Tunnel formation communication method, device and electronic equipment

Abstract

This application provides a tunnel platooning communication method, apparatus, and electronic device. The tunnel is equipped with a second communication unit that communicates with a first communication unit of each vehicle in the platoon. The method is applied to the second communication unit and includes: if a vehicle in the platoon enters the tunnel, acquiring the communication information of the vehicles already in the tunnel, including vehicle identification, vehicle speed, distance between vehicles, and position information; after acquiring the communication information of the vehicle following at the rear of the platoon, sending the communication information of each vehicle in the platoon to the first communication unit of each vehicle in the platoon according to a preset cycle, so that the vehicles in the platoon can coordinate their movement based on the communication information. This application utilizes the second communication unit in the tunnel to synchronize the communication information of the platooning vehicles, effectively reducing the problem of ineffective vehicle-to-vehicle communication when V2V signals are affected, and ensuring the safe and stable movement of the platoon in the tunnel.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of autonomous driving technology, and in particular to a tunnel formation communication method, device and electronic equipment. Background Art

[0002] With the development and application of autonomous driving technology, the safety and stability of vehicle platooning has gradually become a research hotspot for technicians. How to maintain effective communication between vehicles in the platoon has become an important means to ensure the safety and stability of the vehicle platoon during driving.

[0003] In related technologies, the platooning function is mainly implemented through vehicle-to-vehicle (V2V) communication. During platooning, platooning commands are exchanged through direct communication between vehicles via onboard units (OBU). However, after the platoon enters a tunnel, V2V signal synchronization will be affected by the tunnel's special traffic environment, which will cause the V2V information to be unable to be effectively transmitted, ultimately making it difficult to ensure safety and stability during platooning in the tunnel. Summary of the invention

[0004] The embodiments of the present application provide a tunnel formation communication method, device and electronic equipment to solve the technical problem that the safety and stability of formation driving in the tunnel cannot be guaranteed due to the inability to effectively transmit V2V information between vehicles in a tunnel environment.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] According to a first aspect of an embodiment of the present application, a tunnel formation communication method is provided, wherein the tunnel is provided with a second communication unit that communicates with a first communication unit of each vehicle in the formation, and the method is applied to the second communication unit, comprising:

[0007] If a vehicle in the formation enters a tunnel, the communication information of the vehicle in the formation that has entered the tunnel is obtained, wherein the communication information includes vehicle identification, vehicle speed, distance between vehicles, and position information;

[0008] After acquiring the communication information of the rear-following vehicle in the formation, the communication information of each vehicle in the formation is sent to the first communication unit of each vehicle in the formation according to a preset period, so that each vehicle in the formation can travel in coordination based on the communication information.

[0009] In the embodiment of the present application, the above method is used to synchronize the communication information of the platoon vehicles using the second communication unit in the tunnel, thereby reducing the problem of inability to effectively communicate between vehicles when the V2V signal in the tunnel is affected, and ensuring the safe and stable driving of the platoon in the tunnel.

[0010] In one implementation, the first communication unit is an on-board communication unit OBU, and the second communication unit is a roadside unit RSU.

[0011] In the embodiments of the present application, the above method can effectively improve communication efficiency and has universal applicability.

[0012] In one embodiment, before the communication information of each vehicle in the formation is sent to the first communication unit of each vehicle in the formation according to a preset period, the method further includes:

[0013] If a vehicle in the formation enters the communication coverage of the second communication unit, a communication connection is established with the first communication unit.

[0014] In the embodiment of the present application, the above method can be used to ensure that vehicles can obtain communication information between vehicles when entering a tunnel.

[0015] In one embodiment, before the communication information of each vehicle in the formation is sent to the first communication unit of each vehicle in the formation according to a preset period, the method further includes:

[0016] The method further comprises obtaining a V2V communication cycle in which each vehicle in the formation communicates with each other based on the first communication unit before entering the tunnel; and determining the preset cycle based on the V2V communication cycle.

[0017] In the embodiment of the present application, the above method can be used to maintain the communication cycle before and after the vehicle formation enters the tunnel, thereby improving the stability of the vehicle formation during driving.

[0018] In one embodiment, after obtaining the communication information of the vehicle in the formation that has entered the tunnel and before obtaining the communication information of the rear-following vehicle in the formation, the method further includes:

[0019] If it is monitored that the leading vehicle has driven out of the tunnel and the rear following vehicle has not entered the tunnel, the communication information of the rear following vehicle is acquired, and the communication information of each vehicle in the formation is sent to the rear following vehicle.

[0020] In the embodiment of the present application, the above method can be used to solve the communication problem between the following vehicle at the rear of the team and the leading vehicle that has already left when the tunnel is too short or the team is too long, so as to further ensure the stable driving of the team in the tunnel.

[0021] In one implementation, after obtaining the V2V information of the rear-following vehicle in the formation, the method further includes:

[0022] A prompt message is sent to the rear following vehicle that the leading vehicle has exited the tunnel and the vehicle in front of the rear following vehicle has entered the tunnel, wherein the rear following vehicle drives in coordination according to the communication information acquired from the second communication unit.

