Emergency triggering collaborative guidance system and method for intelligent connected vehicles

Abstract

The present invention discloses an emergency triggering collaborative guidance system and method for intelligent networked vehicles. The system includes: a C‑V2X module for sending vehicle information and receiving surrounding vehicle information; an emergency trigger module for monitoring vehicle information and surrounding vehicle information, and triggering a vehicle emergency game module when abnormal information of the vehicle is detected or emergency information of surrounding vehicles is received; an emergency priority game module for confirming the emergency priority of each vehicle; and an emergency processing control module for performing speed planning and lane planning for vehicles in the area according to the emergency priority of each vehicle. When an emergency event occurs, the present invention coordinates lane and speed guidance with surrounding vehicles through information transmission of the C‑V2X module to reduce the occurrence of related accidents; the vehicle coordination and guidance is performed through a local area network, without the need for cloud computing guidance, and the response is rapid. At the same time, the local area network does not require full coverage of the cloud network, and there is no requirement for network communication speed.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of intelligent driving technology, and in particular to an emergency triggering collaborative guidance system and method for an intelligent networked vehicle. Background Art

[0002] Intelligent networked vehicles are the key goal of the development of intelligent vehicles. They are equipped with advanced on-board sensors, controllers, actuators and other devices, and integrate modern communication and network technologies to achieve V2X intelligent information exchange and sharing, and have complex environmental perception, intelligent decision-making, collaborative control and execution functions. This not only requires the car to be more intelligent in terms of its own sensor perception and auxiliary control, but also requires information exchange and sharing with the intelligent network, collaborative guidance and control of multiple machines, and the realization of intelligent vehicles and intelligent transportation.

[0003] At present, the road environment where cars are driving is complex, and the environmental perception information of individual vehicles cannot be fully covered, so the intention and trajectory prediction is not accurate enough, and they are more inclined to conservative strategies such as emergency braking. At the same time, they cannot coordinate with surrounding vehicles for emergency handling. Therefore, it is necessary to interact the perception data and operation data of individual vehicles with surrounding vehicles to solve the problems of insufficient perception capabilities of individual vehicles and difficult trajectory prediction. However, in the existing technology, the information fusion, calculation and distribution of the cloud platform of intelligent connected vehicles rely on the construction and full coverage of network infrastructure. When the network facilities cannot be covered or cannot meet the low latency requirements, the cloud platform will not be able to coordinate and guide vehicles to handle emergency events. Summary of the invention

[0004] The present invention provides an emergency triggering collaborative guidance system and method for an intelligent networked vehicle, so as to achieve lane and speed guidance in collaboration with surrounding vehicles through a local area network when an emergency accident occurs in the vehicle, thereby reducing the occurrence of related accidents.

[0005] In a first aspect, an embodiment of the present invention provides an emergency triggering collaborative guidance system for an intelligent connected vehicle, including: a C-V2X module, an emergency triggering module, an emergency priority game module, and an emergency processing control module;

[0006] Among them, the C-V2X module is used for communication between the vehicle and surrounding vehicles, as well as sending vehicle information and receiving surrounding vehicle information;

[0007] The emergency trigger module is used to monitor the abnormal information of the vehicle body, the abnormal information of the environment perception and the emergency information of the surrounding vehicles. When the abnormal information of the vehicle is detected or the emergency information of the surrounding vehicles is received, the vehicle emergency game module is triggered;

[0008] The emergency priority game module is used to conduct priority games based on the vehicle information and surrounding vehicle information to confirm the emergency priority of each vehicle;

[0009] The emergency handling control module is used to plan the speed and lanes of vehicles in the area according to the emergency priority of each vehicle.

[0010] Optionally, the C-V2X is a distributed short-range C-V2X module.

