A V2X intelligent connected rearview mirror system based on Uu+PC5 mode

Abstract

The present invention discloses a V2X intelligent networked rearview mirror system based on the Uu+PC5 mode, comprising: an acquisition module, a collector pre-installed on the rearview mirror, and the collectors are at least four groups, respectively in front of, behind, on the side and below the rearview mirror; a control module, which controls the start and stop of the collector and switches the acquisition mode; a simulation module, which simulates the driving state around the vehicle according to the information collected by the collector and the network information; a warning module, which gives a warning according to the driving state around the vehicle simulated by the simulation module; by designing the acquisition module to collect off-network users, and controlling the acquisition mode of the acquisition module through the control module, the off-network users and the on-network users are merged and simulated, and then the collision risk with the driver is simulated, and the risk is given to the driver as a warning, thereby reducing the probability of accidents occurring during driving.

Description

Technical Field

[0001] The present invention relates to the field of smart vehicles, and specifically to a V2X intelligent connected rearview mirror system based on the Uu+PC5 mode. Background Art

[0002] In layman's terms, the Internet of Vehicles is a key industry of "Internet + Automobile" under the current "Internet" background, and it is also a typical application of Internet of Things technology in the field of smart transportation.

[0003] Traditional V2X models include V2V, V2P, and V2I. Each of these models has its own drawbacks: all V2X users are treated as a single terminal. Users not connected to the internet are excluded, leaving these people and vehicles out of the traditional V2X system.

[0004] Therefore, when simulating the environment, traditional V2X intelligent connected rearview mirror systems are prone to missing users who are not connected to the Internet, resulting in simulation omissions. Summary of the Invention

[0005] Purpose of the invention: To provide a V2X intelligent connected rearview mirror system based on the Uu+PC5 mode to solve the above-mentioned problems existing in the prior art.

[0006] Technical solution: A V2X intelligent connected rearview mirror system based on the Uu+PC5 mode, including:

[0007] The acquisition module is a collector pre-installed on the rearview mirror, and the collector is at least four groups, located in front of, behind, to the side of, and below the rearview mirror;

[0008] Control module, controls the start and stop of the collector and switches the collection mode;

[0009] The simulation module simulates the vehicle's surrounding driving status based on the information collected by the collector and the network information;

[0010] The warning module issues warnings based on the driving status of the connected vehicle surroundings simulated by the simulation module;

[0011] By designing a collection module to collect data from off-network users and controlling the collection mode of the collection module through a control module, off-network users are combined with on-network users for simulation, thereby simulating the risk of collision with the driver and warning the driver of the risk, thereby reducing the probability of accidents that occur during driving.

[0012] In a further embodiment, the collector is a visual sensor for collecting the surrounding environment and sending the collected image data to the simulation module;

[0013] The visual sensors are all installed in the rearview mirror;

[0014] The rearview mirror is provided with through holes at the front, rear, side and bottom;

[0015] The through hole is adapted to the lens of the collector.

[0016] By opening a through hole in the rearview mirror, space is provided for the visual sensor to collect information, and the visual sensor is installed inside the rearview mirror to avoid being exposed to the outside and preventing it from being damaged by collision.

[0017] In a further embodiment, the collection mode includes a roadside collection mode and a roadside collection mode;

[0018] The roadside collection mode includes a left mode and a right mode;

[0019] When the vehicle is driving on the left side of the road, the left-hand mode is enabled;

[0020] When the vehicle is driving on the right side of the road, the left-hand mode is enabled;

[0021] By designing roadside collection mode and roadside collection mode to switch the collection mode, the loss during the collection process is reduced, and different collection modes are adopted according to different driving conditions.

[0022] In a further embodiment, when the left-hand driving mode is adopted, the control module turns off the front, rear, and side collectors on the left rearview mirror of the vehicle, while the lower collector continues to work, and at the same time turns off the lower collector on the right rearview mirror of the vehicle;

[0023] When the vehicle is driving on the left, it uses the left-driving mode. Since the vehicle is on the left and close to the left lane guardrail or roadside, it is only necessary to open the lower collector on the left to collect the guardrail or roadside environment, while the collector on the right continues to collect the environment in the front, back, side and lower positions.

