Interaction method and device for map and vehicle road cloud three-terminal data of automatic driving vehicle

Abstract

The invention discloses an interactive method and device for vehicle-road cloud three-terminal data of an automatic driving vehicle map, relates to the technical field of V2X communication, and aims to solve the problems that the data of the vehicle-road cloud three terminals cannot be processed in batches, an automatic driving vehicle needs to process the data for a long time, an automatic driving map is not updated in time, and the efficiency is high in the prior art. According to the technical scheme, the automatic driving device comprises a shell, the shell comprises a shell body and a flexible photovoltaic panel, an installation groove is formed in the outer wall of the top arc-shaped face of the shell body, the flexible photovoltaic panel is embedded in the installation groove, air inlets are formed in the outer walls of the two sides of the shell body, and a measuring mechanism is arranged on one side of the shell body; the measuring mechanism comprises a side sealing plate clamped to the inner wall of one side of the shell and a laser radar, and filtering mechanisms are arranged in the two air inlets. According to the invention, communication can be carried out on the vehicle-road cloud three terminals in batches, the data can be read, the data can be integrated and processed, the situation that an automatic driving map cannot be updated in time is prevented, and the safety of automatic driving is improved.

Description

Technical Field

[0001] The present invention relates to the field of V2X communication technology, and in particular to a method and device for interacting with map, vehicle, road and cloud data of an autonomous driving vehicle. Background Art

[0002] V2X technology, that is, the exchange of information between vehicles and the outside world, has laid a new direction for the development of automobile technology by integrating positioning system navigation technology, vehicle-to-vehicle communication technology, wireless communication and remote sensing technology, and has achieved the compatibility of manual driving and autonomous driving. Simply put, models equipped with this system can automatically select the best driving route in terms of road conditions by analyzing real-time traffic information in autonomous driving mode, thereby greatly alleviating traffic congestion. In addition, by using on-board sensors and camera systems, they can also perceive the surrounding environment and make rapid adjustments, thus achieving "zero traffic accidents."

[0003] Self-driving cars, also known as driverless cars, computer-driven cars, or wheeled mobile robots, are intelligent cars that achieve unmanned driving through computer systems. They have a history of several decades in the 20th century and are close to practical use in the early 21st century. Self-driving cars rely on artificial intelligence, visual computing, radar, monitoring devices and global positioning systems to work together, allowing computers to automatically and safely operate motor vehicles without any active human operation. Car self-driving technology includes video cameras, radar sensors and laser rangefinders to understand the surrounding traffic conditions and navigate the road ahead through a detailed map (map collected by manned cars).

[0004] Based on the autonomous driving vehicles in the existing technology, when performing autonomous driving, maps, as the key technology of autonomous driving, are of great significance to the application of autonomous driving. Maps are different from traditional navigation maps. They have higher data accuracy, wider data dimensions and faster update speeds. Therefore, the data source of the map is not single. For data from different sources, the interaction between data becomes one of the difficulties in map fusion data. For the autonomous driving vehicles in the existing technology, when processing the data from the three ends of the vehicle, road and cloud, it is impossible to process the data from the three ends of the vehicle, road and cloud in batches. The autonomous driving vehicles need a long time to process the data, resulting in untimely updates of the autonomous driving maps and low safety of autonomous driving. Summary of the invention

