Car-road cooperative system, control method thereof, and storage medium

Abstract

The application provides a vehicle-road cooperation system, which comprises a road-side base station, a vehicle-mounted unit, an image acquisition unit, a road condition acquisition unit and a road condition prompting unit, the road-side base station comprises at least a road-side unit and an edge computing unit; the vehicle-mounted unit, the road-side unit, the edge computing unit, the road condition acquisition unit and the road condition prompting unit are connected through a distributed soft bus; the image acquisition unit and the edge computing unit are connected through a data line; the vehicle-mounted unit is used for collecting driving information; the road condition acquisition unit is used for collecting road information and vehicle information; the image acquisition unit is used for collecting road condition images; the road-side unit and the edge computing unit share the driving information, the road information and the vehicle information through the distributed soft bus; the road-side unit completes access authentication of the vehicle-mounted unit according to the vehicle information, and the edge computing unit generates driving assistance data according to the driving information, the road information, the vehicle information and the road condition images; and the vehicle-mounted unit outputs driving prompts according to the driving assistance data.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication, in particular to a vehicle-road cooperative system, a control method thereof and a storage medium. BACKGROUND

[0002] At present, with the gradual completion of highway transportation infrastructure, intelligent transportation technologies such as vehicle-road cooperative systems have entered people's lives and brought convenience to people's travel. In the current vehicle-road cooperative system, the structure of the hardware unit is complex, various data need to be transformed and transmitted multiple times, and the operation and maintenance are difficult, which limits the circulation of data. With the growth of road data, the current vehicle-road cooperative system has been unable to meet the demand for low latency and high stability, and it is difficult to support the practicalization of automatic driving technology. SUMMARY

[0003] The present application provides a vehicle-road cooperative system, a control method thereof and a storage medium for supporting the practicalization of automatic driving technology.

[0004] In a first aspect, the present application provides a vehicle-road cooperative system, which comprises a roadside base station, a vehicle-mounted unit, an image acquisition unit, a road condition acquisition unit and a road condition prompting unit, wherein the roadside base station comprises at least a roadside unit and an edge computing unit; the vehicle-mounted unit, the roadside unit, the edge computing unit, the road condition acquisition unit and the road condition prompting unit are connected through a distributed soft bus; the image acquisition unit and the edge computing unit are connected through a data line; the vehicle-mounted unit is configured to collect driving information of a vehicle; the road condition acquisition unit is configured to collect road information and vehicle information; the image acquisition unit is configured to collect road condition images and transmit the road condition images to the edge computing unit through the data line; the roadside unit and the edge computing unit share the driving information, the road information and the vehicle information through the distributed soft bus; the roadside unit completes access authentication of the vehicle-mounted unit according to the vehicle information, and after completing the access authentication, the edge computing unit generates driving assistance data according to the driving information, the road information, the vehicle information and the road condition images, and sends the driving assistance data to the vehicle-mounted unit; the vehicle-mounted unit receives the driving assistance data and outputs driving prompts to a user according to the driving assistance data.

[0005] In a second aspect, the present application provides a control method of a vehicle-road cooperative system, which is applied to the roadside base station of the vehicle-road cooperative system according to any one of the embodiments of the present application, and the control method comprises the following steps:

[0006] completing access authentication of the vehicle-mounted unit according to the vehicle information;

[0007] After completing the access authentication, the driving information uploaded by the vehicle-mounted unit is acquired, the road information and vehicle information uploaded by the road condition acquisition unit are acquired, and the road condition image uploaded by the image acquisition unit is acquired;

[0008] Driving assistance data is generated according to the driving information, the road information, the vehicle information and the road condition image, and the driving assistance data is sent to the vehicle-mounted unit.

[0009] In a third aspect, the present application provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by a processor to enable the processor to implement the control method of the vehicle-road cooperation system provided in any one of the embodiments of the present application.