[0024] When the right-hand driving mode is adopted, the control module turns off the front, rear and side collectors on the right rearview mirror of the vehicle, while the lower collector continues to work. At the same time, the lower collector on the left rearview mirror of the vehicle is turned off.

[0025] When the vehicle is driving on the right side, the right-driving mode is adopted. Since the vehicle is on the right side and close to the right lane guardrail or roadside, it is only necessary to open the lower collector on the right side to collect the guardrail or roadside environment, while the collector on the left side continues to collect the environment in the front, back, side and lower positions.

[0026] When the mid-road collection mode is adopted, the control module turns off the lower collectors on the rearview mirrors on both sides of the vehicle.

[0027] When the vehicle is not close to the roads on the left and right sides, the mid-road collection mode is adopted. At this time, the lower collectors on the left and right sides can be turned off. Therefore, when the vehicle is driving in the middle of the road, there is no need to collect information such as roadside guardrails.

[0028] In a further embodiment, the simulation module includes an off-network planning module and an on-network planning module;

[0029] The off-network planning module is used to plan the travel trajectories of off-network users who are not connected to the network and are collected by the collection module;

[0030] The in-network planning module is used to plan the travel trajectory of each in-network user connected to the network;

[0031] The off-network planning module includes a calculation unit and a prediction unit.

[0032] In a further embodiment, the calculation unit analyzes and calculates the outbound user movement speed based on the outbound user movement information collected by the collection module;

[0033] Set the time when the acquisition module first collects the off-network user as T1 and the position as P1. Use P1 as the origin of the coordinate system to establish the coordinates. The time when the collected off-network user turns is used as the interception time.

[0034] The location of the off-network user collected by the capture module at time T2 is P2(x2, y2);

[0035] The location of the off-network user collected by the capture module at time T3 is P3 (x3, y3);

[0036] Intercept acquisition module in T n At time t, the location of the off-network user collected is P n (x n ,y n );

[0037] Since the location of outbound users and each time period are known, the average speed of outbound users in each time period is calculated, and the speeds in each time period are added together to calculate the simulated speed;

[0038] The average speed of off-network users during the time period from T1 to T2 is:

[0039]

[0040] The average speed of off-network users during the time period from T2 to T3 is:

[0041]

[0042] T n-1 to T nThe average speed of off-network users during the time period is:

[0043]

[0044] Let the simulation speed be V;

[0045]

[0046] The movement speed of each off-network user is calculated by designing a calculation unit.

[0047] In a further embodiment, the prediction unit is used to predict the movement direction of the off-network user;

[0048] When an off-network user pulls over to slow down or stops on a certain road and a fork appears at the location, it is determined that the off-network user needs to turn;

[0049] When there is no traffic light at the turning intersection, the off-network user will be simulated as the direction in which the off-network user is about to turn by pulling over to the side of the road;

[0050] When there is a traffic light at a turning intersection, the traffic light is used to simulate the direction that the off-network user is about to turn.

[0051] A prediction unit is designed to predict the movement direction of users outside the network.

[0052] In a further embodiment, when the planned itineraries of the off-network user and the on-network user planned by the off-network planning module and the on-network planning module intersect with the self, it is determined that there is a collision risk, and the risk is transmitted to the warning module;

[0053] The calculation unit and the prediction unit are used to simulate the travel trajectory of users outside the network, and the simulated journey is formed by combining the trajectory of users within the network. When the simulated journey intersects with the driver's journey, it is determined that there is a collision risk.

[0054] In a further embodiment, the warning module warns the driver based on the collision risk transmitted to the driver.

[0055] Beneficial effect: The present invention discloses a V2X intelligent networked rearview mirror system based on the Uu+PC5 mode. The present invention collects off-network users by designing an acquisition module, and controls the acquisition mode of the acquisition module through a control module, so as to merge and simulate off-network users with on-network users, thereby simulating the collision risk with the driver, and warning the driver of the risk, thereby reducing the probability of accidents that occur during driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a schematic diagram of the Uu+PC5 mode interconnection of the present invention.

[0057] Figure 2 It is a schematic diagram of the invented system module.

[0058] Figure 3 It is a schematic diagram of the acquisition viewing angle of the acquisition module of the invention.

[0059] Figure 4 It is a schematic diagram of the interception position and time nodes of the computing unit of the invention.