[0005] The present invention provides a method and device for interacting with the three-terminal data of the autonomous driving vehicle map, the vehicle-road-cloud, etc., which solves the problem in the prior art that the autonomous driving vehicle cannot process the three-terminal data of the vehicle-road-cloud in batches, and the autonomous driving vehicle needs a long time to process the data, resulting in untimely updates of the autonomous driving map and low safety of autonomous driving.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] An interactive device for autonomous driving vehicle map, vehicle, road and cloud three-terminal data, comprises a shell, the shell comprises a shell with an installation groove on the outer wall of the top arc surface and a flexible photovoltaic panel embedded in the installation groove, air inlets are opened on the outer walls on both sides of the shell, a measuring mechanism is provided on one side of the shell, the measuring mechanism comprises a side sealing plate and a laser radar snapped on the inner wall of one side of the shell, a filtering mechanism is provided in each of the two air inlets, the filtering mechanism comprises a dust removal plate and a waterproof and breathable membrane abutting against the outer wall of one side of the dust removal plate, two sets of air guide mechanisms are provided in the shell, the air guide mechanism comprises an air guide plate fixedly arranged on the inner wall of the bottom of the shell and a baffle fixedly arranged on the inner wall of the bottom of the shell Wind block, a communication mechanism is provided between the two wind guide plates, the communication mechanism includes mounting plates respectively fixed on the outer walls of the opposite sides of the two wind guide plates, a data integration module connected to the outer wall of the top of the mounting plate by bolts, a vehicle-end communication module connected to the outer wall of the top of the mounting plate by bolts, and a road-end communication module connected to the outer wall of the top of the mounting plate by bolts, a power storage mechanism is provided in the shell, the power storage mechanism includes a mounting frame connected to the inner wall of the bottom of the shell by bolts, a plurality of support blocks respectively fixed on the inner walls of the mounting frame, a micro battery sleeved in the mounting frame and a plurality of limit blocks respectively abutting against the outer walls on both sides of the micro battery.

[0008] Preferably, air outlet holes are arranged at equal distances on an outer wall of one side of the shell, and a dustproof net is fixedly arranged on an inner wall of the shell on a side close to the air outlet holes.

[0009] Preferably, a connecting frame is fixedly provided on the outer wall of one side of the side sealing plate, and a mounting block is embedded in the connecting frame. The laser radar passes through and is fixedly provided on the outer wall of one side of the mounting block. An installation opening is opened on the outer wall of one side of the side sealing plate, and a protective plate made of acrylic material is embedded in the installation opening.

[0010] Preferably, the dust removal plate is embedded in the air inlet, and the waterproof breathable membrane is embedded in the air inlet.

[0011] Preferably, one end of the wind guide plate and the wind shield block are respectively fixed on the inner wall of one side of the shell near the air inlet, and the top of the wind guide plate and the wind shield block are respectively fixed on the top inner wall of the shell.

[0012] Through the above scheme, the wind generated by the driving of the autonomous driving vehicle enters the shell through the air inlet, and the outside air rushes into the shell. Then, under the blocking effect of the wind guide plate and the wind shield, the outside air is discharged from the air outlet on one side of the shell, thereby transporting the heat generated by the operation of the electronic components inside the shell to the external environment.

[0013] Preferably, a plurality of support plates are fixedly arranged on the outer wall of the bottom of the mounting plate, and the bottoms of the plurality of support plates are respectively fixedly arranged on the inner wall of the bottom of the shell.

[0014] Through the above solution, the data from the vehicle, road and cloud are read respectively through the vehicle-side communication module, the road-side communication module and the data integration module, and the data is integrated and processed through the data integration module, and then the integrated data is transmitted to the autonomous driving map.

[0015] Preferably, the bottom and both sides of the micro battery are respectively abutted against the outer walls of one end of several support blocks, two connecting plates are connected to the outer walls on both sides of the installation frame by bolts, and both ends of several limit blocks are respectively fixed on the outer wall of one side of the connecting plate.

[0016] Through the above scheme, the flexible photovoltaic panel and the micro battery are connected in series through the charging controller, the flexible photovoltaic panel receives light, and then transmits electricity to the micro battery, and the micro battery supplies power to the electronic components in the shell.

[0017] The interactive method of the interactive device of the three-terminal data of the autonomous driving vehicle map, vehicle, road and cloud includes the following steps:

[0018] Step 1: The vehicle-side communication module uses V2X communication technology to communicate with the vehicle's on-board sensors, on-board communication module and on-board positioning module, and uses RDMA technology to directly read the data, and transmits the read data to the data integration module, which then encrypts the vehicle-side data;

[0019] Step 2: The road-side communication module uses V2X communication technology to communicate with positioning satellites, traffic monitoring equipment and roadside RSU modules, and uses RDMA technology to directly read data and transmit the read data to the data integration module, which then encrypts the road-side data.

