Method and system for cross-domain early warning of expected path in high-speed scene of automatic driving vehicle

Abstract

The invention relates to an expected path cross-domain early warning method and system for an automatic driving vehicle in a high-speed scene. The method comprises the following steps: collecting vehicle state information by using a vehicle intelligent driving system; collecting road environment data through a roadside sensing system; establishing a vehicle-road cooperative communication mechanism; the cross-domain early warning system receives data from the vehicle intelligent driving system and the roadside sensing system; carrying out processing through a multi-source data fusion algorithm by utilizing roadside edge calculation, and extracting traffic data; the traffic data is checked and analyzed in a database, and the current traffic condition and whether traffic condition information needs to be broadcasted or not are intelligently judged; and when broadcasting is determined, real-time traffic condition information is sent to all automatic driving vehicles on an expected path through a roadside cross-domain traffic broadcasting mechanism. According to the invention, the driving safety of the automatic driving vehicle is improved, the high-speed transportation efficiency in a high-speed scene is enhanced, and the intelligent development of traffic management is promoted.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and specifically to a method and system for early warning of expected path cross-domain in high-speed scenarios for autonomous driving vehicles. Background Art

[0002] With the rapid development of autonomous driving technology, vehicles' autonomous driving capabilities on highways are continuously improving. However, due to the limited perception range of autonomous vehicles, their ability to perceive cross-domain traffic events remains insufficient, increasing the risk of traffic accidents. Therefore, it is particularly important to develop a method that can provide cross-domain warning of expected paths in highway scenarios. Summary of the Invention

[0003] The purpose of the present invention is to provide a cross-domain warning method for the expected path of an autonomous driving vehicle in a high-speed scenario. This method uses technologies such as vehicle-road collaboration, autonomous driving, 5G and big data to realize cross-domain traffic event perception of the expected path in a high-speed scenario, and broadcasts it to the autonomous driving vehicles traveling on the expected path, so as to reduce the risk of traffic accidents and improve the efficiency of vehicle passage.

[0004] To achieve the above object, the present invention provides the following technical solutions: A method for warning of expected path crossing domains in a high-speed scenario for an autonomous driving vehicle, the method comprising: (1) Using the vehicle's intelligent driving system to collect vehicle status information, such as location, speed, direction, etc.; (2) Collect road environment data through the roadside perception system, including road conditions, traffic flow, and the location of other vehicles and obstacles; (3) Establish a vehicle-road cooperative communication mechanism to ensure that data between vehicles and roadside perception systems can be transmitted in real time and accurately; (4) Start and initialize the cross-domain warning system, ready to receive data from the vehicle's intelligent driving system and roadside perception system; The cross-domain early warning system is a data receiving, cleaning, and processing system for high-speed scenarios. It includes a database for high-speed scenarios. It receives front-end data and compares it with the database, quickly outputs processing results, and continuously optimizes itself as the amount of data increases. (5) Through the multi-source data fusion algorithm, data from different sources are integrated and processed using roadside edge computing to extract key traffic data; (6) The integrated traffic data is checked and analyzed in the database to intelligently judge the current traffic conditions. If there are potential accidents, congestion, or weather risks, it is immediately decided whether to broadcast traffic condition information on the expected route. The broadcast information includes accident warnings, speed recommendations, lane warnings, weather warnings, etc. (7) Once the decision is made to broadcast, the real-time traffic condition information is sent to all autonomous vehicles on the expected path through the roadside cross-domain traffic broadcast mechanism so that they can adjust their driving strategies according to the real-time traffic conditions.

[0005] As a further technical solution of the present invention, the vehicle intelligent driving system includes perception equipment (lidar, camera, millimeter-wave radar, etc.), decision-making equipment (ADAS domain controller), communication equipment (5Gcpe, on-board OBU), etc.; the roadside perception system includes cameras, radars, sensors, etc., which are used to monitor the road environment in real time.

[0006] As a further technical solution of the present invention, the vehicle-infrastructure cooperative communication mechanism is based on wireless communications and next-generation internet technologies, such as cellular networks (e.g., 5G), DSRC (Dedicated Short Range Communication), and LTE-V2X. These technologies provide reliable communication channels for vehicles-to-vehicles (V2V), vehicles-to-infrastructure (V2I), and vehicles-to-pedestrians (V2P).

