WO2020133452A1

WO2020133452A1 - Intelligent communication method and apparatus

Info

Publication number: WO2020133452A1
Application number: PCT/CN2018/125726
Authority: WO
Inventors: 石磊; 张宇; 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: CN109451469A

Abstract

An intelligent communication method, comprising: an intelligent communication apparatus first sends a packet to a target device at time t1, the first packet comprising a first timestamp for recording the first time t1; a hardware structure of the target device receives the packet at time t2; the target device returns a packet comprising timestamps of t2 and t3 at time t3; and the intelligent communication apparatus receives the returned packet at time t4. By means of the time difference between t2 and t1, or the time difference between t4 and t3, or the average of the two time differences, the intelligent communication apparatus can determine the total delay of communication with the target device. Therefore, the target device can be notified in advance when a control command is executed. The intelligent communication method in the present application can be applied to a 4G network environment, and is more suitable for a 5G network environment since an automatic driving test apparatus has higher requirements on the network delay and data transmission speed.

Description

Method and device for intelligent communication

Technical field

The invention relates to the field of intelligent transportation, in particular to intelligent communication.

Background technique

With the development of human society, automobiles have become an important tool for human travel. While bringing convenience to human life, traffic jams caused by cars have also caused problems for people. Therefore, traffic control is very important, such as setting traffic lights on the road. Intelligent traffic signals can interact with vehicles or on-board equipment, making a great contribution to improving the efficiency of road traffic. However, due to the delay caused by the hardware equipment and the network, only the interaction between the traffic signal and the vehicle-mounted equipment cannot be highly synchronized. Sometimes, this kind of unsynchronization will bring some unnecessary trouble and reduce the efficiency of road traffic. Therefore, it is necessary to adopt a method to reduce the delay caused by cars and intelligent traffic lights and the network as much as possible.

Summary of the invention

The purpose of this application is to provide an intelligent communication method. This method takes into account the network delay, making the interaction between the target device and the traffic lights more timely and effective.

An aspect of the present application provides an apparatus for intelligent communication, including at least one storage device, the storage device including a set of instructions; and at least one processor in communication with the at least one storage device, wherein when the set of When instructing, the at least one processor: establish a wireless communication connection with the target device; determine the communication delay of the traffic signal with the target device Δt; communicate with the target device in advance by a preset time. The preset time is not less than the communication delay Δt.

In some embodiments, the communication includes sending the traffic signal lights to change the time.

In some embodiments, the intelligent communication device includes an intelligent control device for traffic lights; the target device is a target vehicle that will pass the traffic lights.

In some embodiments, the intelligent communication device includes an intelligent control device for traffic lights; the target device is the next traffic signal on the driving path of the target vehicle that will pass the traffic lights.

In some embodiments, a first message is sent to the target device at a first time t1, and the first message includes a first timestamp to record the first time t1; the fourth time t4 is received A second message returned by the target device, where the second message includes a second timestamp recording a second time t2, where the second time t2 is the time when the target device receives the first message, The third time stamp records a third time t3, which is the time when the target device sends out the second message; based on the first message and the second message, it is determined that the traffic lights are the same The communication delay Δt of the target device.

In some embodiments, in order to determine the communication delay between the traffic signal and the target device based on the first message and the second message, the at least one processor: determines a first time difference Δt1, Δt1= t2-t1; determine the second time difference Δt2, Δt2=t4-t3; determine the communication delay Δt is the average of the first time difference Δt1 and the second time difference Δt1, Δt=(Δt1+Δt2)/2 .

In some embodiments, in order to determine the communication delay between the traffic signal and the target device, the at least one processor: sends a first message to the target device at a first time t1, the first report The message includes a first timestamp to record the first time t1; a second message returned by the target device is received at a fourth time t4, the second message includes a second timestamp to record the second time t2, the second time t2 is the time when the target device receives the first packet; it is determined that the communication delay Δt is the time difference between the first time t1 and the second time t2, Δt= t2-t1.

In some embodiments, in order to determine the communication delay between the traffic signal and the target device, the at least one processor: sends a first message to the target device at a first time t1, the first report The message includes a first timestamp to record the first time t1; a second message returned by the target device is received at a fourth time t4, the second message includes a third timestamp to record a third time t3, The third time t3 is the time when the vehicle sends the second message; it is determined that the communication delay Δt is the time difference between the third time t3 and the fourth time t4, Δt=t4-t3.

Another aspect of the present application provides an intelligent communication method. The method includes: establishing a wireless communication connection with a target device; and determining a communication delay Δt between a traffic signal lamp and the target device.

