Control Unit and Method for Intelligent Transportation System

Abstract

The present invention provides an intelligent transportation system, its control unit and method. The control unit is disposed in one or more servers and is configured to: send a request to one or more surrounding networked objects around an un-networked object in a traffic object to request information about the un-networked object; receive first feedback information from each surrounding networked object, the first feedback information at least including information related to the un-networked object acquired by each surrounding networked object; and determine the status of the un-networked object based on the first feedback information.

Description

Technical Field

[0001] The present invention generally relates to the technical field of intelligent transportation. Specifically, it relates to an intelligent transportation system, and also relates to a control unit and a control method for an intelligent transportation system. Background Art

[0002] With the progress of network communication technology and the progress from vehicle intelligence to the collaborative work of intelligent vehicle terminals and intelligent road terminals, the development of intelligent transportation technology has been promoted. Monitoring the status of traffic objects in traffic scenarios is an important aspect of intelligent transportation technology. Existing intelligent transportation solutions usually rely on the interconnection between traffic objects on the road and infrastructure to obtain the status of traffic objects. However, for traffic objects that cannot be interconnected with infrastructure, there is no better solution in the prior art on how to obtain their conditions. Summary of the Invention

[0003] In view of the above problems in the prior art, the present invention aims to provide a control solution for an intelligent transportation system, which can efficiently and accurately obtain the status of unconnected traffic objects.

[0004] To this end, according to an embodiment of the first aspect of the present invention, there is provided a control unit for an intelligent transportation system. The control unit is disposed in one or more servers and is configured to: send a request to one or more surrounding connected objects around an unconnected object among traffic objects to request information about the unconnected object; receive first feedback information from each surrounding connected object, where the first feedback information at least includes information related to the unconnected object obtained by each surrounding connected object; and determine the status of the unconnected object based on the first feedback information.

[0005] According to an embodiment of the second aspect of the present invention, there is provided a control method for intelligent transportation. Optionally, the method is executed by the control unit on the server side as described above. The method includes: sending a request to one or more surrounding connected objects around an unconnected object among traffic objects to request information about the unconnected object; receiving first feedback information from each surrounding connected object, where the first feedback information at least includes information related to the unconnected object obtained by each surrounding unconnected object; and determining the status of the unconnected object based on the first feedback information.

[0006] According to an embodiment of the third aspect of the present invention, a control unit for an intelligent transportation system is provided. The control unit is disposed in a connected vehicle around an unconnected vehicle and is configured to: receive a request for requesting information about the unconnected vehicle; in response to receiving the request, determine first feedback information including information related to the status of the unconnected vehicle; and send the first feedback information to a server communicatively connected to the connected vehicle.

[0007] According to an embodiment of the fourth aspect of the present invention, a control method for intelligent transportation is provided. Optionally, the method is executed by the control unit on the vehicle side as described above. The method includes: receiving a request for requesting information about an unconnected vehicle; in response to the received request, determining first feedback information including information related to the status of the unconnected vehicle; and sending the first feedback information to a server communicatively connected to the connected vehicle.

[0008] According to an embodiment of the fifth aspect of the present invention, an intelligent transportation system is provided, including: an information collection part for collecting various detection information of traffic objects, which includes at least one of the following: first detection information transmitted from connected traffic objects and second detection information obtained by capturing traffic objects; an information processing part including the control unit on the server side and the control unit on the vehicle side as described above, for determining the status of the traffic objects, especially the status of unconnected objects among the traffic objects, according to the various detection information.

[0009] According to an embodiment of the sixth aspect of the present invention, a machine-readable storage medium is provided, which stores executable instructions that, when executed, cause a machine to execute the methods of the embodiments of the second aspect and the fourth aspect as described above. Description of the Drawings

[0010] Figure 1 is a schematic block diagram of an intelligent transportation system according to a feasible embodiment of the present invention.

[0011] Figure 2 Schematically shows a traffic scenario in which some implementations of the present invention can be implemented.

