C-V2X-based vehicle control method, cloud control platform, vehicle-mounted terminal and storage medium

Abstract

The invention discloses a C-V2X-based vehicle control method, a cloud control platform, a vehicle-mounted terminal and a storage medium. The method is applied to a cloud control platform, and comprises the following steps: obtaining target data of a target vehicle on a target passing path; processing the target data according to a preset intelligent connected vehicle energy-saving algorithm to obtain a target vehicle speed sequence; and issuing the target vehicle speed sequence to a vehicle-mounted terminal in communication connection with the roadside terminal, so that the vehicle-mounted terminal controls the target vehicle according to the target vehicle speed sequence. According to the technical scheme, the cloud control platform plans the optimal target vehicle speed sequence of future driving of the target vehicle through overall planning of various target data of the target vehicle on the target passing path and calling of the preset intelligent connected vehicle energy-saving algorithm for decision processing, so that optimal vehicle speed control over the vehicle is achieved, and the driving speed of the vehicle is improved. Safe, energy-saving and efficient passing of the vehicle is achieved, and the driving experience of a user is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle network technology, and in particular to a vehicle control method, a cloud control platform, a vehicle-mounted terminal and a storage medium based on C-V2X. Background Art

[0002] In recent years, with the rapid development of my country's automobile industry and the continuous improvement of residents' consumption level, the number of motor vehicles in my country has increased rapidly, making traffic congestion and other problems increasingly serious. Studies have shown that driver behavior has a great impact on fuel economy. For example, when a vehicle passes through an intersection, the driver will frequently start, stop and idle due to various working conditions. These operations will affect the vehicle's energy consumption. Therefore, how to effectively plan the vehicle's speed trajectory has become an urgent problem to be solved. Summary of the invention

[0003] The present invention provides a vehicle control method, a cloud control platform, a vehicle-mounted terminal and a storage medium based on C-V2X, so as to achieve safe, energy-saving and efficient passage of vehicles through reasonable planning of vehicle speed sequences, thereby improving the user's driving experience.

[0004] According to one aspect of the present invention, a C-V2X-based vehicle control method is provided, which is applied to a cloud control platform and includes:

[0005] Acquire target data of a target vehicle on a target travel path; wherein the target data includes at least one of the following: dynamic traffic data, road status data, and vehicle operation data;

[0006] The target data is processed according to a preset intelligent connected vehicle energy-saving algorithm to obtain a target vehicle speed sequence; wherein the target vehicle speed sequence includes the target vehicle speed corresponding to each target planned vehicle speed issuance point;

[0007] The target vehicle speed sequence is sent to the vehicle-mounted terminal which is in communication connection with the roadside terminal, so that the vehicle-mounted terminal controls the target vehicle according to the target vehicle speed sequence.

[0008] According to another aspect of the present invention, a C-V2X-based vehicle control method is provided, which is applied to a vehicle-mounted terminal and includes:

[0009] Obtain the vehicle operation data of the target vehicle on the target travel path, and report the vehicle operation data to the roadside terminal;

[0010] The target speed sequence sent by the roadside terminal is obtained, and the target vehicle is controlled according to the target speed sequence; wherein the target speed sequence includes the target speed corresponding to each target planned speed sending point of the target vehicle.

[0011] According to another aspect of the present invention, a cloud control platform is provided, the cloud control platform comprising:

[0012] at least one processor; and

[0013] a memory communicatively connected to the at least one processor; wherein,

[0014] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the C-V2X-based vehicle control method described in any embodiment of the present invention.

[0015] According to another aspect of the present invention, there is provided a vehicle-mounted terminal, the vehicle-mounted terminal comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the C-V2X-based vehicle control method described in any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the C-V2X-based vehicle control method described in any embodiment of the present invention when executed.

[0020] The technical solution of the embodiment of the present invention is applied to the cloud control platform, by obtaining the target data of the target vehicle on the target passage path; wherein the target data includes at least one of the following: dynamic traffic data, road status data, vehicle operation data; the target data is processed according to the preset intelligent networked vehicle energy-saving algorithm to obtain a target speed sequence; wherein the target speed sequence includes the target speed corresponding to each target planned speed sending point of the target vehicle; the target speed sequence is sent to the vehicle terminal that is communicatively connected to the roadside terminal, so that the vehicle terminal controls the target vehicle according to the target speed sequence. The cloud control platform in this technical solution coordinates various target data of the target vehicle on the target passage path, and then calls the preset intelligent networked vehicle energy-saving algorithm for decision processing, and plans the optimal target speed sequence for the target vehicle's future travel, thereby achieving optimal speed control of the vehicle, achieving vehicle safety, energy saving and efficient passage, and improving the user's driving experience.