[0023] In the embodiment of the present application, the above method can be used to further ensure that the rear-end following vehicle completes the formation coordination according to the communication information obtained by the second communication unit when the tunnel is too short or the formation is too long.

[0024] In one embodiment, after the communication information of each vehicle in the formation is sent to the first communication unit of each vehicle in the formation according to a preset period, the method further includes:

[0025] Acquire traffic condition information and speed limit information ahead of the tunnel; and send the traffic condition information and speed limit information to the pilot vehicle, so that the pilot vehicle plans the path information and / or vehicle control information behind the tunnel based on the traffic condition information and speed limit information.

[0026] In the embodiment of the present application, the above method can be used to improve the efficiency of formation adjustment, so that the formation can quickly adapt to the road section ahead when exiting the tunnel, further improving the safety and stability of the formation when exiting the tunnel.

[0027] According to a second aspect of an embodiment of the present application, a tunnel formation communication device is provided, wherein the tunnel is provided with a second communication unit for communicating with a first communication unit of each vehicle in the formation, and the device is applied to the second communication unit, comprising:

[0028] an acquisition module, configured to acquire communication information of vehicles in the formation that have entered the tunnel when the vehicles in the formation enter the tunnel, wherein the communication information includes vehicle identification, vehicle speed, vehicle spacing between vehicles, and position information;

[0029] The sending module is configured to send the communication information of each vehicle in the formation to the first communication unit of each vehicle in the formation according to a preset period after acquiring the communication information of the rear-following vehicle in the formation, so that each vehicle in the formation can travel in coordination based on the communication information.

[0030] In one embodiment, the tunnel formation communication device is used to execute any possible implementation of the first aspect described above.

[0031] According to a third aspect of the present application, an electronic device is provided, comprising: a memory, a processor and a computer program, wherein the computer program is stored in the memory, and the processor runs the computer program to execute the tunnel formation communication method.

[0032] According to a fourth aspect of the present application, a computer-readable storage medium is provided, wherein the storage medium includes a computer program, and the computer program is used to implement the tunnel formation communication method.

[0033] According to a fifth aspect of an embodiment of the present application, a computer program product is provided, wherein the computer program product comprises a computer program code, and when the computer program code runs on a computer, the computer executes the tunnel formation communication method.

[0034] According to the sixth aspect of an embodiment of the present application, a chip is provided, comprising a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory to execute the tunnel formation communication method. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 One of the scenario schematic diagrams of the tunnel formation communication method provided in an embodiment of the present application;

[0036] Figure 2 A schematic diagram of a flow chart of a tunnel formation communication method provided in an embodiment of the present application;

[0037] Figure 3 Scenario 2 of the tunnel formation communication method provided in the embodiment of the present application

[0038] Figure 4 A schematic diagram of a flow chart of another tunnel formation communication method provided in an embodiment of the present application;

[0039] Figure 5 One of the flowcharts of another tunnel formation communication method provided in an embodiment of the present application;

[0040] Figure 6a Schematic diagram of information interaction between RSU and OBU in an embodiment of the present application;

[0041] Figure 6b A second flow chart of another tunnel formation communication method provided in an embodiment of the present application;

[0042] Figure 7 A schematic diagram of the structure of a tunnel formation communication device provided in an embodiment of the present application;

[0043] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The technical solution provided by the embodiment of the present application is described in detail below in conjunction with the accompanying drawings. It should be noted that the "at..." and "after..." in the embodiment of the present application can be the instant when a certain situation occurs, or a period of time after a certain situation occurs, and the embodiment of the present application does not specifically limit this.

[0045] With the development and application of new technologies such as autonomous driving technology, information and communication technology, and cloud computing, cars are accelerating their transformation from mechanical products controlled by humans to smart products controlled by intelligent systems. Traffic accidents caused by fatigue driving by car drivers are frequently reported in the news. Applying autonomous driving technology to cars can effectively reduce the accident rate.

[0046] Among them, multi-vehicle platooning is a key direction. If the platooning coordination and stable driving between vehicles are achieved, it can effectively avoid rear-end collisions caused by emergency braking of the front vehicle, greatly improve road safety, and multi-vehicle platooning automatic driving can reduce the following distance between vehicles, making the wind resistance of the rear vehicle smaller, which can reduce the fuel consumption cost of the rear vehicle.

[0047] Vehicle-to-vehicle communication plays a key role in vehicle-to-vehicle coordination and stable driving. However, after the convoy enters the tunnel, the GPS (Global Positioning System) timing is easily interfered with, resulting in the V2V signal synchronization between vehicles being affected by the special traffic environment of the tunnel, which will cause the V2V information to be unable to be effectively transmitted. How to ensure that the V2V information of the convoy can be synchronized to each vehicle in time during the tunnel driving process has become an important factor in continuously ensuring a safe and stable driving state. In related technologies, it is proposed to use ultra-wideband (UltraWideband, UWB) wireless technology in tunnels to solve the problem of V2X communication synchronization of vehicles in tunnels. However, due to its shortcomings such as strong beam directivity and short communication distance, UWB technology has not been widely used in tunnels.