[0012] Figure 3 Schematically shows the working principle of an intelligent transportation system according to a feasible embodiment of the present invention.

[0013] Figure 4 is a swimlane diagram for communication between a server and a vehicle and between vehicles according to a feasible embodiment of the present invention.

[0014] Figure 5FIG. 0 is a flowchart of a control method for an intelligent transportation system according to a feasible embodiment of the present invention, and this method can be implemented by a control unit on the server side.

[0015] Figure 6 FIG. 1 is a flowchart of a control method for an intelligent transportation system according to another feasible embodiment of the present invention, and this method can be implemented by a control unit on the vehicle side. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] Unconnected objects in a traffic scenario pose a great potential danger because they are like "information islands" without communicating with the outside world. It is very meaningful to be able to efficiently and accurately determine the status of such unconnected objects. Because if vehicles on the road can know the status of the objects around them, they can make relatively accurate decisions on their driving behaviors in the next period of time, thereby preventing potential collision risks. Moreover, if the traffic management agency can know the status of unconnected objects on the road, it can issue timely alerts to traffic objects that may collide, thereby providing high-quality traffic management and services.

[0017] Embodiments of the present invention provide technical solutions for intelligently determining the status of unconnected objects in a traffic scenario. The technical solutions of the embodiments of the present invention can be implemented by means of V2X (Vehicle to X), V2V (Vehicle to Vehicle), and V2I (Vehicle to Infrastructure) technologies.

[0018] In the present invention, a "traffic object" can be understood as a traffic participant that can exist in traffic, including but not limited to various vehicles (such as two-wheeled vehicles, three-wheeled vehicles, four-wheeled vehicles), pedestrians, and animals.

[0019] In the present invention, a "non-connected object" can be understood as a traffic object that is not connected to the network (i.e., does not communicate with the outside world). Non-connected objects can include some traffic objects, that is, traffic objects that do not have the function of connecting to the network (such as vehicles that do not have the V2X function), traffic objects that have the function of connecting to the network but temporarily do not turn on the networking function (such as vehicles that have the V2X function but temporarily do not turn on this function), and traffic objects that have the function of connecting to the network but have failed (such as the networking communication unit fails, or the network is interrupted. For example, a vehicle in which the communication unit for V2X communication fails).

[0020] Embodiments of the present invention are applicable to application scenarios for determining the status of various unconnected objects. For example, determining the status of an unconnected vehicle in motion; determining the status of an unconnected faulty vehicle parked on the road. In other words, in the embodiments of the present invention, an "unconnected object" may include an unconnected moving object, an unconnected stationary object, and an unconnected movable object (i.e., an object with the ability to move but temporarily stationary, which may enter a moving state in the future).

[0021] Hereinafter, some embodiments of the present invention will be described with reference to the accompanying drawings.

[0022] Figure 1 Fig. 100 schematically shows an intelligent transportation system 100 according to a feasible embodiment of the present invention, which mainly includes an information collection part 10 and an information processing part 20. Figure 2 Fig. shows a traffic scenario in which the intelligent transportation system 100 can be implemented.

[0023] See Figure 1 and Figure 2 The information collection part 10 is used to collect various detection information of traffic objects 1-6. The information collection part 10 may include information collection devices 11 (e.g., in-vehicle sensors and in-vehicle communication units) provided on the traffic objects. The information collection part 10 may also include information collection devices 12 (e.g., environmental sensors and communication units in the infrastructure) provided in the roadside infrastructure. The specific implementation manner of the information collection part 10 is not limited in the present invention.

[0024] The traffic objects 1-6 may include connected traffic objects 1, 3-6 and unconnected traffic object 2. It can be understood that a traffic object 4 such as a two-wheeled motorcycle can implement the networking function either through a communication module embedded at the factory or through its driver's communication tool such as a smartphone. A pedestrian 5 can implement the networking function through the smartphone carried by him / her.

