A vehicle-road collaborative information transmission method and system for highway

Abstract

A vehicle-road collaborative information transmission method and system for highway vehicles, comprising the following steps: acquiring road-end data and vehicle-end data; performing static analysis on the road-end data, using the static analysis prediction time of collisions between vehicles or between a vehicle and the roadbed as an evaluation criterion, extracting data with a dangerous occurrence time lower than the warning threshold to obtain first-level data, and extracting vehicle-end data from the involved vehicles according to the first-level data as first-level matching data; performing two-way transmission between the vehicle end and the road end on the first-level data and the first-level matching data; after transmitting the first-level data and the first-level matching data, transmitting the road-end information and the vehicle-end information in the order of the data generation time. After acquiring the data, the present application quickly classifies the data according to the actual situation, obtains more important parameters according to the classification results, and then interactively transmits and conveys the important parameters to the edge processor.

Description

Technical Field

[0001] The present application relates to a vehicle-road collaborative information transmission method and system for highways. Background Art

[0002] As a major form of long-distance travel, highways are prone to major traffic accidents due to objective factors such as high vehicle speeds. With the development of vehicle intelligence, assisted driving and even autonomous driving of vehicles have been put on the agenda. However, in other countries, a large number of car accidents have occurred due to assisted driving or autonomous driving, resulting in casualties. In order to further improve the safety of vehicle driving on highways, vehicle-road collaboration has become a necessary development direction, providing basic information for further improving the safety of vehicle driving. Therefore, a large amount of vehicle-side data and road-side data will be generated. Since there is a strong correlation between vehicle-side data and road-side data, and the importance of different data is not the same, it is particularly important how to process and transmit data to make the vehicle-road collaborative system play a better role. Summary of the Invention

[0003] To solve the above problems, on the one hand, the present application discloses a vehicle-road collaborative information transmission method for highways, including the following steps: obtaining road-side data and vehicle-side data; performing static analysis on the road-side data, taking the static analysis prediction time of vehicle-to-vehicle collision or vehicle-to-roadbed collision as the evaluation criterion, extracting the data with a dangerous occurrence time lower than the warning threshold to obtain first-level data, and extracting vehicle-side data from the involved vehicles as first-level matching data according to the first-level data; performing two-way transmission between the vehicle side and the road side on the first-level data and the first-level matching data; after transmitting the first-level data and the first-level matching data, transmitting the road-side information and the vehicle-side information in the order of data generation time. After obtaining the data, the present application quickly classifies the data according to the actual situation, obtains more important parameters according to the classification results, and then interactively transmits and conveys the important parameters to the edge processor, so that when performing data transmission, the data more relevant to safety can be transmitted first, so as to better complete the transmission and recognition of important data, and ensure the effectiveness and necessity of vehicle-road collaborative information transmission.

[0004] Preferably, the road-side data includes road basic condition information, measured vehicle-to-vehicle distance, vehicle-to-roadbed distance, vehicle driving speed, vehicle lane, mid-axis distance between the vehicle mid-axis and the lane mid-axis, and deviation angle of the vehicle mid-axis from the lane mid-axis; no more than three items of data in the road-side data are included in the first-level data.

[0005] Preferably, the vehicle - end data includes the vehicle driving speed, the vehicle's predetermined acceleration, and the vehicle's predetermined driving deviation angle; the first - level matching data at least includes the vehicle's predetermined driving deviation angle.

[0006] Preferably, the dangerous occurrence time is evaluated as follows:

[0007] After obtaining the road - end data, perform calculation simulation according to the road - end data by ignoring road guidance to obtain a predicted scenario where a direct collision will occur within 5 s;

[0008] Extract the vehicles involved in the predicted scenario, and combine the road - base condition information of their locations. If the road - base conditions are perfect, for the vehicles with the mid - axis distance between the vehicle's central axis and the lane's central axis and the deviation angle of the vehicle's central axis from the lane's central axis within the set threshold range, correct the vehicle's position to the lane's central axis and set the deviation angle to 0;

[0009] Then perform calculation simulation on the corrected road - end data, extract the data with the dangerous occurrence time lower than the warning threshold to obtain first - level data, and extract the vehicle - end data from the involved vehicles as first - level matching data. This application first performs pre - calculation simulation to obtain a predicted scenario, then further centralizes the vehicle information that may collide, and then considers the possibility of self - adjustment to perform secondary correction on the data. After the secondary correction, perform calculation simulation again to obtain a screening effect closer to the actual situation.