[0048] In view of this, the present application proposes a tunnel formation communication method, by setting a second communication unit capable of communicating with each vehicle in the formation in the tunnel, and when the formation enters the tunnel, the second communication unit is used to communicate with the first communication unit of the formation vehicle to obtain the V2V information of each vehicle, and synchronize it to each vehicle, so as to replace each vehicle in the tunnel to obtain the information of other vehicles based on V2V communication, thereby avoiding the formation safety and stability problems caused by the inability to effectively communicate between vehicles when the V2V signal is affected.

[0049] The technical solution of the present application is described in detail below. The embodiments of the present application can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0050] Figure 1 One of the scenario diagrams provided in the embodiment of the present application is as follows: Figure 1As shown, in the tunnel, there are road side units (RSUs), a moving vehicle formation and surrounding free vehicles. In this embodiment, the vehicle formation includes a pilot vehicle and a plurality of following vehicles following the pilot vehicle. Exemplarily, the vehicles in the formation have all entered the tunnel, and the coverage of the RSU is the tunnel area and the preset area before and after the tunnel, such as 5 km before and after the tunnel.

[0051] The above is a brief description of the scenario diagram of this application. Figure 1 Taking the RSU in as an example, the tunnel formation communication method provided in the embodiment of the present application is described in detail.

[0052] Please refer to Figure 2 , Figure 2 A flow chart of a tunnel formation communication method provided in an embodiment of the present application, wherein the tunnel is provided with a second communication unit capable of communicating with the first communication unit of each vehicle in the formation, and the method is applied to the second communication unit, and the method includes step S201 and step S202.

[0053] In this embodiment, the first communication unit is an on-board communication unit OBU, and the second communication unit is a roadside unit RSU.

[0054] The OBU and the RSU may communicate with each other by using, but not limited to, dedicated short range communication (DSRC) or cellular vehicle-to-everything (C-V2X) technology, wherein the OBU may be arranged on the vehicle and the RSU may be arranged on a roadside stand. In combination with practical applications or with the continuous development of science and technology, the first communication unit and the second communication unit are not limited to the OBU and the RSU, but may also be other communication devices capable of communicating in the tunnel.

[0055] Step S201: If a vehicle in the formation enters a tunnel, communication information of the vehicles in the formation that have entered the tunnel is obtained, wherein the formation includes a lead vehicle and a following vehicle following the lead vehicle, and the communication information includes vehicle identification, vehicle speed, vehicle spacing and position information.

[0056] In this embodiment, vehicles in the formation enter the tunnel, that is, any vehicle in the formation enters the tunnel, once the first vehicle (pilot vehicle) enters the tunnel, the RSU starts to obtain the communication information of the pilot vehicle that needs to be transmitted to the following vehicle, such as V2V information. Exemplarily, before entering the tunnel, the pilot vehicle enters the signal coverage of the RSU, and the RSU establishes a communication connection with the OBU of the pilot vehicle. When the pilot vehicle enters the tunnel, the RSU obtains its V2V information based on communication with the OBU.

[0057] In some embodiments, in order to further ensure the driving stability of the vehicle formation in the tunnel scenario, before the vehicle formation enters the tunnel, but when it enters the communication coverage of the RSU, it starts to obtain the V2V information of the vehicle, that is, when each vehicle in the vehicle formation enters the communication range of the RSU, its OBU communicates with the RSU and synchronizes its respective V2V information to the RSU. After receiving the V2V information of each vehicle in the vehicle formation, the RSU synchronizes it to the vehicle formation to achieve the coordination of the vehicle formation. Among them, for vehicles that have not entered the tunnel but have entered the communication range of the RSU, they can continue to communicate based on V2V with other vehicles that have not entered the tunnel.

[0058] It can be understood that V2V information is information that under normal driving conditions (for example, not entering a tunnel), vehicles in the formation need to synchronize with other vehicles in the formation based on V2V to ensure formation coordination. In this embodiment, V2V information includes vehicle identification, vehicle speed, distance between vehicles, and position information. Among them, in order to quickly identify each vehicle in the formation, each vehicle in the formation has a unique vehicle identification number (Identity Document, referred to as ID); the distance between vehicles is usually a constant distance set after the formation is completed, but as the formation travels, it may encounter special road conditions and the distance between vehicles will change, which needs to be synchronized to the corresponding formation vehicles for timely adjustment; the position information is real-time position information, that is, as the vehicle travels, its current position information is continuously updated and acquired.

[0059] Of course, in some embodiments, in addition to the above information, other information may also be included, such as acceleration, steering angle, vehicle status, etc., and the present application does not specifically limit this.

[0060] Step S202: after acquiring the communication information of the rear-following vehicle in the formation, the communication information of each vehicle in the formation is sent to the first communication unit of each vehicle in the formation according to a preset period, so that each vehicle in the formation can travel in coordination based on the V2V information.