[0011] Optionally, the emergency priority game module is used to perform a priority game based on the vehicle information and surrounding vehicle information to determine the emergency priority of each vehicle, including:

[0012] The emergency priority game module uses the vehicle parameters and the received surrounding vehicle parameters as game factors, inputs them into the game matrix, and determines the emergency priority of each vehicle;

[0013] The vehicle parameters include the vehicle's emergency level, vehicle speed, and environmental perception obstacle distance information;

[0014] The surrounding vehicle parameters include the emergency level, speed, and environmental perception obstacle distance information of the surrounding vehicles.

[0015] Optionally, the emergency priority game module is specifically used for:

[0016] Compare the parameters of surrounding vehicles with the parameters of the vehicle itself to obtain the priority factor of each vehicle for the same parameter;

[0017] Multiply the priority factor of each parameter of each vehicle by the corresponding weight factor to obtain the sub-item priority of each parameter of each vehicle;

[0018] The priority levels of each vehicle are summed up as the emergency priority parameter corresponding to each vehicle, so as to determine the emergency priority order of each vehicle according to the priority parameter corresponding to each vehicle.

[0019] Optionally, the emergency handling control module is used to perform speed planning and lane planning for vehicles in the area according to the emergency priority of each vehicle, including:

[0020] The emergency handling control module determines the path planning of the vehicle according to the emergency priority of the vehicle and the emergency planning guidance path transmitted by the surrounding vehicles with higher emergency priority;

[0021] The C-V2X module sends the vehicle's related information to surrounding vehicles, so that surrounding vehicles can plan their routes based on their own information.

[0022] The vehicle-related information includes the vehicle's emergency priority, location, speed, and planned path information.

[0023] In a second aspect, the present invention further provides an emergency triggering collaborative guidance method for an intelligent networked vehicle, comprising:

[0024] Send vehicle information and receive surrounding vehicle information through the C-V2X module;

[0025] The vehicle body abnormal information, environmental perception abnormal information and emergency information of surrounding vehicles are monitored through the emergency trigger module. When abnormal information of the vehicle is detected or emergency information of surrounding vehicles is received, the vehicle emergency game module is triggered;

[0026] The emergency priority game module conducts priority game based on the vehicle information and surrounding vehicle information to confirm the emergency priority of each vehicle;

[0027] The emergency handling control module plans the speed and lanes of vehicles in the area according to the emergency priority of each vehicle.

[0028] Optionally, a priority game is performed according to the vehicle information and the surrounding vehicle information through an emergency priority game module to confirm the emergency priority of each vehicle, including: using the vehicle parameters and the received surrounding vehicle parameters as game factors, inputting the game matrix through the emergency priority game module, and confirming the emergency priority of each vehicle;

[0029] The vehicle parameters include the vehicle's emergency level, vehicle speed, and environmental perception obstacle distance information;

[0030] The surrounding vehicle parameters include the emergency level, speed, and environmental perception obstacle distance information of the surrounding vehicles.

[0031] Optionally, the emergency priority game module uses the vehicle parameters and the received surrounding vehicle parameters as game factors, inputs the game matrix, and confirms the emergency priority of each vehicle, including:

[0032] Compare the parameters of surrounding vehicles with the parameters of the vehicle itself to obtain the priority factor of each vehicle for the same parameter;

[0033] Multiply the priority factor of each parameter of each vehicle by the corresponding weight factor to obtain the sub-item priority of each parameter of each vehicle;

[0034] The priority levels of each vehicle are summed up as the emergency priority parameter corresponding to each vehicle, so as to determine the emergency priority order of each vehicle according to the priority parameter corresponding to each vehicle.

[0035] The present invention provides an emergency trigger collaborative guidance system for intelligent networked vehicles, adopts a C-V2X module to achieve communication connection between the vehicle and surrounding vehicles, sends the vehicle information and receives the surrounding vehicle information, adopts an emergency trigger module to monitor the vehicle body abnormality information, environmental perception abnormality information and emergency information of surrounding vehicles, adopts an emergency priority game module to perform priority game according to the vehicle information and surrounding vehicle information, confirms the emergency priority of each vehicle, and adopts an emergency processing control module to perform speed planning and lane planning for vehicles in the area according to the emergency priority of each vehicle, so as to achieve lane and speed guidance of surrounding vehicles through information transmission of C-V2X module in the event of an emergency, thereby reducing the occurrence of related accidents; in the present invention, vehicle coordination and guidance are performed through a local area network, without the need for cloud computing guidance, and the response is rapid. At the same time, the local area network does not require full coverage of the cloud network, has no requirements for network communication speed, and is easy to implement. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of an emergency triggering collaborative guidance system for an intelligent networked vehicle in the present invention;