[0010] The vehicle-road cooperation system provided by the present application comprises a roadside base station, a vehicle-mounted unit, an image acquisition unit, a road condition acquisition unit and a road condition prompting unit, the roadside base station at least comprises a roadside unit and an edge computing unit; the vehicle-mounted unit, the roadside unit, the edge computing unit, the road condition acquisition unit and the road condition prompting unit are connected through a distributed soft bus; the image acquisition unit and the edge computing unit are connected through a data line; the vehicle-mounted unit is used to collect driving information of a vehicle; the road condition acquisition unit is used to collect road information and vehicle information; the image acquisition unit is used to collect road condition images and transmit the road condition images to the edge computing unit through the data line; the roadside unit and the edge computing unit share the driving information, the road information and the vehicle information through the distributed soft bus; the roadside unit completes access authentication of the vehicle-mounted unit according to the vehicle information, after completing the access authentication, the edge computing unit generates driving assistance data according to the driving information, the road information, the vehicle information and the road condition images, and sends the driving assistance data to the vehicle-mounted unit; the vehicle-mounted unit receives the driving assistance data and outputs driving prompts to a user according to the driving assistance data. The vehicle-mounted unit, the roadside unit, the edge computing unit, the road condition acquisition unit and the road condition prompting unit are connected through the distributed soft bus, the characteristics of short-distance high-speed information transmission of the distributed soft bus are used, so that the roadside unit and the edge computing unit share the driving information, the road information and the vehicle information through the distributed soft bus, the image acquisition unit and the edge computing unit are connected through the data line, the communication resources are avoided from being occupied by too much information with large data volume, the access authentication of the vehicle unit and the generation of the driving assistance data are completed, the difficulty of system wiring is reduced, thereby reducing the operation and maintenance cost, the information interaction time delay is reduced, and the information transmission stability is improved. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor.

[0012] Figure 1 is a structural schematic diagram of a first conventional vehicle-road system provided by the embodiments of the present application;

[0013] Figure 2 is a structural schematic diagram of a first vehicle-road system provided by the embodiments of the present application;

[0014] Figure 3 is a structural schematic diagram of a first road-side base station provided by the embodiments of the present application;

[0015] Figure 4 is a schematic flow diagram of authentication implemented by a first distributed soft bus provided by the embodiments of the present application;

[0016] Figure 5 is a structural schematic diagram of a first vehicle-road system provided by the embodiments of the present application;

[0017] Figure 6 is a schematic flow diagram of a control method of a first vehicle-road system provided by the embodiments of the present application.

[0018] Explanation of reference signs:

[0019] 200, road crossbar; 100, vehicle-road cooperative system; 11, road-side base station; 111, road-side unit; 112, edge computing unit; 113, controller; 114, first PCIe line; 115, second PCIe line; 12, vehicle-mounted unit; 13, image acquisition unit; 14, road condition acquisition unit; 141, laser radar; 142, millimeter wave communication machine; 143, meteorological sensor; 15, road condition prompting unit; 151, prompting screen; 152, traffic signal light; 153, traffic indication sign; 17, data line. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0021] It should be noted that the terms "first", "second", and the like in the description of the application are used only for descriptive purposes, and cannot be construed as indicating or implying relative importance or implying the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features.

[0022] In the description of the present application, the reference to "one embodiment" or "some embodiments" and the like means that the specific features, structures or characteristics described in connection with the embodiment are included in one or more embodiments of the present application. Therefore, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in part embodiments" and the like appearing in different places in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "include", "contain", "have" and their variants mean "include but not limited to", unless otherwise specifically emphasized.

[0023] In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0024] The flowchart shown in the drawing is only an example, and does not necessarily include all contents and operations / steps, nor does it necessarily execute in the order described. For example, some operations / steps can be further divided, combined or partially combined, so the actual execution order may be changed according to the actual situation.

[0025] As Figure 1 As shown in the figure, the communication nodes of the current intelligent transportation system include: road side base station (Road Side Unit, RSU), edge computing unit (Mobile Edge Computing, MEC), vehicle-mounted unit and cloud server, and the four communication nodes communicate with each other to establish the information processing framework of the entire intelligent transportation system. However, the three communication nodes of road testing base station, vehicle-mounted unit and cloud server exist independently, communicate through the network, and the road testing base station and the edge computing unit communicate through the data line, and the line layout is complex. In traffic management, the road side base station receives the information of the vehicle-mounted unit through the mobile network, and sends prompt information to the vehicle-mounted unit, and the edge computing unit is used to undertake a large amount of computing task, which is the core of processing the information of the road side base station, and adjusts the driving condition on the basis of the processing result according to the traffic rules.

[0026] The intelligent transportation system has a complex route layout, high operation and maintenance difficulty and cost, and a high delay and low stability of information transmission based on a mobile network, which is difficult to play a greater role in complex and rapidly changing traffic conditions.

