with vehicles entering the area and disconnect communication with vehicles leaving the area, but due to the preset distance threshold and vehicle movement authorization The difference in the distance of the vehicle is greater than a preset threshold value, and will not affect the calculation of the distance for vehicle movement authorization. For example, the preset distance threshold is 10km, and the vehicle's authorized movement distance is generally several hundred meters in the forward direction. When the vehicle is moving forward, communication has been established with the vehicle, there is no delay effect, and the operation efficiency is improved.
进一步地,在确定好满足通信条件的目标车辆后,建立车载控制器与目标车辆之间的通信链路,并通过通信链路接收目标车辆的运行信息。也就是车载控制器之间建立通信,可以获取车辆的运行速度、运行模式、运行方向等运行信息,结合道岔状态、线路限速等计算移动授权。Further, after the target vehicle meeting the communication conditions is determined, a communication link between the vehicle-mounted controller and the target vehicle is established, and operation information of the target vehicle is received through the communication link. That is, the communication between the vehicle-mounted controllers can be used to obtain the vehicle's operating speed, operating mode, operating direction and other operating information, and calculate the mobile authorization in conjunction with the turnout status and line speed limit.
其中,通信链路可以根据实际应用需要进行选择,比如为了加快通信的速度即提高通行效率,可以选择不同的网络或者无线通信设备建立连接,从而进一步提高运营效率。Among them, the communication link can be selected according to the actual application needs. For example, in order to speed up the communication speed and improve the traffic efficiency, different networks or wireless communication devices can be selected to establish a connection, thereby further improving the operational efficiency.
需要说明的是,车辆之间建立通信需要满足安全通信的要求,常用的一种安全通信协议为RSSP-II,但安全协议不限于该标准,也可以采用满足EN50159的其它自定协议。It should be noted that the establishment of communication between vehicles needs to meet the requirements of secure communication. A commonly used secure communication protocol is RSSP-II, but the security protocol is not limited to this standard, and other custom protocols that meet EN50159 can also be used.
本申请实施例的车辆之间建立通信连接方法,通过接收车载控制器当前所属管辖区域的目标控制器发送的车辆位置广播包,并对车辆位置广播包进行解析,获取区域内所有车辆的位置信息,从而根据所有车辆的位置信息和预设的距离阈值确定满足通信条件的目标车辆,最后建立车载控制器与目标车辆之间的通信链路,并通过通信链路接收目标车辆的运行信息。由此,车载控制器通过当前所属管辖区域的目标控制器获取所有车的位置系信息,并选择与一定范围内的车辆建立通信,避免了车辆进路切换时,需要断开已有通信连接,然后重新建立通信连接造成的时延偏差,提高了运营效率。The method for establishing a communication connection between vehicles in the embodiment of the present application is to obtain the position information of all vehicles in the area by receiving a vehicle position broadcast packet sent by a target controller in a jurisdiction to which the vehicle controller currently belongs. , So as to determine the target vehicle that meets the communication conditions according to the position information of all vehicles and a preset distance threshold, and finally establish a communication link between the vehicle controller and the target vehicle, and receive the operation information of the target vehicle through the communication link. Therefore, the vehicle-mounted controller obtains the position system information of all vehicles through the target controller in the current jurisdiction and chooses to establish communication with vehicles within a certain range, which avoids the need to disconnect the existing communication connection when the vehicle route is switched. Then the delay deviation caused by re-establishing the communication connection improves the operation efficiency.
基于上述实施例的描述,可以理解到在步骤101之前,每一个车载控制器需要与目标控制器建立通信连接,以便目标控制器可以对管辖区域内的车辆进行管理,向将要进入管辖区域的车辆发送车辆位置广播包。具体结合图4描述如下:Based on the description of the above embodiment, it can be understood that before step 101, each vehicle-mounted controller needs to establish a communication connection with the target controller, so that the target controller can manage the vehicles in the jurisdiction and provide the vehicles that will enter the jurisdiction. Send a vehicle location broadcast packet. Specifically described in conjunction with FIG. 4 as follows:
图4为本申请实施例提供的另一种车辆之间建立通信连接方法的流程示意图。如图4 所示,在步骤101之前,还包括:FIG. 4 is a schematic flowchart of another method for establishing a communication connection between vehicles according to an embodiment of the present application. As shown in FIG. 4, before step 101, the method further includes:
步骤201,获取车辆的实时位置信息。Step 201: Acquire real-time position information of the vehicle.
步骤202,根据车载控制器内的第一电子地图和实时位置信息,确定车辆所属管辖区域的目标控制器的标识。Step 202: Determine an identifier of a target controller in a jurisdiction to which the vehicle belongs according to a first electronic map and real-time location information in the vehicle-mounted controller.
步骤203,根据目标控制器的标识向对应目标控制器发送通信请求信息,其中,通信请求信息包含:第一电子地图的第一版本信息和车辆的实时位置信息,以使目标控制器将自身存储的第二电子地图的第二版本信息与第一版本信息进行比较,并根据第二电子地图确定目标控制器监测的管辖区域是否包含车辆的实时位置信息。Step 203: Send communication request information to the corresponding target controller according to the identifier of the target controller, where the communication request information includes: first version information of the first electronic map and real-time location information of the vehicle, so that the target controller stores itself. The second version information of the second electronic map is compared with the first version information, and according to the second electronic map, it is determined whether the jurisdiction area monitored by the target controller contains real-time location information of the vehicle.
步骤204,如果目标控制器判断第二版本信息与第一版本信息相同,且监测的管辖区域包含实时位置信息,则接收目标控制器反馈的通信建立响应消息。In step 204, if the target controller determines that the second version information is the same as the first version information and the monitored jurisdiction area contains real-time location information, it receives a communication establishment response message fed back by the target controller.