[0061] In this embodiment, the RSU communicates with the OBU of each vehicle respectively to obtain the V2V information of each vehicle, and after obtaining the V2V information of the rear following vehicle, the RSU synchronizes the received V2V information of the vehicles in the formation to the first communication units of all vehicles according to a preset period. Each vehicle can adjust the driving status between the front and rear vehicles in real time according to the V2V information obtained by the RSU, for example, to ensure the stability of the vehicle spacing and vehicle speed, thereby maintaining the stable driving of the formation in the tunnel. It can be understood that the rear following vehicle is the last following vehicle in the formation.

[0062] It is worth noting that in this embodiment, all V2V information is synchronously sent only after the V2V information of the rear-following vehicle in the formation is obtained. This is because when some vehicles in the formation are in the tunnel and some vehicles are outside the tunnel, the vehicles in the tunnel and outside the tunnel may be disconnected due to different working conditions inside and outside the tunnel. In addition, synchronization is performed every time the V2V information of a vehicle is received, which also requires more energy consumption. This embodiment is configured to synchronize the V2V information after the V2V information of the rear-following vehicle in the formation is obtained, which can better solve the above problem.

[0063] Exemplarily, after the platoon enters the tunnel, the RSU first receives the V2V information of the lead vehicle, including the lead vehicle's vehicle identification, vehicle speed, vehicle spacing and position information, etc., as well as the cruise speed, vehicle spacing, real-time position, and each vehicle ID assigned to its following vehicle. The RSU then sequentially receives information such as the vehicle identification, vehicle speed, vehicle spacing and position information of subsequent vehicles. After the RSU receives the ID and V2V information of the last vehicle, it synchronously forwards the V2V information of the platoon to each vehicle in the platoon, so that the platoon vehicles can still synchronously receive the platoon control commands and the V2V information of each vehicle in the tunnel.

[0064] It should be noted that in the above examples, the V2V information takes into account the formation control command of the lead vehicle. In other examples, considering that the lead vehicle has already sent formation control commands to each vehicle before entering the tunnel, and the lead vehicle does not need to adjust the formation control commands in the tunnel road conditions, when synchronizing V2V information, the V2V information does not necessarily carry the formation control commands of the lead vehicle; in addition, technical personnel in this field can adaptively set the preset period based on actual applications. In some examples, it can also be determined according to the V2V communication period when the formation has not entered the tunnel.

[0065] In this embodiment, the communication mode of the convoy in the tunnel is switched from V2V to Infrastructure to Vehicle (I2V), that is, the communication between the RSU and the vehicle in the tunnel. This solves the technical problem that the GPS timing in the tunnel is easily interfered with, resulting in the failure of the V2V signal between vehicles, and then causing the V2V information to be unable to be effectively transmitted, so as to achieve the purpose of the convoy continuing to travel stably in the tunnel. In addition, the communication between the RSU and the OBU is a widely used communication mode in the driving process, so that the tunnel convoy communication method provided by this embodiment has a promising prospect of universal applicability.

[0066] In one embodiment, the first communication unit and the second communication unit first establish a communication connection based on the communication coverage of the second communication unit, so that the first communication unit can communicate with the second communication unit within the communication range of the second communication unit, wherein, before the communication information of each vehicle in the formation is sent to the first communication unit of each vehicle in the formation according to a preset period (step S202), the following steps are also included:

[0067] If a vehicle in the formation enters the communication coverage of the second communication unit, a communication connection is established with the first communication unit.

[0068] In this embodiment, the first communication unit and the second communication unit establish a communication connection, but the communication between the two is realized based on a specific trigger condition, and the specific trigger condition is that the vehicle enters a tunnel. In some embodiments, the first communication unit and the second communication unit establish a communication connection, that is, start to communicate and obtain the V2V information of the vehicle.

[0069] In a more specific implementation, the communication cycle (i.e., the preset cycle) between the RSU and the OBU of the vehicles in the formation also plays an important role in maintaining the stable driving of the formation. Before the communication information of each vehicle in the formation is sent to the first communication unit of each vehicle in the formation according to the preset cycle (step S202), the present embodiment further includes the following steps:

[0070] The method further comprises obtaining a V2V communication cycle in which each vehicle in the formation communicates with each other based on the first communication unit before entering the tunnel; and determining the preset cycle based on the V2V communication cycle.

[0071] Exemplarily, during platoon driving, the lead vehicle sends a formation control command. When the platoon vehicles have not entered the tunnel, the vehicles communicate with each other via V2V, and the communication cycle is T (e.g., 100ms). When the platoon vehicles enter the RSU communication coverage in the tunnel, the platoon vehicles establish communication with the RSU, and the communication cycle is determined based on the V2V communication cycle, for example, T (e.g., 100ms) is still maintained. In some cases where the working conditions outside and inside the tunnel are quite different, in order to ensure the stability of the formation, the preset cycle can be adaptively adjusted according to the V2V cycle.

