Distributed network communication system for network connection cooperative driving

Abstract

The invention relates to a distributed network communication system for network connection cooperative driving, and belongs to the field of vehicle networking communication. A plurality of vehicle ends of the system communicate with one another through OBUs (On Board Units); the road end comprises relay communication equipment and a communication base station which are deployed on the road side, and the RSU serves as a communication link relay node in a distributed vehicle cooperative driving task and assists information transmission between vehicles; the communication base station is connected with the cloud equipment through an optical fiber and is in communication connection with the vehicle end through a Uu; the task initiating vehicle starts a network connection coordinated driving task, searches surrounding communication vehicle nodes capable of being used as task coordination vehicles, performs node information exchange with the task coordination vehicles, and performs fusion calculation on a high-precision map obtained from the cloud and surrounding vehicle information so as to complete the network connection coordinated driving task. Compared with an existing method, the method has the advantages of being low in delay, easy to expand, free of facility dependence, high in efficiency and the like.

Description

Technical Field

[0001] The present invention belongs to the field of vehicle networking communications and relates to a distributed network communication system for networked collaborative driving. Background Art

[0002] In today's era, cars are no longer just a means of transportation, but have become intelligent platforms that connect multiple fields such as transportation and information communication. With the rapid advancement of technology, the deep integration of cars and these fields is driving the development of intelligent transportation systems at an unprecedented speed. Among them, the vehicle-road-cloud collaborative autonomous driving system based on advanced mobile communication technology is particularly eye-catching. This system builds a highly collaborative network environment through the multi-terminal integration of roadside equipment, edge computing units, and cloud information, realizing seamless connection and all-round cooperation between cars, cars and roads, and cars and clouds.

[0003] In the vehicle-road-cloud collaborative autonomous driving system, collaborative perception, collaborative decision-making, and collaborative control are its core functions. Through these functions, the system can collect and analyze multi-source information such as road conditions, vehicle status, and surrounding environment in real time, providing accurate and reliable decision support for autonomous driving vehicles. This not only greatly improves the safety of vehicle driving, but also significantly improves traffic efficiency, reduces energy consumption, and brings passengers a more comfortable and convenient travel experience.

[0004] However, the full application of this system is inseparable from the extensive deployment of vehicle-to-vehicle roadside infrastructure and the popularization and installation of vehicle-mounted communication equipment. my country attaches great importance to this and has clearly identified vehicle-to-vehicle as an important direction for future transportation development. It plans to build a cellular vehicle-to-everything (C-V2X) infrastructure covering highways across the country by 2050. This will lay a solid foundation for the comprehensive provision of collaborative perception, collaborative decision-making and collaborative control services, and help the transportation system move towards the goal of optimal development.

[0005] However, the current Internet of Vehicles system still faces many challenges. In particular, the number of roadside communication units (RSU) deployed is not enough to fully support the needs of vehicle interconnection. In the process of high-speed movement of vehicle topology nodes, how to achieve wide-range coverage and maintain stable communication connections to complete collaborative driving tasks is an urgent problem to be solved. Summary of the invention

[0006] In view of this, an object of the present invention is to provide a distributed network communication system for networked collaborative driving.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A distributed network communication system for networked cooperative driving, comprising: multiple vehicle terminals, multiple road terminals and at least one cloud terminal, wherein the multiple vehicle terminals communicate with each other through an on-board communication unit OBU; the road terminal comprises a relay communication device and a communication base station deployed on the road side, and the relay RSU serves as a communication link relay node in the distributed vehicle cooperative driving task to assist in information transmission between vehicles; the communication base station is connected to the cloud terminal using optical fiber, and is connected to the vehicle terminal through a cellular network interface Uu;

[0009] Based on the distributed network communication architecture, vehicles can cooperate with other vehicles, road terminals and the cloud to realize networked collaborative driving task processing. Among them, the task initiating vehicle starts the networked collaborative driving task, searches for surrounding communication vehicle nodes that can serve as task collaborative vehicles, and exchanges node information with task collaborative vehicles; the task initiating vehicle performs fusion calculations based on the high-precision map obtained from the cloud and the surrounding vehicle information, obtains the task execution strategy and collaborative control instructions of the task collaborative vehicles and the vehicle itself, and then completes the networked coordinated driving task.