具体地,车载控制器和目标控制器可以选择很多种硬件方式建立连接。作为一种可能实现的方式,车载控制器与目标控制器的通信连接如上图5所示,采用基于LTE-M(Long Term Evolution-Machine-to-Machine)/LTE-U(Long Term Evolution-Unlicensed)的无线通信方式,eNode(eLTE node)基站沿轨旁布置,无线控制器布置在控制中心或车站机房,用于对轨旁基站进行管理,核心网用于不同子系统之间的业务交互,接入交换机用于信号系统目标控制器的数据接入,TAU(列车接入单元)用于LTE无线数据的车辆接入,交换机用于车载控制器与TAU之间进行数据交互。Specifically, the in-vehicle controller and the target controller may choose a variety of hardware modes to establish a connection. As a possible implementation method, the communication connection between the vehicle-mounted controller and the target controller is shown in Figure 5 above, and it is based on LTE-M (Long Term Evolution-Machine-to-Machine) / LTE-U (Long Term Evolution-Unlicensed ) Wireless communication mode, eNode (eLTE node) base stations are arranged along the track, wireless controllers are arranged in the control center or station room to manage the base stations next to the track, and the core network is used for business interaction between different subsystems. The access switch is used for data access of the target controller of the signal system, the TAU (train access unit) is used for LTE wireless data vehicle access, and the switch is used for data interaction between the on-board controller and the TAU.
进一步地,在车载控制器与目标控制器通过比如上述硬件方式建立连接以后,车辆可以通过自身的车载控制器获取车辆的实时位置信息,并通过相关处理方式确定与实时位置信息所属管辖区域的目标控制器标识。其中,每一个目标控制器的标识是唯一的也就是通过其标识能找到对应的唯一的目标控制器。Further, after the vehicle-mounted controller and the target controller establish a connection through the hardware method described above, the vehicle can obtain the real-time position information of the vehicle through its own vehicle-mounted controller, and determine the target of the jurisdiction area to which the real-time position information belongs through related processing methods. Controller ID. Among them, the identifier of each target controller is unique, that is, the corresponding unique target controller can be found through its identifier.
其中,作为一种示例,可以根据车载控制器内的第一电子地图确定实时位置信息所属管辖区域的区域标识,查询预存的控制信息,获取与区域标识对应的第一目标控制器标识。Among them, as an example, the area identifier of the jurisdiction area to which the real-time location information belongs can be determined according to the first electronic map in the vehicle-mounted controller, the pre-stored control information is queried, and the first target controller identifier corresponding to the area identifier is obtained.
从而,车载控制器可以根据目标控制器标识主动向对应的目标控制器发送通信请求信息,从而目标控制器在接收到通信请求信息后,通过对通信请求信息的解析得到第一电子地图的第一版本信息和实时位置信息,从而将自身存储的第二电子地图的第二版本信息与第一版本信息进行比较。Therefore, the vehicle-mounted controller can actively send the communication request information to the corresponding target controller according to the target controller identification, so that after receiving the communication request information, the target controller obtains the first of the first electronic map by analyzing the communication request information. The version information and the real-time location information, thereby comparing the second version information of the second electronic map stored with itself with the first version information.
其中,第一电子地图为车载控制器内存储的电子地图,第二电子地图为目标控制器内存储的电子地图,第一版本信息为与第一电子地图对应的版本信息,第二版本信息为与第二电子地图对应的版本信息。The first electronic map is an electronic map stored in the vehicle controller, the second electronic map is an electronic map stored in the target controller, the first version information is version information corresponding to the first electronic map, and the second version information is Version information corresponding to the second electronic map.
也就是确认车载控制器和目标控制器是否使用同一个版本的电子地图,在确定是使用同一个版本的电子地图之后可以根据第二电子地图确定目标控制器监测的管辖区域是否包 含实时位置信息,并在监测的管辖区域包含实时位置信息后,向车载控制器发送通信建立响应消息,也就是车载控制器和目标控制器建立安全通信连接。That is, confirm whether the vehicle-mounted controller and the target controller use the same version of the electronic map. After determining that the vehicle controller and the target controller use the same version of the electronic map, the second electronic map can be used to determine whether the jurisdiction monitored by the target controller contains real-time location information. After the monitoring area contains real-time location information, a communication establishment response message is sent to the vehicle-mounted controller, that is, the vehicle-mounted controller and the target controller establish a secure communication connection.
由此,通过车载控制器和目标控制器建立安全通信连接,进一步提高运营的安全性和效率。As a result, a safety communication connection is established through the vehicle-mounted controller and the target controller to further improve the safety and efficiency of operations.
基于上述第一方面实施例的描述,可以理解到在步骤104之前,需要预先确定好通信的目标车辆的数量,以保证车载控制器的处理能力。具体结合图6描述如下:Based on the foregoing description of the embodiment of the first aspect, it can be understood that before step 104, the number of target vehicles for communication needs to be determined in advance to ensure the processing capability of the on-board controller. Specifically described in conjunction with FIG. 6 as follows:
图6为本申请实施例提供的又一种车辆之间建立通信连接方法的流程示意图。如图6所示,在步骤104之前,还包括:FIG. 6 is a schematic flowchart of another method for establishing a communication connection between vehicles according to an embodiment of the present application. As shown in FIG. 6, before step 104, the method further includes:
步骤301,根据车载控制器的运算周期和单位通信时间确定可连接的目标车辆的最大值。In step 301, the maximum value of the target vehicle that can be connected is determined according to the calculation period of the vehicle-mounted controller and the unit communication time.
步骤302,判断目标车辆的数量是否大于最大值,若获知大于通信数量,则根据目标车辆的位置信息对目标车辆进行筛选,使目标车辆的数量小于或者等于最大值。In step 302, it is determined whether the number of target vehicles is greater than the maximum number. If it is known that the number of target vehicles is greater than the number of communications, the target vehicles are screened according to the position information of the target vehicles so that the number of target vehicles is less than or equal to the maximum value.
