Vehicle interconnection method and device, equipment and storage medium

Abstract

The invention discloses a vehicle interconnection method, device and equipment and a storage medium, and relates to the technical field of intelligent driving, and the vehicle interconnection method comprises the steps: obtaining a first relative distance between a vehicle and adjacent vehicles, and determining a target vehicle from the adjacent vehicles based on the first relative distance; sending a handshake request signal to the target vehicle, so that the target vehicle sends a first relative speed of the target vehicle and the own vehicle; when the first relative speed sent by the target vehicle is received, performing speed verification based on the first relative speed to obtain a speed verification result; and when the speed verification result is that the speed verification is passed, a handshake completion signal is sent to the target vehicle, and a decision information sharing channel is opened, so that vehicle interconnection is performed, decision information sharing between vehicles is realized, the requirement of the vehicle on a sensor can be reduced, and the cost of intelligent driving is further reduced.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a vehicle interconnection method, device, equipment and storage medium. Background Art

[0002] With the continuous development of wireless communication technology and radar detection technology, intelligent driving based on the Internet of Vehicles has also ushered in a booming development. In the process of realizing the Internet of Vehicles, a large number of signal base stations need to be built on the road to achieve the integration of vehicle, road and cloud, which will consume a lot of time and technical accumulation. The subsequent development of intelligent driving technology can start with vehicle-side interconnection. Whether it is a multi-sensor solution or a pure visual algorithm solution, it will lead to misjudgment due to its own observation limitations. If the car and the vehicle are connected at a close distance and the information related to intelligent driving is shared, it can enable the vehicle to identify road conditions more intelligently and make more unified judgments.

[0003] In the existing solutions, the vehicle-to-vehicle communication method adopts communication between users, and there is not a lot of signal interaction between vehicles, which is insufficient to improve the intelligent driving technology of vehicles.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a vehicle interconnection method, device, equipment and storage medium, aiming to solve the technical problem of how to achieve information sharing between vehicles.

[0006] To achieve the above objectives, the present application proposes a vehicle interconnection method, wherein the method comprises:

[0007] Acquire a first relative distance between the vehicle and neighboring vehicles, and determine a target vehicle from the neighboring vehicles based on the first relative distance;

[0008] Sending a handshake request signal to the target vehicle so that the target vehicle sends a first relative speed between the target vehicle and the self-vehicle;

[0009] When receiving the first relative speed sent by the target vehicle, performing a speed check based on the first relative speed to obtain a speed check result;

[0010] When the speed verification result is that the speed verification is passed, a handshake completion signal is sent to the target vehicle and a decision information sharing channel is opened to interconnect the vehicles.

[0011] In one embodiment, the step of obtaining a first relative distance between the vehicle and the neighboring vehicle includes:

[0012] Determine the frequency of the first difference frequency signal based on the first detection signal sent by the own vehicle and the first echo signal sent by the neighboring vehicle;

[0013] A first relative distance is determined based on the frequency of the first difference frequency signal.

[0014] In one embodiment, when the speed verification result is that the speed verification is passed, after the step of sending a handshake completion signal to the target vehicle and opening a decision information sharing channel to interconnect the vehicles, the method further includes:

[0015] When receiving a waving request signal from the target vehicle, acquiring a second relative distance based on the waving request signal;

[0016] Performing a distance check based on the second relative distance to obtain a distance check result;

[0017] When the distance verification result is that the distance verification is passed, a waving completion signal is sent to the target vehicle and the decision information sharing channel is set to a low credibility to reduce the dependence of the self-vehicle on the decision information sharing channel when making driving decisions.

[0018] In one embodiment, when the distance verification result is that the distance verification is passed, after the step of sending a waving completion signal to the target vehicle and setting the decision information sharing channel to a low credibility to reduce the reliance of the self-vehicle on the decision information sharing channel when making driving decisions, the method further includes:

[0019] When the ego vehicle enters the autonomous decision-making mode, obtaining a second relative speed between the ego vehicle and the target vehicle;

[0020] The second relative speed is sent to the target vehicle so that the target vehicle closes the decision information sharing channel when the speed verification is passed.