[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 is a schematic structural diagram of a C-V2X-based vehicle control system provided according to Embodiment 1 of the present invention;

[0024] Figure 2 is a flow chart of a C-V2X-based vehicle control method provided according to Embodiment 1 of the present invention;

[0025] Figure 3 is a flow chart of a C-V2X-based vehicle control method provided according to Embodiment 2 of the present invention;

[0026] Figure 4 is a flow chart of a C-V2X-based vehicle control method provided according to Embodiment 3 of the present invention;

[0027] Figure 5 is a structural schematic diagram of a C-V2X-based vehicle control device provided according to a fourth embodiment of the present invention;

[0028] Figure 6 is a schematic structural diagram of a C-V2X-based vehicle control device provided according to Embodiment 5 of the present invention;

[0029] Figure 7 It is a structural diagram of a cloud control platform / vehicle terminal provided according to Embodiment 6 of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Embodiment 1

[0033] When a vehicle is driving, due to the restrictions on vehicle traffic caused by factors such as traffic lights, road slopes, and traffic flow, the vehicle frequently accelerates and decelerates, starts and stops, etc., which aggravates the vehicle's energy consumption and reduces the user's driving experience. In order to solve the above problems, the first embodiment of the present invention provides a vehicle control system based on C-V2X (cellular vehicle to everything), such as Figure 1 As shown, the C-V2X-based vehicle control system includes: cloud, roadside and vehicle-mounted terminals, wherein the cloud includes: cloud control platform; the roadside includes: roadside sensing equipment, edge computing unit MEC (Mobile Edge Computing), roadside terminal RSU (Road Side Unit); the vehicle-mounted terminal includes: vehicle-mounted terminal OBU (On Board Unit). The following is a specific description of the structure of the C-V2X-based vehicle control system of this embodiment.

[0034] The cloud control platform is responsible for collecting dynamic traffic data, road status data, vehicle operation data and other data on the target travel path of the service vehicle (i.e. the target vehicle), providing the vehicle-mounted terminal with a predictive traffic light time window, predicting the changes in the traffic flow at the intersection in the long term in the future, and planning the optimal speed strategy for the target vehicle's future travel based on the high-precision map, and obtaining the target vehicle speed sequence, i.e. the global optimal driving speed trajectory.

[0035] Roadside sensing equipment mainly includes: radar, camera, electronic traffic signs, traffic signal lights and other equipment, which can realize real-time perception of the traffic environment and status on the target vehicle's target path, including traffic light information, traffic participant information, traffic event information, positioning information, etc.

[0036] The edge computing unit MEC realizes the fusion analysis and calculation of multi-dimensional perception data collected by roadside perception equipment such as cameras, millimeter-wave radars, and lidars, and processes unstructured perception data into structured data transmission, reducing the transmission pressure of the network and the high requirements of original large-scale data on cloud transmission network bandwidth and latency.

[0037] The roadside terminal RSU is a key node of vehicle-road cooperative technology, mainly providing V2X communication functions. Through the communication network, the signal phase and timing data of the traffic signal, the road conditions and traffic conditions collected by the roadside sensing equipment, and the vehicle operation data reported by the vehicle terminal OBU are uploaded to the cloud control platform for processing, and the optimal driving speed broadcast issued by the cloud platform is transmitted to the vehicle terminal OBU.

[0038] The on-board terminal OBU is a hardware device installed on the target vehicle for V2X communication with the roadside terminal RSU. It can acquire the vehicle operation data of the target vehicle, interact with the roadside terminal RSU information, and achieve precise control of the vehicle. It can also provide the driver with the best driving speed recommendation for the vehicle through the human-machine interface HMI (Human Machine Interface).

[0039] Based on the above vehicle control system, Figure 2 A flow chart of a vehicle control method based on C-V2X is provided for the first embodiment of the present invention. This embodiment can be applied to the situation where the vehicle speed is reasonably planned for the vehicle by using the vehicle-road cooperative technology based on C-V2X, so as to achieve vehicle safety, energy saving and efficient passage. The method can be executed by a vehicle control device based on C-V2X, which can be implemented in the form of hardware and / or software, and can be configured in a cloud control platform. Figure 2 As shown, a C-V2X-based vehicle control method provided in the first embodiment is applied to a cloud control platform and specifically includes the following steps:

[0040] S110. Obtain target data of a target vehicle on a target travel path; wherein the target data includes at least one of the following: dynamic traffic data, road status data, and vehicle operation data.

[0041] The target vehicle may refer to a service intelligent connected vehicle for which optimal speed planning is to be performed. The target travel path may be understood as a travel path planned for the target vehicle, for example, the optimal travel path automatically planned by the vehicle navigation system according to the departure and destination input by the vehicle driver.

[0042] Dynamic traffic data may refer to various data collected by roadside terminals on the target traffic path and used to reflect road traffic conditions. For example, it may include but is not limited to: traffic participant data, traffic event data (such as congestion, construction, etc.), signal light phase and timing data, traffic sign data, and control instructions from traffic management departments (such as speed limits, no-entry bans, traffic control, etc.).

[0043] The road state data may refer to relevant data used to characterize the road state of the target travel path, for example, may include but is not limited to: road slope data, road icing data, road water accumulation data, etc.

[0044] Vehicle operation data may refer to relevant data used to characterize the real-time operating status of the target vehicle, such as but not limited to: vehicle working status, vehicle location information, operating parameters (such as real-time vehicle speed, energy consumption, steering angle, heading angle, brake pedal status, etc.), warning information, driving intention, etc.