具体地,每一个车载控制器都有一定的运算周期,并结合其单位通信时间能够确定车辆的通信数量,从而可以目标车辆的数量大于通信数量时根据目标车辆的位置信息对目标车辆进行筛选,使目标车辆的数量小于等于通信数量,进一步提高运营效率。Specifically, each in-vehicle controller has a certain calculation cycle and can determine the number of communication of the vehicle in combination with its unit communication time, so that the target vehicle can be filtered based on the location information of the target vehicle when the number of target vehicles is greater than the number of communication. Make the number of target vehicles less than or equal to the number of communications to further improve operational efficiency.
需要说明的是,车辆的车载控制器每一次与其它车载控制器进行通信的时间为单位通信时间,比如车载控制器A与车载控制器B进行通信的时间为1秒,则确定车载控制器A单位通信时间为1秒;在车载控制器A运算周期比如10秒,单位通信时间为1秒,则确定车载控制器A所属车辆的通信数量为10。It should be noted that the time when the on-board controller of the vehicle communicates with other on-board controllers is the unit communication time. For example, the time between the on-board controller A and the on-board controller B is 1 second, then the on-board controller A is determined. The unit communication time is 1 second; if the calculation period of the vehicle-mounted controller A is 10 seconds, and the unit communication time is 1 second, the communication amount of the vehicle to which the vehicle-mounted controller A belongs is determined to be 10.
其中,对目标车辆进行筛选的方式可以根据实际应用需要进行选择,作为一种示例,以车载控制器的位置为参考位置,根据参考位置和预设的参考距离确定参考范围;如果目标车辆的位置位于参考范围内,则保留与目标车辆之间的通信链路;如果目标车辆的位置位于参考范围外,则断开与目标车辆之间的通信链路。也就是说,通过以车载控制器的位置为参考位置,将与车载控制器的距离控制在一定范围内对目标车辆进行筛选,通过对参考范围的调整,可以将目标车辆控制在通信数量即可,作为另一种示例,随机选择距离比较近的不超过通信数量的目标车辆建立通信连接。由此,进一步提高了运行效率和安全性。The method of screening the target vehicle can be selected according to the actual application needs. As an example, the position of the vehicle controller is used as the reference position, and the reference range is determined according to the reference position and a preset reference distance. Within the reference range, the communication link with the target vehicle is retained; if the location of the target vehicle is outside the reference range, the communication link with the target vehicle is disconnected. In other words, by using the position of the on-board controller as a reference position, the target vehicle can be screened by controlling the distance to the on-board controller within a certain range. By adjusting the reference range, the target vehicle can be controlled to the number of communications. As another example, a target vehicle that is relatively close and does not exceed the number of communications is randomly selected to establish a communication connection. As a result, operation efficiency and safety are further improved.
为了更加全面描述本申请的车辆之间建立通信连接方法,应用于目标控制器,目标控制器设置在轨旁,用于管理位于其管辖区域内所有车辆,具体结合图7描述如下:In order to more fully describe the method for establishing a communication connection between vehicles of the present application, it is applied to a target controller, which is located beside a track and is used to manage all vehicles located in its jurisdiction. The specific description with reference to FIG. 7 is as follows:
图7为本申请实施例提供的再一种车辆之间建立通信连接方法的流程示意图。如图7所示,该车辆之间建立通信连接方法包括:FIG. 7 is a schematic flowchart of another method for establishing a communication connection between vehicles according to an embodiment of the present application. As shown in FIG. 7, a method for establishing a communication connection between the vehicles includes:
步骤401,获取管辖区域内所有车辆的位置信息。Step 401: Obtain position information of all vehicles in a jurisdiction.
步骤402,向管辖区域内的所有车载控制器发送包含所有车辆的位置信息的车辆位置 广播包,以使车载控制器根据所有车辆的位置信息和预设的距离阈值,确定满足通信条件的目标车辆并获取目标车辆的运行信息。Step 402: Send a vehicle location broadcast packet containing the position information of all vehicles to all vehicle-mounted controllers in the jurisdiction, so that the vehicle-mounted controller determines the target vehicle that meets the communication conditions according to the location information of all vehicles and a preset distance threshold. And obtain the running information of the target vehicle.
具体地,目标控制器可以与管辖区域内的所有车辆的车载控制器建立连接,从而可以确定所有车辆的位置信息。由此,可以向管辖区域内的所有车载控制器发送包含所有车辆的位置信息的车辆位置广播包。Specifically, the target controller can establish connections with the on-board controllers of all vehicles in the jurisdiction, so that the location information of all vehicles can be determined. Thereby, it is possible to send a vehicle position broadcast packet including the position information of all the vehicles to all the vehicle-mounted controllers in the jurisdiction.
进而,车载控制器根据所有车辆的位置信息和预设的距离阈值确定满足通信条件的目标车辆,并获取目标车辆的运行信息。Furthermore, the vehicle-mounted controller determines a target vehicle that satisfies the communication conditions according to the position information of all vehicles and a preset distance threshold, and obtains the operation information of the target vehicle.
本申请实施例的车辆之间建立通信连接方法,通过获取管辖区域内所有车辆的位置信息,并向管辖区域内的所有车载控制器发送包含所有车辆的位置信息的车辆位置广播包,以使车载控制器根据所有车辆的位置信息和预设的距离阈值确定满足通信条件的目标车辆,并获取目标车辆的运行信息。由此,车载控制器通过当前所属管辖区域的目标控制器获取所有车的位置系信息,并选择与一定范围内的车辆建立通信,避免了车辆进路切换时,需要断开已有通信连接,然后重新建立通信连接造成的时延偏差,提高了运营效率。The method for establishing a communication connection between vehicles in the embodiment of the present application obtains the position information of all vehicles in a jurisdiction area, and sends a vehicle location broadcast packet containing the position information of all vehicles to all vehicle-mounted controllers in the jurisdiction area so that the vehicle The controller determines the target vehicle that meets the communication conditions according to the position information of all vehicles and a preset distance threshold, and obtains the running information of the target vehicle. Therefore, the vehicle-mounted controller obtains the position system information of all vehicles through the target controller in the current jurisdiction and chooses to establish communication with vehicles within a certain range, which avoids the need to disconnect the existing communication connection when the vehicle route is switched. Then the delay deviation caused by re-establishing the communication connection improves the operation efficiency.