[0010] Preferably, the warning threshold is 3 s.

[0011] Preferably, the first - level data is generated as follows: If, when a vehicle collision is predicted, the deviation angle of the vehicle's central axis from the lane's central axis exceeds 10°, then use the vehicle distance or the vehicle - road distance, the deviation angle of the vehicle's central axis from the lane's central axis, and the vehicle driving speed as the first - level data, and the vehicle's predetermined acceleration and the vehicle's predetermined driving deviation angle as the first - level matching data;

[0012] If, when a vehicle collision is predicted, the deviation angle of the vehicle's central axis from the lane's central axis does not exceed 10°, then use the vehicle distance or the vehicle - road distance and the vehicle driving speed as the first - level data, and the vehicle's predetermined driving deviation angle as the first - level matching data.

[0013] Preferably, it further includes the process of transmitting the first - level data and the first - level matching data to an edge processor. The edge processor processes the first - level data and the first - level matching data to obtain an emergency treatment plan, and transmits the emergency treatment plan to the vehicle end, and the vehicle end executes the emergency treatment plan.

[0014] Preferably, the emergency handling plan targets a number of vehicles involved in a collision and transmits their respective emergency handling plans to the corresponding vehicles. Through data screening, this application can obtain primary data and primary matching data, which can better represent the driving state at that time. Therefore, the emergency handling plan obtained by analyzing this state through the edge processor can be fed back to the vehicle side as quickly as possible to ensure the usability of the processing result and high processing efficiency.

[0015] Preferably, the emergency handling plan includes an emergency departure plan for the vehicle ahead and a safe deceleration plan for the vehicle behind.

[0016] On the other hand, a vehicle-road collaborative information transmission system for highways is also disclosed, including the following steps:

[0017] A data acquisition module for acquiring road-side data and vehicle-side data;

[0018] A data analysis module for statically analyzing the road-side data. Taking the time of danger occurrence as the evaluation criterion, the data with the time of danger occurrence lower than the warning threshold is extracted to obtain primary data, and the vehicle-side data is extracted from the involved vehicles according to the primary data as primary matching data;

[0019] A data transmission module for bidirectionally transmitting the primary data and the primary matching data between the vehicle side and the road side; and then after the primary data and the primary matching data are transmitted, the road-side information and the vehicle-side information are transmitted in the order of the data generation time.

[0020] An edge server for acquiring the primary data and the primary matching data to obtain an emergency handling plan, and transmitting the emergency handling plan to the vehicle side, and the vehicle side executes the emergency handling plan.

[0021] This application can bring the following beneficial effects:

[0022] 1. After acquiring the data, this application quickly classifies the data according to the actual situation, obtains more important parameters based on the classification results, and then interactively transmits and conveys the important parameters to the edge processor. Therefore, when transmitting the data, the data more relevant to safety can be transmitted first, so as to better complete the transmission and identification of important data, ensuring the effectiveness and necessity of vehicle-road collaborative information transmission.

[0023] 2. This application first performs pre-computation simulation to obtain a predicted scenario, then further centralizes the vehicle information that may collide, and then considers the possibility of self-adjustment to perform secondary correction on the data. After the secondary correction, the calculation simulation is performed again to obtain a screening effect closer to the actual situation.

[0024] 3. By screening data to obtain primary data and primary matching data, this application can better represent the driving state at that time. Therefore, an emergency handling plan can be obtained through analysis of this state by the edge processor, and then fed back to the vehicle side as quickly as possible to ensure the usability of the processing result and high processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0026] Figure 1 is a schematic diagram of Embodiment 1;

[0027] Figure 2 is a schematic diagram of Embodiment 2. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] To clearly illustrate the technical features of this solution, the present application will be elaborated in detail through specific embodiments below.

[0029] In the first embodiment, as Figure 1 shown, a vehicle-road collaborative information transmission method for highway vehicles includes the following steps:

[0030] S101 Obtain road-end data and vehicle-end data;

[0031] The road-end data includes road basic condition information, the measured vehicle distance between vehicles, the vehicle-road distance between the vehicle and the roadbed, the vehicle driving speed, the lane where the vehicle is located, the central axis distance between the vehicle central axis and the lane central axis, and the deviation angle of the vehicle central axis from the lane central axis;

[0032] The vehicle-end data includes the vehicle driving speed, the vehicle's predetermined acceleration, and the vehicle's predetermined driving deviation angle;

[0033] S102 Obtain primary data and primary matching data through static analysis of road-end data

[0034] Perform static analysis on the road-end data. Taking the static analysis prediction time of vehicle-to-vehicle collision or vehicle-to-roadbed collision as the evaluation criterion, extract the data with a dangerous occurrence time lower than the warning threshold to obtain primary data, and extract vehicle-end data from the involved vehicles as primary matching data according to the primary data; the primary matching data includes at least the vehicle's predetermined driving deviation angle.