Another aspect of the present application provides a non-transitory computer-readable medium including a computer program product. The computer program product includes instructions that cause the computing device to establish a wireless communication connection with the target device; determine the communication delay Δt between the traffic signal and the target device.

Additional features in this application will be explained in part in the following description. Through this description, the contents described in the following drawings and embodiments will be apparent to those of ordinary skill in the art. The inventive points in this application can be fully explained by practicing or using the methods, means, and combinations thereof set forth in the detailed examples discussed below.

BRIEF DESCRIPTION

The following drawings describe in detail the exemplary embodiments disclosed in the present application. The same reference numerals indicate similar structures in several views of the drawings. Those of ordinary skill in the art will understand that these embodiments are non-limiting and exemplary embodiments, and the drawings are for illustration and description purposes only, and are not intended to limit the scope of the present disclosure, and other ways of embodiment are also possible The intention of completing the invention in this application is the same. It should be understood that the drawings are not drawn to scale. among them:

FIG. 1 shows an application scenario diagram of intelligent communication according to some embodiments of the present application;

FIG. 2 shows an exemplary data processing device according to some embodiments of the present application, on which a method for intelligent communication can be implemented;

3 is a block diagram of an exemplary vehicle with autonomous driving capabilities according to some embodiments of the present disclosure;

4 shows a flowchart of a method of intelligent communication according to some embodiments of the present application;

FIG. 5 shows a schematic diagram of measuring the communication delay Δt according to some embodiments of the present application.

detailed description

One aspect of the disclosure of the present application relates to reducing the total communication delay caused by the inherent delay of the network and device hardware when the intelligent traffic signal communicates with the autonomous vehicle. According to the present disclosure, the intelligent traffic signal first sends a message to the autonomous vehicle to be passed at time t1, and the first message includes a first time stamp to record the first time t1. The hardware structure of the intelligent driving vehicle will receive the message at time t2. At time t3, the self-driving vehicle will return a message that includes the time stamps of t2 and t3. At time t4, the intelligent traffic signal receives the returned message. Through the time difference between t2 and t1, or the time difference between t4 and t3, or the average of these two time differences, the intelligent traffic signal can determine the total delay of communication with the autonomous vehicle. Therefore, the self-driving vehicle can be notified a preset time in advance when changing the color of the traffic light.

The invention in this application can be applied in a 2G to 4G network environment. However, since the invention has higher requirements on network delay and data transmission speed, the 5G network environment is more suitable for the implementation and promotion of the invention. 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 environment of 2G to 4G, operation in the 5G environment will result in better technical performance and reflect higher commercial value.

The following description provides specific application scenarios and requirements of the present application, with the purpose of enabling those skilled in the art to manufacture and use the content in the present application. For those skilled in the art, various local modifications to the disclosed embodiments are obvious, and the general principles defined herein can be applied to other embodiments and without departing from the spirit and scope of the present disclosure. application. Therefore, the present disclosure is not limited to the illustrated embodiments, but the widest scope consistent with the claims.

The terminology used herein is for the purpose of describing particular example embodiments only, and is not limiting. For example, unless the context clearly indicates otherwise, as used herein, the singular forms "a", "an" and "the" may also include the plural forms. When used in this specification, the terms "including", "comprising" and/or "containing" mean that the associated integer, steps, operations, elements and/or components exist, but do not exclude one or more other features , Integers, steps, operations, elements, components, and/or groups exist or other features, integers, steps, operations, elements, components, and/or may be added to the system/method.

In the present disclosure, the term "autonomous vehicle" may refer to an environment that can perceive its environment and automatically perceive, judge, and then make an external environment without human input (or, driver, pilot, etc.) and/or intervention Decision making vehicle. The terms "autonomous vehicle" and "vehicle" can be used interchangeably. The term "autonomous driving" may refer to the ability to make intelligent judgments on the surrounding environment and navigate without input by anyone (eg, driver, pilot, etc.).

In view of the following description, these and other features of the present disclosure, as well as the operation and function of related elements of the structure, as well as the economics of assembly and manufacturing of components, can be significantly improved. With reference to the drawings, all of these form part of the present disclosure. However, it should be clearly understood that the drawings are for illustration and description purposes only, and are not intended to limit the scope of the present disclosure.

The flowchart used in the present disclosure shows the operations implemented by the system according to some embodiments in the present disclosure. It should be clearly understood that the operations of the flowchart can be implemented out of order. Instead, the operations can be performed in reverse order or simultaneously. In addition, one or more other operations can be added to the flowchart. One or more operations can be removed from the flowchart.