基于上述方面实施例的描述,图8为本申请实施例提供的还一种车辆之间建立通信连接方法的流程示意图。如图8所示,该车辆之间建立通信连接方法还包括:Based on the description of the embodiments of the foregoing aspects, FIG. 8 is a schematic flowchart of still another method for establishing a communication connection between vehicles according to an embodiment of the present application. As shown in FIG. 8, the method for establishing a communication connection between the vehicles further includes:
步骤501,获取车载控制器的故障信息或与车载控制器之间的通信链路的故障信息。Step 501: Obtain fault information of a vehicle-mounted controller or fault information of a communication link with the vehicle-mounted controller.
步骤502,根据故障信息以及故障前车辆的最后位置信息,确定故障区域。Step 502: Determine a fault area according to the fault information and the last position information of the vehicle before the fault.
步骤503,向管辖区域内的其他车载控制器,发送包含故障区域的故障广播消息。Step 503: Send a fault broadcast message including the fault area to other vehicle-mounted controllers in the jurisdiction.
具体地,当车载控制器由于通信故障或自身故障与目标控制器断开连接后,目标控制器根据断开连接前的最后位置信计算封锁区域,并向所有车辆广播故障区段,其它车收到广播信息后无法进入该故障区段。进一步提高运营的安全性。Specifically, after the vehicle-mounted controller is disconnected from the target controller due to a communication failure or its own failure, the target controller calculates the blocked area based on the last position letter before disconnection, and broadcasts the faulty section to all vehicles, and other vehicles receive After the broadcast message is reached, the fault zone cannot be entered. Further improve operational security.
图9为本申请实施例提供的一种车载控制器的结构示意图。如图9所示,该车载控制器包括:接收单元11、解析获取单元12、确定单元13和建立接收单元14。FIG. 9 is a schematic structural diagram of a vehicle-mounted controller according to an embodiment of the present application. As shown in FIG. 9, the in-vehicle controller includes a receiving unit 11, an analysis obtaining unit 12, a determining unit 13, and a establishing receiving unit 14.
接收单元11,用于接收车载控制器当前所属管辖区域的目标控制器发送的车辆位置广播包。The receiving unit 11 is configured to receive a vehicle location broadcast packet sent by a target controller in a jurisdiction to which the vehicle controller currently belongs.
解析获取单元12,用于对所述车辆位置广播包进行解析,获取所述区域内所有车辆的位置信息。The analysis obtaining unit 12 is configured to analyze the vehicle location broadcast packet to obtain location information of all vehicles in the area.
确定单元13,用于根据所述所有车辆的位置信息和预设的距离阈值确定满足通信条件的目标车辆。A determining unit 13 is configured to determine a target vehicle that meets the communication conditions according to the position information of all the vehicles and a preset distance threshold.
建立接收单元14,用于建立所述车载控制器与所述目标车辆之间的通信链路,并通过所述通信链路接收所述目标车辆的运行信息。The establishment receiving unit 14 is configured to establish a communication link between the vehicle-mounted controller and the target vehicle, and receive operation information of the target vehicle through the communication link.
为了进一步提高运营安全性,还可以获取车辆的实时位置信息,根据车载控制器内的第一电子地图确定与实时位置信息所属管辖区域的目标控制器标识,根据目标控制器标识向目标控制器发送通信请求信息,其中,通信请求信息包含:第一电子地图的第一版本信息和实时位置信息,以使目标控制器将自身存储的第二电子地图的第二版本信息与第一版本信息进行比较,并根据第二电子地图确定目标控制器监测的管辖区域是否包含实时位置信息接收目标控制器反馈的通信建立响应消息,其中,通信建立响应消息是目标控制器在获知第二版本信息与第一版本信息相同,且监测的管辖区域包含实时位置信息后发送的。In order to further improve the operational safety, the real-time location information of the vehicle can also be obtained, and the target controller identifier of the jurisdiction to which the real-time location information belongs is determined according to the first electronic map in the vehicle controller, and the target controller is sent to the target controller according to the target controller identifier. Communication request information, where the communication request information includes: first version information of the first electronic map and real-time location information, so that the target controller compares the second version information of the second electronic map stored by itself with the first version information And determine, according to the second electronic map, whether the jurisdiction monitored by the target controller contains real-time location information and receives a communication establishment response message fed back by the target controller, wherein the communication establishment response message is the target controller's knowledge of the second version information and the first The version information is the same and is sent after the monitored jurisdiction contains real-time location information.
为了进一步提高运营安全性,还可以根据车载控制器的运算周期和单位通信时间确定车辆的通信数量,判断目标车辆的数量是否大于通信数量,若获知大于通信数量,则根据目标车辆的位置信息对目标车辆进行筛选,使目标车辆的数量小于等于通信数量。In order to further improve the operational safety, the number of vehicle communications can also be determined based on the computing cycle and unit communication time of the on-board controller, and the number of target vehicles is greater than the number of communications. The target vehicles are screened so that the number of target vehicles is less than or equal to the number of communications.