[0020] Step 3: The data integration module communicates with the cloud, uses RDMA technology to read the cloud memory, stores the required data directly in the data integration module, and encrypts the read data;

[0021] Step 4: The data integration module uses V2X communication technology to transmit the encrypted cloud data, vehicle-side data and road-side data to the moving vehicle. The moving vehicle updates the map information in real time based on the vehicle-road-cloud data.

[0022] Preferably, the data types received by the vehicle-side communication module include the vehicle's own vehicle information, location information of other vehicles, and driving data of other vehicles.

[0023] Preferably, the data types received by the road-side communication module include traffic condition data, RSU data, traffic signal data, etc.

[0024] Preferably, the types of data received by the data integration module from the cloud include traffic control information, weather condition information, road lane information, etc.

[0025] The beneficial effects of the present invention are:

[0026] The vehicle-side communication module, road-side communication module and data integration module read the data from the vehicle, road and cloud terminals respectively, and integrate the data through the data integration module, and then transmit the integrated data to the autonomous driving map. It can communicate and read the data from the vehicle, road and cloud terminals in batches, and integrate the data to prevent the autonomous driving map from being unable to be updated in time, thereby improving the safety of autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the overall main structure of the interactive device for the autonomous driving vehicle map, vehicle-road-cloud three-terminal data proposed by the present invention.

[0028] Figure 2 This is a partial cross-sectional structural diagram of the interactive device for the autonomous driving vehicle map, vehicle-road-cloud three-terminal data proposed by the present invention.

[0029] Figure 3 This is a schematic diagram of the cross-sectional structure of the shell part of the interactive device for the autonomous driving vehicle map, vehicle-road-cloud three-terminal data proposed by the present invention.

[0030] Figure 4 This is a schematic diagram of the main cross-sectional structure of the measurement mechanism of the interactive device for the three-terminal data of the autonomous driving vehicle map, road and cloud proposed by the present invention.

[0031] Figure 5 This is a schematic diagram of the main structure of the filtering mechanism of the interactive device for the three-terminal data of the autonomous driving vehicle map, road and cloud proposed by the present invention.

[0032] Figure 6 This is a schematic diagram of the main structure of the air guide mechanism of the interactive device for the three-terminal data of the autonomous driving vehicle map, vehicle, road and cloud proposed by the present invention.

[0033] Figure 7 This is a schematic diagram of the main structure of the communication mechanism of the interactive device for the three-terminal data of the autonomous driving vehicle map, vehicle, road and cloud proposed by the present invention.

[0034] Figure 8 This is a schematic diagram of the main structure of the power storage mechanism of the interactive device for the three-terminal data of the autonomous driving vehicle map, vehicle, road and cloud proposed by the present invention.

[0035] Fig. 9This is a schematic diagram of the logical structure of the method for interacting with the three-terminal data of the autonomous driving vehicle map, vehicle-road-cloud proposed in the present invention.