[0027] As shown in Figure 2 The present application provides a vehicle-road cooperation system 100, which comprises a roadside base station 11, a vehicle-mounted unit 12, an image acquisition unit 13, a road condition acquisition unit 14 and a road condition prompting unit 15. The roadside base station 11 comprises at least a roadside unit 111 and an edge computing unit 112. The vehicle-mounted unit 12, the roadside unit 111, the edge computing unit 112, the road condition acquisition unit 14 and the road condition prompting unit 15 are connected through a distributed soft bus; the image acquisition unit 13 and the edge computing unit 112 are connected through a data line 17.

[0028] The vehicle-mounted unit 12 is used to collect driving information of the vehicle it is mounted on. The road condition acquisition unit 14 is used to collect road information and vehicle information. The image acquisition unit 13 is used to collect road condition images and transmit the road condition images to the edge computing unit 112 through a data line. The roadside unit 111 and the edge computing unit 112 share driving information, road information and vehicle information through a distributed soft bus. The roadside unit 111 completes access authentication of the vehicle-mounted unit 12 according to vehicle information, and after completing the access authentication, the edge computing unit 112 generates driving assistance data according to driving information, road information, vehicle information and road condition images, and sends the driving assistance data to the vehicle-mounted unit 12. The vehicle-mounted unit 12 receives the driving assistance data and outputs driving prompts to the user according to the driving assistance data.

[0029] The image acquisition unit 13 is usually an AI perception camera. The road condition images collected by the AI perception camera are pictures or videos with high definition and large data volume. If the road condition images are transmitted through a distributed soft bus, a large amount of communication transmission resources will be occupied, which will affect the transmission of other signals. Therefore, the image acquisition unit 13 and the edge computing unit 112 are connected through a physical data line, which can optimize the efficiency of information transmission of the vehicle-road cooperation system 100.

[0030] In some embodiments, the roadside base station 11 comprises a controller 113, and the roadside unit 111 and the edge computing unit 112 are connected with the controller 113 through a PCIe line, an Ethernet or a wireless network.

[0031] For example, Figure 3As shown, the road side base station 11 further comprises a controller 113, the road side unit 111 is connected with the controller 113 through a first PCIe line 114, and the edge computing unit 112 is connected with the controller 113 through a second PCIe line 115. The controller 113 can not only issue control instructions to the road side unit 111 and the edge computing unit 112, but also serve as an information relay hub of the road side unit 111 and the edge computing unit 112.

[0032] The road side unit 111 and the edge computing unit 112 are not only connected through the first PCIe line 114, the second PCIe line 115 and the controller 113, but also connected through a distributed soft bus. In this way, the function of data sharing of the distributed soft bus is utilized, which is conducive to realizing simultaneous transmission of multiple data, improving the transmission efficiency of data, and further reducing the time delay of data transmission.

[0033] It should be noted that in the present application, the vehicle-mounted unit 12, the road side unit 111, the edge computing unit 112, the road condition acquisition unit 14 and the road condition prompting unit 15 are all installed with a preset operating system. Based on the preset operating system, the vehicle-mounted unit 12, the road side unit 111, the edge computing unit 112, the road condition acquisition unit 14 and the road condition prompting unit 15 can be connected through the distributed soft bus to form a super terminal. The preset operating system includes an open source Hongmeng operating system, such as KaihongOS.

[0034] Based on the distributed soft bus, the road side base station 11 can quickly complete the identity recognition and access authentication of the vehicle-mounted unit 12. The information collected by the vehicle-mounted unit 12 and the road condition acquisition unit 14 can also be directly acquired by the road side base station 11, and the generated driving assistance data can also be directly sent to the vehicle-mounted unit 12, thereby saving the steps of forwarding to the server and requesting acquisition from the server, and reducing the time delay of the system.

[0035] The vehicle-road cooperation system provided in the present application connects the vehicle-mounted unit, the road side unit, the edge computing unit, the road condition acquisition unit and the road condition prompting unit through the distributed soft bus, and utilizes the characteristics of short-distance high-speed information transmission of the distributed soft bus, so that the road side unit and the edge computing unit share driving information, road information and vehicle information through the distributed soft bus, the image acquisition unit and the edge computing unit are connected through a data line, the communication resources are avoided from being occupied by too much information with large data volume, and then the access authentication of the vehicle unit and the generation of driving assistance data are completed, thereby reducing the difficulty of system wiring, reducing the operation and maintenance cost, reducing the time delay of information interaction, and improving the stability of information transmission.

