WO2020133451A1

WO2020133451A1 - Vehicle information sharing system and method, and self-driving vehicle

Info

Publication number: WO2020133451A1
Application number: PCT/CN2018/125725
Authority: WO
Inventors: 张宇; 石磊; 林伟; 冯威; 刘晓彤
Original assignee: 驭势科技（北京）有限公司
Priority date: 2018-12-29
Filing date: 2018-12-29
Publication date: 2020-07-02
Also published as: CN109747660A

Abstract

A vehicle information sharing system and method, and a self-driving vehicle. The vehicle information sharing system comprises: a sensor module (110), for collecting first data related to the external environment of a vehicle; a communication module (140), for directly communicating with other vehicles in the vicinity and receiving second data transmitted by the other vehicles; a shared information generating module, for processing the first data and the second data to generate a data packet, the communication module (140) directly communicating with the other vehicles and sharing the data packet as second data with the other vehicles. Because of increased requirements on network latency and data transmission rate when data is being shared, the system is applicable in a 4G network environment but is more suitable in a 5G network environment.

Description

Vehicle information sharing system and method, automatic driving vehicle

Technical field

The present disclosure relates to, but not limited to, the technical field of vehicles, and specifically relates to a vehicle information sharing system and method, and an autonomous driving vehicle.

Background technique

When driving on a highway, it is often difficult for the driver to know the road condition information beyond a certain distance from his vehicle, especially in the case of severe weather (such as rain, snow and foggy weather), it is more difficult for the driver to perceive the road condition information at a long distance , Which greatly affects driving efficiency. In addition, road accidents such as rear-end collisions and scratches often occur during driving due to inability to understand the driving operation information of other vehicles in time.

Therefore, a vehicle information sharing solution is urgently needed to solve the above technical problems.

Summary of the invention

In order to at least partially solve the technical problems existing in the prior art, the present disclosure provides a vehicle information sharing system and method, and an autonomous driving vehicle loaded with the system and method. The system and method can know the distance road condition information and the surrounding vehicle state information through sharing to avoid traffic accidents.

An aspect of the present disclosure provides a vehicle information sharing system, including: a sensor data processing module that collects first data related to the external environment of the vehicle; a communication data processing module that directly communicates with other vehicles around and receives the other The second data sent by the vehicle; the shared information generation module that processes the first data and the second data to generate a data packet; and the communication data processing module that directly communicates with the other vehicle The data packet is shared with the other vehicles as second data.

In some embodiments, the first data includes at least image data of the environment outside the vehicle; the second data includes at least image data of the environment outside the vehicle.

In some embodiments, the image data in the first data and the image data in the second data are image feature points, and the image feature points include geographic location information.

In some embodiments, the shared information generation module stitches the image data in the first data with the image data in the second data to form composite image data, and adds the composite image data to In the data packet.

In some embodiments, the sensor data processing module may also collect own vehicle state data related to the own vehicle state, and the own vehicle state data is included in the first data.

In some embodiments, the own vehicle state data includes at least one of own vehicle speed, acceleration, and front wheel rotation angle; the second data includes other vehicle state data, and the other vehicle state data includes other At least one of the vehicle's speed, acceleration, and rotation angle of the front wheels.

In some embodiments, the data packet includes only the own vehicle state data.

In some embodiments, the data packet includes the own vehicle state data and the other vehicle state data.

In some embodiments, the shared information generation module may filter the collected first data and the received second data, and process the filtered first data and second data to generate a data packet.

In some embodiments, the communication data processing module communicates directly with other vehicles in the vicinity through a broadcasting system.

Another aspect of the present disclosure provides a vehicle information sharing method, including: collecting first data related to a vehicle's external environment; directly communicating with other vehicles in the vicinity, and receiving second data sent by the other vehicles; Processing the first data and the second data to generate a data packet; and directly communicating with the other vehicle, and sharing the data packet as second data to the other vehicle.

In some embodiments, the image data in the first data and the image data in the second data are stitched to form composite image data, and the composite image data is added to the data packet.

In some embodiments, self-vehicle state data related to the self-vehicle state is collected, and the self-vehicle state data is included in the first data.

In some embodiments, the collected first data and the received second data are filtered, and the filtered first data and second data are processed to generate a data packet.

Yet another aspect of the present disclosure provides an autonomous driving vehicle to which the above-mentioned vehicle information sharing system is applied.