[0025] The various detection information may include information from different collection channels. The various detection information may come from the first detection information actively transmitted by the traffic object and / or the second detection information passively captured of the traffic object. The first detection information includes, for example, the self-status data actively reported by the connected objects 1, 3-6. The second detection information includes, for example, the status data of the traffic objects 1-6 within the measurement range captured by the roadside camera and / or radar.

[0026] The information processing part 20 may include a control unit 21 (i.e., the control unit on the server side) provided in one or more servers and a control unit 22 (i.e., the control unit on the vehicle side) provided in the vehicle.

[0027] The server can be implemented as one or more of a cloud server, a server in roadside infrastructure, and an edge server. In other words, the control unit 21 on the server side can be disposed on one of these servers. The control unit 21 on the server side can also be disposed on multiple ones of these servers. For example, the control unit 21 includes multiple functional modules. According to specific application scenarios, some of these functional modules are arranged in the server in roadside infrastructure or the edge server, and the other part is arranged in the cloud server.

[0028] The control unit 21 on the server side can be implemented in a way of hardware, software, or a combination of software and hardware. In one implementation, the control unit 21 is implemented to include a memory and a processor. The memory contains instructions that, when executed by the processor, cause the processor to execute a server-side control scheme for the intelligent transportation system 100.

[0029] The control unit 22 on the vehicle side is disposed on the vehicle. For example, it is implemented as an in-vehicle interconnection control unit. The control unit 22 can be implemented in a way of hardware, software, or a combination of software and hardware. In one implementation, the control unit 22 is implemented to include a memory and a processor. The memory contains instructions that, when executed by the processor, cause the processor to execute a vehicle-side control scheme for the intelligent transportation system 100.

[0030] According to an embodiment of the present invention, the control unit 21 on the server side first sends a request to one or more surrounding networked objects around an un-networked object in the traffic object to request information about the surrounding of the networked object, and then obtains information about the un-networked object. Then, the control unit 21 on the server side receives first feedback information from each surrounding networked object. The first feedback information may include the feedback timestamps of each surrounding networked object, the position information of the un-networked object, and the motion state information of the un-networked object. The first feedback information may also include the predicted future position information of the un-networked object and the predicted future motion state information of the un-networked object. Among them, the position information may be relative position information, such as the distance in the x direction from the networked object (for example, in meters) and the distance in the y direction (for example, in meters). The position information may also refer to absolute position information, such as at least one of longitude, latitude, and altitude value. The motion state information may be speed (for example, speed in the WGS84 coordinate system), acceleration (for example, in the x and y directions), and orientation (for example, in the NED coordinate system). Then, the control unit 21 on the server side determines the state of the un-networked object based on the first feedback information.

[0031] In an embodiment of the present invention, the unconnected objects may include unconnected mobile traffic participants in a traffic scenario (i.e., unconnected mobile objects), for example, unconnected vehicles in motion, pedestrians or animals in motion. The connected objects may include connected traffic participants (i.e., connected objects) around the unconnected objects, for example, connected vehicles, connected roadside devices.

[0032] Hereinafter, referring to Figure 3 and Figure 4 , taking the unconnected object as an unconnected moving vehicle and the connected objects as connected vehicles around the unconnected moving vehicle as an example to introduce some implementation manners of the present invention.

[0033] Figure 3 Schematically shows the working principle of an intelligent transportation system according to a feasible embodiment of the present invention. Figure 4 Schematically shows an example communication between a server and vehicles and between vehicles and vehicles according to a feasible embodiment of the present invention. Among them, the vertical line below box 21 represents the steps executed by the control unit 21 on the server side, the vertical line below box 22'represents the steps executed by the control unit 22'in the unconnected moving vehicle 2, and the vertical line below box 22 represents the steps executed by the control units 22 in each of the connected vehicles 1, 3, 6 around the unconnected moving vehicle 2. It can be understood that the control unit 22'in the unconnected moving vehicle 2 can be implemented in a similar manner to the control unit 22 in the connected vehicles 1, 3, 6.