[0045] In an embodiment of the present invention, the cloud control platform can obtain various target data of the vehicle on the target travel path during the driving process of the target vehicle, such as dynamic traffic data, road status data, vehicle operation data, etc., and then subsequently process the above data to plan the optimal speed strategy for future driving for the target vehicle, that is, to obtain the target speed sequence for global optimal driving.

[0046] S120. Process the target data according to a preset intelligent connected vehicle energy-saving algorithm to obtain a target vehicle speed sequence; wherein the target vehicle speed sequence includes the target vehicle speed corresponding to each target planned vehicle speed issuance point.

[0047] Among them, the preset intelligent connected vehicle energy-saving algorithm can be understood as an algorithm pre-configured in the cloud control platform for rationally planning the vehicle speed to achieve vehicle safety, energy saving and efficient passage. For example, it may include but is not limited to: vehicle queue dissipation time prediction algorithm, predictive cruise algorithm, vehicle speed guidance algorithm, green wave traffic planning algorithm, etc.

[0048] The target planned speed sending point may refer to the time point when the cloud control platform sends the target speed (optimal planned speed) to the vehicle terminal OBU. For example, the target speed may be sent every 0.5 seconds or 1 second, etc. The specific setting may be based on factors such as the actual traffic status of the target vehicle and the vehicle operation status. This embodiment does not impose any specific restrictions on this.

[0049] The target speed sequence may refer to a speed sequence or trajectory containing the target speeds of the target vehicle at each target planning speed sending point, which is used to characterize the speed planning of the target vehicle at the next several target planning speed sending points, that is, within a period of time in the future. It is understandable that the target speeds contained in the target speed sequence are not fixed. The cloud control platform can plan the optimal target speed in real time based on the reported real-time operation data, real-time traffic status and other data of the target vehicle, and send it to the vehicle terminal OBU at the next target planning speed sending point to correct the optimal driving state of the target vehicle.

[0050] In an embodiment of the present invention, the cloud control platform can coordinate various target data of the vehicle on the target travel path during the driving process of the target vehicle, and call its own preset intelligent connected vehicle energy-saving algorithm to process the above data, provide the vehicle side with a predictive traffic light time window, predict the situation changes of intersection traffic flow in the future long-term domain, predict the time for vehicle queues to dissipate at each intersection, and plan the optimal speed strategy for the future driving of the target vehicle, that is, the target vehicle speed sequence, for the vehicle based on the high-precision map.

[0051] S130. Send the target vehicle speed sequence to the vehicle-mounted terminal that is communicatively connected to the roadside terminal, so that the vehicle-mounted terminal controls the target vehicle according to the target vehicle speed sequence.

[0052] In an embodiment of the present invention, the cloud control platform can adopt transmission protocols such as MQTT (Message Queuing Telemetry Transport) and HTTP (Hypertext Transfer Protocol) to send the target vehicle speed sequence planned and decided to the roadside terminal RSU, and then the roadside terminal RSU broadcasts the target vehicle speed sequence to the on-board terminal OBU of the target vehicle through PC5 (direct communication interface) and other methods, and then the on-board terminal OBU accurately controls the target vehicle according to the target vehicle speed sequence to achieve safe, energy-saving and efficient passage of the vehicle.

[0053] The technical solution of the embodiment of the present invention is applied to the cloud control platform, by obtaining the target data of the target vehicle on the target passage path; wherein the target data includes at least one of the following: dynamic traffic data, road status data, vehicle operation data; the target data is processed according to the preset intelligent networked vehicle energy-saving algorithm to obtain a target speed sequence; wherein the target speed sequence includes the target speed corresponding to each target planned speed sending point of the target vehicle; the target speed sequence is sent to the vehicle terminal that is communicatively connected to the roadside terminal, so that the vehicle terminal controls the target vehicle according to the target speed sequence. The cloud control platform in this technical solution coordinates various target data of the target vehicle on the target passage path, and then calls the preset intelligent networked vehicle energy-saving algorithm for decision processing, and plans the optimal target speed sequence for the target vehicle's future travel, thereby achieving optimal speed control of the vehicle, achieving vehicle safety, energy saving and efficient passage, and improving the user's driving experience.

[0054] Embodiment 2

[0055] Figure 3 The flowchart of a vehicle control method based on C-V2X provided in the second embodiment of the present invention is further optimized and expanded based on the above implementation, and can be combined with various optional technical solutions in the above implementation. Figure 3 As shown, a C-V2X-based vehicle control method provided in the second embodiment is applied to a cloud control platform and specifically includes the following steps:

[0056] S210. Acquire dynamic traffic data uploaded by a roadside terminal on a target traffic path; wherein the dynamic traffic data at least includes: environmental perception data, traffic light phase and timing data.

[0057] Among them, environmental perception data may refer to multi-dimensional perception data collected by roadside terminals such as radars and cameras on the target traffic path, which may include but are not limited to: traffic participant data, traffic event data, road traffic status data, etc.