[0036] In the figure: 1. outer shell; 101. shell; 102. flexible photovoltaic panel; 11. air inlet; 12. air outlet; 2. measurement structure; 201. side sealing plate; 202. connection frame; 203. mounting block; 204. laser radar; 205. protective plate; 3. filtering mechanism; 301. dust removal plate; 302. waterproof breathable membrane; 4. wind guide mechanism; 401. wind guide plate; 402. wind shield block; 5. communication mechanism; 501. mounting plate; 502. support plate; 503. data integration module; 504. vehicle-side communication module; 505. road-side communication module; 6. power storage mechanism; 601. mounting frame; 602. support block; 603. micro battery; 604. connection plate; 605. limit block. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0038] Example 1, reference Figure 1-6 , a method and device for interacting with map, vehicle, road and cloud data of an autonomous driving vehicle, comprising a shell 1 fixedly mounted on the top outer wall of the autonomous driving vehicle, the shell 1 comprising a shell 101 with an installation groove on the outer wall of the top arc surface and a flexible photovoltaic panel 102 embedded in the installation groove, air inlets 11 are opened on the outer walls on both sides of the shell 101, and air outlets 12 distributed at equal distances are opened on the outer wall of one side of the shell 101, a dustproof net is fixedly mounted on the inner wall of one side of the shell 101 close to the air outlet 12, a measuring mechanism 2 is provided on one side of the shell 101, the measuring mechanism 2 comprises a side sealing plate 201 and a laser radar 204 snapped onto the inner wall of one side of the shell 101, a connecting frame 202 is fixedly mounted on the outer wall of one side of the side sealing plate 201, a mounting block 203 is embedded in the connecting frame 202, and the laser radar 204 penetrates and is fixedly mounted on the mounting block 203. On the side outer wall, an installation opening is opened on the outer wall of one side of the side sealing plate 201, and a protective plate 205 made of acrylic material is embedded in the installation opening. A filtering mechanism 3 is provided in each of the two air inlets 11, and the filtering mechanism 3 includes a dust removal plate 301 and a waterproof and breathable membrane 302 abutting against the outer wall of one side of the dust removal plate 301. The dust removal plate 301 is embedded in the air inlet 11, and the waterproof and breathable membrane 302 is embedded in the air inlet 11. Two sets of air guide mechanisms 4 are provided in the shell 101, and the air guide mechanism 4 includes an air guide plate 401 fixedly mounted on the bottom inner wall of the shell 101 and a wind shield block 402 fixedly mounted on the bottom inner wall of the shell 101, one end of the air guide plate 401 and the wind shield block 402 are respectively fixedly mounted on the inner wall of one side of the shell 101 close to the air inlet 11, and the top of the air guide plate 401 and the wind shield block 402 are respectively fixedly mounted on the top inner wall of the shell 101.

[0039] Example 2, reference Figure 7-8 , the method and device for interactive data of the three terminals of the autonomous driving vehicle map, vehicle, road and cloud also include a communication mechanism 5, the communication mechanism 5 includes a mounting plate 501 fixed on the outer wall of the opposite side of the two wind deflectors 401 on both sides, a data integration module 503 connected to the outer wall of the top of the mounting plate 501 by bolts, a vehicle-side communication module 504 connected to the outer wall of the top of the mounting plate 501 by bolts, and a road-side communication module 505 connected to the outer wall of the top of the mounting plate 501 by bolts, a plurality of support plates 502 are fixed on the outer wall of the bottom of the mounting plate 501, and the bottoms of the plurality of support plates 502 are respectively fixed on the inner wall of the bottom of the shell 101 A power storage mechanism 6 is provided in the shell 101, and the power storage mechanism 6 includes a mounting frame 601 connected to the inner wall of the bottom of the shell 101 by bolts, a plurality of support blocks 602 respectively fixed on the inner wall of the mounting frame 601, a micro battery 603 sleeved in the mounting frame 601, and a plurality of limit blocks 605 respectively abutting against the outer walls on both sides of the micro battery 603, the bottom and both sides of the micro battery 603 are respectively abutted against the outer walls of one end of the plurality of support blocks 602, two connecting plates 604 are connected to the outer walls of both sides of the mounting frame 601 by bolts, and the ends of the plurality of limit blocks 605 are respectively fixed on the outer wall of one side of the connecting plate 604.