[0034] First, the server-side control unit 21 receives (block 401) the above-mentioned various detection information.

[0035] Next, the server-side control unit 21 determines (block 403) the unconnected moving vehicle 2 and the connected vehicles 1, 3, 6 around it among the multiple traffic objects 1-6 according to the various detection information.

[0036] In one embodiment, the server-side control unit 21 executes an identification algorithm, such as the Hungarian Algorithm, based on the above-mentioned first detection information and the above-mentioned second detection information to determine the unconnected moving vehicle 2.

[0037] In one embodiment, the unconnected moving vehicle 2 can be determined in the following way. That is, the object information analyzed by the roadside facility from the information reported by the vehicle and the object information obtained from roadside devices (such as cameras) are found to be unable to match. For example, if 3 objects are identified from the received vehicle-reported information, but 4 objects are identified from the camera, then there will be doubts about the existence of at least 1 object (for example, understood as a "fuzzy object"). Through the matching algorithm, the approximate position of the fuzzy object can be judged. In such a case, the roadside facility sends a request. For example, it sends a request to the connected vehicle closest to the fuzzy object to obtain information related to the fuzzy object. The present invention does not limit the specific identification method.

[0038] The server-side control unit 21 can also execute an identification algorithm based on the above first detection information and / or the above second detection information to judge the object or area to be confirmed. For example, the control unit can judge the object or area to be confirmed according to the reported information of the connected vehicle. The control unit can judge the object with a weaker information strength as the object to be confirmed by judging the information strength of the reported information. For example, if the RSSI (Received Signal Strength Index) of the reported information is less than the threshold, it is considered that the reported object needs to be confirmed, and then the control unit sends a request message to the connected object near the object, requesting the objects around the object to report the information of the object. The threshold can be configured in the control unit or fixedly written into the control unit.

[0039] Next, the control unit 21 on the server side sends (block 405) requests RE_1, RE_3, and RE_6 to the surrounding connected vehicles 1, 3, and 6, respectively, for requesting the surrounding information of the surrounding connected vehicles 1, 3, and 6 in order to obtain information about the unconnected moving vehicle 2.

[0040] The request may include at least one of the following information: (1) the identifiers of the surrounding connected vehicles 1, 3, and 6 (for example, when sending a request to the connected vehicle 1, the sent identifier is the identifier OBJ_1 referring to the sending object); (2) an instruction for indicating the reporting of the surrounding information (for example, an instruction to start sending the surrounding information); (3) a timestamp (for example, the moment when the request is sent); (4) an area of interest.

[0041] The region of interest refers to the region in the relative orientation of the unconnected object with respect to each surrounding connected object. For example, the region of interest is one of the regions in front of, behind, to the left, and to the right of the unconnected moving vehicle 2. The region of interest can be determined by the server-side control unit 21 based on some of the above-mentioned various detection information. In this way, the vehicle-side control unit can only measure and report data about the region of interest, thereby saving computing power and reducing the amount of transmitted data.

[0042] After receiving (block 407) the request, the control units 22 in each of the connected vehicles 1, 3, and 6 send the detection information within the requested region (i.e., the information within the above-mentioned region of interest) to the receiving end. For example, determine (block 409) the relative position between the vehicle itself and the unconnected moving vehicle 2, determine the absolute position (such as longitude, latitude, and altitude) of the unconnected moving vehicle 2, determine the ID of the unconnected moving vehicle 2, determine the motion state information of the unconnected moving vehicle 2, and predict the position information or motion state of the unconnected moving vehicle 2. At least one of the above information is sent (block 411) as the first feedback information FB_1, FB_3, and FB_6 to the server-side control unit 21.

[0043] The first feedback information at least includes the position information of the unconnected object (for example, the unconnected moving vehicle 2) and / or the motion state information of the unconnected object.