[0007] As a further technical solution of the present invention, the multi-source data fusion algorithm adopts an advanced Kalman filtering algorithm or a deep learning model to achieve accurate fusion of data from different sources.

[0008] As a further technical solution of the present invention, the method also includes: after the autonomous driving vehicle receives the warning information, it adjusts its driving behavior according to a preset safety strategy, and the driving behavior adjustment includes measures such as deceleration, changing lanes, and maintaining a safe distance to ensure driving safety.

[0009] Another object of the present invention is to provide a system for warning of expected path crossing in high-speed scenarios for autonomous driving vehicles, the system comprising: Vehicle intelligent driving system, used to collect status information of the vehicle itself and vehicles within the monitoring range; Roadside perception system, used to collect road environment data along the intended route; The vehicle-road cooperative communication module is used to establish a vehicle-road cooperative communication mechanism to achieve real-time and accurate data transmission; A cross-domain warning system receives and processes data from the vehicle's intelligent driving system and roadside perception system, performs in-depth analysis, and intelligently determines current traffic conditions. A cross-domain traffic broadcast module is used to broadcast real-time traffic status information to all autonomous vehicles on the expected path.

[0010] Compared with the existing technology, the beneficial effects of the present invention are: the present invention designs a cross-domain warning method and system for the expected path of autonomous driving vehicles in high-speed scenarios. Through highly integrated data collection, vehicle-road collaborative communication, intelligent warning analysis and full-area broadcast mechanism, the present invention provides a powerful cross-domain warning capability for the expected path of autonomous driving vehicles in high-speed scenarios, and at the same time provides a cross-domain full-time and space warning for vehicles traveling in high-speed transport formations. This warning method not only improves the driving safety of autonomous driving vehicles, enhances the high-speed transportation efficiency in high-speed scenarios, but also promotes the intelligent development of traffic management. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is the process operation diagram of the expected path cross-domain warning system for autonomous driving vehicles in high-speed scenarios. DETAILED DESCRIPTION

[0012] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0013] See also Figure 1 An embodiment of the present invention provides a method for early warning of expected path crossing in a high-speed scenario for an autonomous driving vehicle, the method comprising: (1) Using the vehicle intelligent driving system to collect vehicle status information, such as location, speed, direction, etc., and upload it to the cross-domain warning system through the 5G network; the vehicle intelligent driving system includes perception equipment (lidar, camera, millimeter wave radar, etc.), decision equipment (ADAS domain controller), communication equipment (5Gcpe, on-board OBU), etc.; (2) Roadside perception systems collect road environment data, including road conditions, traffic flow, and the locations of other vehicles and obstacles, and also upload them to the cross-domain early warning system; the roadside perception system includes cameras, radars, sensors, etc., which are used to monitor the road environment in real time; (3) Establish a vehicle-road cooperative communication mechanism to ensure that data between vehicles and roadside perception systems can be transmitted in real time and accurately; the vehicle-road cooperative communication mechanism is based on wireless communications and new generation Internet technologies, such as cellular networks (such as 5G), DSRC (dedicated short-range communication), LTE-V2X, etc. These technologies provide reliable communication channels between vehicles (V2V), between vehicles and infrastructure (V2I), and between vehicles and pedestrians (V2P); (4) Start and initialize the cross-domain warning system, ready to receive data from the vehicle's intelligent driving system and roadside perception system; The cross-domain early warning system is a data receiving, cleaning, and processing system for high-speed scenarios. It includes a database for high-speed scenarios. It receives front-end data and compares it with the database, quickly outputs processing results, and continuously optimizes itself as the amount of data increases. (5) Through the multi-source data fusion algorithm, data from different sources are integrated and processed using roadside edge computing to extract key traffic data; the multi-source data fusion algorithm uses advanced Kalman filtering algorithms or deep learning models to achieve accurate integration of data from different sources; (6) The integrated traffic data is checked and analyzed in the database to intelligently judge the current traffic conditions. If there are potential accidents, congestion, or weather risks, it is immediately decided whether to broadcast traffic condition information on the expected route. The broadcast information includes accident warnings, speed recommendations, lane warnings, weather warnings, etc. (7) Once the decision is made to broadcast, the real-time traffic condition information is sent to all autonomous vehicles on the expected path through the roadside cross-domain traffic broadcast mechanism so that they can adjust their driving strategies according to the real-time traffic conditions.