[0021] In one embodiment, the step of obtaining the second relative speed between the vehicle and the target vehicle includes:

[0022] Determine the frequency of the second difference frequency signal and the frequency of the frequency shift signal based on the second detection signal sent by the ego vehicle and the second echo signal sent by the target vehicle;

[0023] A second relative speed is determined based on the frequency of the second difference frequency signal and the frequency of the frequency shift signal.

[0024] In one embodiment, when the speed verification result is that the speed verification is passed, after the step of sending a handshake completion signal to the target vehicle and opening a decision information sharing channel to interconnect the vehicles, the method further includes:

[0025] When the ego vehicle enters the shared decision mode, acquiring the target vehicle decision information based on the decision information sharing channel and sending the ego vehicle decision information based on the decision information sharing channel;

[0026] When the ego vehicle is in an intelligent driving state, a target driving route is determined based on the target vehicle decision information and the ego vehicle decision information.

[0027] In one embodiment, when the self-vehicle enters the shared decision mode, after the step of acquiring the target vehicle decision information based on the decision information sharing channel and sending the self-vehicle decision information based on the decision information sharing channel, it also includes:

[0028] Obtaining timestamp information of the target vehicle decision information;

[0029] Evaluate the timeliness of the target vehicle decision information based on the timestamp information to obtain a timeliness evaluation result;

[0030] The credibility of the target vehicle decision information is determined based on the timeliness evaluation result so that the vehicle can reduce its reliance on the target decision information with low credibility when making driving decisions.

[0031] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle interconnection device, the vehicle interconnection device comprising:

[0032] An information acquisition module, used for acquiring a first relative distance between the vehicle and adjacent vehicles, and determining a target vehicle from the adjacent vehicles based on the first relative distance;

[0033] A connection request module, used for sending a handshake request signal to the target vehicle, so that the target vehicle sends a first relative speed between the target vehicle and the self-vehicle;

[0034] An information verification module, configured to perform a speed verification based on the first relative speed when receiving the first relative speed sent by the target vehicle, and obtain a speed verification result;

[0035] The vehicle interconnection module is used to send a handshake completion signal to the target vehicle and open a decision information sharing channel to perform vehicle interconnection when the speed verification result is that the speed verification is passed.

[0036] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle interconnection device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle interconnection method described above.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle interconnection method described above are implemented.

[0038] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the vehicle interconnection method described above.

[0039] One or more technical solutions proposed in this application have at least the following technical effects:

[0040] A first relative distance between a self-vehicle and an adjacent vehicle is obtained, and a target vehicle is determined from the adjacent vehicles based on the first relative distance; a handshake request signal is sent to the target vehicle so that the target vehicle sends a first relative speed between the target vehicle and the self-vehicle; upon receiving the first relative speed sent by the target vehicle, a speed check is performed based on the first relative speed to obtain a speed check result; when the speed check result is that the speed check passes, a handshake completion signal is sent to the target vehicle and a decision information sharing channel is opened to interconnect the vehicles, and the first relative distance and the first relative speed are used as handshake conditions between the self-vehicle and the target vehicle, so as to realize decision information sharing between vehicles, reduce the requirements of the vehicle on sensors, and thus reduce the cost of intelligent driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the vehicle interconnection method of the present application;

[0044] Figure 2 A schematic diagram of a model of a transmission signal and an echo signal of a vehicle interconnection method provided in Embodiment 1 of the present application;

[0045] Figure 3 A schematic diagram of a model of a transmission signal and an echo signal of a vehicle interconnection method provided in Embodiment 1 of the present application;

[0046] Figure 4 A schematic diagram of a flow chart provided for the second embodiment of the vehicle interconnection method of the present application;

[0047] Figure 5 This is a schematic diagram of the module structure of the vehicle interconnection device according to an embodiment of the present application;

[0048] Figure 6 Schematic diagram of the device structure of the hardware operating environment involved in the vehicle interconnection method in the embodiment of the present application.

[0049] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0050] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0051] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0052] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a vehicle interconnection device, etc. The following takes the vehicle interconnection device as an example to illustrate this embodiment and the following embodiments.