[0060] Figure 5 It is a schematic diagram of the simulation speed of the invented calculation unit.

[0061] Figure 6 It is a schematic diagram of the prediction unit of the invention. DETAILED DESCRIPTION

[0062] The applicant's research and analysis revealed that the reason for this problem (traditional V2X rearview mirror systems easily miss simulated trips) is that traditional V2X modes include V2V, V2P, and V2I, all of which have their own drawbacks: all V2X users are treated as a single terminal. When a user is not connected to the internet, it is excluded, and these people and vehicles are subsequently missed by the traditional V2X system.

[0063] Therefore, when simulating the environment, traditional V2X intelligent connected rearview mirror systems are prone to missing users that are not connected to the Internet, resulting in simulation omissions.

[0064] The present invention collects data from off-network users by designing a collection module, and controls the collection mode of the collection module through a control module, so as to combine and simulate off-network users with on-network users, thereby simulating the collision risk with the driver, and alerting the driver of the risk, thereby reducing the probability of accidents that may occur during driving.

[0065] A V2X intelligent connected rearview mirror system based on the Uu+PC5 mode, comprising:

[0066] The acquisition module is a collector pre-installed on the rearview mirror, and the collector is at least four groups, located in front of, behind, to the side of, and below the rearview mirror;

[0067] Control module, controls the start and stop of the collector and switches the collection mode;

[0068] The simulation module simulates the vehicle's surrounding driving status based on the information collected by the collector and the network information;

[0069] The warning module issues warnings based on the driving status of the connected vehicle surroundings simulated by the simulation module;

[0070] By designing a collection module to collect data from off-network users and controlling the collection mode of the collection module through a control module, off-network users are combined with on-network users for simulation, thereby simulating the risk of collision with the driver and warning the driver of the risk, thereby reducing the probability of accidents that occur during driving.

[0071] The collector is a visual sensor used to collect the surrounding environment and send the collected image data to the simulation module;

[0072] The visual sensors are all installed in the rearview mirror;

[0073] The rearview mirror is provided with through holes at the front, rear, side and bottom;

[0074] The through hole is adapted to the lens of the collector.

[0075] By opening a through hole in the rearview mirror, space is provided for the visual sensor to collect information, and the visual sensor is installed inside the rearview mirror to avoid being exposed to the outside and preventing it from being damaged by collision.

[0076] The collection mode includes a roadside collection mode and a roadside collection mode;

[0077] The roadside collection mode includes a left mode and a right mode;

[0078] When the vehicle is driving on the left side of the road, the left-hand mode is enabled;

[0079] When the vehicle is driving on the right side of the road, the left-hand mode is enabled;

[0080] By designing roadside collection mode and roadside collection mode to switch the collection mode, the loss during the collection process is reduced, and different collection modes are adopted according to different driving conditions.

[0081] When the left-hand driving mode is adopted, the control module turns off the front, rear and side collectors on the left rearview mirror of the vehicle, while the lower collector continues to work. At the same time, the lower collector on the right rearview mirror of the vehicle is turned off.

[0082] When the vehicle is driving on the left, it uses the left-driving mode. Since the vehicle is on the left and close to the left lane guardrail or roadside, it is only necessary to open the lower collector on the left to collect the guardrail or roadside environment, while the collector on the right continues to collect the environment in the front, back, side and lower positions.

[0083] When the right-hand driving mode is adopted, the control module turns off the front, rear and side collectors on the right rearview mirror of the vehicle, while the lower collector continues to work. At the same time, the lower collector on the left rearview mirror of the vehicle is turned off.

[0084] When the vehicle is driving on the right side, the right-driving mode is adopted. Since the vehicle is on the right side and close to the right lane guardrail or roadside, it is only necessary to open the lower collector on the right side to collect the guardrail or roadside environment, while the collector on the left side continues to collect the environment in the front, back, side and lower positions.

[0085] When the mid-road collection mode is adopted, the control module turns off the lower collectors on the rearview mirrors on both sides of the vehicle.

[0086] When the vehicle is not close to the roads on the left and right sides, the mid-road collection mode is adopted. At this time, the lower collectors on the left and right sides can be turned off. Therefore, when the vehicle is driving in the middle of the road, there is no need to collect information such as roadside guardrails.