The positioning technology used in this disclosure may be based on Global Positioning System (GPS), Global Navigation Satellite System (GLONASS), Compass Navigation System (COMPASS), Galileo Positioning System, Quasi-Zenith Satellite System (QZSS), Wireless Fidelity (WiFi) Positioning technology, etc., or any combination thereof. One or more of the above positioning systems may be used interchangeably in this disclosure.

An aspect of the present disclosure relates to a method of intelligent communication and a device adopting the method. Specifically, the method may include: establishing a wireless communication connection with the target device; determining a communication delay Δt between the traffic signal and the target device; and sending a message in advance by a preset time (not less than the communication delay Δt). Due to the communication delay, communication is more timely and effective.

FIG. 1 shows an application scenario diagram of intelligent communication according to some embodiments of the present application. In order to facilitate the description of this application, in the following description of this application, intelligent communication at intersections is taken as an example. It should be understood that the technical solution disclosed in the present application is not only applicable to intersections, but also applicable to traffic signal lights at various intersections such as three-forked intersections, T-shaped intersections, five-forked intersections and roundabouts. When the type of intersection changes, the technical solution disclosed in this application can be adapted to change without requiring creative efforts by those skilled in the art.

In FIG. 1, the road 130 is north-south, and the road 140 is east-west. The road 130 intersects the road 140, the intersection is the intersection 150, and the center of the intersection 150 is marked as O. The area within the preset range of point O (for example, 20 meters) is the target area 110.

The intersection 150 has four traffic lights A, B, C, and D. Among them, the A light controls the traffic flow of the road 130 from south to north, the B light controls the traffic flow of the road 130 from north to south, the C light controls the traffic flow of the road 140 from west to east, and the D light controls the traffic flow of the road 140 from east to west.

The vehicle 120 runs on the road 130, and the intersection 150 is ahead. The vehicle 120 may be any vehicle legally traveling on the road 130. For example, the vehicle 120 may be a motor vehicle or a non-motor vehicle. For example, the vehicle 120 may include any one of fire trucks, ambulances, police cars, private cars, buses, taxis, trucks, motorcycles, electric vehicles, bicycles, and balancing vehicles. The vehicle 120 may be an autonomous vehicle or a non-autonomous vehicle.

The intelligent communication device 160 may include an intelligent control device for traffic lights, thereby controlling the lights A, B, C, and D (for example, controlling the time and content of the traffic light A interacting with the vehicle 120). Or, the intelligent communication device 160 and the intelligent control device of the traffic signal light are two independent devices, but they can interact with each other, and then instruct the traffic signal light intelligent control device to indirectly control the traffic light A, B, C, D (for example, control The time and content of traffic signal A interacting with the vehicle 120).

The intelligent communication device 160 can be installed on any of the traffic lights A, B, C, and D, or can be independently installed at an intersection or other locations, as long as the intelligent communication device 160 can interact with the vehicle 120 and the traffic lights. The interaction can be achieved through near field communication, wireless network, mobile network (such as 3G, 4G, 5G).

The smart communication device 160 may include communication equipment beside the road. Through the communication device, the intelligent communication device 160 can interact with traffic lights (for example, traffic lights A, B, C, and D), and can communicate with the vehicle 120 or its carrying equipment (for example, automatic Driving control device, mobile phone client) can also interact with the next traffic signal on the driving path of the vehicle 120 that will pass the traffic signal.

FIG. 2 shows an exemplary data processing device according to some embodiments of the present application, on which a method for intelligent communication can be implemented.

The data processing device 200 may be an intelligent communication device 160 for performing the intelligent communication method disclosed in this application. For example, the data processing device 200 may be used to execute the process 400.

The data processing device 200 may include a COM port 250 connected to a network connected thereto to facilitate data communication. The data processing device 200 may also include a processor 220 in the form of one or more processors for executing computer instructions. Computer instructions may include, for example, routines, programs, objects, components, data structures, processes, modules, and functions that perform specific functions described herein. For example, the processor 220 may establish a wireless communication connection with the target device. For another example, the processor 220 may determine the communication delay Δt between the traffic signal and the target device.

In some embodiments, the processor 220 may include one or more hardware processors, such as a microcontroller, microprocessor, reduced instruction set computer (RISC), application specific integrated circuit (ASIC), application-specific instruction-set Processor (ASIP), central processing unit (CPU), graphics processing unit (GPU), physical processing unit (PPU), microcontroller unit, digital signal processor (DSP), field programmable gate array (FPGA), advanced RISC machine (ARM), programmable logic device (PLD), any circuit or processor capable of performing one or more functions, etc., or any combination thereof.