[0058] Signal Phase and Timing (SPAT) data can refer to dynamic traffic data used to characterize the change rules and time arrangements of traffic signals. The signal phase refers to the state of a traffic light in a cycle, such as red light, green light, yellow light, etc.; the timing refers to the time period specified by the traffic signal control system for each phase.

[0059] In an embodiment of the present invention, the cloud control platform can obtain the dynamic traffic data of the vehicle on the target traffic path during the driving process of the target vehicle, and the dynamic traffic data can be obtained by various roadside sensing devices on the target traffic path, and transmitted to the roadside terminal RSU after fusion processing by the edge computing unit MEC, and then reported to the cloud control platform by the roadside terminal RSU; wherein the dynamic traffic data may include at least: environmental perception data, traffic light phase and timing data.

[0060] S220. Obtain road status data corresponding to the target travel path in a pre-configured high-precision map; wherein the road status data at least includes: road slope data.

[0061] In an embodiment of the present invention, the cloud control platform can search for road traffic data corresponding to the target travel path, such as road slope data, in a high-precision map configured by itself or provided by a third-party platform. This embodiment does not impose any specific restrictions on the method of obtaining road slope data.

[0062] S230, obtaining vehicle operation data uploaded by a roadside terminal on the target travel path; wherein the vehicle operation data is obtained by an on-board terminal configured in the target vehicle and reported to the roadside terminal.

[0063] In an embodiment of the present invention, during the driving process of the target vehicle, the on-board terminal OBU can obtain the real-time vehicle speed, warning information, driving intention and other vehicle operation data of the target vehicle, and send it to the roadside terminal RSU on the target travel path, which is then reported to the cloud control platform by the roadside terminal RSU.

[0064] S240: Determine the corresponding queuing vehicle dissipation time according to the environmental perception data in the dynamic traffic data.

[0065] The dissipation time of queued vehicles may refer to the time required for queued vehicles to pass through corresponding road sections, road intersections, etc.

[0066] In an embodiment of the present invention, the cloud control platform can call a pre-configured vehicle queue dissipation time prediction algorithm based on the environmental perception data in the dynamic traffic data to predict the situation change of the target traffic path traffic flow in the future long-term domain, thereby predicting the corresponding queue vehicle dissipation time. In a specific embodiment, the vehicle queue dissipation time prediction algorithm may include but is not limited to: a vehicle queue dissipation time prediction algorithm based on image self-learning, a vehicle queue dissipation time prediction algorithm based on shock wave theory and long short-term memory network (Long Short-Term Memory, LSTM), etc.

[0067] S250: Determine a corresponding traffic light time window according to the signal light phase and timing data in the dynamic traffic data.

[0068] The traffic light time window may refer to a time period during a traffic light cycle during which a target vehicle can safely pass through an intersection.

[0069] In an embodiment of the present invention, the cloud control platform can use the signal light phase and timing data in the dynamic traffic data to analyze the status of traffic lights at each intersection on the target traffic path, thereby obtaining the corresponding traffic light time window.

[0070] S260: Calling a preset intelligent networked vehicle energy-saving algorithm to perform decision processing on the dissipation time of queued vehicles, the traffic light time window, the vehicle operation data, and the road slope data in the road status data, and obtain a target vehicle speed sequence corresponding to the target vehicle on the target travel path.

[0071] In an embodiment of the present invention, after determining the queuing vehicle dissipation time and traffic light time window corresponding to the target traffic path, the cloud control platform can combine the aforementioned acquired vehicle operation data and road slope data, and call the pre-configured preset intelligent connected vehicle energy-saving algorithm to process the above data, analyze the optimal speed strategy for the target vehicle to pass through each intersection without stopping under the premise of ensuring safe driving, that is, determine the target speed of the target vehicle corresponding to each target planned speed issuance point, and combine the target speeds into a target speed sequence.

[0072] In a specific embodiment, the cloud control platform can establish an objective function for the target vehicle's passage in advance based on factors such as the target vehicle's speed, energy consumption, and travel time, and at the same time establish constraints such as road speed limit constraints, speed constraints, acceleration constraints, green wave travel constraints, vehicle dynamics constraints, and vehicle motor energy consumption constraints, and then construct an optimal speed decision model corresponding to the target vehicle based on the above objective function and constraints; then use the queue vehicle dissipation time, traffic light time window, vehicle operation data, and road slope data to solve the optimal speed decision model, and then obtain the target speed sequence corresponding to the target vehicle on the target travel path.

[0073] S270. Send the target vehicle speed sequence to the vehicle-mounted terminal that is communicatively connected to the roadside terminal, so that the vehicle-mounted terminal controls the target vehicle according to the target vehicle speed sequence.

[0074] In an embodiment of the present invention, the cloud control platform can send the target vehicle speed sequence planned by the decision to the on-board terminal OBU, and then the on-board terminal OBU can accurately control the target vehicle according to the target vehicle speed sequence to achieve safe, energy-saving and efficient passage of the vehicle.