[0010] Furthermore, for multiple vehicle terminals, an on-board communication unit OBU is set in each vehicle terminal, and the on-board communication unit is connected to the in-vehicle network through the Ethernet mode, and communicates between vehicles through a direct communication interface based on the near-field communication PC5.

[0011] Furthermore, according to the generation scenario of the networked collaborative driving task, vehicles are divided into task initiating vehicles, task relay vehicles and task collaborative vehicles. Among them, when the task initiating vehicle communicates with the task collaborative vehicle, if the communication distance is within the direct communication distance based on PC5, the two directly communicate based on PC5; if the communication distance exceeds the direct communication distance based on PC5, it is further determined whether the two are in the communication coverage of the same roadside communication equipment RSU. If they are in the communication coverage of the same RSU, the communication is forwarded through the RSU. Otherwise, multiple PC5 direct communications are performed based on the task relay vehicle between the two, and communication is achieved by establishing a multi-hop communication link.

[0012] Furthermore, a collaborative controller is set up inside each vehicle. The collaborative controller of the task-initiating vehicle first exchanges node information with the task-cooperative vehicles, where the node information includes the vehicle status, vehicle perception, vehicle intention and traffic information of each vehicle. Then, the collaborative controller of the task-initiating vehicle performs fusion calculations based on the information of the vehicle and the task-cooperative vehicles to obtain the collaborative trajectory session and collaborative control instructions, and transmits the collaborative trajectory planning and collaborative control instructions to the task-cooperative vehicles.

[0013] Furthermore, a vehicle domain controller is set inside each vehicle end, which is used to obtain the vehicle's own perception information and status information during the information exchange stage. Among them, it obtains the environmental information around the vehicle through the vehicle camera or vehicle radar, thereby obtaining vehicle perception information; it obtains vehicle status information by monitoring the accelerator, brake pedal, and steering wheel;

[0014] The vehicle status and vehicle perception information obtained by the vehicle domain controller is first transmitted to the cooperative controller of the own vehicle, and the cooperative controller exchanges information with other vehicles;

[0015] After the fusion calculation, the vehicle domain controller controls the accelerator, brake pedal, steering wheel angle and turn signal according to the collaborative trajectory planning and collaborative control instructions issued by its own collaborative controller.

[0016] Furthermore, the vehicle downloads a high-precision map of the area it is in from the cloud through the communication base station on the roadside. The high-precision map provides basic geographic information, lane-level data information and dynamic traffic information. The basic geographic information includes road name, road location and road shape; the lane-level data information includes the number of lanes, lane width, lane markings and lane attribute changes; the traffic information includes speed limit, signal light status, traffic flow, and road construction information;

[0017] The information provided by the high-precision map is used to assist the vehicle's collaborative controller in performing fusion calculations.

[0018] Furthermore, the task scenarios of the connected driving tasks include at least: urban straight roads, urban forks, highway ramps and highway straight roads. Based on the task scenarios, the connected driving tasks include at least: unprotected left turns of vehicles traveling in opposite directions at intersections, cooperative lane merging, turning or alternating passage on unsignaled ramps, cooperative adaptive cruise control, cooperative lane changes of vehicles traveling in the same direction, platoon driving, and cooperative borrowing of lanes.

[0019] The beneficial effects of the present invention are:

[0020] The distributed network vehicle cooperative driving communication network architecture of the present invention has significant advantages. First, through a low-latency communication mechanism, real-time status information sharing between vehicles is realized, which greatly improves the efficiency of task processing and collaborative decision-making. Secondly, the architecture has good scalability and can flexibly add new vehicles or nodes. Through resource sharing, cooperative driving vehicles can exchange perception information and decision-making results, thereby improving overall traffic fluidity and safety. Finally, in the absence of roadside communication facilities, it can still meet the execution of networked collaborative driving tasks.

[0021] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0023] Figure 1 A schematic diagram of a distributed communication network architecture of the present invention;

[0024] Figure 2 This is a flow chart of in-vehicle network collaborative driving information transmission of the present invention;

[0025] Figure 3 A flow chart for confirming the distributed networked collaborative driving communication architecture of the present invention;

[0026] Figure 4 Schematic diagram of distributed communication for cooperative lane changing cooperative driving task of the present invention. DETAILED DESCRIPTION

[0027] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0028] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0029] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0030] See also Figure 1 to Figure 4 , which is a distributed network communication system for connected collaborative driving.