[0072] Please refer to Figure 3 , Figure 3 The second scenario diagram provided for the embodiment of the present application is as follows: Figure 3 As shown, the pilot vehicle has exited the tunnel, but the rear follower vehicle A of the formation has not entered the tunnel. Considering this scenario, when the tunnel is too short or the formation is too long, the pilot vehicle has exited the tunnel, but the rear follower vehicle A has not entered the tunnel. The rear follower vehicle A can receive the formation command information of the pilot vehicle under this condition (the V2V signal is not affected). Since the pilot vehicle has exited the tunnel, it may not be able to accurately obtain the V2V information of vehicle B in the tunnel. Vehicle A cannot recognize the accurate status information of vehicle B when receiving the formation command from the pilot vehicle, and there is also the possibility that effective V2V communication cannot be performed between vehicle A and vehicle B. In order to ensure the stable driving of the formation in the tunnel under this condition, the embodiment of the present application provides another tunnel formation communication method.

[0073] After briefly introducing the above scenarios, Figure 3 The illustrated scenario describes another intra-tunnel communication method provided in an embodiment of the present application.

[0074] Please refer to Figure 4 , Figure 4 Another tunnel formation communication method provided in an embodiment of the present application, based on the above embodiment, monitors the tunnel entry and exit of the lead vehicle and the rear following vehicle, and obtains the V2V information of the rear following vehicle in this case, and then synchronizes the V2V information of the vehicle in the tunnel to the rear following vehicle, so as to further ensure the stable driving of the formation in the tunnel. Specifically, after obtaining the communication information of the vehicles in the formation that have entered the tunnel (step S201), and before obtaining the V2V information of the rear following vehicle in the formation (step S202), it also includes step S401.

[0075] Step S401: If it is monitored that the leading vehicle has driven out of the tunnel and the rear following vehicle has not entered the tunnel, the communication information of the rear following vehicle is obtained, and the communication information of each vehicle in the formation is sent to the rear following vehicle.

[0076] In this embodiment, when the platoon passes through a shorter tunnel, the pilot vehicle exits the tunnel, but the rear following vehicle A has not yet entered the tunnel, that is, the rear following vehicle A can still receive the platoon command information from the pilot vehicle. Under this condition, considering that the platoon vehicle B immediately in front of A has entered the tunnel, the pilot vehicle cannot accurately communicate with B in V2V. Vehicle A cannot recognize the accurate status information of vehicle B when receiving the platoon command from the pilot vehicle. Therefore, A does not process the V2V information of the pilot vehicle, and the V2V information of the RSU in the tunnel shall prevail.

[0077] In one example, the RSU continuously monitors whether the pilot car has exited the tunnel. Specifically, it can monitor whether the pilot car has exited the tunnel based on the location information of the pilot car and the exit location of the tunnel. In other examples, the RSU can also monitor whether the pilot car has exited the tunnel based on the interaction between the RSU and the OBU of the pilot car. Correspondingly, the RSU simultaneously monitors whether the rear-following car has exited the tunnel, and the RSU monitors the rear-following car in the same way.

[0078] Furthermore, in order to prevent the rear-following vehicle A from receiving the V2V information sent by the pilot vehicle and making decisions based on it, this embodiment sends a prompt message to the rear-following vehicle A that the pilot vehicle has exited the tunnel and the vehicle in front of the rear-following vehicle has entered the tunnel, so that the rear-following vehicle communicates with the RSU according to the prompt message. Specifically, after obtaining the communication information of the rear-following vehicle in the formation (step S202), the following steps are also included:

[0079] A prompt message is sent to the rear-following vehicle that the leading vehicle has exited the tunnel and the vehicle in front of the rear-following vehicle has entered the tunnel, wherein the prompt message is used to prompt the rear-following vehicle to travel in coordination according to the communication information obtained from the second communication unit.

[0080] It can be understood that, in this embodiment, the leading vehicle has exited the tunnel, and the rear following vehicle has not yet entered the tunnel, wherein the leading vehicle and the rear following vehicle are still within the communication coverage of the RSU.

[0081] In this embodiment, when the platoon is driving through a tunnel, the vehicles that have not entered the tunnel can receive the platoon information from the pilot vehicle and the RSU at the same time. Since the V2V information synchronized by the RSU contains accurate information about the vehicle immediately ahead, the RSU information is used as the standard in this working condition, and the platoon command information from the pilot vehicle is not processed. Compared with the above embodiment, the stability and safety of platoon driving can be effectively increased.

[0082] It should be noted that the V2V information synchronized by the RSU includes the information of the vehicle immediately preceding and the pilot vehicle. In order to keep the communication method consistent and improve accuracy and safety, it is not necessary to process the V2V information of the pilot vehicle. It is understandable that each following vehicle needs to receive the information of the pilot vehicle.