[0075] Further, based on the above-mentioned embodiments of the invention, this embodiment provides a C-V2X-based vehicle control method, further comprising:

[0076] S1. During the driving process of the target vehicle, determine the status information of the current traffic participants around the target vehicle according to the environmental perception data in the dynamic traffic data;

[0077] S2, determining the target optimized vehicle speed corresponding to the vehicle operation data and the status information of the traffic participants based on the preset intelligent networked vehicle energy-saving algorithm;

[0078] S3. When the next target planned vehicle speed is sent, the target optimized vehicle speed is sent to the vehicle terminal, so that the vehicle terminal can correct and control the target vehicle according to the target optimized vehicle speed.

[0079] In an embodiment of the present invention, since the traffic environment in reality is often constantly changing, for example, a traffic accident suddenly occurs on the target travel path, causing traffic jams, etc., the cloud control platform can determine the status information of the traffic participants currently around the target vehicle based on the environmental perception data acquired in real time, and then based on the vehicle operation data and the status information of the traffic participants, call the preset intelligent connected vehicle energy-saving algorithm to perform rolling optimization on the target vehicle speed, obtain the target optimized vehicle speed, and send it to the on-board terminal OBU at the next target planned speed sending point to correct the optimal driving state of the target vehicle.

[0080] Further, based on the above-mentioned embodiments of the invention, a C-V2X-based vehicle control method provided in this embodiment can be applied to at least the following three scenarios:

[0081] Scenario 1: Speed ​​adjustment based on road slope

[0082] During the driving process, the vehicle's driving speed will change due to factors such as road slope and road adhesion. Therefore, in the process of intelligent network control, it is necessary to perform real-time calculations on the vehicle control system based on the current vehicle driving status and road slope data, and adopt appropriate control strategies to ensure that the vehicle saves as much fuel as possible while ensuring safe driving. According to the actual situation, the road slope can be divided into two main types: steep slope and gentle slope. Steep slope sections often have a larger slope, and the vehicle needs to overcome greater resistance when driving, while gentle slope sections are smaller, the resistance is also smaller, and the power used will also be less.

[0083] Scenario 2: Traffic light-based speed control

[0084] During the driving process, the vehicle will start and stop frequently due to factors such as intersection lights. Therefore, in the process of intelligent network control, it is necessary to perform real-time calculations on the vehicle control system based on the current intersection light information and adopt appropriate control strategies to ensure that the vehicle passes through the intersection without stopping while ensuring safe driving.

[0085] Scenario 3: Vehicle speed adjustment based on dynamic traffic environment

[0086] During vehicle driving, when there is no vehicle in front of the lane or the vehicle in front is far away from the vehicle, the vehicle can travel at the expected speed set by the driver. When the distance between the vehicle in front of the lane and the vehicle is too close, the vehicle needs to slow down and maintain a certain safe distance from the vehicle in front. Through the roadside perception system in the intelligent network system, the driving trajectory, speed and driving intention of the vehicle in front are detected, the self-control system is calculated in real time, and appropriate control strategies are adopted to ensure that the vehicle achieves the optimal speed while ensuring safe driving.

[0087] The technical solution of the embodiment of the present invention is applied to a cloud control platform, and is applied to the cloud control platform, by obtaining dynamic traffic data uploaded by a roadside terminal on a target passage path; wherein the dynamic traffic data at least includes: environmental perception data, signal light phase and timing data; obtaining road state data corresponding to the target passage path in a pre-configured high-precision map; wherein the road state data at least includes: road slope data; obtaining vehicle operation data uploaded by a roadside terminal on the target passage path; wherein the vehicle operation data is obtained by a vehicle-mounted terminal configured in the target vehicle and reported to the roadside terminal; determining the corresponding queuing vehicle dissipation time according to the environmental perception data in the dynamic traffic data; determining the corresponding traffic light time window according to the signal light phase and timing data in the dynamic traffic data; calling a preset intelligent networked vehicle energy-saving algorithm to make decisions on the queuing vehicle dissipation time, traffic light time window, vehicle operation data, and road slope data in the road state data, and obtaining a target vehicle speed sequence corresponding to the target vehicle on the target passage path; sending the target vehicle speed sequence to the vehicle-mounted terminal in communication connection with the roadside terminal, so that the vehicle-mounted terminal controls the target vehicle according to the target vehicle speed sequence. The cloud control platform in this technical solution coordinates various target data of the target vehicle on the target travel path, and then calls the preset intelligent connected vehicle energy-saving algorithm for decision-making and processing, and plans the optimal target speed sequence for the target vehicle's future travel, thereby achieving optimal speed control of the vehicle, realizing safe, energy-saving and efficient travel of the vehicle, and improving the user's driving experience.

[0088] Embodiment 3

[0089] Figure 4 This is a flow chart of a C-V2X-based vehicle control method provided in the third embodiment of the present invention. This embodiment can be applied to the situation where the vehicle speed is reasonably planned for the vehicle by using the C-V2X-based vehicle-road cooperative technology, so as to achieve vehicle safety, energy saving and efficient passage. The method can be executed by a C-V2X-based vehicle control device, which can be implemented in the form of hardware and / or software, and can be configured in a vehicle-mounted terminal. Figure 4As shown, a C-V2X-based vehicle control method provided in the third embodiment is applied to a vehicle-mounted terminal and specifically includes the following steps:

[0090] S310: Obtain vehicle operation data of a target vehicle on a target travel path, and report the vehicle operation data to a roadside terminal.