[0031] The present invention provides a distributed network communication system for networked cooperative driving, which includes multiple vehicle terminals, multiple road terminals and at least one cloud, wherein the multiple vehicle terminals communicate with each other through a direct communication interface based on near field communication (Proximity-basedCommunication, PC5); the road terminal includes a relay communication device (RoadSide Unit, RSU) and a 5G / 4G communication base station deployed on the road side, and the relay RSU serves as a communication link relay node in the distributed vehicle cooperative driving task to achieve longer-distance transmission of vehicle shared messages; the communication base station is connected to the cloud device using optical fiber, and is connected to the vehicle terminal through a cellular network interface (User to Network Interface, Uu);

[0032] Based on the distributed network communication architecture, the vehicle can cooperate with other vehicles, road terminals and the cloud to realize networked collaborative driving task processing.

[0033] According to the specific collaborative driving task, vehicles can be divided into task initiating vehicles, task relay vehicles and task collaborative vehicles; the task initiating vehicle integrates and calculates the trajectory and control instructions of each collaborative vehicle in the collaborative driving task.

[0034] The task initiating vehicle confirms the establishment of a communication link with the cooperative vehicle communication node. The task initiating vehicle integrates and calculates the vehicle status information, perception results and driving intentions from other cooperative vehicles on the premise that the high-precision map deployed in the cloud is loaded on the vehicle side in advance. The task initiating vehicle dispatches the cooperative driving vehicle to complete the collaborative driving task initiated by the task initiating vehicle.

[0035] For vehicles whose inter-vehicle distance is greater than the on-board OBU communication capability, joining the cooperative driving task includes: when the distance between the cooperative vehicle and the task initiating vehicle exceeds the communication coverage distance of the on-board OBU communication device, if there is a roadside communication device RSU device, and both vehicles are within its communication coverage, the message is forwarded through the roadside communication unit RSU. Another way is to use the vehicles with PC5 communication capability between the remote cooperative vehicles and the task initiating vehicle to forward messages and establish a single-hop or multi-hop communication link to achieve communication. On mixed traffic roads where cooperative driving is performed, there are three types of vehicles: human-driven vehicles (HDV) without communication capabilities, autonomous vehicles (AV) with cellular network interfaces (User to Network Interface, Uu), connected vehicles (CV) with PC5 communication interfaces, and connected and autonomous vehicles (CAV) with PC5 and Uu communication interfaces. Vehicles and CAVs with PC5 communication capabilities can autonomously identify collaborative driving tasks, actively participate in collaborative driving in an adaptive manner, and prompt the driver through human-machine interaction. Vehicles that only support the Uu communication interface can autonomously decide whether to join the collaborative driving based on their own judgment. Vehicles with PC5 communication capabilities can complete driving tasks collaboratively.

[0036] Vehicle-to-vehicle communication uses the PC5 communication interface to achieve direct connection between vehicles, ensuring efficient and real-time information exchange. Vehicle-to-cloud communication uses the Uu communication interface to enable vehicles to communicate with the base station, and then the base station is connected to the cloud control platform via optical fiber to achieve large-capacity data transmission and processing.

[0037] The on-board communication unit OBU is connected to the in-vehicle network through Ethernet mode, and directly communicates with the external network through the PC5 communication interface, and is connected to the cloud through the Uu interface. When the vehicle performs driving tasks, the on-board collaborative controller is responsible for integrating and calculating the information transmitted by the surrounding collaborative vehicle nodes obtained by the OBU, and executing the trajectory planning and control algorithm of the perception information fusion and driving task initiating vehicle and collaborative autonomous driving vehicle in the collaborative controller. The vehicle domain controller controls the accelerator pedal, brake pedal, steering wheel angle and turn signal according to the speed, acceleration and other parameters calculated by the collaborative controller, and transmits the instructions to the corresponding vehicle control module through the controller area network (CAN) bus. The cloud control platform monitors the collaborative driving tasks in real time, and sends high-precision maps, collaborative driving strategies and vehicle control algorithms to the vehicle through the Uu interface.