[0083] In some application scenarios, the following situation may also exist: multiple vehicles in front have already exited the tunnel, while the following vehicle at the rear of the team is still in the tunnel, or multiple vehicles at the rear of the team are still in the tunnel. Taking the example that the multiple vehicles exiting the tunnel are still within the communication range of the RSU, the vehicles after exiting the tunnel can receive GPS signals, that is, the multiple vehicles exiting the tunnel can communicate based on V2V and RSU. In order to improve the stable driving between the vehicles exiting the tunnel and the vehicles in the tunnel, in this case, the RSU of the embodiment of the present application still obtains the V2V information of the vehicles exiting the tunnel and the vehicles in the tunnel, and synchronizes it to all vehicles in the formation, and the vehicle formation performs coordinated driving based on the V2V information obtained by the RSU.

[0084] Please refer to Figure 5 , Figure 5 A flow chart of another communication method for a formation in a tunnel provided in an embodiment of the present application. Based on the above embodiment, this embodiment obtains the traffic road condition information and speed limit information in front of the tunnel and synchronizes them to the formation pilot car in time, so that the pilot car can adjust the formation according to the traffic road condition in front of the tunnel before exiting the tunnel, so that the formation can quickly adapt to the road section ahead when exiting the tunnel, further improving the safety and stability of the formation when exiting the tunnel. Specifically, compared with the above embodiment, this embodiment further includes steps S501 and S502 after sending the communication information of each vehicle in the formation to the first communication unit of each vehicle in the formation according to a preset period (step S202).

[0085] Step S501: Obtain traffic condition information and speed limit information ahead of the tunnel.

[0086] Among them, traffic condition information may include traffic congestion, whether there is a traffic accident ahead, and the specific circumstances of the traffic accident. It can be understood that the front of the tunnel is a certain distance ahead of the tunnel exit, for example, within 5 km of the tunnel exit.

[0087] In one implementation, the RSU may communicate with the OBU of a free vehicle in front of the tunnel within its communication range to obtain traffic condition information and speed limit information in front of the tunnel.

[0088] Step S502: Send the traffic condition information and the speed limit information to the pilot vehicle, so that the pilot vehicle plans the path information and / or vehicle control information after the tunnel based on the traffic condition information and the speed limit information.

[0089] It should be noted that the RSU sends the leading vehicle traffic information and speed limit information before it exits the tunnel, so that the leading vehicle can timely plan the path information and / or vehicle control information (corresponding to the formation control command above). Figure 6a and Figure 6b As shown, while the RSU synchronizes V2V information to the formation in the tunnel, the RSU simultaneously sends the traffic conditions and speed limit information ahead after exiting the tunnel to the pilot vehicle. The pilot vehicle makes path planning and vehicle control decisions based on the traffic congestion and speed limit information.

[0090] exist Figure 6b In the process, after the pilot vehicle receives the traffic condition information and speed limit information (i.e., the tunnel exit traffic condition in the figure) sent by the RSU, it confirms whether to re-plan the route or adjust the vehicle control information according to the tunnel exit traffic condition, such as the formation vehicle speed, vehicle spacing, acceleration and other information. If it is confirmed that the route needs to be re-planned, the above adjustment information will be returned to the RSU, which will further synchronize it to each vehicle in the formation. After the entire formation exits the tunnel, the GPS signal returns to normal, and the vehicles in the formation can continue to maintain V2V communication with each other, disconnecting the communication connection with the RSU (even if there are still vehicles within the signal coverage of the RSU, the communication can still be disconnected), and driving is based on the above-mentioned planned route and vehicle control information. The pilot vehicle makes further decisions based on the specific conditions of the road ahead. Among them, Figure 6b The specific steps include:

[0091] a. The RSU in the tunnel obtains the V2V information of the leading vehicle and its following vehicle in the formation respectively. It can be understood that the leading vehicle and its following vehicle both enter the communication coverage of the RSU;

[0092] b. RSU synchronizes the V2V information of each following vehicle, as well as the traffic information and speed limit information in front of the tunnel, to the pilot vehicle; and RSU can also synchronize the V2V information of the pilot vehicle and other following vehicles to each following vehicle at the same time;

[0093] d. The pilot vehicle determines whether to re-plan the route or adjust the vehicle control information, such as the platoon speed, vehicle spacing, acceleration, etc., based on the traffic conditions (i.e., traffic information and speed limit information) before exiting the tunnel;

[0094] e. If the answer is yes, the route will be re-planned and / or the vehicle control information will be adjusted according to the traffic conditions out of the tunnel, and the newly planned route information and vehicle control information will be sent to the RSU;

[0095] f. The RSU synchronously forwards the newly planned path information and vehicle control information of the pilot vehicle to other following vehicles, and each following vehicle drives according to the newly planned path information and vehicle control information;

[0096] g. After the convoy exits the tunnel and GPS returns to normal, each vehicle in the convoy will communicate based on V2V again.

[0097] Compared with the related technologies, the formation in the tunnel of this embodiment makes use of the expansion capability of the tunnel RSU to obtain traffic conditions and speed limit information ahead of the tunnel, which can help the pilot vehicle plan the route and control the vehicle in advance. After exiting the tunnel, it can quickly adapt to the road ahead and maintain safe and stable driving of the formation vehicles before and after exiting the tunnel.