[0035] The primary data contains no more than three items of the road-end data.

[0036] The dangerous occurrence time is evaluated as follows:

[0037] After obtaining the road-end data, calculation simulation is performed according to the road-end data while ignoring road guidance to obtain a predicted scenario of a direct collision occurring within 5 seconds;

[0038] Vehicles involved in the predicted scenario are extracted, and combined with the road basic condition information at their locations. If the road basic conditions are perfect, for those with the mid-axis distance between the vehicle's central axis and the lane's central axis, and the deviation angle of the vehicle's central axis from the lane's central axis within the set threshold range, the vehicle position is corrected to the lane's central axis, and the deviation angle is set to 0;

[0039] Then, calculation simulation is performed on the corrected road-end data, and data with a dangerous occurrence time lower than the warning threshold is extracted to obtain first-level data. Vehicle-end data is extracted from the involved vehicles based on the first-level data as first-level matching data.

[0040] The first-level data is generated as follows: If, when a vehicle collision is predicted, the deviation angle of the vehicle's central axis from the lane's central axis exceeds 10°, then the vehicle distance or vehicle-road distance, the deviation angle of the vehicle's central axis from the lane's central axis, and the vehicle's traveling speed are used as first-level data, and the vehicle's predetermined acceleration and the vehicle's predetermined traveling deviation angle are used as first-level matching data;

[0041] If, when a vehicle collision is predicted, the deviation angle of the vehicle's central axis from the lane's central axis does not exceed 10°, then the vehicle distance or vehicle-road distance and the vehicle's traveling speed are used as first-level data, and the vehicle's predetermined traveling deviation angle is used as first-level matching data.

[0042] S103 performs two-way transmission of the first-level data and the first-level matching data between the vehicle end and the road end; after the first-level data and the first-level matching data are transmitted, the road-end information and the vehicle-end information are transmitted in the order of the data generation time.

[0043] S104 transmits the first-level data and the first-level matching data to the edge processor to obtain an emergency treatment plan

[0044] The edge processor processes the first-level data and the first-level matching data to obtain an emergency treatment plan, and transmits the emergency treatment plan to the vehicle end, and the vehicle end executes the emergency treatment plan.

[0045] The emergency treatment plan is for several vehicles involved in the collision, and transmits their respective emergency treatment plans to the corresponding vehicles. The emergency treatment plan includes an emergency departure plan for the vehicle in front and a safe deceleration plan for the vehicle behind.

[0046] In the second embodiment, as Figure 2As shown in the figure, a vehicle-road collaborative information transmission system for highways includes the following steps:

[0047] A data acquisition module 201, configured to acquire road-side data and vehicle-side data;

[0048] A data analysis module 202, configured to perform static analysis on the road-side data. Taking the dangerous occurrence time as the evaluation criterion, extract the data with the dangerous occurrence time lower than the warning threshold to obtain first-level data, and extract the vehicle-side data from the involved vehicles as first-level matching data according to the first-level data;

[0049] A data transmission module 203, configured to perform two-way transmission of the first-level data and the first-level matching data between the vehicle side and the road side; and then, after the first-level data and the first-level matching data are transmitted, transmit the road-side information and the vehicle-side information in the order of the data generation time.

[0050] An edge server 204, configured to acquire the first-level data and the first-level matching data and obtain an emergency treatment plan, and transmit the emergency treatment plan to the vehicle side, and the vehicle side executes the emergency treatment plan.

[0051] The above are only embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A vehicle-road collaborative information transmission method for highways, characterized in that: It includes the following steps: Obtain road - end data and vehicle - end data; Conduct static analysis on the road - end data. Taking the static analysis prediction time of vehicle - to - vehicle collision or vehicle - to - roadbed collision as the evaluation criterion, extract the data with the dangerous occurrence time lower than the warning threshold to obtain first - level data, and extract the vehicle - end data from the involved vehicles according to the first - level data as first - level matching data; Conduct two - way transmission of the first - level data and the first - level matching data between the vehicle end and the road end; After transmitting the first - level data and the first - level matching data, transmit the road - end information and the vehicle - end information in the order of data generation time.