[0053] Based on this, the embodiment of the present application provides a vehicle interconnection method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle interconnection method of the present application.

[0054] In this embodiment, the vehicle interconnection method includes steps S10 to S40:

[0055] Step S10, obtaining a first relative distance between the vehicle and adjacent vehicles, and determining a target vehicle from the adjacent vehicles based on the first relative distance;

[0056] It should be understood that the first relative distance is the distance between the vehicle and the adjacent vehicle, and the target vehicle is the vehicle selected to share decision information with the vehicle. During the driving process of the vehicle, the distance between the vehicle and the adjacent vehicle is collected, and the adjacent vehicle whose distance is less than the preset distance is taken as the target vehicle. The preset distance is set according to needs.

[0057] In a feasible implementation manner, obtaining the first relative distance between the vehicle and the neighboring vehicle in step S10 may include steps S11 to S12:

[0058] Step S11, determining the frequency of a first difference frequency signal based on a first detection signal sent by the own vehicle and a first echo signal sent by a neighboring vehicle;

[0059] It should be noted that when obtaining the first relative distance between the vehicle and the adjacent vehicle, the vehicle radar sensor will send a detection signal to the adjacent vehicle, namely the first detection signal, and receive a reflected signal returned by the adjacent vehicle, namely the first echo signal. The frequency of the first difference frequency signal can be determined by frequency domain analysis of the first detection signal and the first echo signal. Please refer to Figure 2 , Figure 2 This is a schematic diagram of a model of a transmission signal and an echo signal of a vehicle interconnection method provided in the first embodiment of the present application. Figure 2 As shown, the solid line is the transmitted signal frequency curve f t , the dotted line is the echo signal frequency curve f r , the difference frequency signal frequency f of the mixing output b is the frequency difference between the transmitted signal and the echo signal, that is, the frequency of the first difference frequency signal.

[0060] Step S12: determining a first relative distance based on the frequency of the first difference frequency signal.

[0061] Exemplarily, the first relative distance R may be calculated according to the following formula:

[0062]

[0063] Where B is the frequency modulation bandwidth, c is the speed of light, T is the modulation period, and f b is the frequency of the first difference frequency signal.

[0064] Step S20, sending a handshake request signal to the target vehicle, so that the target vehicle sends a first relative speed between the target vehicle and the self-vehicle;

[0065] It should be understood that the handshake request signal is used to initiate a request to establish a connection with the target vehicle, which is a preliminary process to establish a stable communication connection. The first relative speed refers to the speed of the target vehicle relative to the own vehicle.

[0066] It should be noted that after determining the target vehicle for decision sharing with the ego vehicle, the handshake request signal sent to the target vehicle contains the relative position information of the ego vehicle and the target vehicle. When the target vehicle receives the handshake request signal containing the relative position information, it will verify the relative position information sent by the ego vehicle according to the distance information collected by its sensor. When the distance information collected by the target vehicle is consistent with the relative position information sent by the ego vehicle or the distance error between the distance information collected by the target vehicle and the relative position information sent by the ego vehicle is within the error tolerance range, the target vehicle will collect the speed of the target vehicle relative to the ego vehicle, that is, the first relative speed, and send the first relative speed to the ego vehicle.

[0067] Step S30, when receiving the first relative speed sent by the target vehicle, performing a speed verification based on the first relative speed to obtain a speed verification result;

[0068] It should be understood that when the first relative speed sent by the target vehicle is received, the first relative speed sent by the target vehicle will be verified according to the speed information collected by the own vehicle sensor. When the speed information collected by the own vehicle sensor is consistent with the first relative speed sent by the target vehicle, the speed verification result is that the speed verification passes; when the speed information collected by the own vehicle sensor is inconsistent with the first relative speed sent by the target vehicle, the speed verification result is that the speed verification fails.

[0069] Step S40, when the speed verification result is that the speed verification is passed, a handshake completion signal is sent to the target vehicle and a decision information sharing channel is opened to interconnect the vehicles.