[0038] The vehicle side is composed of the on-board collaborative controller and the vehicle domain controller for information transmission; the vehicle-to-vehicle communication is based on the PC5 communication interface and the vehicle-to-cloud communication is based on the Uu communication interface. The collaborative driving vehicle information content required by the collaborative controller and the communication link of the external network will be determined according to the specific collaborative driving scenario and collaborative driving business needs. The data transmission of the in-vehicle network adopts Ethernet mode, connecting the on-board communication unit (OBU) and the on-board collaborative controller to support high-speed data transmission to meet the needs of collaborative driving tasks and entertainment services. The Ethernet mode provides higher data transmission quality and stability, prevents data packet loss and delay, and thus ensures the real-time and reliability of data transmission inside the car. In addition, the on-board collaborative controller is also connected to the domain controller via the CAN bus.

[0039] The downlink information transmitted by the on-board communication unit (OBU) to the on-board collaborative controller includes: collaborative driving information from other connected autonomous vehicles, such as vehicle collaboration requests, perception information sharing, and vehicle planning and control data; basic road information from the cloud, including traffic events and signs, maps, and traffic light information; and the OBU's own global positioning information.

[0040] In a mixed traffic environment, HDV does not have the perception capability, and its status information needs to be identified and shared by surrounding vehicles with perception capabilities. Connected autonomous vehicles CAV and autonomous vehicles can perceive the surrounding environment and vehicle status within the capabilities of sensors, while connected vehicles with L2 level autonomous driving can only recognize the information of the vehicle in front. The uplink information transmitted by the on-board collaborative controller to the on-board OBU includes: vehicle function subscription, vehicle status, vehicle perception, vehicle intention and collaborative request / response. Vehicles that refuse to participate in the collaborative driving task initiated by the collaborator will degenerate into HDV.

[0041] The on-board collaborative controller is capable of data classification processing, perception result fusion calculation, collaborative control decision-making and control to generate the driving trajectory and speed of the vehicle and surrounding collaborative CAVs. It communicates with the vehicle domain controller through the CAN bus to control the vehicle's accelerator / brake pedal, steering wheel angle, and turn signal. The OBU transmitted to the collaborative vehicle through a distributed communication link supports the collaborative driving control of other vehicles.

[0042] The collaborative completion of driving tasks by vehicles relies on vehicle-to-vehicle collaboration and vehicle-to-cloud support. On the vehicle side, the status information shared and transmitted between vehicles includes vehicle model, location, driving speed and acceleration, as well as driving intentions, such as keeping straight, turning right and turning left, in addition to information such as vehicle perception results. On the cloud, vehicles and cloud platforms transmit maps, navigation information and entertainment content. A wireless communication link based on the Uu interface is established through a communication base station to achieve efficient connection with the cloud platform.

[0043] The collaborative driving solution of the distributed collaborative communication architecture has a high degree of flexibility in the communication network structure under networked collaborative driving. The vehicle nodes build a direct communication link through the PC5 interface, based on the scenarios and specific driving tasks of urban straight roads, highway straight roads, urban intersections and highway ramps, as well as multi-task concurrency, to form a complex topological structure in which multiple driving tasks are combined into a hybrid. In the case of multiple collaborative driving tasks, multi-regional intercommunication is achieved through relay nodes to ensure the rapid flow and efficient processing of information. In extreme cases where there is no roadside unit RSU deployment, the architecture can still maintain the robustness of its distributed operation.

[0044] At the vehicle-to-vehicle communication level, using the PC5 interface built into the on-board unit OBU, the vehicle can establish a direct wireless communication connection with other vehicles within its communication coverage. The PC5 communication method not only improves the real-time and reliability of data transmission, but also promotes collaborative perception and decision-making between vehicles. Furthermore, for vehicles equipped with 5G Uu communication modules at the same time, they can cross longer distances and realize information interaction with vehicles and infrastructure in a wider range through base stations or cloud platforms, greatly broadening the boundaries and depth of communication.