[0091] In an embodiment of the present invention, during the driving process of the target vehicle, the on-board terminal OBU configured in the target vehicle can obtain various vehicle operation data of the vehicle, such as the vehicle working status, operating parameters (such as real-time vehicle speed, energy consumption, steering angle, heading angle, brake pedal status, etc.), warning information, driving intention, etc., and transmit the above data to the roadside terminal RSU on the target travel path, and then the roadside terminal RSU reports the data to the cloud control platform for decision-making processing, and then plans the optimal speed strategy for future driving for the target vehicle.

[0092] S320, obtaining a target vehicle speed sequence issued by a roadside terminal, and controlling the target vehicle according to the target vehicle speed sequence; wherein the target vehicle speed sequence includes the target vehicle speed corresponding to each target planned vehicle speed issuance point.

[0093] In an embodiment of the present invention, after the cloud control platform plans the optimal speed strategy for the future travel of the target vehicle, that is, the target speed sequence, it can be sent to the roadside terminal RSU, so that the on-board terminal OBU can obtain the target speed sequence broadcast by the roadside terminal RSU through PC5 and other methods, and control the target vehicle according to the target speed sequence to achieve vehicle safety, energy saving and efficient passage.

[0094] Further, based on the above-mentioned embodiment of the invention, S320 specifically includes:

[0095] When the target planned vehicle speed is reached, the vehicle controller that controls the target vehicle executes the corresponding target vehicle speed.

[0096] In an embodiment of the present invention, the vehicle-mounted terminal OBU can control the vehicle controller of the target vehicle to execute the pre-planned target speed when reaching the designated target planned speed distribution point, so as to ensure that the target vehicle saves fuel and passes efficiently as much as possible while ensuring safe driving.

[0097] Furthermore, when the target planned speed is sent, the on-board terminal OBU can also control the human-machine interface HMI of the target vehicle to display speed suggestion prompt information corresponding to the target speed, so as to assist the driver to control the vehicle at the optimal speed.

[0098] The technical solution of the embodiment of the present invention is applied to the vehicle-mounted terminal, which obtains the vehicle operation data of the target vehicle on the target passage path and reports the vehicle operation data to the roadside terminal; obtains the target speed sequence issued by the roadside terminal, and controls the target vehicle according to the target speed sequence; wherein the target speed sequence includes the target speed corresponding to each target planned speed issuance point of the target vehicle. The vehicle-mounted terminal in this technical solution obtains the vehicle operation data of the target vehicle on the target passage path and reports it to the cloud control platform, and then uses the target speed sequence for the target vehicle's future driving issued by the cloud control platform to control the vehicle at the optimal speed, thereby achieving safe, energy-saving and efficient passage of the vehicle and improving the user's driving experience.

[0099] Embodiment 4

[0100] Figure 5 This is a schematic diagram of the structure of a C-V2X-based vehicle control device provided in Embodiment 4 of the present invention. Figure 5 As shown, the device is applied to a cloud control platform, including:

[0101] The data acquisition module 41 is used to acquire target data of the target vehicle on the target passage path; wherein the target data includes at least one of the following: dynamic traffic data, road status data, and vehicle operation data;

[0102] The vehicle speed sequence determination module 42 is used to process the target data according to a preset intelligent networked vehicle energy-saving algorithm to obtain a target vehicle speed sequence; wherein the target vehicle speed sequence includes the target vehicle speed corresponding to each target planned vehicle speed issuance point;

[0103] The vehicle control module 43 is used to send the target vehicle speed sequence to the vehicle-mounted terminal that is communicatively connected to the roadside terminal, so that the vehicle-mounted terminal controls the target vehicle according to the target vehicle speed sequence.

[0104] The technical solution of the embodiment of the present invention is applied to the cloud control platform, and the target data of the target vehicle on the target passage path is obtained through the data acquisition module; wherein the target data includes at least one of the following: dynamic traffic data, road status data, and vehicle operation data; the speed sequence determination module processes the target data according to the preset intelligent networked vehicle energy-saving algorithm to obtain the target speed sequence; wherein the target speed sequence includes the target speed corresponding to each target planning speed sending point of the target vehicle; the vehicle control module sends the target speed sequence to the vehicle terminal connected to the roadside terminal in communication, so that the vehicle terminal controls the target vehicle according to the target speed sequence. The cloud control platform in this technical solution coordinates various target data of the target vehicle on the target passage path, and then calls the preset intelligent networked vehicle energy-saving algorithm for decision processing, and plans the optimal target speed sequence for the future driving of the target vehicle, thereby realizing the optimal speed control of the vehicle, achieving the safety, energy saving and efficient passage of the vehicle, and improving the user's driving experience.