[0036] In order to more clearly introduce the technical solutions of the present application, the vehicle-road cooperative system 100 of the present application is introduced through the following embodiments. It should be clear that the following embodiments are used to supplement the description of the technical solutions of the present application, and are not intended to limit the present application.

[0037] In some embodiments, when the vehicle-mounted unit 12 enters the signal range of the distributed soft bus where the road-side base station 11 is located, the vehicle-mounted unit 12 and the road-side base station 11 realize automatic networking.

[0038] For example, before automatic networking, the vehicle-mounted unit 12 collects nearby road-side base stations 11 through the distributed soft bus, and the road-side base stations 11 also collect nearby vehicle-mounted units 12 through the distributed soft bus. The distributed soft bus supports short-distance communication, so only when the vehicle-mounted unit 12 and the road-side base station 11 enter the signal range of the distributed soft bus can they realize communication connection, and thus realize automatic networking.

[0039] Through the distributed soft bus, a large number of vehicle-mounted units 12 can be simultaneously accessed, and the degree of automation is high, and the connection process is more efficient.

[0040] In some embodiments, the vehicle information includes a second connection code and a second authentication code, and the road condition acquisition unit 14 collects the vehicle information and transmits the vehicle information to the road-side base station 11.

[0041] In some embodiments, when the road-side base station 44 is in the signal range of the distributed soft bus, the road-side base station 11 sends the first connection code through the preset communication channel of the distributed soft bus, and the vehicle-mounted unit 12 sends the second connection code through the preset communication channel; the road-side base station 11 receives the second connection code through the preset communication channel, and communicates with the vehicle-mounted unit 12 through the second connection code; the vehicle-mounted unit 12 receives the first connection code through the preset communication channel, and communicates with the road-side base station 11 through the first connection code.

[0042] For example, the mutual discovery process between the road-side base station 11 and the vehicle-mounted unit 12 based on the distributed soft bus includes: one, let others discover yourself (send specific data packets to others); two, let yourself discover others (receive specific data packets sent by others). In this process, the road-side base station 11 and the vehicle-mounted unit 12 will switch back and forth among three states, including: device discovered state, device sending state and device listening state.

[0043] Device discovery state: In this state, the device selects one of the multiple pre-set communication channels to send a specific data packet, for example, the pre-set communication channels are 1, 6, 11, and the specific data packet contains a ProbeRequest frame containing P2PIE information. These three pre-set communication channels are referred to as Social Channels.

[0044] Device transmission state: When the device is in the "device discovery state", it transmits the ProbeRequest frame to each frequency band without responding to the ProbeRequest frame of other devices. In this case, it is referred to as the device transmission state. After the device transmission state is completed, it enters the next device listening state.

[0045] Device listening state: In this state, the device selects one of the pre-set communication channels 1, 6, 11 to listen (note: once a device determines the pre-set communication channel to listen to, it will not change during the entire life cycle of the device.) to receive data packets sent by other devices through the pre-set communication channel. If a ProbeRequest frame containing P2PIE information is received in the received data packet, a ProbeResponse frame is sent in response. After responding, the next step will enter the device transmission state.

[0046] The roadside base station 11 and the vehicle-mounted unit 12 switch between the device transmission state and the device listening state, so that the roadside base station 11 and the vehicle-mounted unit 12 can be discovered and discovered. When the roadside base station 11 and the vehicle-mounted unit 12 respond to the ProbeResponse frame of each other, they simultaneously notify the distributed soft bus of successful mutual discovery.

[0047] After the roadside base station 11 and the vehicle-mounted unit 12 discover each other, they need to pass the authentication of the distributed soft bus before connecting to become super devices, so as to realize automatic networking and data sharing.

[0048] In some embodiments, after the roadside base station 11 and the vehicle-mounted unit 12 are connected in communication, the roadside base station sends a first authentication code to the distributed soft bus, and the vehicle-mounted unit 12 sends a second authentication code to the distributed soft bus; the distributed soft bus authenticates the first authentication code and the second authentication code, and after the authentication is passed, the roadside base station 11 and the vehicle-mounted unit 12 realize automatic networking.