[0040] Example 3, reference Fig. 9 , the interactive method of the interactive device of the three-terminal data of the autonomous driving vehicle map, vehicle road and cloud includes the following steps:

[0041] Step 1: The vehicle-side communication module 504 uses V2X communication technology to communicate with the vehicle-mounted sensors, vehicle-mounted communication module and vehicle-mounted positioning module of the vehicle, and uses RDMA technology to directly read the data, and transmits the read data to the data integration module 503. Then the data integration module 503 encrypts the vehicle-side data. The data types received by the vehicle-side communication module 504 include the vehicle information, the location information of other vehicles and the driving data of other vehicles;

[0042] Step 2: The road-side communication module 505 uses V2X communication technology to communicate with positioning satellites, traffic monitoring equipment and roadside RSU modules, and uses RDMA technology to directly read data, and transmits the read data to the data integration module 502. The data integration module 502 then encrypts the road-side data. The data types received by the road-side communication module 505 include traffic condition data, RSU data and traffic signal data, etc.;

[0043] Step 3: The data integration module 502 communicates with the cloud, uses RDMA technology to read the cloud memory, directly stores the required data in the data integration module 502, and encrypts the read data. The data types received from the cloud by the data integration module 503 include traffic control information, weather condition information, and road lane information;

[0044] Step 4: The data integration module 502 uses V2X communication technology to transmit the encrypted cloud data, vehicle-side data and road-side data to the moving vehicle. The moving vehicle updates the map information in real time based on the vehicle-road-cloud data.

[0045] The flexible photovoltaic panel 102 and the micro battery 603 are connected in series through the charging controller, and the flexible photovoltaic panel 102 receives light and then transmits electricity to the micro battery 603. The micro battery 603 supplies power to the electronic components in the shell 101. The vehicle-side communication module 504, the road-side communication module 505 and the data integration module 503 read the data from the three ends of the vehicle, road and cloud respectively, and integrate the data through the data integration module 503, and then transmit the integrated data to the autonomous driving map. The wind generated by the autonomous driving vehicle when driving enters the shell 101 through the air inlet 11, and the outside air rushes into the shell 101. Then, under the blocking effect of the wind guide plate 401 and the wind shield block 402, the outside air is discharged from the air outlet 12 on one side of the shell 101, thereby transmitting the heat generated by the operation of the electronic components inside the shell 101 to the external environment.

[0046] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0047] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0048] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An interactive device for autonomous driving vehicle map, vehicle, road and cloud data, comprising a housing (1), characterized in that: The housing (1) comprises a shell (101) with a mounting groove on the outer wall of the top arc surface and a flexible photovoltaic panel (102) embedded in the mounting groove, and air inlets (11) are formed on the outer walls on both sides of the shell (101); A measuring mechanism (2) is provided on one side of the housing (101), and the measuring mechanism (2) comprises a side sealing plate (201) clamped on an inner wall of one side of the housing (101) and a laser radar (204); A filter mechanism (3) is provided in each of the two air inlets (11), wherein the filter mechanism (3) comprises a dust removal plate (301) and a waterproof and breathable membrane (302) abutting against an outer wall of one side of the dust removal plate (301); Two sets of wind guide mechanisms (4) are provided in the shell (101), and the wind guide mechanisms (4) include a wind guide plate (401) fixedly arranged on the inner wall of the bottom of the shell (101) and a wind shield (402) fixedly arranged on the inner wall of the bottom of the shell (101); A communication mechanism (5) is provided between the two wind deflectors (401), the communication mechanism (5) comprising a mounting plate (501) fixedly mounted on opposite outer walls of the two wind deflectors (401) at two sides, a data integration module (503) connected to the top outer wall of the mounting plate (501) by bolts, a vehicle-side communication module (504) connected to the top outer wall of the mounting plate (501) by bolts, and a road-side communication module (505) connected to the top outer wall of the mounting plate (501) by bolts; The housing (101) is provided with an electricity storage mechanism (6), the electricity storage mechanism (6) comprising a mounting frame (601) connected to the inner wall of the bottom of the housing (101) by bolts, a plurality of support blocks (602) respectively fixed on the inner wall of the mounting frame (601), a micro battery (603) sleeved in the mounting frame (601), and a plurality of limit blocks (605) respectively abutting against the outer walls on both sides of the micro battery (603).