[0045] In the face of scenarios where direct communication between vehicles is limited, a relay communication mechanism is established to cope with challenges such as communication distance and obstacles. Specifically, when a vehicle needs to establish communication with a target vehicle and its own OBU coverage is insufficient, a multi-level relay link can be built with surrounding vehicles, usually not more than three levels. This design mainly considers signal attenuation, transmission efficiency, data reliability and security to achieve ultra-long-distance transmission of information. This strategy makes full use of the dense distribution and high mobility between vehicles to improve the flexibility and coverage of the communication network.

[0046] In addition, on roads where roadside unit (RSU) communication nodes are deployed, the communication capabilities between vehicles are further enhanced. When direct communication between vehicles is blocked and they are within the communication coverage of RSU, RSU can serve as an efficient relay node to assist vehicles in completing information transmission. The auxiliary communication of RSU improves the stability and efficiency of communication.

[0047] In summary, this communication network architecture has built an efficient and reliable intelligent connected transportation system by integrating advanced communication technology and flexible relay strategies, laying a solid foundation for future smart travel.

[0048] During the execution of distributed collaborative driving tasks, real-time periodic data interaction is implemented between the task initiating vehicle and the collaborative vehicle. Vehicle-to-cloud communication is carried out through the Uu interface to achieve uplink and downlink data transmission. The vehicle sends periodic messages (for example, vehicle status information, vehicle perception information, and heartbeat information) to the cloud through the OBU communication unit, and the cloud sends map information and traffic information to the CAV, etc., which plays a role in macro-monitoring of traffic.

[0049] In the collaborative driving communication between vehicles, the collaborative driving task initiator sends a collaborative request through PC5 broadcast, and CAVs return a collaborative response through PC5 unicast. After completing the collaborative request and response, the collaborative driving task execution phase begins. During this process, the collaborative vehicle sends the vehicle status, perception results, and driving intention information to the collaborative initiator at a frequency of 10hz, and the collaborative driving task initiator provides the collaborative vehicle with multi-vehicle perception results and vehicle planning and control information through PC5 broadcast to jointly complete the collaborative driving task.

[0050] Example

[0051] This embodiment sets a specific scenario to describe the specific implementation method of the distributed network communication system for networked collaborative driving of the present invention.

[0052] This example is based on the following assumptions:

[0053] 1) The effective communication distance of OBU supporting collaborative driving tasks is 500m.

[0054] 2) Connected autonomous vehicles and connected vehicles are required to participate in collaborative driving tasks.

[0055] 3) On-board sensors accurately identify and share information about surrounding vehicles.

[0056] 4) There is no external disturbance attack on the collaborative driving task during its execution.

[0057] 5) The collaborative vehicles are equipped with collaborative controllers and on-board communication equipment.

[0058] This implementation takes an urban straight road traffic environment as an example, where various types of vehicles travel on a three-lane road and perform a coordinated lane change operation.

[0059] like Figure 4 As shown, the cooperative vehicles on the road are internally contained Figure 1 The task shown initiates the in-vehicle architecture of vehicle perception, collaborative computing, and communication.

[0060] First, the vehicle with communication function establishes a communication connection with the cloud, and downloads the high-precision map of the area where the vehicle is located and the collaborative driving plan to the vehicle collaborative controller. Then, the vehicle starts the city straight road collaborative lane change task, and initiates the collaborative communication vehicle nodes around the vehicle through the broadcast communication collection task. The information exchanged between the nodes includes vehicle status, vehicle perception, vehicle intention, collaboration request and traffic information, such as Figure 2 Finally, the cooperative driving controller in the vehicle performs fusion calculations based on the high-precision map and surrounding vehicle information to obtain the urban cooperative lane change trajectory and cooperative control instructions for all cooperative vehicles. These instructions involve signals such as vehicle acceleration and turn signals. The results of the real-time calculation of the cooperative controller include both cooperative vehicles and the self-vehicle. The planning and control information of the cooperative vehicle is transmitted to the corresponding cooperative vehicle through distributed communication, and the cooperative planning and control information of the self-vehicle is transmitted to the Figure 1 The vehicle domain controller is shown in Figure 1. The domain controller controls the automatic operation of the accelerator, brake and steering wheel accordingly. At the same time, the cooperative vehicle receives the planning control information distributed by the urban straight road cooperative driving task through the PC5 interface of the vehicle communication unit, transmits it to the cooperative controller first, and then submits it to the vehicle domain controller, thereby realizing the control of the vehicle.