[0049] The roadside base station 11 and the vehicle-mounted unit 12 can both register a unique NetworkID with the distributed soft bus and submit the device information of the device. In order to ensure the uniqueness of the NetworkID, a randomly generated UUID is used as the NetworkID.

[0050] As shown in FIG. 1, the vehicle-road cooperative system 100 includes a roadside unit 111, a roadside base station 11, an edge computing unit 112, an image acquisition unit 13, a vehicle-mounted unit 12, a road condition acquisition unit 14, and a road condition prompt unit 15. The roadside unit 111 is installed on the roadside of the road, and the roadside base station 11 is installed on the roadside unit 111. The edge computing unit 112 is installed on the roadside base station 11. The image acquisition unit 13 is installed on the roadside base station 11. The vehicle-mounted unit 12 is installed on the vehicle. The road condition acquisition unit 14 and the road condition prompt unit 15 are installed on the roadside base station 11. Figure 4 As shown in FIG. 1, after the roadside base station 11 and the vehicle-mounted unit 12 discover each other, the roadside base station 11 first sends an authentication to the distributed soft bus, specifically, sends a first authentication code to the distributed soft bus, and the first authentication code can be a KV (Key-Value) string. After receiving the first authentication code, the distributed soft bus parses the first authentication code to obtain the device information and NetworkID of the roadside base station 11 included in the first authentication code, and performs authentication judgment according to the device information and NetworkID. After the judgment passes, the roadside base station 11 is notified to be online. Similarly, the vehicle-mounted unit 12 sends a second authentication code to the distributed soft bus. After receiving the second authentication code, the distributed soft bus parses the second authentication code to obtain the device information and NetworkID of the vehicle-mounted unit 12 included in the second authentication code, and performs authentication judgment according to the device information and NetworkID. After the judgment passes, the vehicle-mounted unit 12 is notified to be online. After the roadside base station 11 and the vehicle-mounted unit 12 both pass the authentication, the distributed soft bus further performs: sending the online notification of the vehicle-mounted unit 12 to the roadside base station 11, and sending the online notification of the roadside base station 11 to the vehicle-mounted unit 12.

[0051] The above automatic networking process is not only applicable to the roadside base station 11 and the vehicle-mounted unit 12, but also applicable to any multiple pairs of the roadside base station 11, the vehicle-mounted unit 12, the roadside unit 111, the edge computing unit 112, the road condition acquisition unit 14, and the road condition prompt unit 15 to realize automatic networking.

[0052] In some embodiments, within the signal range of the distributed soft bus where the roadside base station 11 is located, the roadside base station 11 realizes automatic networking with the road condition acquisition unit 14 and the road condition prompt unit 15 through the distributed soft bus.

[0053] In some embodiments, multiple roadside base stations 11 are within the signal range of the same distributed soft bus, and the multiple roadside base stations 11 realize automatic networking, and the multiple roadside base stations 11 within the signal range can exchange information.

[0054] Through the distributed soft bus, it is not only beneficial to improve the data transmission efficiency of each unit in the vehicle-road cooperative system 100, but also beneficial to simplify the hardware layout of the vehicle-road cooperative system 100.

[0055] In some embodiments, the vehicle-road cooperative system 100 is installed on the road crossbar 200, the roadside base station 11 is installed in the middle region of the road crossbar 200, the image acquisition unit 13 is adjacent to the roadside base station, and the road condition acquisition unit 14 and the road condition prompt unit 15 are installed on both sides of the roadside base station.

[0056] For example, Figure 5As shown, the road condition acquisition unit 14 includes a laser radar 141, a millimeter wave communication machine 142, and a weather sensor 143. The road condition prompting unit 15 includes a prompting screen 151, a traffic signal 152, and a traffic sign 153. The image acquisition unit 13 includes an AI perception camera 131. The road crossbar 200 is erected above the road, and the length direction of the crossbar is perpendicular to the road direction. The roadside base station 11 is installed in the middle region of the road crossbar 200, so that the signal range of the distributed soft bus can be more evenly covered on the road, so as to expand the service area of the roadside base station 11 and improve the stability of the communication with the vehicle-mounted unit 12. The AI perception camera 131 is adjacent to the roadside base station 11, so that the data line length between the AI perception camera 131 and the roadside base station 11 can be reduced, and the cost of layout can be reduced. The laser radar 141, the millimeter wave communication machine 142, the weather sensor 143, the prompting screen 151, the traffic signal 152, and the traffic sign 153 are connected through the distributed soft bus and the roadside base station 11, without physical data lines, so that they can be arranged on both sides of the roadside base station 11 according to the actual needs of the road.