[0070] It should be understood that the decision information sharing channel establishes a stable communication link between the ego vehicle and the target vehicle, which is used to share the intelligent driving decision information of the two vehicles in real time. When the speed verification result is that the speed verification passes, it means that the distance information and speed information collected by the ego vehicle and the target vehicle are highly consistent, and the target vehicle can provide more reliable intelligent driving decision information support to the ego vehicle, and can establish a stable communication connection with the target vehicle. At this time, a handshake completion signal will be sent to the target vehicle, and the decision information sharing channel will be opened.

[0071] In a feasible implementation manner, after step S40, steps A11 to A13 are further included:

[0072] Step A11, when receiving a waving request signal from the target vehicle, acquiring a second relative distance based on the waving request signal;

[0073] It should be understood that after the self-vehicle and the target vehicle establish a stable communication link for sharing decision-making information, the relative distance between the self-vehicle and the target vehicle, i.e., the second relative distance, will be continuously collected. When the detected relative distance between the self-vehicle and the target vehicle is greater than the preset distance, the target vehicle will send a waving request signal to the self-vehicle. When the waving request signal is received, the second relative distance will be obtained based on the waving signal, and the second relative distance is the relative distance between the self-vehicle and the target vehicle collected by the target vehicle sensor.

[0074] Step A12, performing distance verification based on the second relative distance to obtain a distance verification result;

[0075] It should be understood that when the second relative distance is obtained, the second relative distance will be distance-checked based on the distance information collected by the vehicle sensor to obtain a distance-check result. When the distance information collected by the vehicle sensor is consistent with the second relative distance or the distance error between the distance information collected by the vehicle sensor and the second relative distance is within the error tolerance range, the distance-check result is determined to be a distance-check pass; when the distance error between the distance information collected by the vehicle sensor and the second relative distance exceeds the error tolerance range, the distance-check result is determined to be a distance-check fail.

[0076] Step A13, when the distance verification result is distance verification passed, a waving completion signal is sent to the target vehicle and the decision information sharing channel is set to low credibility to reduce the dependence of the vehicle on the decision information sharing channel when making driving decisions.

[0077] It should be understood that when the distance verification result is that the distance verification is passed, it means that the distance difference between the self-vehicle and the target vehicle is too large. At this time, the decision information of the target vehicle is less reliable for the self-vehicle, and a waving completion signal will be sent to the target vehicle to disconnect from the target vehicle. When sending the waving completion signal to the target vehicle, the decision information sharing channel will be set to low credibility. At this time, the vehicle will rely more on the self-vehicle decision information when making driving decisions and reduce its reliance on the decision information of the target vehicle received through the decision information sharing channel.

[0078] In a feasible implementation manner, after step A13, steps B11 to B12 are further included:

[0079] Step B11, when the ego vehicle enters the autonomous decision-making mode, obtaining a second relative speed between the ego vehicle and the target vehicle;

[0080] It should be noted that when the ego vehicle enters the autonomous decision-making mode, the ego vehicle will only rely on the ego vehicle decision information for intelligent driving when making driving decisions. At this time, the ego vehicle will collect the relative speed between the ego vehicle and the target vehicle based on the ego vehicle sensor, that is, the second relative speed.

[0081] In a feasible implementation manner, the obtaining of the second relative speed between the vehicle and the target vehicle in step B11 further includes steps C11 to C12:

[0082] Step C11, determining the frequency of the second difference frequency signal and the frequency of the frequency shift signal based on the second detection signal sent by the ego vehicle and the second echo signal sent by the target vehicle;

[0083] It should be noted that when obtaining the second relative speed between the vehicle and the target vehicle, the vehicle radar sensor will send a detection signal to the target vehicle, namely the second detection signal, and receive a reflected signal returned by the adjacent vehicle, namely the second echo signal. The frequency of the second difference frequency signal and the frequency of the frequency shift signal can be determined by frequency domain analysis of the first detection signal and the first echo signal. Please refer to Figure 3 , Figure 3 This is a schematic diagram of a model of a transmission signal and an echo signal of a vehicle interconnection method provided in the first embodiment of the present application. Figure 3 As shown, f b is the frequency of the difference frequency signal when the ego vehicle radar and the target vehicle are relatively stationary, that is, the frequency of the second difference frequency signal, f d is the frequency of the Doppler frequency shift signal caused by the movement of the target vehicle, that is, the frequency of the frequency shift signal, f d The expression formula is as follows:

[0084]

[0085] Among them, f 0 is the center frequency of the transmitted signal, c is the speed of light, and v is the relative speed between the ego vehicle and the target vehicle.