BRIEF DESCRIPTION

1 is a schematic diagram showing the configuration of a vehicle information sharing system according to an exemplary embodiment of the present disclosure; and

2 is a schematic diagram illustrating the division of a vehicle information sharing system according to an exemplary embodiment of the present disclosure by function;

FIG. 3 is a flowchart illustrating a vehicle information sharing method according to an exemplary embodiment of the present disclosure.

detailed description

The present disclosure provides a vehicle information sharing system, method, and autonomous driving vehicle loaded with the system and method. The vehicle information sharing system first collects vehicle external environment image data, and receives vehicle external environment image data sent by the other vehicles. Then, the information sharing system stitches the external environment image data of the own vehicle and the external environment data of the other vehicles to form composite image data, and then sends the composite data as its own external environment image data, Share with other vehicles. Therefore, a vehicle may have a long-distance image after stitching or superimposing image data collected by itself and image data collected by multiple other vehicles (which includes a long-distance image in front of the own vehicle or a long-distance image behind the own vehicle) That is, a vehicle has a "distant vision" function, in other words, the driver or the driving system can see the image beyond the visual distance of the naked eye. In this way, during the driving process of the vehicle, the automatic driving system can obtain long-distance road condition information (such as traffic lights, road pits, congestion, water, snow, etc.), so that it can make driving route planning or driving operations (such as Braking, acceleration, etc.), making it possible to greatly improve driving efficiency while ensuring safety. On the other hand, autonomous vehicles can also share their own driving status with other vehicles, so that the driving strategy between vehicles can be coordinated in real time. Because data sharing requires high network delay and data transmission speed. For example, the technology disclosed in the present invention can be applied to a 4G network environment, but is more suitable for a 5G network environment.

In the following, the present disclosure will make a clear and complete description of the present invention with reference to the exemplary embodiments of the present disclosure. Obviously, the exemplary embodiments described in the present disclosure are a part of the embodiments of the present disclosure, but not all the embodiments. Based on the exemplary embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present disclosure.

According to an aspect of the present disclosure, a vehicle information sharing system is provided. FIG. 1 is a schematic diagram showing the configuration of a vehicle information sharing system according to an exemplary embodiment of the present disclosure. As shown in FIG. 1, the vehicle information sharing system includes: a sensor module 110, a processor 130, and a communication module 140. The communication module 140 may be an independent hardware module, a hardware module included in the processor 130, or may be included in the processor 130 as a software module. The vehicle information sharing system may be loaded on the self-driving car 100. In addition, the self-driving car may also include a command component 150 and an actuator 160.

During normal operation, the sensor module 110 can collect first data related to the external environment of the vehicle; the communication module 140 directly communicates with other vehicles in the vicinity and receives second data sent by other vehicles; The first data and the second data are processed to generate a data packet; then the communication module 140 shares the data packet as second data to other vehicles.

Specifically, the sensor module 110 may include various internal and external sensors that provide data to the vehicle 100. For example, as shown in FIG. 1, the plurality of sensors may include vehicle component sensors and environment sensors. The vehicle component sensor is connected to the actuator 160 of the vehicle 100, and can detect the operating status and parameters of various components of the actuator. For example, vehicle component sensors can detect operating parameters of actuators such as throttle, engine, braking, steering, wipers, and lights.

The sensor module 110 may also include multiple sensors that collect the environment outside the vehicle. Such as position sensors, external object sensors, etc. The external object sensor may include a laser sensor, a radar, a visual sensor (such as a camera), a sonar, and so on.

The sensor module 110 collects first data related to the environment outside the vehicle. In an exemplary embodiment of the present disclosure, the sensor module 110 may include a camera that can capture visual images around the vehicle and extract content therefrom. For example, the camera can capture the signs on both sides of the road and recognize the meaning of these signs through the control module. For example, the sensor module 110 can use the camera to determine the speed limit of the road. The vehicle can also calculate the distance of surrounding objects from the vehicle through the parallax of different images taken by multiple cameras. The sensor module 110 may also include a radar sensor or sonar. For example, the radar sensor or sonar can detect the distance between the vehicle and the surrounding obstacles, and can also be used to determine information such as the depth of snow on the road. It should be understood that examples of the sensor module 110 are not limited to cameras, radar sensors, and sonar, but may also be any suitable sensing devices capable of collecting data on the environment outside the vehicle. The first data includes information collected through these sensing devices.