[0057] It should be noted that the above examples are used to analyze and explain the vehicle-road cooperation system 100, and in actual application, various transformations and combinations can be made according to the needs of traffic management. For example, the AI perception camera 131, the laser radar 141, the millimeter wave communication machine 142, the weather sensor 143, the prompting screen 151, the traffic signal 152, and the traffic sign 153 can all be provided in multiple, and their positions can also be transformed on the road crossbar at both ends of the roadside base station 11. For example, the traffic signal 152 is arranged beside the roadside base station 11, so that the vehicles on both sides of the road can better observe the traffic signal 152.

[0058] In the above embodiment, the vehicle-road cooperation system 100 realizes intelligent and low-latency road management functions through the distributed soft bus. In addition, multiple vehicle-road cooperation systems 100 beyond the distributed soft bus can also exchange data through a mobile network to obtain more road information and realize more accurate road management and control.

[0059] In some embodiments, the vehicle-road cooperation system 100 also includes a cloud platform, and the roadside unit 111 can be in communication connection with the cloud platform. The roadside unit 111 uploads the driving information, road information, vehicle information, and road condition images to the cloud platform, and multiple roadside base stations 11 can share the data in the cloud platform. The vehicle-mounted unit 12 can also upload the driving information to the cloud platform through a mobile network.

[0060] The cloud platform can be a server, a server cluster, a cloud server providing cloud services, cloud database, cloud computing, cloud function, cloud storage, network service, cloud communication, middleware service, domain name service, security service, content delivery network (CDN), and big data and artificial intelligence platform, etc.

[0061] In some embodiments, the edge computing unit 112 can obtain data in the cloud platform through the roadside unit 111, generate driving warning data according to the data in the cloud platform, and send the driving warning data to the vehicle-mounted unit 12.

[0062] For example, a certain road connects an A area and a B area, and the distance between the A area and the B area is far beyond the signal range of the distributed soft bus. A vehicle A in the A area collects driving information and traffic congestion information through the vehicle-mounted unit 12, and a road condition acquisition unit 14 in the A area can also collect driving information, which includes rockfall, road collapse, vehicle accident, and sudden extreme weather. The vehicle-mounted unit 12 of the vehicle A uploads the driving information and the traffic congestion information to the cloud platform through a mobile network, and the road condition acquisition unit 14 uploads the driving information to the cloud platform through the roadside unit 111 using a wireless network. When a vehicle B in the B area drives from the B area to the A area, the edge computing unit 112 in the B area obtains the driving information in the cloud platform through the roadside unit 111 in the B area, and generates driving warning information according to the driving information, for example, a navigation avoidance reminder. The driving warning information includes text, image, voice, and video, etc. The vehicle-mounted unit 12 of the vehicle B can generate various forms of driving warning prompts according to the driving warning information to help the user of the vehicle B to avoid risks.

[0063] As shown in Figure 6 The application also provides a control method of the vehicle-road cooperation system 100, which is applied to the roadside base station 11 of the vehicle-road cooperation system 100 as any one of the embodiments of the application, and the specific steps of the control method include S101-S103.

[0064] S101, obtaining vehicle information, and completing access authentication of the vehicle-mounted unit according to the vehicle information.

[0065] S102, after completing the access authentication, obtaining driving information uploaded by the vehicle-mounted unit, obtaining road information and vehicle information uploaded by the road condition acquisition unit, and obtaining road condition images uploaded by the image acquisition unit.

[0066] S103, generating driving assistance data according to the driving information, the road information, the vehicle information, and the road condition images, and sending the driving assistance data to the vehicle-mounted unit.

[0067] The control method is applied to the road side station 11 of the vehicle-road cooperative system 100 described in any one of the embodiments of the present application, and based on the structure layout of the vehicle-road cooperative system 100, the management efficiency of the vehicle-road cooperative system 100 can be improved by causing the road side station 11 to perform, the access authentication of the vehicle unit and the driving assistance data generation are quickly completed, thereby reducing the operation and maintenance cost, reducing the information interaction delay, and improving the stability of information transmission.

[0068] The embodiment of the present application provides a computer readable storage medium, the computer readable storage medium stores one or more programs, the one or more programs can be executed by one or more processors to implement any one of the control methods of the vehicle-road cooperative system 100 provided by the embodiments of the present application.