[0098] The embodiment of the present application also provides a tunnel formation communication device, wherein the tunnel is provided with a second communication unit for communicating with the first communication unit of each vehicle in the formation, and the device is applied to the second communication unit, such as Figure 7 As shown, the device includes an acquisition module 71 and a sending module 72, wherein:

[0099] An acquisition module 71, which is configured to acquire communication information of vehicles in the formation that have entered the tunnel when the vehicles in the formation enter the tunnel, wherein the communication information includes vehicle identification, vehicle speed, vehicle spacing and position information;

[0100] The sending module 72 is configured to send the communication information of each vehicle in the formation to the first communication unit of each vehicle in the formation according to a preset period after acquiring the communication information of the rear-following vehicle in the formation, so that each vehicle in the formation can travel in coordination based on the communication information.

[0101] In one implementation, the first communication unit is an on-board communication unit OBU, and the second communication unit is a roadside unit RSU.

[0102] Compared with the related art, in this embodiment, the communication mode of the convoy in the tunnel is switched from V2V to Infrastructure to Vehicle (I2V), that is, the communication between the RSU and the vehicle in the tunnel. This solves the technical problem that the GPS timing in the tunnel is easily interfered with, resulting in the failure of the V2V signal between vehicles, and then the inability to effectively transmit the V2V information, so as to achieve the purpose of the convoy continuing to drive stably in the tunnel. In addition, the communication between the RSU and the OBU is a widely used communication mode in the driving process, which makes the tunnel convoy communication method provided in this embodiment have a promising prospect of universal applicability.

[0103] In one embodiment, the device further comprises:

[0104] A communication establishing module is configured to establish a communication connection with the first communication unit when a vehicle in the formation enters the communication coverage area of ​​the second communication unit.

[0105] In one embodiment, the acquisition module 71 is further configured to acquire a V2V communication cycle of communication between vehicles of the formation based on the first communication unit before the formation enters the tunnel;

[0106] The device also includes: a period determination module, which is configured to determine the preset period based on the V2V communication period.

[0107] In one embodiment, the acquisition module 71 is further configured to acquire communication information of the rear-following vehicle when it is detected that the pilot vehicle has driven out of the tunnel and the rear-following vehicle has not yet entered the tunnel;

[0108] The sending module 72 is further configured to send communication information of each vehicle in the formation to the rear following vehicle.

[0109] In one embodiment, the device further comprises:

[0110] The prompt module is configured to send a prompt message to the rear-following vehicle that the leading vehicle has exited the tunnel and the vehicle in front of the rear-following vehicle has entered the tunnel, wherein the prompt message is used to prompt the rear-following vehicle to travel in coordination according to the communication information obtained from the second communication unit.

[0111] In one embodiment, the acquisition module 71 is further configured to acquire traffic condition information and speed limit information ahead of the tunnel; and

[0112] The sending module 72 is further configured to send the traffic condition information and the speed limit information to the pilot vehicle, so that the pilot vehicle plans the path information and / or vehicle control information after the tunnel based on the traffic condition information and the speed limit information.

[0113] It should be noted that the principles of each module in the tunnel formation communication device provided in this embodiment correspond to the principles of each step in the method embodiment, and this embodiment will not go into details.

[0114] The present application also provides an electronic device, such as Figure 8 As shown, the electronic device includes: a memory 81, a processor 82 and a computer program, the computer program is stored in the memory 81, and the processor 82 runs the computer program to execute the tunnel formation communication method.

[0115] An embodiment of the present application also provides a computer-readable storage medium, which includes a computer program, and the computer program is used to implement the tunnel formation communication method.

[0116] The embodiment of the present application also provides a computer program product, which includes a computer program code. When the computer program code is executed on a computer, the computer executes the vehicle formation display method.

[0117] The embodiment of the present application also provides a chip, including a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory to execute the vehicle formation display method.

[0118] In summary, the embodiments of the present application provide a tunnel formation communication method, device and electronic device. On the one hand, by utilizing the second communication unit in the tunnel to synchronize the V2V information of the formation vehicles, the problem of inability to communicate effectively between vehicles when the V2V signal is affected is avoided, thereby ensuring the safe and stable driving of the formation in the tunnel; on the other hand, considering that the communication between RSU and OBU is a widely used communication method in the current driving process, the first communication unit is set to OBU and the second communication unit is set to RSU, so that the tunnel formation communication solution provided by this embodiment has a promising prospect of general applicability; on the other hand, by monitoring the tunnel of the pilot vehicle and the rear following vehicle The V2V information of the vehicle in the tunnel is obtained by the leader car in this case, and then the V2V information of the vehicle in the tunnel is synchronized to the rear following vehicle of the team. This can solve the problem that when the tunnel is too short or the formation is too long, the leader car has already exited the tunnel and may not be able to accurately obtain the V2V information of the vehicle in the tunnel, so as to further ensure the stable driving of the formation in the tunnel. On the other hand, by obtaining the traffic road condition information and speed limit information in front of the tunnel and synchronizing them to the leader car of the formation in time, the leader car can adjust the formation according to the traffic road condition in front of the tunnel before exiting the tunnel, so that the formation can quickly adapt to the road section ahead when exiting the tunnel, further improving the safety and stability of the formation when exiting the tunnel.