本申请实施例的车载控制器,通过接收车载控制器当前所属管辖区域的目标控制器发送的车辆位置广播包,并对车辆位置广播包进行解析,获取区域内所有车辆的位置信息,从而根据所有车辆的位置信息和预设的距离阈值确定满足通信条件的目标车辆,最后建立车载控制器与目标车辆之间的通信链路,并通过通信链路接收目标车辆的运行信息。由此,车载控制器通过当前所属管辖区域的目标控制器获取所有车的位置系信息,并选择与一定范围内的车辆建立通信,避免了车辆进路切换时,需要断开已有通信连接,然后重新建立通信连接造成的时延偏差,提高了运营效率。The vehicle-mounted controller in the embodiment of the present application receives the vehicle location broadcast packet sent by the target controller in the jurisdiction to which the vehicle controller currently belongs, and analyzes the vehicle location broadcast packet to obtain the position information of all vehicles in the area. The vehicle's position information and a preset distance threshold determine the target vehicle that meets the communication conditions. Finally, a communication link between the on-board controller and the target vehicle is established, and the operation information of the target vehicle is received through the communication link. Therefore, the vehicle-mounted controller obtains the position system information of all vehicles through the target controller in the current jurisdiction and chooses to establish communication with vehicles within a certain range, which avoids the need to disconnect the existing communication connection when the vehicle route is switched. Then the delay deviation caused by re-establishing the communication connection improves the operation efficiency.
需要说明的是,前述对车辆之间建立通信连接方法实施例的解释说明也适用于该实施例的车载控制器,此处不再赘述。It should be noted that the foregoing explanation of the embodiment of the method for establishing a communication connection between vehicles is also applicable to the vehicle-mounted controller of this embodiment, and details are not described herein again.
图10为本申请实施例提供的一种目标控制器的结构示意图。如图10所示,该车载控制器包括:获取单元21和发送单元22。FIG. 10 is a schematic structural diagram of a target controller according to an embodiment of the present application. As shown in FIG. 10, the vehicle-mounted controller includes: an obtaining unit 21 and a sending unit 22.
获取单元21,用于获取管辖区域内所有车辆的位置信息。The obtaining unit 21 is configured to obtain position information of all vehicles in a jurisdiction.
发送单元22,用于向管辖区域内的所有车载控制器发送包含所有车辆的位置信息的车辆位置广播包,以使车载控制器根据所有车辆的位置信息和预设的距离阈值,确定满足通信条件的目标车辆并获取目标车辆的运行信息。The sending unit 22 is configured to send a vehicle location broadcast packet containing the position information of all vehicles to all vehicle-mounted controllers in the jurisdiction, so that the vehicle-mounted controller determines that the communication conditions are met according to the location information of all vehicles and a preset distance threshold. The target vehicle and obtain the running information of the target vehicle.
进一步地,为了提高运营的效率和安全性,还可以获取车载控制器的故障信息;根据车载控制器对应车辆故障前的最后位置信息确定故障区域;向管辖区域内的其他车载控制器发送包含故障区域的故障广播消息。Further, in order to improve the efficiency and safety of the operation, it is also possible to obtain the fault information of the on-board controller; determine the fault area according to the last position information of the vehicle controller corresponding to the vehicle failure; and send the other vehicle controllers within the jurisdiction to include the fault Area failure broadcast message.
本申请实施例的目标控制器法,通过获取管辖区域内所有车辆的位置信息,并向管辖区域内的所有车载控制器发送包含所有车辆的位置信息的车辆位置广播包,以使车载控制器根据所有车辆的位置信息和预设的距离阈值,确定满足通信条件的目标车辆并获取目标车辆的运行信息。由此,车载控制器通过当前所属管辖区域的目标控制器获取所有车的位 置系信息,并选择与一定范围内的车辆建立通信,避免了车辆进路切换时,需要断开已有通信连接,然后重新建立通信连接造成的时延偏差,提高了运营效率。The target controller method in the embodiment of the present application obtains the location information of all vehicles in the jurisdiction and sends a vehicle location broadcast packet containing the location information of all vehicles to all vehicle controllers in the jurisdiction, so that the vehicle controller The position information of all vehicles and the preset distance threshold determine the target vehicle that meets the communication conditions and obtains the operation information of the target vehicle. Therefore, the vehicle-mounted controller obtains the position system information of all vehicles through the target controller in the current jurisdiction and chooses to establish communication with vehicles within a certain range, which avoids the need to disconnect the existing communication connection when the vehicle route is switched. Then the delay deviation caused by re-establishing the communication connection improves the operation efficiency.
需要说明的是,前述对车辆之间建立通信连接方法实施例的解释说明也适用于该实施例的目标控制器,此处不再赘述。It should be noted that the foregoing explanation of the embodiment of the method for establishing a communication connection between vehicles is also applicable to the target controller in this embodiment, and details are not described herein again.
本实施例还提供一种车辆之间建立通信连接系统的结构示意图。该车辆之间建立通信系包括:前面实施例所述的目标控制器和以及多个车辆设备,其中,每个车辆设备包括如前面实施例所述的车载控制器。This embodiment also provides a schematic structural diagram of a system for establishing a communication connection between vehicles. The vehicle-to-vehicle communication system includes: the target controller described in the previous embodiment and a plurality of vehicle equipment, wherein each vehicle equipment includes the vehicle-mounted controller described in the previous embodiment.
图11为本申请实施例提供的一种车辆之间建立通信连接装置的结构示意图。该车辆之间建立通信连接装置包括:FIG. 11 is a schematic structural diagram of a device for establishing a communication connection between vehicles according to an embodiment of the present application. The device for establishing a communication connection between the vehicles includes:
存储器1001、处理器1002及存储在存储器1001上并可在处理器1002上运行的计算机程序。The memory 1001, the processor 1002, and a computer program stored in the memory 1001 and executable on the processor 1002.
处理器1002执行所述程序时实现上述实施例中提供的车辆之间建立通信连接方法。When the processor 1002 executes the program, the method for establishing a communication connection between vehicles provided in the foregoing embodiment is implemented.
进一步地,车辆之间建立通信连接装置还包括:Further, the device for establishing a communication connection between vehicles further includes:
通信接口1003,用于存储器1001和处理器1002之间的通信。The communication interface 1003 is used for communication between the memory 1001 and the processor 1002.