[0086] Step C12: determining a second relative speed based on the frequency of the second difference frequency signal and the frequency of the frequency shift signal.

[0087] It should be noted that the frequency f of the rising edge difference frequency signal of the triangular wave can be calculated according to the frequency of the second difference frequency signal and the frequency of the frequency shift signal. b+ and the frequency f of the falling edge difference frequency signal b- :

[0088] f b+ =f b -f d

[0089] f b- =f b +f d

[0090] Then the second relative speed v can be calculated according to the following formula:

[0091]

[0092] Among them, f 0 is the center frequency of the transmitted signal, and c is the speed of light.

[0093] Step B12, sending the second relative speed to the target vehicle, so that the target vehicle closes the decision information sharing channel when the speed verification is passed.

[0094] It should be understood that after sending the second relative speed to the target vehicle, the target vehicle will collect the relative speed information between the target vehicle and the self-vehicle through its sensor and verify the second relative speed. When the relative speed information between the self-vehicle and the target vehicle is consistent with the second relative speed, the speed verification is passed, and the target vehicle will close the decision information sharing channel.

[0095] The present embodiment provides a vehicle interconnection method, which obtains a first relative distance between a self-vehicle and a neighboring vehicle, and determines a target vehicle from the neighboring vehicles based on the first relative distance; sends a handshake request signal to the target vehicle, so that the target vehicle sends a first relative speed between the target vehicle and the self-vehicle; upon receiving the first relative speed sent by the target vehicle, performs a speed check based on the first relative speed to obtain a speed check result; when the speed check result is that the speed check passes, sends a handshake completion signal to the target vehicle and opens a decision information sharing channel to interconnect the vehicles, uses the first relative distance and the first relative speed as handshake conditions between the self-vehicle and the target vehicle, and realizes decision information sharing between vehicles, which can reduce the vehicle's requirements for sensors and thereby reduce the cost of intelligent driving.

[0096] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 4 After step S40, the vehicle interconnection method further includes steps S41 to S42:

[0097] Step S41, when the self-vehicle enters the shared decision mode, obtaining the target vehicle decision information based on the decision information sharing channel and sending the self-vehicle decision information based on the decision information sharing channel;

[0098] It should be noted that after the ego vehicle enters the shared decision mode, it will receive the decision information of the target vehicle such as driving path, vehicle speed, lane change intention, etc. through the decision information sharing channel and send the decision information of the ego vehicle such as driving path, vehicle speed, lane change intention to the target vehicle.

[0099] In a feasible implementation, step S41 may include the steps of: obtaining the timestamp information of the target vehicle decision information; evaluating the timeliness of the target vehicle decision information based on the timestamp information to obtain a timeliness evaluation result; determining the credibility of the target vehicle decision information based on the timeliness evaluation result so that the vehicle can reduce its reliance on the low-credibility target decision information when making driving decisions.

[0100] It should be noted that in order to ensure the timeliness of the decision information obtained through the decision information sharing channel, the timestamp information carried by the decision information will be obtained when receiving the driving decision information of the target vehicle. The timeliness of the decision information can be evaluated through the timestamp information and the credibility of the decision information can be determined based on the evaluation result. Specifically, after receiving the decision information and timestamp of the target vehicle, the delay from the generation of the decision information by the target vehicle to the current time can be calculated by comparing the received timestamp with the current system time. The higher the delay, the worse the timeliness of the decision information. At this time, the credibility of the decision information in the self-vehicle system will be reduced so that the self-vehicle relies more on high-credibility decision information when making driving decisions.

[0101] Step S42, when the self-vehicle is in an intelligent driving state, determining a target driving route based on the target vehicle decision information and the self-vehicle decision information.

