WO2020133452A1 - Procédé et appareil de communication intelligente - Google Patents

Procédé et appareil de communication intelligente Download PDF

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Publication number
WO2020133452A1
WO2020133452A1 PCT/CN2018/125726 CN2018125726W WO2020133452A1 WO 2020133452 A1 WO2020133452 A1 WO 2020133452A1 CN 2018125726 W CN2018125726 W CN 2018125726W WO 2020133452 A1 WO2020133452 A1 WO 2020133452A1
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WO
WIPO (PCT)
Prior art keywords
time
message
target device
communication
communication delay
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Application number
PCT/CN2018/125726
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English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 驭势科技（北京）有限公司 filed Critical 驭势科技（北京）有限公司
Priority to PCT/CN2018/125726 priority Critical patent/WO2020133452A1/fr
Priority to CN201910007980.0A priority patent/CN109451469A/zh
Publication of WO2020133452A1 publication Critical patent/WO2020133452A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L43/00—Arrangements for monitoring or testing data switching networks
    • H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
    • H04L43/0852—Delays
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W76/00—Connection management
    • H04W76/10—Connection setup

Definitions

  • the invention relates to the field of intelligent transportation, in particular to intelligent communication.
  • 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 ⁇ t; communicate with the target device in advance by a preset time.
  • the preset time is not less than the communication delay ⁇ t.
  • the communication includes sending the traffic signal lights to change the time.
  • 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 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.
  • 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 ⁇ t of the target device.
  • the at least one processor 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 method includes: establishing a wireless communication connection with a target device; and determining a communication delay ⁇ t between a traffic signal lamp and the target device.
  • 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 ⁇ t between the traffic signal and the target device.
  • 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;
  • FIG. 3 is a block diagram of an exemplary vehicle with autonomous driving capabilities according to some embodiments of the present disclosure
  • FIG. 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 ⁇ t according to some embodiments of the present application.
  • 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.
  • the self-driving vehicle will return a message that includes the time stamps of t2 and t3.
  • the intelligent traffic signal receives the returned message.
  • 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.
  • 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
  • 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
  • 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.
  • 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.
  • autonomous vehicle and “vehicle” can be used interchangeably.
  • 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.).
  • 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.
  • GPS Global Positioning System
  • GLONASS Global Navigation Satellite System
  • COMPASS Compass Navigation System
  • Galileo Positioning System Galileo Positioning System
  • QZSS Quasi-Zenith Satellite System
  • WiFi Wireless Fidelity
  • An aspect of the present disclosure relates to a method of intelligent communication and a device adopting the method.
  • the method may include: establishing a wireless communication connection with the target device; determining a communication delay ⁇ t between the traffic signal and the target device; and sending a message in advance by a preset time (not less than the communication delay ⁇ t). 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.
  • 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.
  • 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.
  • the vehicle 120 may be a motor vehicle or a non-motor vehicle.
  • 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).
  • 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.
  • traffic lights for example, traffic lights A, B, C, and D
  • vehicle 120 or its carrying equipment for example, automatic Driving control device, mobile phone client
  • 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.
  • 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.
  • the processor 220 may establish a wireless communication connection with the target device.
  • the processor 220 may determine the communication delay ⁇ t between the traffic signal and the target device.
  • 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.
  • RISC reduced instruction set computer
  • ASIC application specific integrated circuit
  • ASIP application-specific instruction-set Processor
  • CPU central processing unit
  • GPU graphics processing unit
  • PPU physical processing unit
  • DSP digital signal processor
  • FPGA field programmable gate array
  • ARM advanced RISC machine
  • PLD programmable logic device
  • 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.
  • the data processing device 200 in this 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.
  • 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.
  • CAN controller area network
  • 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.
  • 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.
  • the communication module can help the control module to communicate wirelessly with external objects.
  • the communication module may include an antenna and a power amplifier circuit.
  • the control module may process information and/or data related to vehicle driving (for example, automatic driving).
  • the control module may be configured to drive the vehicle autonomously.
  • 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.
  • the control module may determine the reference path and one or more candidate paths based on the environmental information of the vehicle.
  • control module may include one or more central processors (eg, single-core processors or multi-core processors).
  • 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.
  • 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.
  • 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).
  • 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 can execute the set of instructions and can execute the steps in the process 400 accordingly to realize intelligent communication.
  • the data processing device 200 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).
  • 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).
  • the intelligent communication device 160 establishes a communication connection with it or a device carried by it.
  • the intelligent communication device 160 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.
  • 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).
  • the target device may also be the next traffic signal on the traveling path of the target vehicle that will pass the traffic signal.
  • the target vehicle is a vehicle 120
  • 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.
  • 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.
  • the data processing device 200 may calculate the communication delay ⁇ t 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 ⁇ t according to some embodiments of the present application.
  • 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.
  • 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
  • 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.
  • the time delay forms ⁇ t in total.
  • 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.
  • the intelligent communication device 160 receives the second message.
  • the data processing device 200 may communicate with the target device in advance by a preset time, and the preset time is not less than the communication delay ⁇ t.
  • the following takes the communication between the intelligent communication device 160 and the vehicle 120 as an example to illustrate this step.
  • the vehicle 120 when the vehicle 120 travels to the intersection 150, the travel of the vehicle 120 is restricted by the traffic light A.
  • 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.
  • 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.
  • 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 ⁇ t, vehicle 120 receives the traffic signal The information sent by A is ⁇ t after eight o'clock.
  • 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 ⁇ t.
  • 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.
  • the communication delay ⁇ t needs to consider the system time difference ⁇ t' between the smart communication device and the target device.
  • 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.
  • 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.
  • 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.

Abstract

L'invention concerne un procédé de communication intelligente, comportant les étapes suivantes: un appareil de communication intelligente envoie d'abord un paquet à un dispositif cible à un instant t1, le premier paquet comportant une première estampille temporelle servant à enregistrer le premier instant t1; une structure matérielle du dispositif cible reçoit le paquet à un instant t2; le dispositif cible renvoie un paquet comportant des estampilles temporelles de t2 et t3 à un instant t3; et l'appareil de communication intelligente reçoit le paquet renvoyé à un instant t4. Au moyen de la différence de temps entre t2 et t1, ou de la différence de temps entre t4 et t3, ou de la moyenne des deux différences de temps, l'appareil de communication intelligente peut déterminer le temps total de propagation de la communication avec le dispositif cible. Par conséquent, le dispositif cible peut être informé à l'avance lorsqu'une consigne de commande est exécutée. Le procédé de communication intelligente selon la présente invention peut être appliqué à un environnement de réseau 4G, et convient mieux à un environnement de réseau 5G car un appareil de test itinérant automatique a des exigences plus élevées sur le temps de propagation du réseau et la vitesse de transmission de données.
PCT/CN2018/125726 2018-12-29 2018-12-29 Procédé et appareil de communication intelligente WO2020133452A1 (fr)

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CN201910007980.0A CN109451469A (zh) 2018-12-29 2019-01-04 一种智能通讯的方法及装置

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