存储器1001,用于存放可在处理器1002上运行的计算机程序。The memory 1001 is configured to store a computer program that can be run on the processor 1002.
存储器1001可能包含高速RAM存储器,也可能还包括非易失性存储器(non-volatile memory),例如至少一个磁盘存储器。The memory 1001 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), for example, at least one disk memory.
处理器1002,用于执行所述程序时实现上述实施例所述的车辆之间建立通信连接方法。The processor 1002 is configured to implement a method for establishing a communication connection between vehicles according to the foregoing embodiment when the program is executed.
如果存储器1001、处理器1002和通信接口1003独立实现,则通信接口1003、存储器1001和处理器1002可以通过总线相互连接并完成相互间的通信。所述总线可以是工业标准体系结构(Industry Standard Architecture,简称为ISA)总线、外部设备互连(Peripheral Component,简称为PCI)总线或扩展工业标准体系结构(Extended Industry Standard Architecture,简称为EISA)总线等。所述总线可以分为地址总线、数据总线、控制总线等。为便于表示,图11中仅用一条粗线表示,但并不表示仅有一根总线或一种类型的总线。If the memory 1001, the processor 1002, and the communication interface 1003 are implemented independently, the communication interface 1003, the memory 1001, and the processor 1002 may be connected to each other through a bus and complete communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, an External Device Component (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Wait. The bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is used in FIG. 11, but it does not mean that there is only one bus or one type of bus.
可选的,在具体实现上,如果存储器1001、处理器1002及通信接口1003,集成在一块芯片上实现,则存储器1001、处理器1002及通信接口1003可以通过内部接口完成相互间的通信。Optionally, in specific implementation, if the memory 1001, the processor 1002, and the communication interface 1003 are integrated on one chip, the memory 1001, the processor 1002, and the communication interface 1003 may complete communication with each other through an internal interface.
处理器1002可能是一个中央处理器(Central Processing Unit,简称为CPU),或者是特定集成电路(Application Specific Integrated Circuit,简称为ASIC),或者是被配置成实施本申请实施例的一个或多个集成电路。The processor 1002 may be a central processing unit (Central Processing Unit), or a specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC), or may be configured to implement one or more of the embodiments of the present application. integrated circuit.
本实施例还提供一种车辆,包括:设置在车辆上的摄像头、卫星定位部件,以及如上所述的车辆之间建立通信连接装置。This embodiment also provides a vehicle, which includes a camera, a satellite positioning component, and a device for establishing a communication connection between the vehicles as described above.
本实施例还提供一种非临时性计算机可读存储介质,其上存储有计算机程序,其特征在于,该程序被处理器执行时实现如上所述的车辆之间建立通信连接方法。This embodiment also provides a non-transitory computer-readable storage medium on which a computer program is stored, which is characterized in that when the program is executed by a processor, the method for establishing a communication connection between vehicles as described above is implemented.
本实施例还提供一种计算机程序产品,当所述计算机程序产品中的指令处理器执行时,实现如上所述的车辆之间建立通信连接方法。This embodiment also provides a computer program product that, when executed by an instruction processor in the computer program product, implements the method for establishing a communication connection between vehicles as described above.
在本说明书的描述中,参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中,对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且,描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外,在不相互矛盾的情况下,本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In the description of this specification, the description with reference to the terms “one embodiment”, “some embodiments”, “examples”, “specific examples”, or “some examples” and the like means specific features described in conjunction with the embodiments or examples , Structure, material, or characteristic is included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms are not necessarily directed to the same embodiment or example. Moreover, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, without any contradiction, those skilled in the art may combine and combine different embodiments or examples and features of the different embodiments or examples described in this specification.
此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中,“多个”的含义是至少两个,例如两个,三个等,除非另有明确具体的限定。In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality" is at least two, for example, two, three, etc., unless it is specifically and specifically defined otherwise.
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为,表示包括一个或更多个用于实现定制逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分,并且本申请的优选实施方式的范围包括另外的实现,其中可以不按所示出或讨论的顺序,包括根据所涉及的功能按基本同时的方式或按相反的顺序,来执行功能,这应被本申请的实施例所属技术领域的技术人员所理解。Any process or method description in a flowchart or otherwise described herein can be understood as representing a module, fragment, or portion of code that includes one or more executable instructions for implementing steps of a custom logic function or process And, the scope of the preferred embodiments of this application includes additional implementations in which the functions may be performed out of the order shown or discussed, including performing the functions in a substantially simultaneous manner or in the reverse order according to the functions involved. It is understood by those skilled in the art to which the embodiments of the present application pertain.
在流程图中表示或在此以其他方式描述的逻辑和/或步骤,例如,可以被认为是用于实现逻辑功能的可执行指令的定序列表,可以具体实现在任何计算机可读介质中,以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用,或结合这些指令执行系统、装置或设备而使用。就本说明书而言,"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下:具有一个或多个布线的电连接部(电子装置),便携式计算机盘盒(磁装置),随机存取存储器(RAM),只读存储器(ROM),可擦除可编辑只读存储器(EPROM或闪速存储器),光纤装置,以及便携式光盘只读存储器(CDROM)。另外,计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质,因为可以例如通过对纸或其他介质进行光学扫描,接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序,然后将其存储 在计算机存储器中。Logic and / or steps represented in a flowchart or otherwise described herein, for example, a sequenced list of executable instructions that may be considered to implement a logical function, may be embodied in any computer-readable medium, For use by, or in combination with, an instruction execution system, device, or device (such as a computer-based system, a system that includes a processor, or another system that can fetch and execute instructions from an instruction execution system, device, or device) Or equipment. For the purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: electrical connections (electronic devices) with one or more wirings, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable Processing to obtain the program electronically and then store it in computer memory.