[0069] The computer readable storage medium can be an internal storage unit of the computer device, for example, a hard disk or a memory of the computer device. The computer readable storage medium can also be an external storage device of the computer device, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card and the like.

[0070] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A vehicle-road cooperative system, characterized in that, The vehicle-road cooperative system includes: a roadside base station, an on-board unit, an image acquisition unit, a traffic condition acquisition unit, and a traffic condition alert unit. The roadside base station includes at least a roadside unit and an edge computing unit. The on-board unit, the roadside unit, the edge computing unit, the traffic condition acquisition unit, and the traffic condition alert unit are connected via a distributed soft bus. The image acquisition unit and the edge computing unit are connected via a data cable. The on-board unit is used to collect driving information of the vehicle it is carrying; The road condition acquisition unit is used to collect road information and vehicle information; The image acquisition unit is used to collect road condition images and transmit the road condition images to the edge computing unit via the data cable; The roadside unit and the edge computing unit share the driving information, the road information, and the vehicle information through the distributed soft bus; The roadside unit completes the access authentication of the vehicle unit based on the vehicle information. After the access authentication is completed, the edge computing unit generates driving assistance data based on the driving information, the road information, the vehicle information and the road condition image, and sends the driving assistance data to the vehicle unit. The vehicle unit receives the driving assistance data and outputs driving prompts to the user based on the driving assistance data. Within the signal range of the distributed soft bus where the roadside base station is located, the vehicle-mounted unit and the roadside base station automatically form a network. Within the signal range of the distributed soft bus where the roadside base station is located, the roadside base station sends a first connection code through a preset communication channel of the distributed soft bus, and the vehicle-mounted unit sends a second connection code through the preset communication channel. The roadside base station receives the second connection code through the preset communication channel and establishes a communication connection with the vehicle-mounted unit through the second connection code. The vehicle-mounted unit receives the first connection code through the preset communication channel and establishes a communication connection with the roadside base station through the first connection code. After the vehicle-mounted unit establishes a communication connection, the roadside base station sends a first authentication code to the distributed soft bus, and the vehicle-mounted unit sends a second authentication code to the distributed soft bus. The distributed soft bus authenticates the first and second authentication codes. After successful authentication, the roadside base station and the vehicle-mounted unit automatically form a network. Within the signal range of the distributed soft bus where the roadside base station is located, the roadside base station automatically forms a network with the traffic condition acquisition unit and the traffic condition notification unit through the distributed soft bus. The roadside base station includes a controller, and the roadside unit and the edge computing unit are connected to the controller via a PCIe cable, Ethernet, or wireless network.

2. The vehicle-road cooperative system as described in claim 1, characterized in that, Multiple roadside base stations can automatically form a network within the signal range of the same distributed soft bus, and can exchange information with each other within the signal range.

3. The vehicle-road cooperative system as described in claim 1, characterized in that, The vehicle-road cooperative system is installed on a road crossbar, the roadside base station is installed in the middle area of ​​the road crossbar, the image acquisition unit is adjacent to the roadside base station, and the traffic condition acquisition unit and the traffic condition prompting unit are installed on both sides of the roadside base station.

4. The vehicle-road cooperative system as described in claim 1, characterized in that, The vehicle-road cooperative system also includes a cloud platform. The roadside unit can communicate with the cloud platform and upload driving information, road information, vehicle information and road condition images to the cloud platform. Multiple roadside base stations can share the data in the cloud platform.

5. The vehicle-road cooperative system as described in claim 4, characterized in that, The edge computing unit can obtain data from the cloud platform through the roadside unit, generate driving warning data based on the data in the cloud platform, and send the driving warning data to the vehicle unit.

6. A control method for a vehicle-road cooperative system, characterized in that, The control method is applied to a roadside base station of a vehicle-road cooperative system as described in any one of claims 1-5, and the control method includes: Obtain the vehicle information and complete the access authentication of the vehicle unit based on the vehicle information; After completing access authentication, the driving information is obtained, the road information and vehicle information uploaded by the road condition acquisition unit are obtained, and the road condition image uploaded by the image acquisition unit is obtained. Driving assistance data is generated based on the driving information, road information, vehicle information, and road condition image, and the driving assistance data is sent to the vehicle unit.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the control method for the vehicle-road cooperative system as described in claim 6.

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