Exemplary data processing device 200 may include an internal communication bus 210, program storage, and different forms of data storage (eg, magnetic disk 270, read only memory (ROM) 230, or random access memory (RAM) 240) for processing by a computer And/or various data files sent. Exemplary data processing device 200 may also include program instructions stored in ROM 230, RAM 240, and/or other types of non-transitory storage media to be executed by processor 220. The method and/or process of the present application may be implemented as program instructions. The data processing device 200 also includes an I/O component 260 that supports input/output between the computer and other components (eg, user interface elements). The data processing device 200 can also receive programming and data through network communication.

Just to illustrate the problem, only one processor is described in the data processing device 200 in this application. However, it should be noted that the data processing device 200 in the present application may further include multiple processors. Therefore, the operations and/or method steps disclosed in the present application may be performed by one processor as described in the present disclosure, or may be performed by multiple processors. The processors execute jointly. For example, if the processor 220 of the data processing device 200 executes steps A and B in this application, it should be understood that steps A and B may also be executed jointly or separately by two different processors in information processing (for example, The first processor performs step A, the second processor performs step B, or the first and second processors perform steps A and B together.

FIG. 3 is a block diagram of an exemplary vehicle with autonomous driving capabilities according to some embodiments of the present disclosure. The vehicle 120 shown in FIG. 1 may be the vehicle 300 or other vehicles with or without an automatic driving function. For example, the vehicle 300 with automatic driving capability may include a control module, multiple sensors, a communication module, a memory, a command module, and a controller area network (CAN) and an actuator.

The actuator may include, but is not limited to, drive execution of an accelerator, an engine, a braking system, and a steering system (including steering of tires and/or operation of turn signals).

The plurality of sensors may include various internal and external sensors that provide data to the vehicle 300. For example, as shown in FIG. 3, the plurality of sensors may include vehicle component sensors and environment sensors. The vehicle component sensor is connected to the actuator of the vehicle 300, and can detect the operating state and parameters of various components of the actuator.

The environmental sensor allows the vehicle to understand and potentially respond to its environment in order to assist the autonomous vehicle 300 in navigation, path planning, and to ensure the safety of passengers and people or property in the surrounding environment. The environmental sensor can also be used to identify, track and predict the movement of objects, such as pedestrians and other vehicles. The environment sensor may include a position sensor and an external object sensor.

The position sensor may include a GPS receiver, an accelerometer, and/or a gyroscope, a receiver. The position sensor may sense and/or determine more than one geographic location and orientation of the autonomous vehicle 300. For example, determine the latitude, longitude and altitude of the vehicle.

The external object sensor can detect objects outside the vehicle, such as other vehicles, obstacles in the road, traffic signals, signs, trees, etc. External object sensors may include laser sensors, radar, cameras, sonar, and/or other detection devices.

The communication module may be configured as a module for interactive communication between the autonomous vehicle and the external environment. For example, the communication module can help the control module to communicate wirelessly with external objects. In some embodiments, the communication module may include an antenna and a power amplifier circuit.

After receiving the information sensed by the plurality of sensors, the control module may process information and/or data related to vehicle driving (for example, automatic driving). In some embodiments, the control module may be configured to drive the vehicle autonomously. For example, the control module may output multiple control signals. Multiple control signals may be configured to be received by one or more electronic control units (ECUs) to control the driving of the vehicle. In some embodiments, the control module may determine the reference path and one or more candidate paths based on the environmental information of the vehicle.

In some embodiments, the control module may include one or more central processors (eg, single-core processors or multi-core processors). For example only, the control module may include a central processing unit (CPU), application-specific integrated circuit (ASIC), application-specific instruction-set processor (ASIP), graphics Processing unit (graphics, processing unit, GPU), physical processing unit (physics, processing unit, PPU), digital signal processor (DSP), field programmable gate array (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 control module can also perform wireless communication with the external object through the communication module. For example, the control module may interact with the intelligent communication device 160 to inform the state of the traffic lights of the autonomous vehicle 300 (for example, red light, yellow light, green light).

The command module receives the information from the control module and converts it into a command to drive the actuator to the Controller Area Network (Controller Area Network) CAN bus. For example, the control module sends the driving strategy (acceleration, deceleration, turning, etc.) of the autonomous vehicle 200 to the instruction module, and the instruction module receives the driving strategy and converts it into a driving instruction for the actuator (for throttle, braking Drive instructions for the mechanism and steering mechanism). At the same time, the instruction module then sends the instruction to the execution mechanism via the CAN bus. The execution of the instruction by the actuator is detected by the vehicle component sensor and fed back to the control module, thereby completing the closed-loop control and driving of the automatic driving vehicle 300.