[0037] Figure 2 It is a schematic diagram of the distribution of the vehicle and surrounding vehicles when an emergency situation occurs in the present invention;

[0038] Figure 3 This is a flow chart of an emergency triggering collaborative guidance method for an intelligent connected vehicle in the present invention. DETAILED DESCRIPTION

[0039] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0040] Example

[0041] Figure 1 A schematic diagram of an emergency trigger collaborative guidance system for an intelligent connected vehicle provided in an embodiment of the present invention specifically includes: a C-V2X module, an emergency trigger module, an emergency priority game module and an emergency processing control module.

[0042] Among them, the C-V2X module in this embodiment is a distributed short-range C-V2X module, which works in a local area network. The C-V2X module is used for low-latency, high-reliability communication connections between the vehicle and surrounding vehicles. It is also used to send vehicle information and receive surrounding vehicle information, including emergency trigger level information, vehicle driving status information and vehicle emergency handling information.

[0043] In this embodiment, the driving information of each vehicle is collected by body sensors arranged on the vehicle body. The body sensors include but are not limited to radars, cameras, ultrasonic sensors, etc.

[0044] The emergency trigger module is used to monitor the abnormal information of the vehicle body, abnormal information of environmental perception and emergency information of surrounding vehicles. When abnormal information of the vehicle is detected or emergency information of surrounding vehicles is received, the vehicle emergency game module is triggered. When the emergency trigger module detects that an emergency occurs in the vehicle or other vehicles, the emergency game module will be triggered to judge the emergency situation.

[0045] Furthermore, the emergency priority game module will conduct a priority game on the vehicle emergency level, conduct a priority game based on the vehicle information and surrounding vehicle information, and confirm the emergency priority of each vehicle.

[0046] In this embodiment, after being triggered by the emergency trigger module, the emergency priority game module uses the emergency level, speed, and environmental perception obstacle distance information of the vehicle and the emergency level, speed, and environmental perception obstacle distance information of the surrounding vehicles as game factors, inputs them into the game matrix, and screens and confirms the emergency priority level of each vehicle.

[0047] Specifically, the emergency priority game module assigns different weights to each parameter. For example, the vehicle emergency level factor fe, the vehicle speed factor fs, and the environmental perception obstacle distance factors in front, right, and left directions of the vehicle are ff, fr, and fl, respectively. In the initial stage of an emergency event, only the accident vehicle directly obtains the highest emergency priority due to abnormal information of the vehicle or abnormal information of environmental perception, and the emergency levels of other vehicles in the area are confirmed after emergency game. Later, other vehicles enter the area and receive emergency information, and then confirm the emergency priority after emergency game.

[0048] The emergency priority game module conducts priority game on the collected parameters of surrounding vehicles and the vehicle itself, and obtains the priority factor of each vehicle for the same parameter through parameter comparison. Figure 2 and Tables 1-4, Figure 2 This is a schematic diagram of the distribution of the vehicle and surrounding vehicles when an emergency situation occurs in the present invention. Tables 1-4 respectively give the priority factor determination process of vehicle A, vehicle B and vehicle C for vehicle speed, front distance, left distance and right distance.

[0049] Table 1

[0050]

[0051] Table 2

[0052]

[0053] Table 3

[0054]

[0055] Table 4

[0056]

[0057] Further referring to Table 5, the priority factor of each vehicle for each parameter is multiplied by the corresponding weight factor to obtain the sub-item priority of each vehicle for each parameter.