[0014] The method of this embodiment also includes: after the autonomous driving vehicle receives the warning information, it adjusts its driving behavior according to a preset safety strategy, and the driving behavior adjustment includes measures such as deceleration, lane changing, and maintaining a safe distance to ensure driving safety; safety strategy formulation: comprehensively considering factors such as road conditions, traffic flow, and vehicle performance to formulate a reasonable safety response strategy.

[0015] Another object of an embodiment of the present invention is to provide a system for warning an expected path crossing domain in a high-speed scenario for an autonomous driving vehicle, the system comprising: Vehicle intelligent driving system, used to collect status information of the vehicle itself and vehicles within the monitoring range; Roadside perception system, used to collect road environment data along the intended route; The vehicle-road cooperative communication module is used to establish a vehicle-road cooperative communication mechanism to achieve real-time and accurate data transmission; A cross-domain warning system receives and processes data from the vehicle's intelligent driving system and roadside perception system, performs in-depth analysis, and intelligently determines current traffic conditions. A cross-domain traffic broadcast module is used to broadcast real-time traffic status information to all autonomous vehicles on the expected path.

[0016] It should be noted that, in this document, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or apparatus that includes a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0017] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for early warning of expected path crossing in high-speed scenarios of autonomous driving vehicles, characterized in that: The method comprises: (1) Using the vehicle intelligent driving system to collect vehicle status information; (2) Collecting road environment data through the roadside perception system; (3) Establish a vehicle-road cooperative communication mechanism to ensure real-time and accurate data transmission between vehicles and roadside perception systems; (4) Start and initialize the cross-domain warning system, and prepare to receive data from the vehicle's intelligent driving system and roadside perception system; The cross-domain early warning system is a data receiving, cleaning and processing system in a high-speed scenario, including a database in a high-speed scenario. It can quickly output processing results by receiving front-end data and performing database comparison, and continuously self-optimizes as the amount of data increases. (5) Through the multi-source data fusion algorithm, data from different sources are integrated and processed using roadside edge computing to extract traffic data; (6) Check and analyze traffic data in the database, intelligently judge the current traffic conditions, and immediately decide whether to broadcast traffic condition information on the expected route if there are potential accidents, congestion, or weather risks; (7) Once the decision is made to broadcast, the real-time traffic condition information is sent to all autonomous vehicles on the expected path through the roadside cross-domain traffic broadcast mechanism so that they can adjust their driving strategies according to the real-time traffic conditions.

2. The method for warning the expected path crossing domain of an autonomous driving vehicle in a high-speed scenario according to claim 1 is characterized in that: The vehicle intelligent driving system includes perception equipment, decision-making equipment, and communication equipment; the roadside perception system includes cameras, radars and sensors for real-time monitoring of the road environment.

3. The method for warning the expected path crossing domain of an autonomous driving vehicle in a high-speed scenario according to claim 1 is characterized in that: The vehicle-road cooperative communication mechanism is a wireless communication and new generation Internet technology, which provides communication channels between vehicles, between vehicles and infrastructure, and between vehicles and pedestrians.

4. The method for warning the expected path crossing domain of an autonomous driving vehicle in a high-speed scenario according to claim 1 is characterized in that: The multi-source data fusion algorithm uses advanced Kalman filtering algorithm or deep learning model to achieve accurate fusion of data from different sources.

5. The method for warning the expected path crossing domain of an autonomous driving vehicle in a high-speed scenario according to claim 1 is characterized in that: The method also includes: after the autonomous driving vehicle receives the warning information, the autonomous driving vehicle adjusts the driving behavior according to a preset safety strategy, and the driving behavior adjustment includes deceleration, lane changing, and maintaining a safe distance to ensure driving safety.

6. The expected path crossing domain warning system for autonomous driving vehicles in high-speed scenarios is characterized by: The system comprises: Vehicle intelligent driving system, used to collect status information of the vehicle itself and vehicles within the monitoring range; Roadside perception system, used to collect road environment data on the expected path; The vehicle-road cooperative communication module is used to establish a vehicle-road cooperative communication mechanism to achieve real-time and accurate data transmission; The cross-domain warning system is used to receive and process data from the vehicle's intelligent driving system and roadside perception system, conduct in-depth analysis, and intelligently judge the current traffic conditions; A cross-domain traffic broadcast module is used to broadcast real-time traffic status information to all autonomous vehicles on the expected path.

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