The processor 130 may include one or more central processors (eg, single-core processors or multi-core processors) and one or more local memories. For example only, the processor 130 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), an application-specific instruction-set processor (ASIP), Graphics Processing Unit (GPU), Physical Processing Unit (PPU), Digital Signal Processor (DSP), Field Programmable Gate Array (FPGA), programmable Logic device (programmable logic device, PLD), controller, microcontroller unit, reduced instruction-set computer (RISC), microprocessor (microprocessor), etc., or any combination thereof.

The memory may store data and/or instructions. In some embodiments, the memory may store data obtained from autonomous vehicle sensors. In some embodiments, the memory may store data and/or instructions that the processor 130 may execute or use to perform the exemplary methods described in this disclosure. In some embodiments, the memory may include mass storage, removable memory, volatile read-and-write memory, read-only memory (ROM), etc., or any combination thereof. As an example, for example, mass storage may include magnetic disks, optical disks, solid-state drives, etc.; for example, removable storage may include flash drives, floppy disks, optical disks, memory cards, zipper disks, magnetic tape; for example, volatile read-write memory may include random access Memory (RAM); for example, RAM can include dynamic RAM (DRAM), double data rate synchronous dynamic RAM (DDR SDRAM), static RAM (SRAM), thyristor RAM (T-RAM) and zero capacitor RAM (Z-RAM ); For example, ROM may include mask ROM (MROM), programmable ROM (PROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), compact disc ROM (CD-ROM), and Digital universal disk ROM, etc. In some embodiments, storage can be implemented on a cloud platform. For example only, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an inter-cloud cloud, a multi-cloud cloud, etc., or any combination thereof.

The instruction module 150 receives the information from the processor 130 and converts it into an instruction to drive the actuator to the controller area network (Controller Area Network) CAN bus. For example, the processor 130 sends the driving strategy (acceleration, deceleration, turning, etc.) of the autonomous vehicle 100 to the instruction module 150. The instruction module receives the driving strategy and converts it into a driving instruction to the actuator 160 (to the accelerator) , Brake mechanism, steering mechanism drive instructions). At the same time, the instruction module 150 sends the finger to the actuator 160 via the CAN bus. The execution of the instruction by the actuator 160 is then detected by the vehicle sensor module 110 and fed back to the processor 130, thereby completing the closed-loop control and driving of the autonomous vehicle 100.

The communication module 140 directly communicates with other vehicles. In the exemplary embodiment of the present disclosure, the communication module 140 may be implemented by a DSP chip or an embedded chip. However, the communication module 140 of the present disclosure is not limited to this, and may be any other device or communication circuit capable of implementing information exchange. For example, the communication module 140 may be an independent hardware module, a hardware module included in the processor 130, or may be stored as a software module in the form of instructions in the local memory of the processor 130, and then run by the central The processor is called to execute.

FIG. 2 is a schematic diagram illustrating the division of functions of a vehicle information sharing system according to an exemplary embodiment of the present disclosure. The schematic diagram may be one or more sets of instructions stored in the local memory of the processor 130. When the autonomous vehicle 100 is running, the central processor of its processor 130 will connect to access the local memory, and call and execute the set or sets of instructions. The vehicle information sharing system is divided into a sensor data processing module, a planning control module, a shared information generating module, and a communication data processing module.

The sensor data processing module receives the sensor data from the sensor module 110 and pre-processes the sensor data. For example, the image transmitted from the visual sensor is analyzed and processed to generate image data of the external environment reflecting the characteristics of the surrounding environment.

The planning control module performs planning decision information and vehicle control information of autonomous driving based on the external environment image data, combined with maps and other information sensed and received by the autonomous vehicle 100. For example, the planning decision information and control information may include planning control information such as vehicle path, lane change information, acceleration and deceleration information, and turn information. Then the planning control module sends the control information to the instruction module 150 again. The planning control module may also share the planning decision information with other vehicles through the communication data processing module.

The shared information generation module synthesizes a data packet based on the image data of the external environment of the autonomous vehicle 100 and the received image data of the external environment of other vehicles, and then sends the data packet as shared data to the communication through the communication data processing module Module 140. The communication module 140 shares it with other vehicles nearby.