[0087] The simulation module includes an off-network planning module and an on-network planning module;

[0088] The off-network planning module is used to plan the travel trajectories of off-network users who are not connected to the network and are collected by the collection module;

[0089] The in-network planning module is used to plan the travel trajectory of each in-network user connected to the network;

[0090] The off-network planning module includes a calculation unit and a prediction unit.

[0091] The calculation unit analyzes and calculates the outbound user movement speed based on the outbound user movement information collected by the collection module;

[0092] Set the time when the acquisition module first collects the off-network user as T1 and the position as P1. Use P1 as the origin of the coordinate system to establish the coordinates. The time when the collected off-network user turns is used as the interception time.

[0093] The location of the off-network user collected by the capture module at time T2 is P2(x2, y2);

[0094] The location of the off-network user collected by the capture module at time T3 is P3 (x3, y3);

[0095] Intercept acquisition module in T n At time t, the location of the off-network user collected is P n (x n ,y n );

[0096] Since the location of outbound users and each time period are known, the average speed of outbound users in each time period is calculated, and the speeds in each time period are added together to calculate the simulated speed;

[0097] The average speed of off-network users during the time period from T1 to T2 is:

[0098]

[0099] The average speed of off-network users during the time period from T2 to T3 is:

[0100]

[0101] T n-1 to T n The average speed of off-network users during the time period is:

[0102]

[0103] Let the simulation speed be V;

[0104]

[0105] The movement speed of each off-network user is calculated by designing a calculation unit.

[0106] The prediction unit is used to predict the movement direction of the off-network user;

[0107] When an off-network user pulls over to slow down or stops on a certain road and a fork appears at the location, it is determined that the off-network user needs to turn;

[0108] When there is no traffic light at the turning intersection, the off-network user will be simulated as the direction in which the off-network user is about to turn by pulling over to the side of the road;

[0109] When there is a traffic light at a turning intersection, the traffic light is used to simulate the direction that the off-network user is about to turn.

[0110] A section of road includes a sidewalk and a motorway.

[0111] A prediction unit is designed to predict the movement direction of users outside the network.

[0112] When the itineraries of the off-network planning module and the on-network planning module for off-network users and on-network users intersect with their own itineraries, a collision risk is determined and the risk is transmitted to the warning module;

[0113] The calculation unit and the prediction unit are used to simulate the travel trajectory of users outside the network, and the simulated journey is formed by combining the trajectory of users within the network. When the simulated journey intersects with the driver's journey, it is determined that there is a collision risk.

[0114] The warning module warns the driver based on the collision risk transmitted to the driver.

[0115] Working principle description: First, the driver switches the acquisition mode through the control module according to the vehicle's driving status.

[0116] When the vehicle is driving on the left side of the road, the left-driving mode is enabled; when the vehicle is driving on the right side of the road, the left-driving mode is enabled; when the vehicle is not applicable to the left-driving mode or the right-driving mode, the mid-road collection mode is enabled;

[0117] Through different collection modes, the vehicle's surrounding environment information is collected, and the travel trajectory is simulated based on the collected information and network information;

[0118] The calculation unit calculates the movement speed of each off-network user;

[0119] Set the time when the acquisition module first collects the off-network user as T1 and the position as P1. Use P1 as the origin of the coordinate system to establish the coordinates. The time when the collected off-network user turns is used as the interception time.

[0120] The location of the off-network user collected by the capture module at time T2 is P2(x2, y2);

[0121] The location of the off-network user collected by the capture module at time T3 is P3 (x3, y3);

[0122] Intercept acquisition module in T n At time t, the location of the off-network user collected is P n (x n ,y n );

[0123] Since the location of outbound users and each time period are known, the average speed of outbound users in each time period is calculated, and the speeds in each time period are added together to calculate the simulated speed;

[0124] The prediction unit then predicts the redirection of users outside the network;

[0125] When an off-network user pulls over to slow down or stops on a certain road and a fork appears at the location, it is determined that the off-network user needs to turn;

[0126] When there is no traffic light at the turning intersection, the off-network user will be simulated as the direction in which the off-network user is about to turn by pulling over to the side of the road;

[0127] When there is a traffic light at the turning intersection, the traffic light will be used to simulate the direction that the off-network user is about to turn;

[0128] When the itineraries planned by the off-network planning module and the on-network planning module for off-network users and on-network users intersect with their own itineraries, it is determined that there is a collision risk and the risk is transmitted to the warning module.