FIG. 4 shows a flowchart of a method for intelligent communication according to some embodiments of the present application. The process 400 may be implemented as a set of instructions in a non-transitory storage medium in the data processing device 200 (intelligent communication device 160). The data processing device 200 (intelligent communication device 160) can execute the set of instructions and can execute the steps in the process 400 accordingly to realize intelligent communication.

The operations of the illustrated process 400 presented below are intended to be illustrative and not limiting. In some embodiments, when the process 400 is implemented, one or more additional operations not described may be added, and/or one or more operations described herein may be deleted. Furthermore, the sequence of operations shown in FIG. 4 and described below does not limit this.

In 410, the data processing device 200 (intelligent communication device 160) can establish a wireless communication connection with the target device.

The target device may be a target vehicle that is going to pass a traffic signal or a device carried by the target vehicle (for example, an automatic driving control device, a mobile phone client). As shown in FIG. 1, the smart communication device 160 can establish wireless communication with the vehicle 120 (ie, target device) that is going to pass through the traffic signal (ie, traffic signal A). In some embodiments, when the vehicle 120 enters the target area 110, the intelligent communication device 160 establishes a communication connection with it or a device carried by it.

The intelligent communication device 160 (for example, only traffic lights) can communicate with the vehicle 120 through the wireless communication. The communication may include sending the time when the traffic lights (for example, traffic lights A) turn yellow and green. For example, the communication includes the time when the traffic signal A turns green (for example, eight o'clock in the afternoon), and then the vehicle 120 can learn the status of the traffic signal (red, green, and/or yellow).

In addition, the target device may also be the next traffic signal on the traveling path of the target vehicle that will pass the traffic signal. As shown in FIG. 1, the target vehicle is a vehicle 120, and the traffic signal to be passed by it is traffic signal A. The intelligent communication device 160 may establish a communication connection with the next traffic signal on the traveling path of the vehicle 120, that is, the traffic signal adjacent to the traffic signal A or the traffic signal at the next intersection.

The intelligent communication device 160 can communicate with the next traffic signal via the wireless communication. The communication may include sending information of the target vehicle or information of the communication device carried on the target vehicle. The information may include basic conditions of the target vehicle or communication equipment, such as mobile network (4G, 5G) information, basic hardware information, access speed, target vehicle speed, and time the target vehicle travels to the next traffic signal. Then, the next traffic signal light can make corresponding plans in advance based on the received information, for example, allocating bandwidth for communication with the vehicle 120, whether to turn on the green light for the vehicle 120, and so on.

In 420, the data processing device 200 (intelligent communication device 160) may calculate the communication delay Δt between the traffic signal and the target device in real time. The following describes step 420 with reference to FIG. 5.

FIG. 5 shows a schematic diagram of measuring the communication delay Δt according to some embodiments of the present application. As shown in the figure, the intelligent communication device 160 may first send a first message to the target device to be passed (such as the autonomous driving vehicle 120) at a first time t1, the first message including a first timestamp record The first time t1. The hardware structure of the target device will receive the message at the second time t2. Ignoring the propagation time of electromagnetic waves, the reason there is a time difference between t1 and t2 is because the hardware of the communication device 160 will only cause a hardware delay when sending the first message, and the propagation of network data will add up For a delay, the hardware of the target device (such as the autonomous driving vehicle 160) reacts to the first message (that is, the so-called receipt of the first message) and the delay is further accumulated. These three The time delay forms Δt in total. At the third time t3, the target device sends a return message, which is the second message. The second message includes a second time stamp recording time t2 and a third time stamp recording time t3. At the fourth time t4, the intelligent communication device 160 receives the second message.

In order to determine the communication delay between the intelligent communication device 160 and the target device, the intelligent communication device 160 first determines the first time difference Δt1, Δt1=t2-t1; secondly determines the second time difference Δt2, Δt2=t4-t3; It is finally determined that the communication delay Δt is the average value of the first time difference Δt1 and the second time difference Δt1, Δt=(Δt1+Δt2)/2.

In addition, in some implementations, the intelligent communication device 160 may also send a first message to the target device at a first time t1, where the first message includes a first timestamp to record the first time t1; At four times t4, a second message returned by the target device is received, the second message includes a second timestamp to record the second time t2, and the second time t2 is received by the target device The time of the first message; finally, it is determined that the communication delay Δt is the time difference between the first time t1 and the second time t2, Δt=t2-t1.