[0105] Further, based on the above-mentioned embodiment of the invention, the data acquisition module 41 includes at least one of the following:

[0106] A first data acquisition unit is used to acquire dynamic traffic data uploaded by a roadside terminal on a target traffic path; wherein the dynamic traffic data at least includes: environmental perception data, signal light phase and timing data;

[0107] A second data acquisition unit is used to acquire road state data corresponding to a target travel path in a pre-configured high-precision map; wherein the road state data at least includes: road slope data;

[0108] The third data acquisition unit is used to acquire the vehicle operation data uploaded by the roadside terminal on the target travel path; wherein the vehicle operation data is acquired by the on-board terminal configured in the target vehicle and reported to the roadside terminal.

[0109] Further, based on the above-mentioned embodiment of the invention, the vehicle speed sequence determination module 42 includes:

[0110] A queue vehicle dissipation time determination unit, used to determine the corresponding queue vehicle dissipation time according to the environmental perception data in the dynamic traffic data;

[0111] A traffic light time window determination unit, used to determine the corresponding traffic light time window according to the signal light phase and timing data in the dynamic traffic data;

[0112] The vehicle speed sequence determination unit is used to call the preset intelligent connected vehicle energy-saving algorithm to make decisions on the dissipation time of queued vehicles, traffic light time window, vehicle operation data and road slope data in the road status data, so as to obtain the target vehicle speed sequence corresponding to the target vehicle on the target travel path.

[0113] Further, based on the above-mentioned embodiment of the invention, the C-V2X-based vehicle control device further includes:

[0114] A traffic participant status determination module is used to determine the status information of traffic participants currently around the target vehicle according to the environmental perception data in the dynamic traffic data during the driving process of the target vehicle;

[0115] An optimized vehicle speed determination module is used to determine a target optimized vehicle speed corresponding to vehicle operation data and status information of traffic participants based on a preset intelligent connected vehicle energy-saving algorithm;

[0116] The vehicle correction control module is used to send the target optimized vehicle speed to the vehicle terminal when the next target planned vehicle speed sending point is reached, so that the vehicle terminal can perform correction control on the target vehicle according to the target optimized vehicle speed.

[0117] The C-V2X-based vehicle control device provided in an embodiment of the present invention can execute the C-V2X-based vehicle control method provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0118] Embodiment 5

[0119] Figure 6 This is a schematic diagram of the structure of a C-V2X-based vehicle control device provided in Embodiment 5 of the present invention. Figure 6 As shown, the device is applied to a vehicle-mounted terminal, including:

[0120] The data reporting module 51 is used to obtain the vehicle operation data of the target vehicle on the target passage path, and report the vehicle operation data to the roadside terminal;

[0121] The vehicle control module 52 is used to obtain the target speed sequence sent by the roadside terminal and control the target vehicle according to the target speed sequence; wherein the target speed sequence includes the target speed corresponding to each target planned speed sending point of the target vehicle.

[0122] The technical solution of the embodiment of the present invention is applied to the vehicle terminal, and the vehicle operation data of the target vehicle on the target passage path is obtained through the data reporting module, and the vehicle operation data is reported to the roadside terminal; the vehicle control module obtains the target speed sequence issued by the roadside terminal, and controls the target vehicle according to the target speed sequence; wherein the target speed sequence includes the target speed corresponding to each target planned speed issuance point of the target vehicle. The vehicle terminal in this technical solution obtains the vehicle operation data of the target vehicle on the target passage path and reports it to the cloud control platform, and then uses the target speed sequence for the target vehicle's future driving issued by the cloud control platform to control the vehicle at the optimal speed, thereby achieving safe, energy-saving and efficient passage of the vehicle and improving the user's driving experience.

[0123] Further, based on the above-mentioned embodiment of the invention, the target vehicle is controlled according to the target vehicle speed sequence, including:

[0124] When the target planned vehicle speed is reached, the vehicle controller that controls the target vehicle executes the corresponding target vehicle speed.

[0125] Further, based on the above-mentioned embodiment of the invention, the target vehicle is controlled according to the target vehicle speed sequence, and further includes:

[0126] When the target planned speed is reached, the human-machine interface controlling the target vehicle displays the speed suggestion prompt information corresponding to the target speed.

[0127] The C-V2X-based vehicle control device provided in an embodiment of the present invention can execute the C-V2X-based vehicle control method provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0128] Embodiment 6

[0129] Figure 7 FIG. 6 is a schematic diagram showing a structure of a cloud control platform / vehicle terminal 60 that can be used to implement an embodiment of the present invention. Figure 7As shown, the cloud control platform / vehicle terminal 60 includes at least one processor 61, and a memory connected to the at least one processor 61, such as a read-only memory (ROM) 62, a random access memory (RAM) 63, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 61 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 62 or the computer program loaded from the storage unit 68 to the random access memory (RAM) 63. In RAM 63, various programs and data required for the operation of the cloud control platform / vehicle terminal 60 can also be stored. The processor 61, ROM 62 and RAM 63 are connected to each other through a bus 64. The input / output (I / O) interface 65 is also connected to the bus 64.