The following specifically describes the information sharing operation performed by the central processor when the information sharing module is executed. For convenience of description, the main body of the following operations are described from the perspective of the processor 130; when the sensor module 110 is mentioned below to perform certain tasks, those skilled in the art should understand that it refers to the data transmitted by the sensor module 110 It needs to be processed by the sensor data processing module in FIG. 2 before the processed data can be received by the planning control module and/or the shared information generating module.

The processor 130 processes the first data and the second data to generate the data packet. The processing of the first data and the second data by the processor 130 includes, but is not limited to, screening and splicing the first data and the second data. It should be understood that, for example, for three vehicles, the second data received by the third vehicle is a data packet sent by the second vehicle, and the data packet sent by the second vehicle includes the data collected by the second vehicle and the first A data packet sent by a vehicle, that is, a data packet of one vehicle serves as second data of another vehicle, thereby forming an iteration so that one vehicle can grasp the information observed by other vehicles at a certain distance from it.

The communication module 140 directly communicates with other vehicles, and shares the data packet as second data to other vehicles, and also receives second data of other vehicles sent by other vehicles.

In an exemplary embodiment of the present disclosure, the first data includes at least image data of the environment outside the vehicle, and the second data includes at least image data of the environment outside the vehicle. The image data of the external environment may be real image data of the external environment, or may be data that can be recognized by the machine after the external environment is processed by machine vision. For example, the sensor module 110 may process the original image of the surrounding environment of the self-driving car 100 through a convolutional neural network or neural network-like algorithm, extract feature points, feature values, and/or feature vectors corresponding to things in the image, and use This is the image data of the external environment.

As described above, the sensor module 110 may include a camera that can capture visual images around the vehicle. The sensor data processing module receives the visual image and extracts content from it. Specifically, the camera captures the external environment image, and then the sensor data processing module performs image processing on the captured image (for example, performing one-fold or multiple convolution calculations through a neural network) to obtain image data of the external environment of the vehicle (such as the captured image) Feature vectors, feature values, etc.), so that the first data may include image data of the environment outside the own vehicle. Similarly, the second data may include image data of other environments outside the vehicle.

In an exemplary embodiment of the present disclosure, the image data in the first data and the image data in the second data may be image feature points, feature values, and/or feature vectors that can be machine recognized, image feature points, feature values And/or feature vectors contain geographic location information. Specifically, the image data collected by each vehicle has specific positioning information, such as the positioning information of each vehicle, so that each image data can be arranged in an orderly manner on the map. In addition, the image data in the second data may have a certain range. For example, for a self-driving car 100, if the sight distance of its sensor module 110 (such as a camera) is 100 meters, the corresponding image data may also be only 100 meters away.

In an exemplary embodiment of the present disclosure, the processor 130 stitches the image data in the first data with the image data in the second data to form composite image data, and adds the composite image data to the data packet. For example, the processor 130 may receive the second data from a third-party sending vehicle, and the second data includes position information (coordinate information) of the sending vehicle. The processor may retrieve a map pre-stored in the local memory, and then based on the location information and the map, the processor 130 may stitch the image data corresponding to the second data (send maps/image information around the vehicle) to the map on. At the same time, the image data acquired from the surrounding environment is stitched to the map according to its own position. The data after splicing the first data and the second data forms the data packet. After the processor 130 transmits the data to other vehicles, the data packet becomes the second data of the other vehicles, and then joins the other vehicles themselves. The first data is spliced to form a new data packet.

As described above, since the second data has an iterative effect, and each image data is arranged in an order on the map, one vehicle may have the image data collected by itself and the image data collected by multiple other vehicles after splicing or superimposing The long-distance image (which includes the long-distance image in front of the own vehicle or the long-distance image behind the own vehicle), that is, a vehicle has a "distant vision" function, in other words, the driver or the automatic driving system can see the self-view Images outside the distance. In this way, during driving of the vehicle, the driver or the automatic driving system can timely obtain long-distance road condition information (such as traffic lights, road pits, congestion, water accumulation, snow accumulation, etc.), so that driving can be made as soon as possible Route planning or driving operations (such as braking, acceleration, etc.) make it possible to greatly improve driving efficiency while ensuring safety.

In an exemplary embodiment of the present disclosure, on the one hand, the second data received by the self-driving vehicle 100 may be external environment image data after multiple stitching by other vehicles. If the second data after multiple stitching has never been cut, the second data may be so large that the network transmission is no longer suitable for the requirements of automatic driving communication. On the other hand, after the image data in the first data and the image data in the second data are stitched together, the stitched image may cover a range beyond that required by the autonomous vehicle 100. Therefore, the image processor 130 can tailor the coverage of the stitched image to the range required by the vehicle 100 according to the needs of its own vehicle.