In addition, in some implementations, the intelligent communication device 160 may also send a first message to the target device at a first time t1, where the first message includes a first timestamp to record the first time t1; Receiving a second message returned by the target device at time t4, the second message includes a third timestamp to record a third time t3, and the third time t3 sends the second message to the vehicle The time of the text; finally, the communication delay Δt is determined as the time difference between the third time t3 and the fourth time t4, Δt=t4-t3.

In 430, the data processing device 200 (intelligent communication device 160) may communicate with the target device in advance by a preset time, and the preset time is not less than the communication delay Δt. The following takes the communication between the intelligent communication device 160 and the vehicle 120 as an example to illustrate this step.

As shown in FIG. 1, when the vehicle 120 travels to the intersection 150, the travel of the vehicle 120 is restricted by the traffic light A. When the traffic light A is green, the vehicle 120 can continue to drive; when the traffic light A is red, the vehicle 120 needs to stop. Therefore, the vehicle 120 must know the change time of the traffic signal A traffic lights. The vehicle 120 can communicate with the traffic signal A, and the traffic signal A sends the traffic signal A to the vehicle 120 to change the time.

With reference to the above description, the intelligent communication device 160 may include an intelligent control device for the traffic light A to directly control the traffic light A; or indirectly control the traffic light A through interaction with the traffic light A. Therefore, the intelligent communication device 160 can control the traffic signal A to send the traffic signal A to the vehicle 120 to change the time of the red, yellow, and green lights.

Assuming that the traffic light A changes from a red light to a green light at eight o'clock, in theory, the vehicle 120 can start the vehicle to start driving at eight o'clock. If traffic signal A sends to vehicle 120 at eight o'clock, it changes from red light to green light at eight o'clock, because traffic signal A interacts with vehicle 120 with a communication delay Δt, vehicle 120 receives the traffic signal The information sent by A is Δt after eight o'clock.

In order to enable the vehicle 120 to start the vehicle at eight o'clock and start driving, the intelligent communication device 160 may communicate with the target device at a preset time, that is, a period of time in advance. The preset time is not less than the communication delay Δt.

It should be understood that the clock systems of the target device, the intelligent communication device 160, and the traffic lights are the same, that is, the time of the three is the same at the same time. When the clock systems of the target device, the intelligent communication device 160 and the traffic lights are inconsistent, the communication delay Δt needs to consider the system time difference Δt' between the smart communication device and the target device.

As shown in FIG. 5, when only using t2 and t1 to calculate the communication delay, Δt=t2-t1-Δt’; when only using t4 and t3 to calculate the communication delay, Δt=t4-t3+Δt’. When using t1, t2, t3 and t4 to calculate the communication delay at the same time, the first time difference Δt1 = t2-t1-Δt' and the second time difference Δt2 = t4-t3 + Δt'. At this time, Δt=(Δt1+Δt2)/2=(t2+t4-t1-t3)/2, which has nothing to do with the system time difference Δt' between the intelligent communication device and the target device.

In summary, one aspect of the present disclosure relates to a method for reducing the communication delay between an intelligent traffic signal lamp and a vehicle and a traffic signal lamp system adopting this method. This system automatically executes this method, on the one hand, it improves the traffic efficiency of the traffic flow at the intersection, and on the other hand, it also takes into account the smoothness of the special vehicle passing through the intersection. On the other hand, those of ordinary skill in the art can also understand that the technology in this application can be used not only for communication between traffic lights and autonomous vehicles, but also for wireless communication between other intelligent control devices and target objects. For example, communication between vehicles.

After reading this detailed disclosure, those skilled in the art may understand that the foregoing detailed disclosure may be presented by way of example only, and may not be limiting. Although not explicitly stated here, those skilled in the art can understand that this application is intended to include various reasonable changes, improvements, and modifications to the embodiments. These changes, improvements, and modifications are intended to be proposed by the present disclosure, and are within the spirit and scope of the exemplary embodiments of the present disclosure.

In addition, certain terms in this application have been used to describe embodiments of the present disclosure. For example, "one embodiment", "an embodiment", and/or "some embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present disclosure. Therefore, it can be emphasized and understood that two or more references to "an embodiment" or "one embodiment" or "alternative embodiment" in various parts of this specification do not necessarily all refer to the same embodiment. In addition, specific features, structures, or characteristics may be appropriately combined in one or more embodiments of the present disclosure.