[0044] In one embodiment, the first feedback information may include: (1) the identifiers of each connected vehicle (for example, after the connected vehicle 1 receives the request, repeat "I am OBJ_1" in the first feedback information when sending the first feedback information); (2) the region of interest (for example, after the connected vehicle 1 receives the request, repeat and transmit "the following information is the information within the above-mentioned region of interest" in the first feedback information); (3) the timestamp (for example, the moment when the connected vehicle sends the first feedback information); (4) the relative position (for example, the relative distance, relative direction, and whether in the same lane between the vehicle itself and the unconnected moving vehicle 2); (5) the predicted motion state (for example, the predicted speed, predicted acceleration, predicted heading, and predicted motion trend of the unconnected moving vehicle 2 predicted by each connected vehicle).

[0045] In one embodiment, the region of interest includes the region that the control unit determines needs to be confirmed, or the region where the object to be confirmed is located. The expression method of the region of interest field can be an enumeration type. For example, 00 represents the left direction, 01 represents the right direction, 10 represents the forward direction, and 11 represents the backward direction. This field can also be represented by 1 byte. The expression method of this field is not limited to this.

[0046] An example of the first feedback information can be as follows. Suppose the first feedback information is sent by the connected vehicle 1. The first feedback information sent by the connected vehicle 1 may include: OBJ_1, a moving object ahead, a relative distance of 5 m in the x direction, a relative angle of 0 degrees in the northeast direction, a predicted speed of 60 km / h in the y direction, a predicted acceleration of 5 km 2 / h, the predicted longitude value and latitude value, a predicted heading of north, and it is in the adjacent lane to me.

[0047] It can be understood that the above is an example of the content of the first feedback information, and the expression methods and orders of the data items are not limited to this.

[0048] In one embodiment, the server-side control unit 21 calculates the relative distances between each surrounding connected vehicle 1, 3, 6 and the unconnected moving vehicle 2, and uses the connected vehicle corresponding to the shortest relative distance among the relative distances as the object to which the request is sent. In this way, the request is only sent to the determined connected vehicle and the above first feedback information is only received from the determined connected vehicle. The server-side control unit 21 can also calculate more than 1 and less than the total number of surrounding connected vehicles as the objects to which the request is sent. In this way, all the obtained request objects feedback the first feedback information to the control unit.

[0049] Next, after the server-side control unit 21 receives (block 413) the first feedback information, it calculates (block 415) the state of the unconnected moving vehicle 2 based on the first feedback information. For example, if the connected vehicles 1, 3, 6 all feedback the state (position and / or motion state) of the unconnected vehicle 2, the control unit 21 fuses these feedback information to determine the position and / or motion state of the vehicle 2. Thus, the motion state of the unconnected moving vehicle 2 is obtained by means of the surrounding information sent by the surrounding connected vehicles, and the specific algorithm for calculating the motion state of the unconnected moving vehicle 2 is not limited in the present invention.

[0050] In one embodiment, after each surrounding connected vehicle 1, 3, 6 receives the request, it can send (block 417) wake-up messages W_1, W_3, W_6 to the unconnected moving vehicle 2 through V2V communication to attempt to wake up the unconnected moving vehicle 2. It can be understood that block 417 can be after block 407 and executed simultaneously with block 409.

[0051] In another embodiment, the connected vehicle does not send the first feedback information, but sends a wake-up message after receiving the request information to wake up the unconnected vehicle, so that the unconnected vehicle feeds back a second feedback information including its own state. In other words, after receiving the request information, the connected vehicle can send only the first feedback information, can send only the wake-up message, or can send both the first feedback information and the wake-up message.

[0052] The wake-up information may include at least one of the following: (1) Networking reminder (e.g., an instruction for indicating to turn on and report its own motion state information); (2) Networking timestamp (e.g., the moment when the networking function is turned on); (3) Networking duration (e.g., the duration of turning on the networking function and reporting information).

[0053] An example of the wake-up information can be as follows, that is, the wake-up information may include: The networking function was turned on at 10:00:00 on March 20, 2020 for 20 seconds.