In an exemplary embodiment of the present disclosure, the sensor in the sensor module 110 may also collect own vehicle state data related to the own vehicle state, which is included in the first data. Vehicle internal actuators may include, but are not limited to, throttle, engine, braking system, and steering system (including steering of tires and/or operation of turn signals). The sensor module 110 is connected to the vehicle's actuator, so it can detect the operating status and parameters of various components of the actuator. These operating states and parameters form part of the first data.

In an exemplary embodiment of the present disclosure, the own vehicle state data includes at least one of the own vehicle's speed, acceleration, and rotation angle of the front wheels; the second data includes other vehicle state data, and the other vehicle state data includes other vehicle's At least one of speed, acceleration, and rotation angle of the front wheel. For example, the shared information generation module can directly obtain planning control information such as vehicle lane change information, acceleration and deceleration information, and turn information from the own vehicle planning control module. Alternatively, the vehicle chassis control information is obtained from the sensor module 110 through the sensor data processing module, such as the wheel speedometer to obtain information including steering and speed. For example, the shared information generation module can extract the speed of the vehicle from the bus of the vehicle through the sensor module 110 and the sensor data processing module. The sensor module 110 may include an accelerometer for acquiring acceleration of the vehicle, whereby acceleration and deceleration information of the vehicle may be acquired. The sensor module 110 may also include an angle measuring instrument disposed near the rotation axis of the front wheel. The angle measuring instrument measures the rotation angle of the front wheel. For example, when the rotation angle is greater than a preset angle, the vehicle may change lane information. It should be understood that examples of the sensor module 110 are not limited to accelerometers and angle measuring instruments, but may also be any suitable sensing devices capable of collecting own vehicle state data. The first data includes information collected through these sensing devices. It should also be understood that the own vehicle status data also contains relevant geographic location information to identify the corresponding vehicle.

In an exemplary embodiment of the present disclosure, the data packet may only include own vehicle state data and not include surrounding environment images and vehicle states of other vehicles. Specifically, the communication module 140 (or communication data processing module) of one vehicle does not receive the vehicle state data of other vehicles. In this case, the data packet includes only the vehicle state data of itself, and the communication module 140 (or communication data processing module) Only the own vehicle status data is sent to other vehicles in real time. For example, the acceleration, deceleration, and lane change of the own vehicle are sent to surrounding vehicles. In this case, the driver or controller of the surrounding vehicle can obtain the real-time driving operation of the own vehicle in real time, thereby making driving planning as early as possible to ensure safety.

In the exemplary embodiment of the present disclosure, the data packet may also include the own vehicle state and the vehicle state of other vehicles. Specifically, after the communication module 140 (or communication data processing module) of the vehicle receives the second data of other vehicles, the shared information generation module retains the state data of the other vehicles in the second data and removes the surrounding environment of the other vehicles The image is then processed with its own vehicle status data to generate packaged data. In this way, the packaged data includes both the vehicle status of the own vehicle and the driving status of the surrounding vehicles. As described above, since the second data has an iterative effect, in this case, the data packet includes not only own vehicle state data, but also other vehicle state data. Therefore, the communication module 140 (or the communication data processing module) will send the status data of multiple vehicles to other vehicles when sending the second data (for example, the data packet). For example, the acceleration, deceleration, and lane change of multiple vehicles are sent to surrounding vehicles in real time. In this case, the driver or controller of the surrounding vehicle can acquire the driving operations to be performed by multiple vehicles earlier or in real time, thereby making driving planning earlier to ensure safety. In addition, since multiple vehicles are able to know the driving status of each other in time, the drivers or controllers of multiple vehicles can plan driving operations of multiple vehicles in a unified manner, or make driving operations independently but synchronously. For example, when a red light turns green, multiple vehicles waiting in the same lane can know at the same time what other vehicles are going to start and what speed they will reach. Especially a car can know when the car in front of it will start and at what speed to start, and then make a synchronous response. Therefore, multiple vehicles can be started synchronously, even at the same speed. This can greatly improve driving efficiency while ensuring safety.