[0102] It should be understood that vehicles in the intelligent driving state have certain intelligent driving assistance functions such as adaptive cruise control, lane keeping assistance, automatic emergency braking, etc. During the driving process of the self-vehicle, the driving intention of the surrounding vehicles can be obtained through the target vehicle decision information, and the driving route of the self-vehicle can be determined according to the driving intention of the surrounding vehicles. Specifically, by sharing intention information (such as turn signal status) with surrounding vehicles, the behavior of surrounding vehicles can be predicted, and the own driving trajectory can be adjusted in advance to avoid unnecessary lane deviation.

[0103] This embodiment combines the target vehicle decision information with the self-vehicle decision information when planning the target driving route, and improves the accuracy of the self-vehicle's judgment of the surrounding environmental conditions when making intelligent driving decisions through stable signal interaction between vehicles.

[0104] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the vehicle interconnection method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0105] This application also provides a vehicle interconnection device, please refer to Figure 5 , the vehicle interconnection device comprises:

[0106] The information acquisition module 10 is used to acquire a first relative distance between the vehicle and adjacent vehicles, and determine a target vehicle from the adjacent vehicles based on the first relative distance;

[0107] A connection request module 20, configured to send a handshake request signal to the target vehicle, so that the target vehicle sends a first relative speed between the target vehicle and the self-vehicle;

[0108] An information verification module 30 is used to perform a speed verification based on the first relative speed when receiving the first relative speed sent by the target vehicle to obtain a speed verification result;

[0109] The vehicle interconnection module 40 is used to send a handshake completion signal to the target vehicle and open a decision information sharing channel to perform vehicle interconnection when the speed verification result is speed verification passed.

[0110] The vehicle interconnection device provided by the present application adopts the vehicle interconnection method in the above embodiment, which can solve the technical problem of how to realize information sharing between vehicles. Compared with the prior art, the beneficial effects of the vehicle interconnection device provided by the present application are the same as the beneficial effects of the vehicle interconnection method provided by the above embodiment, and other technical features in the vehicle interconnection device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0111] The present application provides a vehicle interconnection device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle interconnection method in the above-mentioned embodiment one.

[0112] Reference below Figure 6 , which shows a schematic diagram of the structure of a vehicle interconnection device suitable for implementing an embodiment of the present application. The vehicle interconnection device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The vehicle interconnection device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0113] like Figure 6As shown, the vehicle interconnection device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the vehicle interconnection device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the vehicle interconnection device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a vehicle interconnection device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0114] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0115] The vehicle interconnection device provided by the present application adopts the vehicle interconnection method in the above embodiment, which can solve the technical problem of how to realize information sharing between vehicles. Compared with the prior art, the beneficial effects of the vehicle interconnection device provided by the present application are the same as the beneficial effects of the vehicle interconnection method provided by the above embodiment, and the other technical features in the vehicle interconnection device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0116] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0117] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0118] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the vehicle interconnection method in the above-mentioned embodiment.

[0119] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0120] The computer-readable storage medium may be included in the vehicle interconnection device, or may exist independently without being assembled into the vehicle interconnection device.

[0121] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the vehicle interconnection device, the vehicle interconnection device obtains a first relative distance between the vehicle and the neighboring vehicles, and determines a target vehicle from the neighboring vehicles based on the first relative distance; sends a handshake request signal to the target vehicle so that the target vehicle sends a first relative speed between the target vehicle and the vehicle; when receiving the first relative speed sent by the target vehicle, performs a speed check based on the first relative speed to obtain a speed check result; when the speed check result is that the speed check passes, sends a handshake completion signal to the target vehicle and opens a decision information sharing channel to perform vehicle interconnection.

[0122] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0123] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0124] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0125] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned vehicle interconnection method, and can solve the technical problem of how to realize information sharing between vehicles. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the vehicle interconnection method provided in the above-mentioned embodiment, and will not be repeated here.

[0126] The present application also provides a computer program product, including a computer program, which implements the steps of the vehicle interconnection method as described above when executed by a processor.

[0127] The computer program product provided by the present application can solve the technical problem of how to realize information sharing between vehicles. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the vehicle interconnection method provided by the above embodiment, which will not be repeated here.