[0054] If the un-networked moving vehicle 2 has a networking function and can work normally by connecting to the network in response to the wake-up information, after receiving (block 419) the wake-up information, the un-networked moving vehicle 2 acquires (block 421) its own information (such as position information, motion state information), and sends (block 423) the second feedback information FB_2 containing its own information to the server-side control unit 21.

[0055] The second feedback information FB_2 at least includes the state of itself acquired by the un-networked object (e.g., the un-networked moving vehicle 2).

[0056] In one embodiment, the second feedback information may include: (1) The identifier of the un-networked moving vehicle 2 (e.g., reporting "I am OBJ_2" in the second feedback information when sending the second feedback information); (2) Timestamp (e.g., the moment when the un-networked moving vehicle 2 sends the second feedback information); (3) Its own information (such as position information, motion state information, CAN bus information), for example, the self-motion state parameters sensed by the vehicle state sensor on the un-networked moving vehicle 2).

[0057] Next, after receiving (block 425) the second feedback information, the server-side control unit 21 calculates (block 427) the state of the un-networked moving vehicle 2 based on the first feedback information and the second feedback information. For example, information about the un-networked moving vehicle 2 relative to surrounding networked moving objects is obtained based on the first feedback information, and the state of the un-networked moving vehicle 2 reported by itself is obtained based on the second feedback information. Calculation (such as position fusion algorithm, motion state fusion algorithm) based on these two pieces of information (i.e., the first feedback information and the second feedback information) can determine the position and / or motion state of the un-networked moving vehicle 2.

[0058] It can be understood that when the un-networked object is awakened by the wake-up information, the control unit 21 can calculate the state of the un-networked object only based on the second feedback information.

[0059] In one embodiment applicable to this situation, the control unit 21 may calculate the status of the unconnected object based on the second feedback information. For example, the unconnected object is awakened by the wake-up information, and the unconnected object reports information including its own status, that is, the second feedback information, which includes, for example, the absolute position information and / or motion state information of the unconnected object. Then, the control unit 21 determines the status of the unconnected object according to the information fed back by the unconnected object.

[0060] It can be understood that in the embodiments of the present invention, information interaction with traffic objects can be performed at roadside infrastructure, and information calculation can be performed in the cloud. For example, the calculation processes in the above boxes 403, 415, and 427 can be performed in the cloud, and the data for calculation is uploaded from the roadside communication unit to the cloud. After the calculation is completed in the cloud, the calculation result is transmitted to the roadside.

[0061] It can be understood that the vehicle-side control unit 22 and the server-side control unit 21 can communicate using the SAE-J2735 standard.

[0062] Figure 5 A control method 500 for an intelligent transportation system according to a feasible embodiment of the present invention is shown. This method 500 can be implemented by the control unit 21 on the server side, and thus the above related descriptions also apply here.

[0063] In step 510, a request is sent to one or more surrounding connected objects around the unconnected object in the traffic object to request information about the unconnected object.

[0064] In step 520, first feedback information is received from each surrounding connected object. The first feedback information at least includes information related to the unconnected object obtained by each surrounding unconnected object.

[0065] In step 530, the status of the unconnected object is determined based on the first feedback information.

[0066] Figure 6 A control method 600 for an intelligent transportation system according to another feasible embodiment of the present invention is shown. This method 600 can be implemented by the control unit 22 on the vehicle side, and thus the above related descriptions also apply here.

[0067] In step 610, at the connected vehicles around the unconnected moving vehicle, a request for requesting information about the unconnected vehicle is received.

[0068] In step 620, at the connected vehicle, in response to the received request, first feedback information including information related to the status of the unconnected vehicle is determined.

[0069] In step 630, at the connected vehicle, the first feedback information is sent to a server communicatively connected to the connected vehicle.

[0070] The present invention also provides a machine-readable storage medium storing executable instructions that, when executed, cause a machine to perform methods 500 and 600 as described above.

