Self-driving vehicle self-organizing network method and system based on dds protocol and dsrc technology

Abstract

The present invention provides a self-organizing network method and system for an autonomous vehicle based on the DDS protocol and DSRC technology. Four OBU units are respectively deployed on the front, rear, left, and right sides of the autonomous vehicle body to be responsible for DSRC wireless transmission and reception; the vehicle body radar sensor is used to detect dynamic vehicles in the surrounding environment; The domain controller judges the location information of the surrounding vehicles perceived by the radar, encapsulates the DDS message and selects the OBU unit with the appropriate orientation for the vehicles that meet the range of the ad hoc network and broadcasts it through DSRC; at the same time, it receives the real-time information sent by the surrounding vehicles through the DSRC broadcast, and dynamically establishes The self-organized network topology information is released to the central controller as a real-time input to the autonomous driving decision-making algorithm. The invention realizes the mutual coordination of the self-organized network of the self-driving vehicle, improves the timeliness of real-time information sharing of the vehicle, enables the self-driving vehicle to perceive and predict in advance, and effectively improves the safety of the automatic driving.

Description

technical field [0001] The invention belongs to the technical field of automatic driving, and in particular relates to a self-driving vehicle ad hoc network method and system based on DDS protocol and DSRC technology. Background technique [0002] In today's era, self-driving technology is changing with each passing day, and self-driving vehicles will gradually become popular. With the rapid development of intelligence and networking of self-driving cars, the interconnection of workshops has become the general trend. [0003] At the same time, with the help of Data Distribution Service (Data Distribution Service for Real-Time-Systems, DDS), as a data-centric distributed real-time communication middleware, although to a certain extent, QOS characteristics or reliable protocols can be used to ensure data reliability. However, it still cannot fully solve the failure problem of communication links. [0004] Traditional autonomous driving technologies mostly rely on the fusion ...

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Problems solved by technology

[0003] At the same time, with the help of Data Distribution Service for Real-Time-Systems (DDS), as a data-centric distributed real-time communication middleware, although to a certain extent, QOS features or reliable protocols can be used to ensure data reliability. distribution, but still cannot fully solve the failure problem of the communication link

[0004] Traditional autonomous driving technologies mostly rely on the fusion of sensors and AI algorithms to form perception-decision-oriented autonomous driving, but the interconnection between vehicles is relatively small

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