[0061] like Figure 1 As shown, according to an embodiment of the present invention, a distributed communication network architecture for networked cooperative driving includes: in an urban straight road environment, the distributed cooperative driving communication network architecture includes: a cooperative driving task initiating vehicle, a roadside communication unit and a cloud.

[0062] Specifically, the vehicle-side communication node uses the PC5 interface of the on-board OBU communication device to achieve communication connection with the cooperative vehicle, aiming to transmit and share the vehicle status, intention, and control information required for cooperative driving. The road-side communication equipment RSU and the relay vehicle establish a connection with the on-board OBU through the PC5 communication interface according to the communication quality with the vehicle initiating the collaborative lane change task, and play the role of auxiliary communication, especially in the distributed communication architecture, to provide support for two cooperative vehicles that are far away and cannot communicate directly. In other words, RSU acts as a relay communication node to promote information exchange between vehicles in the urban straight road cooperative lane change scenario. In addition, the cloud is connected to the base station and RSU deployed on the roadside through optical fiber, and communicates with the on-board OBU through the Uu interface, thereby providing the vehicle with the high-precision map and collaborative driving solution required for the cooperative lane change driving task in its area.

[0063] like Figure 3As shown in the figure, in the proposed urban cooperative lane-changing driving task, the vehicle initiating the task acts as the master node, and all other vehicles act as cooperative nodes. If the distance between the two vehicles makes it impossible to maintain a stable communication connection, relay communication is performed with the help of the roadside unit RSU to maintain the connection. In the absence of RSU, the remote cooperative vehicle will exit the cooperative driving task initiated by the vehicle itself. First, according to the task type of the initiating vehicle, that is, urban straight road cooperative lane changing, the initiating vehicle requests the surrounding vehicles to join the cooperative driving task, and waits for the cooperative vehicles to confirm their agreement to join the cooperative driving task. Based on this, the communication topology formed by the task initiating vehicle as the master node is determined. The cooperative vehicle communicates with the master node using the PC5 interface based on the communication quality with the master node. If the communication quality is poor, a relay method is adopted. Based on this, a distributed urban cooperative lane-changing communication network architecture is established.

[0064] According to the distributed communication network architecture for connected collaborative driving according to the embodiment of the present invention, the needs of multi-vehicle node communication in the connected collaborative driving task are solved by utilizing the flexible changes of the network topology of the distributed communication architecture, thereby realizing the completion of the connected collaborative driving task in the distributed vehicle-to-vehicle collaborative driving scenario.

[0065] According to some embodiments of the present invention, Figure 1 As shown, the vehicle-side and road-side communication equipment constitute communication nodes. Among them, the vehicle-side communication nodes can be subdivided into collaborative driving initiating vehicle nodes, message relay vehicle communication nodes, and collaborative task collaborative communication nodes. The road-side nodes include roadside communication unit RSU relay communication nodes and base station communication nodes. The initiating vehicle node communicates with the collaborative communication vehicle nodes within the communication range of its OBU through the PC5 interface. For collaborative communication vehicle nodes outside the communication range of the initiating vehicle node and its OBU, multi-hop communication is achieved through the relay communication node using the PC5 interface. In addition, the initiating vehicle node shares information with vehicles that do not have networked collaborative driving capabilities through the Uu interface. HDV itself does not have the ability to directly share data communications, and its status information needs to be identified by the on-board sensors of surrounding vehicles before it can be shared.

[0066] In some embodiments, vehicle-side message transmission for connected collaborative driving may include: a communication connection between the on-board communication OBU and the on-board collaborative controller, a communication connection between the on-board collaborative controller and the vehicle domain controller, and a communication connection between the domain controller and other components of the vehicle.

[0067] In an embodiment of the present invention, in response to the multi-terminal message requirements of networked collaborative driving, the cloud establishes a communication connection with the networked collaborative driving vehicle through the base station using the Uu communication interface, preloads and transmits the high-precision map of the scene where the vehicle is located and the networked collaborative driving solution to the vehicle side in need, and obtains the status information of surrounding vehicles at the same time, including the status information of self-driving cars that only have Uu communication capabilities. In addition, networked vehicles equipped with a PC5 communication interface broadcast their vehicle status information and driving intentions through PC5. Networked vehicles equipped with a Uu communication interface upload their vehicle status and driving intention information to the cloud platform through the base station.