[0119] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In a hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium).

[0120] As is well known to those skilled in the art, the term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information, such as computer-readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer.

[0121] Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0122] In the description of the embodiment of the present application, the terms "first", "second", "third", "fourth", etc. (if present) are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A tunnel formation communication method, characterized in that: The tunnel is provided with a second communication unit for communicating with the first communication unit of each vehicle in the formation, and the method is applied to the second communication unit, comprising: If a vehicle in the formation enters a tunnel, the communication information of the vehicle in the formation that has entered the tunnel is obtained, wherein the communication information includes vehicle identification, vehicle speed, distance between vehicles, and position information; After acquiring the communication information of the rear-following vehicle in the formation, the communication information of each vehicle in the formation is sent to the first communication unit of each vehicle in the formation according to a preset period, so that each vehicle in the formation can travel in coordination based on the communication information; After obtaining the communication information of the vehicle in the formation that has entered the tunnel, and before obtaining the communication information of the rear-following vehicle in the formation, the following is also included: If it is monitored that the leading vehicle has driven out of the tunnel and the rear following vehicle has not yet entered the tunnel, the communication information of the rear following vehicle is obtained, and the communication information of each vehicle in the formation is sent to the rear following vehicle; After the communication information of each vehicle in the formation is sent to the first communication unit of each vehicle in the formation according to a preset period, the method further includes: Acquiring traffic condition information and speed limit information ahead of the tunnel; and sending the traffic condition information and speed limit information to the pilot vehicle, so that the pilot vehicle plans the path information and / or vehicle control information behind the tunnel based on the traffic condition information and speed limit information; wherein the traffic condition information includes traffic congestion, whether there is a traffic accident ahead, and the specific circumstances of the traffic accident; After obtaining the communication information of the vehicle following the formation squadron, it also includes: A prompt message is sent to the rear-following vehicle that the leading vehicle has exited the tunnel and the vehicle in front of the rear-following vehicle has entered the tunnel, wherein the prompt message is used to prompt the rear-following vehicle to travel in coordination according to the communication information obtained from the second communication unit.

2. The method according to claim 1, characterized in that The first communication unit is an on-board communication unit OBU, and the second communication unit is a roadside unit RSU.

3. The method according to claim 1 or 2, characterized in that: Before the communication information of each vehicle in the formation is sent to the first communication unit of each vehicle in the formation according to a preset period, the method further includes: If a vehicle in the formation enters the communication coverage of the second communication unit, a communication connection is established with the first communication unit.

4. The method according to claim 1, characterized in that: Before the communication information of each vehicle in the formation is sent to the first communication unit of each vehicle in the formation according to a preset period, the method further includes: The method further comprises obtaining a V2V communication cycle in which each vehicle in the formation communicates with each other based on the first communication unit before entering the tunnel; and determining the preset cycle based on the V2V communication cycle.

5. A tunnel formation communication device, characterized in that: The tunnel is provided with a second communication unit for communicating with the first communication unit of each vehicle in the formation, and the device is applied to the second communication unit, including: an acquisition module, which is configured to acquire communication information of vehicles in the formation that have entered the tunnel when the vehicles in the formation enter the tunnel, wherein the communication information includes vehicle identification, vehicle speed, vehicle spacing and position information; a sending module configured to send the communication information of each vehicle in the formation to the first communication unit of each vehicle in the formation according to a preset period after acquiring the communication information of the rear-following vehicle in the formation, so that each vehicle in the formation can travel in coordination based on the communication information; The acquisition module is further configured to acquire communication information of the rear-following vehicle when it is detected that the leading vehicle has exited the tunnel and the rear-following vehicle has not yet entered the tunnel; The sending module is further configured to send communication information of each vehicle in the formation to the vehicle following the rear of the formation; The acquisition module is further configured to acquire traffic condition information and speed limit information ahead of the tunnel; The sending module is further configured to send the traffic condition information and the speed limit information to the pilot vehicle, so that the pilot vehicle plans the path information and / or vehicle control information after the tunnel based on the traffic condition information and the speed limit information; wherein the traffic condition information includes traffic congestion, whether there is a traffic accident ahead, and the specific circumstances of the traffic accident; The prompt module is configured to send a prompt message to the rear-following vehicle that the leading vehicle has exited the tunnel and the vehicle in front of the rear-following vehicle has entered the tunnel, wherein the prompt message is used to prompt the rear-following vehicle to travel in coordination according to the communication information obtained from the second communication unit.

6. An electronic device, characterized in that: include: A memory, a processor, and a computer program, wherein the computer program is stored in the memory, and the processor runs the computer program to execute the tunnel formation communication method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: The storage medium includes a computer program, and the computer program is used to implement the tunnel formation communication method according to any one of claims 1 to 4.

8. A computer program product, comprising a computer program, characterized in that The computer program is used to implement the tunnel formation communication method as described in any one of claims 1 to 4.

Images