[0058] Table 5

[0059]

[0060] The final priority parameter of each vehicle is obtained by adding up the priorities of each sub-item, thereby determining the emergency priority order of each vehicle.

[0061] After the emergency priority game module determines the emergency priority of the vehicle and surrounding vehicles, the emergency handling control module is used to plan the speed and lanes of vehicles in the area according to the emergency priority of each vehicle. The emergency handling control module performs emergency control guidance through the abnormal information of the vehicle and the abnormal information of environmental perception, combined with the position information and driving information of surrounding vehicles and the planning guidance information sent by vehicles with higher emergency priority. At the same time, the emergency level, position, speed and planned path information are sent to the surrounding vehicles through the C-V2X module. The surrounding vehicles then plan the vehicle's travel path and speed based on the priority of their own emergency game module decisions, combined with their own driving information and the planned path transmitted by vehicles with higher priority, and then add their own planned paths to the emergency planning path guidance information, so as to complete the emergency planning guidance of vehicles in adjacent areas.

[0062] The intelligent connected vehicle emergency trigger collaborative guidance system provided by the present invention adopts a C-V2X module to realize the communication connection between the vehicle and surrounding vehicles. When encountering an emergency event, the lane and speed guidance are coordinated with the surrounding vehicles through the information transmission of the C-V2X module to reduce the occurrence of related accidents. In the present invention, vehicle coordination and guidance are carried out through a local area network, without the need for cloud computing guidance, and the response is rapid. At the same time, the local area network does not require full coverage of the cloud network, and there is no requirement for network communication speed, which is easy to implement.

[0063] See also Figure 3 The embodiment of the present invention further provides an emergency triggering collaborative guidance method for an intelligent networked vehicle, comprising:

[0064] S1, send vehicle information and receive surrounding vehicle information through C-V2X module;

[0065] S2. Monitor the abnormal information of the vehicle body, abnormal information of environmental perception and emergency information of surrounding vehicles through the emergency trigger module, and trigger the vehicle emergency game module when abnormal information of the vehicle is detected or emergency information of surrounding vehicles is received;

[0066] S3, using the emergency priority game module to conduct a priority game based on the vehicle information and surrounding vehicle information to confirm the emergency priority of each vehicle;

[0067] S4. The emergency handling control module performs speed planning and lane planning for vehicles in the area according to the emergency priority of each vehicle.

[0068] Specifically, the emergency priority game module performs a priority game according to the vehicle information and the surrounding vehicle information to confirm the emergency priority of each vehicle, including: the emergency priority game module uses the vehicle parameters and the received surrounding vehicle parameters as game factors, inputs the game matrix, and confirms the emergency priority of each vehicle;

[0069] The vehicle parameters include the vehicle's emergency level, vehicle speed, and environmental perception obstacle distance information;

[0070] The surrounding vehicle parameters include the emergency level, speed, and environmental perception obstacle distance information of the surrounding vehicles.

[0071] Among them, the emergency priority game module uses the vehicle parameters and the received surrounding vehicle parameters as game factors, inputs the game matrix, and confirms the emergency priority of each vehicle, including:

[0072] Compare the parameters of surrounding vehicles with the parameters of the vehicle itself to obtain the priority factor of each vehicle for the same parameter;

[0073] Multiply the priority factor of each parameter of each vehicle by the corresponding weight factor to obtain the sub-item priority of each parameter of each vehicle;

[0074] The priority levels of each vehicle are summed up as the emergency priority parameter corresponding to each vehicle, so as to determine the emergency priority order of each vehicle according to the priority parameter corresponding to each vehicle.

[0075] The emergency triggering collaborative guidance method for an intelligent connected vehicle provided by an embodiment of the present invention has the corresponding technical effects of the emergency triggering collaborative guidance method for an intelligent connected vehicle, and will not be elaborated on again.