[0068] According to the requirements of networked cooperative driving in the embodiments of the present invention, the cooperative control system designed for vehicle automatic driving aims to optimize the cooperative driving performance of vehicles in complex traffic environments. Figure 2 As shown in the figure, the system architecture mainly includes the on-board unit (OBU), the collaborative controller and the vehicle domain controller. The OBU receives uplink information, including vehicle status, perception data, intention information and collaboration requests, through Ethernet communication; at the same time, it sends downlink information to the collaborative controller to transmit collaborative driving instructions and traffic event information. The collaborative controller works closely with the vehicle domain controller and is responsible for executing the corresponding vehicle control instructions to ensure the stability and safety of the vehicle.

[0069] Determine the communication nodes required for distributed vehicles to complete cooperative driving tasks according to different scenarios and different cooperative driving tasks. Take the cooperative lane-changing driving task requirements on a straight road in a city as an example. Figure 4 As shown: The vehicle is driving normally on the city road, and the task initiating vehicle receives interference from the HDV slow vehicles in front and behind, generating a lane change demand. First, the task initiating vehicle needs to determine the surrounding cooperative vehicle communication nodes. The task initiating vehicle broadcasts its cooperative lane change request message through PC5, and waits until the surrounding vehicle communication nodes respond and agree to join the distributed cooperative lane change cooperative driving task initiated by the task initiating vehicle, and then establishes a communication connection link with it. Then, for the cooperative vehicles within the coverage of the OBU communication device of the task initiating vehicle, a communication link is established between the two through the PC5 interface. For remote cooperative vehicles, one way is to establish a communication link through a relay vehicle to achieve multi-hop. In another case, when performing a cooperative driving task within the coverage of the roadside communication unit RSU, the remote cooperative vehicle establishes a communication link with the task initiating vehicle through the relay RSU. The communication topology establishment process is as follows: Figure 3 shown.

[0070] According to the requirements of networked cooperative driving in the embodiments of the present invention, the cooperative control system designed for vehicle automatic driving aims to optimize the cooperative driving performance of vehicles in complex traffic environments. Figure 2As shown in the figure, the system architecture mainly includes the on-board unit (OBU), the collaborative controller and the vehicle domain controller. The OBU receives uplink information, including vehicle status, perception data, intention information and collaboration requests, through Ethernet communication; at the same time, it sends downlink information to the collaborative controller to transmit collaborative driving instructions and traffic event information. The collaborative controller works closely with the vehicle domain controller and is responsible for executing the corresponding vehicle control instructions to ensure the stability and safety of the vehicle.

[0071] While executing collaborative driving tasks, it establishes a real-time communication connection with the cloud service platform, accesses the cloud service platform to load the high-precision map of the scene in real time to meet the trajectory planning and vehicle control algorithm requirements of the collaborative controller, obtains collaborative driving solutions, and accesses third-party platforms.

[0072] In different embodiments of the present invention, the distributed network vehicle cooperative driving communication network architecture can be implemented in a variety of ways. First, different protocols can be used for communication between vehicles, such as V2V or V2X, to meet specific cooperative driving task requirements. In addition, for different traffic scenarios, such as urban roads and highways, the deployment density and coverage of communication nodes can be adjusted to optimize the efficiency of information transmission. At the same time, in cooperative driving tasks, the perception and decision-making of vehicles can be dynamically adjusted according to real-time data to support various types of cooperative modes, such as emergency avoidance and path planning. Through these flexible implementation methods, the present invention can achieve efficient cooperative driving in various complex environments.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. A distributed network communication system for networked collaborative driving, characterized by: It includes: Multiple vehicle terminals, multiple road terminals and at least one cloud, wherein multiple vehicle terminals communicate with each other through the on-board communication unit OBU; the road terminal includes relay communication equipment and communication base stations deployed on the road side, and the relay RSU serves as a communication link relay node in the distributed vehicle cooperative driving task to assist in the information transmission between vehicles; the communication base station is connected to the cloud device using optical fiber, and is connected to the vehicle terminal through the cellular network interface Uu; The vehicle can cooperate with other vehicles, road terminals and the cloud to realize networked collaborative driving task processing. Among them, the task initiating vehicle starts the networked collaborative driving task, searches for surrounding communication vehicle nodes that can serve as task collaborative vehicles, and exchanges node information with task collaborative vehicles; the task initiating vehicle performs fusion calculations based on the high-precision map obtained from the cloud and the surrounding vehicle information, obtains the task execution strategy and collaborative control instructions of the task collaborative vehicles and the vehicle itself, and then completes the networked coordinated driving task.