[0130] Multiple components in the cloud control platform / vehicle terminal 60 are connected to the I / O interface 65, including: an input unit 66, such as a keyboard, a mouse, etc.; an output unit 67, such as various types of displays, speakers, etc.; a storage unit 68, such as a disk, an optical disk, etc.; and a communication unit 69, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 69 allows the cloud control platform / vehicle terminal 60 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0131] The processor 61 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 61 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 61 executes the various methods and processes described above, such as a vehicle control method based on C-V2X.

[0132] In some embodiments, the C-V2X-based vehicle control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 68. In some embodiments, part or all of the computer program may be loaded and / or installed on the cloud control platform / vehicle terminal 60 via the ROM 62 and / or the communication unit 69. When the computer program is loaded into the RAM 63 and executed by the processor 61, one or more steps of the C-V2X-based vehicle control method described above may be performed. Alternatively, in other embodiments, the processor 61 may be configured to execute the C-V2X-based vehicle control method in any other appropriate manner (e.g., by means of firmware).

[0133] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0134] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0135] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0136] In order to provide interaction with the user, the system and technology described herein can be implemented on a cloud control platform / vehicle terminal, which has: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or trackball), through which the user can provide input to the cloud control platform / vehicle terminal. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and the input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0137] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0138] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0139] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0140] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle control method based on C-V2X, characterized in that: Applied to the cloud control platform, the method includes: Acquire target data of a target vehicle on a target travel path; wherein the target data includes at least one of the following: dynamic traffic data, road status data, and vehicle operation data; The target data is processed according to a preset intelligent networked vehicle energy-saving algorithm to obtain a target vehicle speed sequence; wherein the target vehicle speed sequence includes the target vehicle speed corresponding to each target planned vehicle speed issuance point; The target vehicle speed sequence is sent to a vehicle-mounted terminal that is communicatively connected to a roadside terminal, so that the vehicle-mounted terminal controls the target vehicle according to the target vehicle speed sequence.

2. The method according to claim 1, characterized in that The step of acquiring target data of the target vehicle on the target travel path includes at least one of the following: Acquire the dynamic traffic data uploaded by the roadside terminal on the target traffic path; wherein the dynamic traffic data at least includes: environmental perception data, signal light phase and timing data; Acquire the road state data corresponding to the target travel path in a pre-configured high-precision map; wherein the road state data at least includes: road slope data; Acquire the vehicle operation data uploaded by the roadside terminal on the target travel path; wherein the vehicle operation data is acquired by the on-board terminal configured in the target vehicle and reported to the roadside terminal.

3. The method according to claim 1, characterized in that The target data is processed according to a preset intelligent networked vehicle energy-saving algorithm to obtain a target vehicle speed sequence, including: Determine the corresponding queuing vehicle dissipation time according to the environmental perception data in the dynamic traffic data; Determine the corresponding traffic light time window according to the signal light phase and timing data in the dynamic traffic data; The preset intelligent connected vehicle energy-saving algorithm is called to perform decision processing on the dissipation time of the queuing vehicles, the traffic light time window, the vehicle operation data, and the road slope data in the road state data to obtain the target vehicle speed sequence corresponding to the target vehicle on the target travel path.

4. The method according to claim 1, characterized in that: Also includes: During the driving process of the target vehicle, determining the status information of the current traffic participants around the target vehicle according to the environmental perception data in the dynamic traffic data; Determine the target optimized vehicle speed corresponding to the vehicle operation data and the status information of the traffic participant based on the preset intelligent networked vehicle energy-saving algorithm; When the next target planned vehicle speed sending point is reached, the target optimized vehicle speed is sent to the vehicle-mounted terminal, so that the vehicle-mounted terminal performs correction control on the target vehicle according to the target optimized vehicle speed.

5. A vehicle control method based on C-V2X, characterized in that: Applied to a vehicle-mounted terminal, the method comprises: Acquire vehicle operation data of a target vehicle on a target travel path, and report the vehicle operation data to a roadside terminal; The target vehicle speed sequence sent by the roadside terminal is obtained, and the target vehicle is controlled according to the target vehicle speed sequence; wherein the target vehicle speed sequence includes the target vehicle speed corresponding to each target planned vehicle speed sending point.

6. The method according to claim 5, characterized in that The controlling the target vehicle according to the target vehicle speed sequence includes: When the target planned vehicle speed issuance point is reached, the vehicle controller that controls the target vehicle executes the corresponding target vehicle speed.

7. The method according to claim 5, characterized in that The controlling the target vehicle according to the target vehicle speed sequence further includes: When the target planned vehicle speed is reached, the human-machine interface of the target vehicle is controlled to display vehicle speed suggestion prompt information corresponding to the target vehicle speed.

8. A cloud control platform, characterized in that: The cloud control platform includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the C-V2X-based vehicle control method described in any one of claims 1 to 4.

9. A vehicle-mounted terminal, characterized in that: The vehicle-mounted terminal comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the C-V2X-based vehicle control method described in any one of claims 5-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, which are used to enable a processor to implement the C-V2X-based vehicle control method described in any one of claims 1 to 7 when executed.

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