[0071] It will be understood that all operations in the methods described above are merely exemplary, and the present invention is not limited to any operation in the methods or the order of these operations, but should cover all other equivalent transformations under the same or similar concepts.

[0072] It will be understood that the control units described above can be implemented in various ways. For example, they can be implemented as hardware, software, or a combination thereof.

[0073] The control unit can include one or more processors. These processors can be implemented using electronic hardware, computer software, or any combination thereof. Whether the processors are implemented as hardware or software will depend on the particular application and the overall design constraints imposed on the system. As an example, a processor, any part of a processor, or any combination of processors given in the present invention can be implemented as a microprocessor, a microcontroller, a digital signal processor (DSP), a field programmable gate array (FPGA), a programmable logic device (PLD), a state machine, gate logic, discrete hardware circuits, and other suitable processing components configured to perform the various functions described in the present invention. The functions of a processor, any part of a processor, or any combination of processors given in the present invention can be implemented as software executed by a microprocessor, a microcontroller, a DSP, or other suitable platforms.

[0074] Software can be broadly regarded as representing instructions, instruction sets, code, code segments, program code, programs, subroutines, software modules, applications, software applications, software packages, routines, subroutines, objects, running threads, processes, functions, etc. Software can reside in a computer-readable medium. The computer-readable medium can include, for example, a memory, which can be, for example, a magnetic storage device (such as a hard disk, a floppy disk, a magnetic stripe), an optical disk, a smart card, a flash memory device, a random access memory (RAM), a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), a register, or a removable disk. Although the memory is shown as being separate from the processor in many aspects of the present invention, the memory can also be located inside the processor (such as a cache or a register).

[0075] The foregoing description is provided to enable any person skilled in the art to make and use various aspects described herein. Various modifications to these aspects will be apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects. Thus, the claims are not intended to be limited to the aspects shown herein. All structural and functional equivalents of the elements of the various aspects of the invention described herein that are known or later come to be known to those skilled in the art will be expressly incorporated herein by reference and are intended to be covered by the claims.

Claims

1. A control unit for an intelligent transportation system, the control unit being disposed in one or more servers and configured to: Send a request to one or more surrounding networked objects around the non-networked object in the traffic object to request information about the non-networked object, where, The request includes a region of interest, which refers to the region in the relative orientation of the unconnected object with respect to each surrounding connected object; Receive first feedback information from each surrounding connected object, the first feedback information at least including information related to the unconnected object obtained by each surrounding connected object; and Determine the state of the unconnected object based on the first feedback information, wherein the control unit is further configured to: Obtain various detection information of the traffic object, the various detection information including: first detection information transmitted from a connected traffic object and second detection information captured for the traffic object; and Determine the unconnected object among the traffic objects based on the various detection information, determine the surrounding connected objects located around the unconnected object among the traffic objects, and determine the region in the relative orientation of the unconnected object with respect to each surrounding connected object as the region of interest.

2. The control unit according to claim 1, wherein, The first feedback information at least includes the position information of the unconnected object and / or the motion state information of the unconnected object.

3. The control unit according to claim 2, wherein, The position information includes at least one of the following: the relative distance, relative direction, and relative lane information between the unconnected object and each surrounding connected object; and The motion state information includes at least one of the following: speed, acceleration, and heading.

4. The control unit according to claim 1, wherein, The state of the unconnected object includes at least one of the following: (1) a position state including the current position and / or future position of the unconnected object; (2) the motion state of the unconnected object; (3) the state change trend of the unconnected object.

5. The control unit according to claim 1, wherein, The control unit is further configured to: In the case where the unconnected object is awakened by the surrounding connected objects and can communicate with the server, receive second feedback information from the unconnected object, the second feedback information at least including its own state obtained by the unconnected object; and Determine the state of the unconnected object based on the first feedback information and the second feedback information.

6. The control unit according to claim 1, wherein, The control unit is further configured to: Calculate the relative distance between each of the surrounding connected objects and the unconnected object; Determine the surrounding connected object corresponding to the shortest relative distance among the relative distances; and Send the request only to the determined surrounding connected object and receive the first feedback information only from the determined surrounding connected object.