[0076] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. An emergency triggering collaborative guidance system for intelligent networked vehicles, characterized in that: include: C-V2X module, emergency trigger module, emergency priority game module and emergency processing control module; Among them, the C-V2X module is used for communication between the vehicle and surrounding vehicles, as well as sending vehicle information and receiving surrounding vehicle information; The emergency trigger module is used to monitor the abnormal information of the vehicle body, the abnormal information of the environment perception and the emergency information of the surrounding vehicles. When the abnormal information of the vehicle is detected or the emergency information of the surrounding vehicles is received, the vehicle emergency priority game module is triggered; The emergency priority game module is used to conduct priority games based on the vehicle information and surrounding vehicle information to confirm the emergency priority of each vehicle; The emergency handling control module is used to plan the speed and lanes of vehicles in the area according to the emergency priority of each vehicle; The emergency priority game module is used to conduct priority games based on the vehicle information and surrounding vehicle information to determine the emergency priority of each vehicle, including: The emergency priority game module uses the vehicle parameters and the received surrounding vehicle parameters as game factors, inputs them into the game matrix, and determines the emergency priority of each vehicle; The vehicle parameters include the vehicle's emergency level, vehicle speed, and environmental perception obstacle distance information; The surrounding vehicle parameters include the emergency level, speed, and environmental perception obstacle distance information of the surrounding vehicles; The emergency priority game module is specifically used for: Compare the parameters of surrounding vehicles with the parameters of the vehicle itself to obtain the priority factor of each vehicle for the same parameter; Multiply the priority factor of each parameter of each vehicle by the corresponding weight factor to obtain the sub-item priority of each parameter of each vehicle; The priority levels of each vehicle are summed up as the emergency priority parameter corresponding to each vehicle, so that the emergency priority order of each vehicle is determined according to the priority parameter corresponding to each vehicle.

2. The system according to claim 1, characterized in that The C-V2X is a distributed short-range C-V2X module.

3. The system according to claim 1, characterized in that The emergency handling control module is used to plan the speed and lanes of vehicles in the area according to the emergency priority of each vehicle, including: The emergency handling control module determines the path planning of the vehicle according to the emergency priority of the vehicle and the emergency planning guidance path transmitted by the surrounding vehicles with higher emergency priority; The C-V2X module sends the vehicle's related information to surrounding vehicles, so that surrounding vehicles can plan their routes based on their own information. The vehicle-related information includes the vehicle's emergency priority, location, speed, and planned path information.

4. An emergency triggering collaborative guidance method for an intelligent networked vehicle, characterized in that: include: Send vehicle information and receive surrounding vehicle information through the C-V2X module; The vehicle body abnormal information, environmental perception abnormal information and emergency information of surrounding vehicles are monitored through the emergency trigger module. When abnormal information of the vehicle is detected or emergency information of surrounding vehicles is received, the vehicle emergency priority game module is triggered; The emergency priority game module conducts priority game based on the vehicle information and surrounding vehicle information to confirm the emergency priority of each vehicle; The emergency handling control module performs speed planning and lane planning for vehicles in the area according to the emergency priority of each vehicle; The emergency priority game module performs priority game based on the vehicle information and surrounding vehicle information to confirm the emergency priority of each vehicle, including: The emergency priority game module uses the vehicle parameters and the received surrounding vehicle parameters as game factors, inputs them into the game matrix, and confirms the emergency priority of each vehicle; The vehicle parameters include the vehicle's emergency level, vehicle speed, and environmental perception obstacle distance information; The surrounding vehicle parameters include the emergency level, speed, and environmental perception obstacle distance information of the surrounding vehicles; The emergency priority game module uses the vehicle parameters and the received surrounding vehicle parameters as game factors and inputs them into the game matrix to confirm the emergency priority of each vehicle, including: Compare the parameters of surrounding vehicles with the parameters of the vehicle itself to obtain the priority factor of each vehicle for the same parameter; Multiply the priority factor of each parameter of each vehicle by the corresponding weight factor to obtain the sub-item priority of each parameter of each vehicle; The priority levels of each vehicle are summed up as the emergency priority parameter corresponding to each vehicle, so that the emergency priority order of each vehicle is determined according to the priority parameter corresponding to each vehicle.

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