In an exemplary embodiment of the present disclosure, the processor may filter the collected first data and the received second data, and process the filtered first data and second data to generate a data packet. Specifically, for the first data collected by the own vehicle and the received second data, some of the data may not need to be shared, so the required data is selected according to the screening rules or manual intervention to generate the data to be shared package. In this way, it is possible to provide practical information only to other vehicles and reduce the amount of data transmission.

In the exemplary embodiment of the present disclosure, the communication module directly communicates with other vehicles in the vicinity through the broadcasting system. Specifically, multiple vehicles communicate through a broadcast system within a certain distance, thereby achieving V2V (vehicle-to-vehicle) communication between multiple vehicles. It should be understood that examples of the broadcast system used by the communication module 140 (or communication data processing module) to directly communicate with other vehicles include radio frequency circuits, such as a 433M radio frequency circuit, through which the first data and the second data can be combined Broadcasting of data packets.

When the communication module 140 (or communication data processing module) directly communicates with other vehicles, any communication environment of 2G to 4G can be used. However, because the communication requires high network delay and data transmission speed, the 5G network environment is more suitable for the communication between the vehicles. The data transmission rate of 4G is on the order of 100Mbps, the delay is 30-50ms, the maximum number of connections per square kilometer is on the order of 10,000, the mobility is about 350KM/h, and the transmission rate of 5G is on the order of 10Gbps, the delay is 1ms, the maximum number of connections per square kilometer is on the order of millions, and the mobility is about 500km/h. 5G has higher transmission rates, shorter delays, more connections per square kilometer, and higher speed tolerance. Another change in 5G is the change in transmission paths. In the past, when we called or transmitted photos, the signal had to be transferred through the base station, but after 5G, the device could be directly transmitted between devices, without the need to pass through the base station. Therefore, although the present invention is also applicable to the 4G environment, running in the 5G environment will obtain better technical performance and reflect higher commercial value.

In an exemplary embodiment of the present disclosure, in order to reduce the amount of data transmission between multiple vehicles and reduce the driver's attention to shared information, the communication module 140 (or communication data processing module) of the vehicle information sharing system of the present disclosure The data package can be shared only if certain preset conditions for information sharing are met. The information sharing preset conditions include at least one of the following: the start of the vehicle; the stop of the vehicle; the change value of the vehicle speed is greater than the preset value; the change value of the rotation angle of the front wheels is greater than the preset value; and the neighboring vehicle The distance change value is greater than the preset value. That is, the data package is shared with other vehicles only when the vehicle's own vehicle state data or the collected own vehicle external environment data (ie, the first data) changes or changes significantly. It should be understood that the examples of the information sharing preset conditions are not limited to the above listed conditions, and may also be any other suitable conditions.

In an exemplary embodiment of the present disclosure, the vehicle information sharing system further includes a reminder module that can remind other vehicles when a vehicle meets a preset condition for information sharing. The reminder module may be a voice broadcaster, which broadcasts the information contained in the data packet to the driver, such as acceleration, deceleration, and lane change information. It should be understood that the example of the reminder module is not limited to the voice broadcaster, but may also be a display device, which displays related information through the display.

In the exemplary embodiment of the present disclosure, as described above, since the second data has an iterative effect, and each vehicle is arranged in an order on the map due to its own geographic information, one vehicle can clearly know the location information of other vehicles . In this case, the data packet includes the distribution data of multiple vehicles, and the communication module 140 (or the communication data processing module) may set according to the distribution data not to send the data packet (for example, a composite external environment image) to other vehicles. Data transmission blocking conditions to limit the sharing range of data packets. For example, the data transmission blocking condition includes at least one of the number of times of sharing and the vehicle distribution length in the distribution data. Specifically, after a certain data packet is shared a preset number of times, or after a certain data packet is shared with a vehicle at a predetermined length, the data packet is automatically deleted or ignored. In this way, the sharing range of data packets is controlled. It should be understood that examples of data transmission blocking conditions are not limited to the above listed conditions, but may be any other suitable conditions.

The vehicle information sharing system provided by the embodiments of the present disclosure is suitable for V2V working scenarios, and can integrate vehicle external environment data and own vehicle state data within a certain range, so the vehicle information sharing system provided by the embodiments of the present disclosure can enable vehicles to drive The operator or controller knows the remote road condition information and the surrounding vehicle status information to avoid traffic accidents.