应当理解,本申请的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施方式中,多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。如,如果用硬件来实现和在另一实施方式中一样,可用本领域公知的下列技术中的任一项或他们的组合来实现:具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路,具有合适的组合逻辑门电路的专用集成电路,可编程门阵列(PGA),现场可编程门阵列(FPGA)等。It should be understood that each part of the application may be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods may be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it may be implemented using any one or a combination of the following techniques known in the art: Discrete logic circuits with logic gates for implementing logic functions on data signals Logic circuits, ASICs with suitable combinational logic gate circuits, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成,所述的程序可以存储于一种计算机可读存储介质中,该程序在执行时,包括方法实施例的步骤之一或其组合。A person of ordinary skill in the art can understand that all or part of the steps carried by the methods in the foregoing embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium. The program is When executed, one or a combination of the steps of the method embodiment is included.
此外,在本申请各个实施例中的各功能单元可以集成在一个处理模块中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现,也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时,也可以存储在一个计算机可读取存储介质中。In addition, each functional unit in each embodiment of the present application may be integrated into one processing module, or each unit may exist separately physically, or two or more units may be integrated into one module. The above integrated modules may be implemented in the form of hardware or software functional modules. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.
上述提到的存储介质可以是只读存储器,磁盘或光盘等。尽管上面已经示出和描述了本申请的实施例,可以理解的是,上述实施例是示例性的,不能理解为对本申请的限制,本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。The aforementioned storage medium may be a read-only memory, a magnetic disk, or an optical disk. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present application. Those skilled in the art may, within the scope of the present application, understand the above. Embodiments are subject to change, modification, substitution, and modification.

Claims (14)

  1. 一种车辆之间建立通信连接方法,应用于车载控制器,所述车载控制器位于所述车辆内,其特征在于,包括以下步骤:A method for establishing a communication connection between vehicles is applied to a vehicle-mounted controller, which is located in the vehicle, and is characterized by including the following steps:
    接收目标控制器发送的车辆位置广播包;Receiving the vehicle location broadcast packet sent by the target controller;
    对所述车辆位置广播包进行解析,获取目标控制器管辖区域内的所有车辆的位置信息;Parse the vehicle location broadcast packet to obtain the location information of all vehicles within the area under the jurisdiction of the target controller;
    根据所述所有车辆的位置信息和预设的距离阈值,确定满足通信条件的目标车辆;Determining a target vehicle that satisfies communication conditions according to the position information of all the vehicles and a preset distance threshold;
    建立与所述目标车辆之间的通信链路,并通过所述通信链路接收所述目标车辆的运行信息。Establishing a communication link with the target vehicle, and receiving operation information of the target vehicle through the communication link.
  2. 如权利要求1所述的方法,其特征在于,The method according to claim 1, wherein:
    所述预设的距离阈值和车辆移动授权的距离的差值大于预设门限值。The difference between the preset distance threshold and the distance authorized by the vehicle movement is greater than a preset threshold.
  3. 如权利要求1或2所述的方法,其特征在于,在所述接收目标控制器发送的车辆位置广播包之前,还包括:The method according to claim 1 or 2, before the receiving the vehicle location broadcast packet sent by the target controller, further comprising:
    建立与目标控制器之间的通信连接。Establish a communication connection with the target controller.
  4. 如权利要求1-3任一项所述的方法,其特征在于,所述建立与目标控制器之间的通信连接,包括:The method according to any one of claims 1-3, wherein the establishing a communication connection with a target controller comprises:
    获取车辆的实时位置信息;Get real-time location information of the vehicle;
    根据车载控制器内的第一电子地图和所述实时位置信息,确定所述车辆所属管辖区域的目标控制器的标识;Determining, according to a first electronic map in the vehicle-mounted controller and the real-time location information, an identifier of a target controller in a jurisdiction to which the vehicle belongs;
    根据所述目标控制器的标识向对应的目标控制器发送通信请求信息,其中,所述通信请求信息包含:所述第一电子地图的第一版本信息和所述车辆的实时位置信息,以使所述目标控制器将自身存储的第二电子地图的第二版本信息与所述第一版本信息进行比较,并根据所述第二电子地图确定所述目标控制器的管辖区域是否包含所述车辆的实时位置信息;Sending communication request information to a corresponding target controller according to the identifier of the target controller, wherein the communication request information includes: first version information of the first electronic map and real-time location information of the vehicle, so that The target controller compares the second version information of the second electronic map stored with itself with the first version information, and determines whether the jurisdiction area of the target controller includes the vehicle according to the second electronic map. Real-time location information;
    如果所述目标控制器判断所述第二版本信息与所述第一版本信息相同,且所述监测的管辖区域包含所述实时位置信息,则接收所述目标控制器反馈的通信建立响应消息。If the target controller determines that the second version information is the same as the first version information, and the monitored jurisdiction area includes the real-time location information, receiving a communication establishment response message fed back by the target controller.
  5. 如权利要求4所述的方法,其特征在于,所述根据所述车载控制器内的第一电子地图和所述实时位置信息,确定所述车辆所属管辖区域的目标控制器的标识,包括:The method according to claim 4, wherein determining the identifier of the target controller in the jurisdiction to which the vehicle belongs according to the first electronic map and the real-time location information in the vehicle-mounted controller comprises:
    根据所述车载控制器内的第一电子地图确定所述实时位置信息所属管辖区域的区域标识;Determining an area identifier of a jurisdiction area to which the real-time location information belongs according to a first electronic map in the vehicle-mounted controller;
    查询预存的控制信息,获取与所述区域标识对应的目标控制器标识。Query the pre-stored control information to obtain the target controller ID corresponding to the area ID.