2. The interactive device for the three-terminal data of the autonomous driving vehicle map, vehicle, road and cloud according to claim 1, characterized in that: An outer wall of one side of the shell (101) is provided with air outlet holes (12) distributed at equal distances, and an inner wall of one side of the shell (101) close to the air outlet holes (12) is fixedly provided with a dustproof net.

3. The interactive device for the three-terminal data of the autonomous driving vehicle map, vehicle, road and cloud according to claim 1, characterized in that: A connection frame (202) is fixedly provided on the outer wall of one side of the side sealing plate (201), and a mounting block (203) is embedded in the connection frame (202); the laser radar (204) passes through and is fixedly provided on the outer wall of one side of the mounting block (203); a mounting opening is opened on the outer wall of one side of the side sealing plate (201), and a protective plate (205) made of acrylic material is embedded in the mounting opening.

4. The interactive device for the three-terminal data of the autonomous driving vehicle map, vehicle, road and cloud according to claim 1, characterized in that: The dust removal plate (301) is embedded in the air inlet (11), and the waterproof and breathable membrane (302) is embedded in the air inlet (11).

5. The interactive device for the three-terminal data of the autonomous driving vehicle map, vehicle, road and cloud according to claim 1, characterized in that: One end of the wind guide plate (401) and the wind shield block (402) are respectively fixed on the inner wall of one side of the shell (101) close to the air inlet (11), and the top of the wind guide plate (401) and the wind shield block (402) are respectively fixed on the top inner wall of the shell (101).

6. The interactive device for the three-terminal data of the autonomous driving vehicle map, vehicle, road and cloud according to claim 1, characterized in that: A plurality of support plates (502) are fixedly arranged on the outer wall at the bottom of the installation plate (501), and the bottoms of the plurality of support plates (502) are respectively fixedly arranged on the inner wall at the bottom of the housing (101).

7. The interactive device for the three-terminal data of the autonomous driving vehicle map, vehicle, road and cloud according to claim 1, characterized in that: The bottom and both sides of the micro battery (603) are respectively abutted against the outer wall at one end of a plurality of support blocks (602); two connecting plates (604) are connected to the outer walls on both sides of the installation frame (601) by bolts, and both ends of a plurality of limit blocks (605) are respectively fixed on the outer wall of one side of the connecting plate (604).

8. The interactive method of the interactive device of the three-terminal data of the autonomous driving vehicle map, vehicle, road and cloud according to claim 1, characterized in that: The following steps are involved: Step 1: The vehicle-side communication module (504) uses V2X communication technology to communicate with the vehicle-mounted sensors, vehicle-mounted communication module and vehicle-mounted positioning module of the vehicle, and uses RDMA technology to directly read data, and at the same time transmits the read data to the data integration module (503), and then the data integration module (503) encrypts the vehicle-side data; Step 2: The road-side communication module (505) uses V2X communication technology to communicate with the positioning satellite, traffic monitoring equipment and road-side RSU module, and uses RDMA technology to directly read the data, and transmits the read data to the data integration module (502), and then the data integration module (502) encrypts the road-side data; Step 3: The data integration module (502) communicates with the cloud, uses RDMA technology to read the cloud memory, directly stores the required data in the data integration module (502), and encrypts the read data; Step 4: The data integration module (502) uses V2X communication technology to transmit the encrypted cloud data, vehicle data and road data to the moving vehicle, and the moving vehicle updates the map information in real time based on the vehicle-road-cloud data.

9. The interactive method of the interactive device of the three-terminal data of the autonomous driving vehicle map, vehicle, road and cloud according to claim 8, characterized in that: The types of data received by the vehicle-side communication module (504) include the vehicle's own vehicle information, the location information of other vehicles, and the driving data of other vehicles.

10. The interactive method of the interactive device of the three-terminal data of the autonomous driving vehicle map, vehicle, road and cloud according to claim 8, characterized in that: The data types received by the road-side communication module (505) include traffic condition data, RSU data, traffic signal data, etc., and the data types received by the data integration module (503) from the cloud include traffic control information, weather condition information, road lane information, etc.

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