According to another aspect of the present disclosure, a vehicle information sharing method is provided. FIG. 3 is a flowchart 200 illustrating a vehicle information sharing method according to an exemplary embodiment of the present disclosure. As shown in FIG. 3, the vehicle information sharing method includes:

Step S210: Collect first data related to at least one of the external environment of the vehicle and the state of the own vehicle.

Specifically, the sensor data processing module collects the first data related to the external environment of the vehicle through the sensor module 110. As described above, the sensor module 110 may include a camera that can capture visual images around the vehicle and extract content therefrom. The sensor module 110 may also include a radar sensor or sonar to detect the distance between the vehicle and surrounding obstacles. The first data includes information received through the sensor module 110.

The sensor data processing module collects own vehicle state data related to the own vehicle state through the sensor module 110, and the own vehicle state data is included in the first data. As described above, the own vehicle state data includes at least one of the speed, acceleration, and rotation angle of the front wheel of the own vehicle. For example, the sensor data processing module extracts the speed of the vehicle from the bus of the vehicle through the sensor module 110. The sensor module 110 may include an accelerometer for acquiring acceleration of the vehicle, whereby acceleration and deceleration information of the vehicle may be acquired. The sensor module 110 may include an angle measuring instrument disposed near the rotation axis of the front wheel. The angle measuring instrument measures the rotation angle of the front wheel. For example, when the rotation angle is greater than the preset angle, the vehicle may change lane information.

Step S20: Receive second data sent by other vehicles.

Specifically, the communication data processing module directly communicates with other vehicles in the vicinity through the communication module 140, and receives second data sent by other vehicles. Similar to the first data, the second data is also data related to at least one of the external environment of the vehicle and the state of the own vehicle.

Step S30, processing the first data and the second data to generate a data packet.

Specifically, the first data and the second data are processed into a data packet by the shared information generating module in the processor 130. The processing of the first data and the second data by the shared information generation module includes, but is not limited to, screening and splicing the first data and the second data. It should be understood that, for example, for three vehicles, the second data received by the third vehicle is a data packet sent by the second vehicle, and the data packet sent by the second vehicle includes the data collected by the second vehicle and the first A data packet sent by a vehicle.

In step S40, the data packet is shared with other vehicles as second data.

Specifically, the communication data processing module directly communicates with other vehicles through the communication module 140, and shares the data packet as the second data to the other vehicles. The data packet of one vehicle is used as the second data of another vehicle, thereby forming an iteration, so that one vehicle can grasp the information observed by other vehicles at a certain distance from it.

In an exemplary embodiment of the present disclosure, the image data in the first data and the image data in the second data are stitched to form composite image data, and the composite image data is added to the data packet. As described above, the sensor module 110 may include a camera that captures an external environment image and performs image processing (eg, convolution) on the captured image to obtain image data of the external environment of the vehicle, so that the first data may include itself Image data of the environment outside the vehicle. Similarly, the second data may include image data of other environments outside the vehicle. The image data in the first data and the image data in the second data are image feature points, and the image feature points include geographic location information. Since the image data collected by each vehicle has specific positioning information, this can enable each image data to be arranged in an orderly manner on the map. Because the second data has an iterative effect, and each image data is arranged in an order on the map, a vehicle can have a long-distance image after the image data collected by itself and the image data collected by multiple other vehicles are stitched or superimposed , That is, a vehicle has a "distant vision" function, in other words, the driver can see the image beyond the visual distance of his naked eye through the display. In this way, the driver can obtain long-distance road condition information (such as traffic lights, road pits, congestion, water accumulation, snow, etc.) in time while the vehicle is driving, so that it can make driving route planning or driving operations (such as braking) as soon as possible. , Acceleration, etc.), making it possible to greatly improve driving efficiency while ensuring safety.

In an exemplary embodiment of the present disclosure, the collected first data and the received second data are filtered, and the filtered first data and second data are processed to generate a data packet. As mentioned above, for the first data collected by the own vehicle and the received second data, some of the data may not need to be shared, so the required data is selected according to the screening rules or manual intervention to generate the data to be shared data pack. In this way, it is possible to provide practical information only to other vehicles and reduce the amount of data transmission.

The vehicle information sharing method provided by the embodiments of the present disclosure is suitable for V2V working scenarios, and can integrate vehicle external environment data and own vehicle state data within a certain range, so the vehicle information sharing method provided by the embodiments of the present disclosure can enable vehicles to drive The operator or controller knows the remote road condition information and the surrounding vehicle status information to avoid traffic accidents.