  6. 如权利要求1-5任一项所述的方法,其特征在于,在所述建立与所述目标车辆之间的通信链路之前,还包括:The method according to any one of claims 1-5, wherein before the establishing a communication link with the target vehicle, further comprising:
    根据车载控制器的运算周期和单位通信时间确定可连接的目标车辆的最大值;Determine the maximum value of the target vehicle that can be connected according to the calculation cycle and unit communication time of the on-board controller;
    判断所述目标车辆的数量是否大于所述最大值,若是,则根据所述目标车辆的位置信息对所述目标车辆进行筛选,使所述目标车辆的数量小于或者等于所述最大值。It is determined whether the number of the target vehicles is greater than the maximum value, and if so, the target vehicles are filtered according to the position information of the target vehicles so that the number of the target vehicles is less than or equal to the maximum value.
  7. 如权利要求6所述的方法,其特征在于,所述根据所述目标车辆的位置信息对所述目标车辆进行筛选,包括:The method according to claim 6, wherein the filtering the target vehicle according to the location information of the target vehicle comprises:
    以所述车载控制器的位置为参考位置,根据所述参考位置和预设的参考距离确定参考范围;Determining a reference range according to the position of the vehicle-mounted controller as a reference position according to the reference position and a preset reference distance;
    如果所述目标车辆的位置位于所述参考范围内,则保留与所述目标车辆之间的通信链路;If the location of the target vehicle is within the reference range, maintaining a communication link with the target vehicle;
    如果所述目标车辆的位置位于所述参考范围外,则断开与所述目标车辆之间的通信链路。If the position of the target vehicle is outside the reference range, the communication link with the target vehicle is disconnected.
  8. 一种车辆之间建立通信连接方法,应用于目标控制器,所述目标控制器设置在轨旁,用于管理位于其管辖区域内所有车辆,其特征在于,包括以下步骤:A method for establishing a communication connection between vehicles is applied to a target controller. The target controller is located beside a track and is used to manage all vehicles located in its jurisdiction. The method is characterized in that it includes the following steps:
    获取所述管辖区域内所有车辆的位置信息;Obtaining position information of all vehicles in the jurisdiction;
    向所述管辖区域内的所有车载控制器发送包含所述所有车辆的位置信息的车辆位置广播包,以使所述车载控制器根据所述所有车辆的位置信息和预设的距离阈值,确定满足通信条件的目标车辆并获取所述目标车辆的运行信息。Sending a vehicle location broadcast packet containing the location information of all vehicles to all vehicle-mounted controllers in the jurisdiction area, so that the vehicle-mounted controller determines that it meets the requirements based on the location information of all vehicles and a preset distance threshold Communicate the target vehicle with the conditions and obtain running information of the target vehicle.
  9. 如权利要求8所述的方法,其特征在于,还包括:The method of claim 8, further comprising:
    获取车载控制器的故障信息或与所述车载控制器之间的通信链路的故障信息;Acquiring fault information of a vehicle-mounted controller or fault information of a communication link with the vehicle-mounted controller;
    根据所述故障信息以及故障前车辆的最后位置信息,确定故障区域;Determining a fault area according to the fault information and the last position information of the vehicle before the fault;
    向所述管辖区域内的其他车载控制器,发送包含所述故障区域的故障广播消息。Send a fault broadcast message including the fault area to other vehicle-mounted controllers in the jurisdiction area.
  10. 一种车载控制器,其特征在于,包括:An on-vehicle controller, comprising:
    接收单元,用于接收目标控制器发送的车辆位置广播包;A receiving unit, configured to receive a vehicle location broadcast packet sent by a target controller;
    解析获取单元,用于对所述车辆位置广播包进行解析,获取目标控制器管辖区域内的所有车辆的位置信息;An analysis obtaining unit, configured to analyze the vehicle location broadcast packet, and obtain location information of all vehicles in the area under the jurisdiction of the target controller;
    确定单元,用于根据所述所有车辆的位置信息和预设的距离阈值确定满足通信条件的目标车辆;A determining unit, configured to determine a target vehicle that meets the communication conditions according to the position information of all the vehicles and a preset distance threshold;
    建立接收单元,用于建立与所述目标车辆之间的通信链路,并通过所述通信链路接收所述目标车辆的运行信息。A establishing receiving unit is configured to establish a communication link with the target vehicle, and receive operation information of the target vehicle through the communication link.
  11. 一种目标控制器,其特征在于,包括:A target controller, comprising:
    获取单元,用于获取管辖区域内所有车辆的位置信息;An obtaining unit, configured to obtain position information of all vehicles in a jurisdiction;
    发送单元,用于向所述管辖区域内的所有车载控制器发送包含所述所有车辆的位置信 息的车辆位置广播包,以使所述车载控制器根据所述所有车辆的位置信息和预设的距离阈值,确定满足通信条件的目标车辆并获取所述目标车辆的运行信息。A sending unit, configured to send a vehicle location broadcast packet containing the position information of all the vehicles to all vehicle-mounted controllers in the jurisdiction area, so that the vehicle-mounted controller may The distance threshold determines a target vehicle that meets the communication conditions and acquires the running information of the target vehicle.
  12. 一种车辆之间建立通信连接系统,其特征在于,包括:如权利要求11所述的目标控制器,以及多个车辆设备,其中,每个车辆设备包括如权利要求10所述的车载控制器。A system for establishing a communication connection between vehicles, comprising: the target controller according to claim 11, and a plurality of vehicle devices, wherein each vehicle device includes the on-vehicle controller according to claim 10. .
  13. 一种车辆之间建立通信连接装置,其特征在于,包括:A device for establishing a communication connection between vehicles, comprising:
    存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序,其特征在于,所述处理器执行所述程序时实现如权利要求1-7任一所述的车辆之间建立通信连接方法。A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the program to establish communication between the vehicles according to any one of claims 1-7 when the program is executed connection method.
  14. 一种车辆之间建立通信连接装置,其特征在于,包括:A device for establishing a communication connection between vehicles, comprising:
    存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序,其特征在于,所述处理器执行所述程序时实现如权利要求8或9所述的车辆之间建立通信连接方法。A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the communication connection method between vehicles according to claim 8 or 9 when the processor executes the program. .
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