It should be understood that, in the foregoing description of the embodiments of the present disclosure, to help understand one feature, for the purpose of simplifying the present disclosure, the present application sometimes combines various features in a single embodiment, drawings, or description thereof. Or, this application is to disperse various features in multiple embodiments of the present invention. However, this is not to say that the combination of these features is necessary, and it is entirely possible for a person skilled in the art to read some of the features as a separate embodiment when reading this application. That is to say, the embodiments in this application can also be understood as the integration of multiple secondary embodiments. It is also true that the content of each secondary embodiment is less than all the features of a single foregoing disclosed embodiment.

In some embodiments, a number expressing the quantity or nature used to describe and claim certain embodiments of the present application should be understood as modified in some cases by the terms "about", "approximately", or "substantially." For example, unless stated otherwise, "about", "approximately", or "substantially" may represent a ±20% change in the value it describes. Therefore, in some embodiments, the numerical parameters listed in the written description and the appended claims are approximate values, which may vary depending on the desired properties sought by the particular embodiment. In some embodiments, the numerical parameter should be interpreted according to the number of significant digits reported and by applying ordinary rounding techniques. Although some embodiments that illustrate the present application list a wide range of numerical ranges and parameters are approximate values, specific examples list the most accurate numerical values possible.

Each patent, patent application, patent application publication, and other materials cited herein, such as articles, books, specifications, publications, documents, articles, etc., may be incorporated herein by reference. All content used for all purposes, except for the history of any prosecution documents related to it, may be inconsistent or conflict with any of this document, or any same prosecution document that may have a restrictive effect on the broadest scope of the claims history. Associated with this document now or in the future. For example, if there is any inconsistency or conflict between the descriptions, definitions, and/or use of terms associated with any contained material in relation to this document, use this document The terminology shall prevail.

Finally, it should be understood that the embodiments of the application disclosed herein are illustrative of the principles of the embodiments of the application. Other modified embodiments are also within the scope of this application. Therefore, the embodiments disclosed in this application are only examples and are not limiting. Those skilled in the art may adopt alternative configurations according to the embodiments in the present application to implement the invention in the present application. Therefore, the embodiments of the present application are not limited to which embodiments are precisely described in the application.

Claims

An intelligent communication device, including:

At least one storage device, the storage device including a set of instructions; and

At least one processor in communication with the at least one storage device, wherein, when executing the set of instructions, the at least one processor:

Establish a wireless communication connection with the target device;

Real-time calculation of the communication delay Δt between the intelligent communication system and the target device;

Communicate with the target device in advance by a preset time, and the preset time is not less than the communication delay Δt.
The device as claimed in claim 1, wherein:

The intelligent communication device includes intelligent control equipment for traffic lights;

The target device is a target vehicle that will pass the traffic signal.
An apparatus as claimed in claim 2, wherein said communication includes sending said traffic signal lights to change time.
The device as claimed in claim 1, wherein:

The intelligent communication device includes intelligent control equipment for traffic lights;

The target device is the next traffic signal on the traveling path of the target vehicle that will pass the traffic signal.
The device of claim 1, wherein, in order to determine the communication delay between the intelligent communication device and the target device, the at least one processor:

Sending a first message to the target device at a first time t1, where the first message includes a first timestamp to record the first time t1;

At a fourth time t4, a second message returned by the target device is received, and the second message includes:

The second time stamp records a second time t2, where the second time t2 is the time when the target device receives the first packet,

The third time stamp records a third time t3, where the third time t3 is the time when the target device sends the second message;

Based on the first message and the second message, a communication delay Δt between the traffic signal and the target device is determined.
The device according to claim 5, wherein, in order to determine the communication delay between the intelligent communication device and the target device based on the first message and the second message, the at least one processor:

Decide the first time difference Δt1, Δt1=t2-t1;

Decide the second time difference Δt2, Δt2=t4-t3;

It is determined that the communication delay Δt is an average value of the first time difference Δt1 and the second time difference Δt1, Δt=(Δt1+Δt2)/2.
The device of claim 1, wherein, in order to determine the communication delay between the intelligent communication device and the target device, the at least one processor:

Sending a first message to the target device at a first time t1, where the first message includes a first timestamp to record the first time t1;

Receiving a second message returned by the target device at a fourth time t4, where the second message includes a second timestamp to record the second time t2, and the second time t2 is received by the target device Time to the first message;

It is determined that the communication delay Δt is the time difference between the first time t1 and the second time t2, and Δt=t2-t1.
The device of claim 1, wherein, in order to determine the communication delay between the intelligent communication device and the target device, the at least one processor:

Sending a first message to the target device at a first time t1, where the first message includes a first timestamp to record the first time t1;

At a fourth time t4, a second message returned by the target device is received, the second message includes a third timestamp to record a third time t3, and the third time t3 sends the first message to the vehicle Second message time;

It is determined that the communication delay Δt is the time difference between the third time t3 and the fourth time t4, and Δt=t4-t3.
An intelligent communication method, the method includes:

Establish a wireless communication connection with the target device;

Calculate the communication delay Δt between the traffic signal and the target device in real time;

Communicate with the target device in advance by a preset time, and the preset time is not less than the communication delay Δt.
The method according to claim 9, wherein the intelligent communication device includes an intelligent control device for traffic lights; the target device is a target vehicle that will pass the traffic lights.
The method as claimed in claim 10, the communication includes sending the traffic signal traffic lights to change time.
The method according to claim 9, wherein the intelligent communication device includes an intelligent control device for traffic lights; the target device is the next traffic signal on the traveling path of the target vehicle that will pass the traffic lights.
The method according to claim 9, said determining the communication delay between the intelligent communication device and the target device includes:

Sending a first message to the target device at a first time t1, where the first message includes a first timestamp to record the first time t1;

At a fourth time t4, a second message returned by the target device is received, and the second message includes:

The second time stamp records a second time t2, where the second time t2 is the time when the target device receives the first packet,

The third time stamp records a third time t3, where the third time t3 is the time when the target device sends the second message;

Based on the first message and the second message, a communication delay Δt between the traffic signal and the target device is determined.
The method according to claim 13, said determining the communication delay Δt between the intelligent communication device and the target device based on the first message and the second message includes:

Decide the first time difference Δt1, Δt1=t2-t1;

Decide the second time difference Δt2, Δt2=t4-t3;

It is determined that the communication delay Δt is an average value of the first time difference Δt1 and the second time difference Δt1, Δt=(Δt1+Δt2)/2.
The method according to claim 9, said determining the communication delay between the intelligent communication device and the target device includes:

Sending a first message to the target device at a first time t1, where the first message includes a first timestamp to record the first time t1;

Receiving a second message returned by the target device at a fourth time t4, where the second message includes a second timestamp to record the second time t2, and the second time t2 is received by the target device Time to the first message;

It is determined that the communication delay Δt is the time difference between the first time t1 and the second time t2, and Δt=t2-t1.
The method according to claim 9, wherein the determining of the communication delay between the intelligent communication device and the target device comprises:

Sending a first message to the target device at a first time t1, where the first message includes a first timestamp to record the first time t1;

At a fourth time t4, a second message returned by the target device is received, the second message includes a third timestamp to record a third time t3, and the third time t3 sends the first message to the vehicle Second message time;

It is determined that the communication delay Δt is the time difference between the third time t3 and the fourth time t4, and Δt=t4-t3.
A non-transitory computer-readable medium that includes a computer program product, the computer program product includes instructions that cause a computing device to:

Establish a wireless communication connection with the target device;

Calculate the communication delay Δt between the traffic signal and the target device in real time;

Communicate with the target device in advance by a preset time, and the preset time is not less than the communication delay Δt.
The non-transitory computer-readable medium of claim 17, the instructions cause the computing device to:

Sending a first message to the target device at a first time t1, where the first message includes a first timestamp to record the first time t1;

At a fourth time t4, a second message returned by the target device is received, and the second message includes:

The second time stamp records a second time t2, where the second time t2 is the time when the target device receives the first packet,

The third time stamp records a third time t3, where the third time t3 is the time when the target device sends the second message;

Based on the first message and the second message, a communication delay Δt between the traffic signal and the target device is determined.
The non-transitory computer-readable medium of claim 18, the instructions cause the computing device to:

Decide the first time difference Δt1, Δt1=t2-t1;

Decide the second time difference Δt2, Δt2=t4-t3;

It is determined that the communication delay Δt is an average value of the first time difference Δt1 and the second time difference Δt1, Δt=(Δt1+Δt2)/2.
The non-transitory computer-readable medium of claim 17, the instructions cause the computing device to:

Sending a first message to the target device at a first time t1, where the first message includes a first timestamp to record the first time t1;

Receiving a second message returned by the target device at a fourth time t4, where the second message includes a second timestamp to record the second time t2, and the second time t2 is received by the target device Time to the first message;

It is determined that the communication delay Δt is the time difference between the first time t1 and the second time t2, and Δt=t2-t1.