According to yet another aspect of the present disclosure, there is provided an autonomous driving vehicle that applies the vehicle information sharing system described above. The self-driving vehicle provided by the embodiment of the present disclosure is suitable for V2V working scenarios, and can integrate vehicle external environment data and own vehicle state data within a certain range, so the self-driving vehicle provided by the embodiment of the present disclosure can know the distance road condition information and Surrounding vehicle status information to avoid traffic accidents.

It can be understood that the above embodiments are merely exemplary embodiments adopted to explain the principles of the present disclosure, but the present disclosure is not limited thereto. For those of ordinary skill in the art, various variations and improvements can be made without departing from the spirit and essence of the present disclosure, and these variations and improvements are also considered to be within the protection scope of the present disclosure.

Claims

A vehicle information sharing system, including:

The sensor data processing module collects the first data related to the external environment of the vehicle;

The communication data processing module directly communicates with other vehicles in the vicinity, and receives second data sent by the other vehicles;

A shared information generation module, which processes the first data and the second data to generate a data packet; and perception positioning, information sharing, and planning decision

The communication data processing module directly communicates with the other vehicle, and shares the data packet as the second data to the other vehicle.
The vehicle information sharing system according to claim 1, wherein

The first data includes at least image data of the environment outside the vehicle;

The second data includes at least image data of the environment outside the vehicle.
The vehicle information sharing system according to claim 2, wherein:

The image data in the first data and the image data in the second data are image feature points, and the image feature points contain geographic location information.
The vehicle information sharing system according to claim 3, wherein

The shared information generating module stitches the image data in the first data with the image data in the second data to form composite image data, and adds the composite image data to the data packet.
The vehicle information sharing system according to claim 1, wherein

The sensor data processing module collects own vehicle state data related to the own vehicle state, and the own vehicle state data is included in the first data.
The vehicle information sharing system according to claim 5, wherein

The self-vehicle state data includes at least one of the speed, acceleration, and rotation angle of the front wheel of the self-vehicle;

The second data includes other vehicle state data, and the other vehicle state data includes at least one of speed, acceleration, and rotation angle of the front wheel of the other vehicle.
The vehicle information sharing system according to claim 6, wherein:

The data packet includes only the own vehicle state data.
The vehicle information sharing system according to claim 6, wherein:

The data packet includes the own vehicle state data and the other vehicle state data.
The vehicle information sharing system according to claim 1, wherein

The shared information generating module filters the collected first data and the received second data, and processes the filtered first data and second data to generate a data packet.
The vehicle information sharing system according to claim 1, wherein

The communication data processing module communicates directly with other vehicles in the vicinity through a broadcasting system.
A vehicle information sharing method, including:

Collect the first data related to the external environment of the vehicle;

Communicate directly with other vehicles in the vicinity, and receive second data sent by the other vehicles;

Processing the first data and the second data to generate a data packet; and

Communicate directly with the other vehicle, and share the data packet with the other vehicle as second data.
The vehicle information sharing method according to claim 11, wherein

The first data includes at least image data of the environment outside the vehicle;

The second data includes at least image data of the environment outside the vehicle.
The vehicle information sharing method according to claim 12, wherein

The image data in the first data and the image data in the second data are image feature points, and the image feature points contain geographic location information.
The vehicle information sharing method according to claim 13, wherein:

The image data in the first data and the image data in the second data are stitched to form composite image data, and the composite image data is added to the data packet.
The vehicle information sharing method according to claim 11, wherein

Collect own vehicle state data related to the own vehicle state, and the own vehicle state data is included in the first data.
The vehicle information sharing method according to claim 15, wherein

The self-vehicle state data includes at least one of the speed, acceleration, and rotation angle of the front wheel of the self-vehicle;

The second data includes other vehicle state data, and the other vehicle state data includes at least one of speed, acceleration, and rotation angle of the front wheel of the other vehicle.
The vehicle information sharing method according to claim 16, wherein

The data packet includes only the own vehicle state data.
The vehicle information sharing method according to claim 16, wherein

The data packet includes the own vehicle state data and the other vehicle state data.
The vehicle information sharing method according to claim 11, wherein

Filter the collected first data and the received second data, and process the filtered first data and second data to generate a data packet.
An autonomous driving vehicle to which the vehicle information sharing system according to claim 1 is applied.