2. A distributed network communication system for networked collaborative driving according to claim 1, characterized in that: For multiple vehicle terminals, an on-board communication unit OBU is set in each vehicle terminal. The on-board communication unit is connected to the in-vehicle network through the Ethernet mode, and the communication between vehicles is carried out through a direct communication interface based on near-field communication PC5.

3. A distributed network communication system for networked collaborative driving according to claim 2, characterized in that: According to the generation scenario of networked collaborative driving tasks, vehicles are divided into task initiating vehicles, task relay vehicles and task collaborative vehicles. Among them, when the task initiating vehicle communicates with the task collaborative vehicle, if the communication distance is within the direct communication distance based on PC5, the two directly communicate based on PC5; if the communication distance exceeds the direct communication distance based on PC5, it is further determined whether the two are in the communication coverage of the same roadside communication equipment RSU. If they are in the communication coverage of the same RSU, the communication is forwarded through the RSU. Otherwise, multiple PC5 direct communications are performed based on the task relay vehicle between the two, and communication is achieved by establishing a multi-hop communication link.

4. A distributed network communication system for networked collaborative driving according to claim 1, characterized in that: A collaborative controller is set up inside each vehicle. The collaborative controller of the task-initiating vehicle first exchanges node information with the task-cooperative vehicles. The node information includes the vehicle status, vehicle perception, vehicle intention and traffic information of each vehicle. Then, the collaborative controller of the task-initiating vehicle performs fusion calculation based on the information of the vehicle and the task-cooperative vehicles to obtain the collaborative trajectory session and collaborative control instructions, and transmits the collaborative trajectory planning and collaborative control instructions to the task-cooperative vehicles.

5. A distributed network communication system for networked collaborative driving according to claim 4, characterized in that: A vehicle domain controller is set inside each vehicle end, which is used to obtain the vehicle's own perception information and status information during the information exchange stage. It obtains the vehicle's surrounding environment information through the vehicle camera or vehicle radar to obtain vehicle perception information; it obtains vehicle status information by monitoring the accelerator, brake pedal, and steering wheel; The vehicle status and vehicle perception information obtained by the vehicle domain controller is first transmitted to the cooperative controller of the own vehicle, and the cooperative controller exchanges information with other vehicles; After the fusion calculation, the vehicle domain controller controls the accelerator, brake pedal, steering wheel angle and turn signal according to the collaborative trajectory planning and collaborative control instructions issued by its own collaborative controller.

6. A distributed network communication system for networked collaborative driving according to claim 5, characterized in that: Vehicles download high-precision maps of their areas from the cloud through roadside communication base stations. High-precision maps provide basic geographic information, lane-level data information, and dynamic traffic information. Basic geographic information includes road names, road locations, and road shapes; lane-level data information includes the number of lanes, lane widths, lane markings, and lane attribute changes; traffic information includes speed limits, signal light status, traffic flow, and road construction information. The information provided by the high-precision map is used to assist the vehicle's collaborative controller in performing fusion calculations.

7. A distributed network communication system for networked collaborative driving according to claim 1, characterized in that: The task scenarios of the connected driving tasks include at least: urban straight roads, urban forks, highway ramps and highway straight roads. Based on the task scenarios, the connected driving tasks include at least: unprotected left turns of vehicles traveling in opposite directions at intersections, cooperative lane merging, turning or alternating traffic on unsignaled ramps, cooperative adaptive cruise control, cooperative lane changes of vehicles traveling in the same direction, platoon driving, and cooperative borrowing of lanes.

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