7. The control unit according to claim 1, wherein, The unconnected object is an unconnected vehicle, and the surrounding connected objects are connected vehicles around the unconnected vehicle.

8. A control method for intelligent transportation, the method being executed by the control unit according to any one of claims 1-7, the method including: Send a request to one or more surrounding connected objects around the unconnected object among the traffic objects to request information about the unconnected object, wherein the request includes a region of interest, which refers to the region in the relative orientation of the unconnected object with respect to each surrounding connected object; Receive first feedback information from each surrounding networked object, where the first feedback information at least includes information related to the un-networked object obtained by each surrounding un-networked object; and Determine the status of the un-networked object based on the first feedback information, wherein the method further includes: Obtain a variety of detection information of the traffic object, where the variety of detection information includes: first detection information transmitted from a networked traffic object and second detection information captured for the traffic object; and Based on the variety of detection information, determine the un-networked object in the traffic object, determine the surrounding networked objects around the un-networked object in the traffic object, and determine the area in the relative orientation of the un-networked object with respect to each surrounding networked object as the region of interest.

9. A control unit for an intelligent transportation system, the control unit is disposed in a networked vehicle around an un-networked vehicle and is configured to: Receive a request for information about the unconnected vehicle, where The request includes a region of interest, which refers to the area in the relative orientation of the un-networked object with respect to each surrounding networked object; In response to receiving the request, determine first feedback information including information related to the status of the un-networked vehicle; and Send the first feedback information to a server communicatively connected to the networked vehicle, wherein the un-networked object, the surrounding networked objects around the un-networked object, and the region of interest are determined at the server based on a variety of detection information, where the variety of detection information includes: first detection information transmitted from a networked traffic object and second detection information captured for the traffic object.

10. The control unit according to claim 9, wherein, The first feedback information at least includes the position information of the un-networked vehicle and / or the motion state information of the un-networked object.

11. The control unit according to claim 10, wherein The position information includes at least one of the following: the relative distance, relative direction, and relative lane information between the un-networked object and each surrounding networked object; and The motion state information includes at least one of the following: speed, acceleration, and heading.

12. The control unit according to claim 9, wherein, The status of the un-networked vehicle includes at least one of the following: (1) a position status including the current position and / or future position of the un-networked vehicle; (2) the motion state of the un-networked vehicle; (3) the trend of change in the status of the un-networked vehicle.

13. The control unit according to claim 9, wherein, The control unit is further configured to: Send a wake-up message to the un-networked vehicle so that the un-networked vehicle turns on the networking function and sends a second feedback message including its own status to the server, where the wake-up message at least includes a timestamp and duration for turning on the networking function.

14. A control method for intelligent transportation, the method is executed by the control unit according to any one of claims 9-13, and the method includes: Receive a request for requesting information about an un-networked vehicle, where the request includes a region of interest, which refers to the area in the relative orientation of the un-networked object with respect to each surrounding networked object; In response to the received request, determine first feedback information related to the status of the unconnected vehicle; and send the first feedback information to a server communicatively connected to the connected vehicle, wherein the unconnected object, the surrounding connected objects around the unconnected object, and the area of interest are determined at the server based on a plurality of detection information, and the plurality of detection information includes: first detection information transmitted from a connected traffic object and second detection information obtained by capturing a traffic object.

15. An intelligent transportation system, comprising: an information collection part configured to collect a plurality of detection information of traffic objects, including: first detection information transmitted from connected traffic objects and second detection information obtained by capturing traffic objects; an information processing part including a control unit on the server side as described in any one of claims 1-7 and a control unit on the vehicle side as described in any one of claims 9-13, and configured to determine the status of unconnected objects among the traffic objects according to the plurality of detection information.

16. A machine-readable storage medium storing executable instructions that, when executed, cause a machine to perform the methods described in claims 8 and 14.

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