[0128] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A vehicle interconnection method, characterized in that: The vehicle interconnection method comprises: Acquire a first relative distance between the vehicle and neighboring vehicles, and determine a target vehicle from the neighboring vehicles based on the first relative distance; Sending a handshake request signal to the target vehicle so that the target vehicle sends a first relative speed between the target vehicle and the self-vehicle; When receiving the first relative speed sent by the target vehicle, performing a speed check based on the first relative speed to obtain a speed check result; When the speed verification result is that the speed verification is passed, a handshake completion signal is sent to the target vehicle and a decision information sharing channel is opened to interconnect the vehicles.

2. The method according to claim 1, characterized in that The step of obtaining a first relative distance between the vehicle and the neighboring vehicle comprises: Determine the frequency of the first difference frequency signal based on the first detection signal sent by the own vehicle and the first echo signal sent by the neighboring vehicle; A first relative distance is determined based on the frequency of the first difference frequency signal.

3. The method according to claim 1, characterized in that After the step of sending a handshake completion signal to the target vehicle and opening a decision information sharing channel to interconnect the vehicles when the speed verification result is that the speed verification is passed, the method further includes: When receiving a waving request signal from the target vehicle, acquiring a second relative distance based on the waving request signal; Performing a distance check based on the second relative distance to obtain a distance check result; When the distance verification result is that the distance verification is passed, a waving completion signal is sent to the target vehicle and the decision information sharing channel is set to a low credibility to reduce the dependence of the self-vehicle on the decision information sharing channel when making driving decisions.

4. The method according to claim 3, characterized in that After the step of sending a hand-waving completion signal to the target vehicle and setting the decision information sharing channel to a low credibility to reduce the reliance of the vehicle on the decision information sharing channel when making driving decisions when the distance verification result is that the distance verification is passed, the method further includes: When the ego vehicle enters the autonomous decision-making mode, obtaining a second relative speed between the ego vehicle and the target vehicle; The second relative speed is sent to the target vehicle so that the target vehicle closes the decision information sharing channel when the speed verification is passed.

5. The method according to claim 4, characterized in that The step of obtaining the second relative speed between the vehicle and the target vehicle comprises: Determine the frequency of the second difference frequency signal and the frequency of the frequency shift signal based on the second detection signal sent by the ego vehicle and the second echo signal sent by the target vehicle; A second relative speed is determined based on the frequency of the second difference frequency signal and the frequency of the frequency shift signal.

6. The method according to claim 1, characterized in that After the step of sending a handshake completion signal to the target vehicle and opening a decision information sharing channel to interconnect the vehicles when the speed verification result is that the speed verification is passed, the method further includes: When the ego vehicle enters the shared decision mode, acquiring the target vehicle decision information based on the decision information sharing channel and sending the ego vehicle decision information based on the decision information sharing channel; When the ego vehicle is in an intelligent driving state, a target driving route is determined based on the target vehicle decision information and the ego vehicle decision information.

7. The method according to claim 6, characterized in that After the step of acquiring the target vehicle decision information based on the decision information sharing channel and sending the self-vehicle decision information based on the decision information sharing channel when the self-vehicle enters the shared decision mode, the method further includes: Obtaining timestamp information of the target vehicle decision information; Evaluate the timeliness of the target vehicle decision information based on the timestamp information to obtain a timeliness evaluation result; The credibility of the target vehicle decision information is determined based on the timeliness evaluation result so that the vehicle can reduce its reliance on the target decision information with low credibility when making driving decisions.

8. A vehicle interconnection device, characterized in that: The device comprises: An information acquisition module, used for acquiring a first relative distance between the vehicle and adjacent vehicles, and determining a target vehicle from the adjacent vehicles based on the first relative distance; A connection request module, used for sending a handshake request signal to the target vehicle, so that the target vehicle sends a first relative speed between the target vehicle and the self-vehicle; An information verification module, configured to perform a speed verification based on the first relative speed when receiving the first relative speed sent by the target vehicle, and obtain a speed verification result; The vehicle interconnection module is used to send a handshake completion signal to the target vehicle and open a decision information sharing channel to perform vehicle interconnection when the speed verification result is that the speed verification is passed.

9. A vehicle interconnection device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle interconnection method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle interconnection method according to any one of claims 1 to 7 are implemented.

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