[0129] The warning module warns the driver based on the collision risk transmitted to the vehicle.

[0130] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all fall within the scope of protection of the present invention.

Claims

1. A V2X intelligent connected rearview mirror system based on Uu+PC5 mode, characterized by: include: The acquisition module is a collector pre-installed on the rearview mirror, and the collector is at least four groups, located in front of, behind, to the side of, and below the rearview mirror; Control module, controls the start and stop of the collector and switches the collection mode; The simulation module simulates the vehicle's surrounding driving status based on the information collected by the collector and the network information; The warning module issues warnings based on the driving status of the connected vehicle surroundings simulated by the simulation module; The simulation module includes an off-network planning module and an on-network planning module; The off-network planning module is used to plan the travel trajectories of off-network users who are not connected to the network and are collected by the collection module; The in-network planning module is used to plan the travel trajectory of each in-network user connected to the network; The off-network planning module includes a calculation unit and a prediction unit; The calculation unit analyzes and calculates the outbound user movement speed based on the outbound user movement information collected by the collection module; Set the time when the acquisition module first collects the off-network user as T1 and the position as P1. Use P1 as the origin of the coordinate system to establish the coordinates. The time when the collected off-network user turns is used as the interception time. The location of the off-network user collected by the capture module at time T2 is P2(x2, y2); The location of the off-network user collected by the capture module at time T3 is P3 (x3, y3); Intercept acquisition module in T n At time t, the location of the off-network user collected is P n (x n ,y n ); Since the location of outbound users and each time period are known, the average speed of outbound users in each time period is calculated, and the speeds in each time period are added together to calculate the simulated speed; The average speed of off-network users during the time period from T1 to T2 is: The average speed of off-network users during the time period from T2 to T3 is: T n-1 to T n The average speed of off-network users during the time period is: Let the simulation speed be V; The prediction unit is used to predict the movement direction of the off-network user; When an off-network user pulls over to slow down or stops on a certain road and a fork appears at the location, it is determined that the off-network user needs to turn; When there is no traffic light at the turning intersection, the off-network user will be simulated as the direction in which the off-network user is about to turn by pulling over to the side of the road; When there is a traffic light at a turning intersection, the traffic light is used to simulate the direction that the off-network user is about to turn.

2. The V2X intelligent connected rearview mirror system based on the Uu+PC5 mode according to claim 1 is characterized by: The collector is a visual sensor used to collect the surrounding environment and send the collected image data to the simulation module; The visual sensors are all installed in the rearview mirror; The rearview mirror is provided with through holes at the front, rear, side and bottom; The through hole is adapted to the lens of the collector.

3. The V2X intelligent connected rearview mirror system based on the Uu+PC5 mode according to claim 1 is characterized by: The collection mode includes a roadside collection mode and a roadside collection mode; The roadside collection mode includes a left mode and a right mode; When the vehicle is driving on the left side of the road, the left-hand mode is enabled; When the vehicle is traveling on the right side of the road, left-hand mode is engaged.

4. The V2X intelligent connected rearview mirror system based on the Uu+PC5 mode according to claim 3 is characterized by: When the left-hand driving mode is adopted, the control module turns off the front, rear and side collectors on the left rearview mirror of the vehicle, while the lower collector continues to work. At the same time, the lower collector on the right rearview mirror of the vehicle is turned off. When the right-hand driving mode is adopted, the control module turns off the front, rear and side collectors on the right rearview mirror of the vehicle, while the lower collector continues to work. At the same time, the lower collector on the left rearview mirror of the vehicle is turned off. When the mid-road collection mode is adopted, the control module turns off the lower collectors on the rearview mirrors on both sides of the vehicle.

5. The V2X intelligent connected rearview mirror system based on the Uu+PC5 mode according to claim 1 is characterized by: When the itineraries planned by the off-network planning module and the on-network planning module for off-network users and on-network users intersect with their own itineraries, it is determined that there is a collision risk and the risk is transmitted to the warning module.

6. The V2X intelligent connected rearview mirror system based on the Uu+PC5 mode according to claim 1, characterized in that: The warning module warns the driver based on the collision risk transmitted to the driver.

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