2. The vehicle-road collaborative information transmission method for highways according to claim 1, wherein: The road - end data includes road basic condition information, measured vehicle - to - vehicle distance, vehicle - to - roadbed distance, vehicle driving speed, vehicle lane, mid - axis distance between the vehicle mid - axis and the lane mid - axis, and deviation angle of the vehicle mid - axis from the lane mid - axis; no more than three items of the road - end data are included in the first - level data.

3. A vehicle-road collaborative information transmission method for highways according to claim 2, characterized in that: The vehicle - end data includes vehicle driving speed, vehicle predetermined acceleration, and vehicle predetermined driving deviation angle; the first - level matching data includes at least the vehicle predetermined driving deviation angle.

4. A vehicle-road collaborative information transmission method for highways according to claim 2, characterized in that: The dangerous occurrence time is evaluated in the following way: After obtaining the road - end data, perform calculation and simulation by ignoring road guidance according to the road - end data, and obtain a predicted scenario of direct collision within 5 s; Extract the vehicles involved in the predicted scenario, and combine the road basic condition information at their locations. If the road basic conditions are perfect, for the mid - axis distance between the vehicle mid - axis and the lane mid - axis and the deviation angle of the vehicle mid - axis from the lane mid - axis within the set threshold range, correct the vehicle position to the lane mid - axis and set the deviation angle to 0; Then perform calculation and simulation on the corrected road - end data, extract the data with the dangerous occurrence time lower than the warning threshold to obtain first - level data, and extract the vehicle - end data from the involved vehicles according to the first - level data as first - level matching data.

5. A vehicle-road collaborative information transmission method for highways according to claim 4, characterized in that: The warning threshold is 3 s.

6. The vehicle-road collaborative information transmission method for highways according to claim 2, characterized in that: The first - level data is generated in the following way: If the deviation angle of the vehicle mid - axis from the lane mid - axis exceeds 10° when predicting vehicle collision, then take the vehicle distance or vehicle - to - roadbed distance, the deviation angle of the vehicle mid - axis from the lane mid - axis, and the vehicle driving speed as the first - level data, and the vehicle predetermined acceleration and the vehicle predetermined driving deviation angle as the first - level matching data; If the deviation angle of the vehicle mid - axis from the lane mid - axis does not exceed 10° when predicting vehicle collision, then take the vehicle distance or vehicle - to - roadbed distance and the vehicle driving speed as the first - level data, and the vehicle predetermined driving deviation angle as the first - level matching data.

7. A vehicle-road collaborative information transmission method for highways according to claim 1, characterized in that: It also includes the process of transmitting the first - level data and the first - level matching data to the edge processor. The edge processor processes the first - level data and the first - level matching data to obtain an emergency treatment plan, and transmits the emergency treatment plan to the vehicle end, and the vehicle end executes the emergency treatment plan.

8. A vehicle-road collaborative information transmission method for highways according to claim 7, characterized in that: The emergency treatment plan is for several vehicles involved in the collision, and transmits the respective emergency treatment plans to the corresponding vehicles.

9. The vehicle-road collaborative information transmission method for highway according to claim 8, characterized in that: The emergency treatment plan includes an emergency departure plan for the vehicle ahead and a safety deceleration plan for the vehicle behind.

10. A vehicle-road collaborative information transmission system for highways, characterized in that: It includes the following steps: A data acquisition module for acquiring road-end data and vehicle-end data; A data analysis module for statically analyzing the road-end data. Using the time of danger occurrence as the evaluation criterion, the data with the time of danger occurrence lower than the warning threshold is extracted to obtain first-level data, and the vehicle-end data is extracted from the involved vehicles according to the first-level data as the first-level matching data; A data transmission module for two-way transmission of the first-level data and the first-level matching data between the vehicle end and the road end; and then after the transmission of the first-level data and the first-level matching data is completed, the road-end information and the vehicle-end information are transmitted in the order of the data generation time; An edge server for acquiring the first-level data and the first-level matching data to obtain an emergency treatment plan, and transmitting the emergency treatment plan to the vehicle end, and the vehicle end executes the emergency treatment plan.

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