Networked vehicle information push method and electronic device

Abstract

The present invention discloses a method for pushing information of a networked vehicle and an electronic device, and relates to the field of intelligent transportation technology. The method comprises: determining the first roadside sensing device in the roadside sensing system that is closest to the networked vehicle according to the first vehicle information reported in real time by the networked vehicle; obtaining the second vehicle information of the networked vehicle from the first roadside sensing device; obtaining the first position information of the networked vehicle according to the first vehicle information and the second vehicle information; determining the information to be pushed that needs to be pushed to the networked vehicle according to the first position information, and sending the information to be pushed to the networked vehicle. Through the solution of the present invention, the problem that the cloud sends the received information indiscriminately to all vehicles in a certain area, brings a large amount of redundant data to the vehicle, and increases the burden of vehicle data processing is solved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and in particular to a method and electronic device for pushing information on a networked vehicle. Background Art

[0002] Vehicle-road-cloud collaborative technology is an advanced intelligent transportation technology system that integrates multiple fields such as vehicles, road infrastructure, and cloud computing. It uses advanced sensor technology, information and communication technology, cloud computing and big data technology, AI technology, etc. to enable real-time data interaction and collaboration between vehicles and roads, and vehicles and cloud platforms, thereby improving the driving safety of connected vehicles, reducing the manufacturing cost of connected vehicles, and improving road traffic efficiency and environmental protection.

[0003] The vehicle-road-cloud collaborative system usually consists of connected vehicles, roadside equipment and the cloud. When the cloud pushes data to the connected vehicle, it cannot obtain the lane-level location information of the connected vehicle. Therefore, it is necessary to use the roadside communication equipment and broadcast the information indiscriminately to all connected vehicles within the coverage of the roadside communication equipment. This indiscriminate information push method brings a lot of useless redundant data to the vehicle, increases the load of vehicle data processing, and may also bring decision-making risks due to untimely vehicle processing. Summary of the invention

[0004] In view of this, the present invention proposes a method and electronic device for pushing information of a connected vehicle, which solves the problem that in traditional connected vehicle information push solutions, the lane-level location information of the connected vehicle cannot be obtained and the information is sent indiscriminately to all connected vehicles in a certain area, thereby causing a large amount of redundant data for the connected vehicles.

[0005] On the one hand, an embodiment of the present invention provides a method for pushing information of a connected vehicle, and the method for pushing information of a connected vehicle includes: Determine, according to the first vehicle information reported in real time by the connected vehicle, a first roadside sensing device in the roadside sensing system that is closest to the connected vehicle; Acquire second vehicle information of the connected vehicle sensed by the first roadside sensing device; Obtaining first location information of the networked vehicle according to the first vehicle information and the second vehicle information; Determine information to be pushed to the connected vehicle according to the first location information; Send the information to be pushed to the connected vehicle.

[0006] In some implementations, determining information to be pushed to the connected vehicle according to the first location information includes: Determine, based on the first location information and information obtained from the roadside perception system and / or the third-party system, information to be pushed to the connected vehicle; and / or According to the second vehicle information and the first location information of the connected vehicle and the surrounding connected vehicles, the information to be pushed that needs to be pushed to the connected vehicle is determined.

[0007] In some implementations, determining the information to be pushed to the connected vehicle based on the first location information and the information obtained from the roadside perception system and / or the third-party system includes: Based on one or more of the vehicle type, vehicle speed and driving direction in the second vehicle information of the connected vehicle, the first location information, and the information obtained from the roadside perception system and / or the third-party system, the information to be pushed to the connected vehicle is filtered out.

[0008] In some implementations, determining the information to be pushed to the connected vehicle based on the second vehicle information and the first location information of the connected vehicle and the surrounding connected vehicles includes: Determine whether there is a risk of collision between the connected vehicle and the surrounding connected vehicles based on the speed and driving direction and the first position information in the second vehicle information of the connected vehicle and the speed and driving direction and the first position information in the second vehicle information of the surrounding connected vehicles; In response to a collision risk between the connected vehicle and surrounding vehicles, collision risk information is used as information to be pushed to the connected vehicle and surrounding connected vehicles.

[0009] In some implementations, before sending the information to be pushed to the connected vehicle, the method further includes: Obtaining a vehicle identification from the cloud registration information according to the second vehicle information; Send the information to be pushed to the connected vehicle, including: The information to be pushed is sent to the connected vehicle based on the vehicle identification.

[0010] In some implementations, sending the information to be pushed to the connected vehicle includes: Determine the type of information to be pushed based on the content of the information to be pushed; Based on the type of information to be pushed and the amount of information to be pushed, the information to be pushed is sent to the connected vehicle.

[0011] In some embodiments, the type of information to be pushed is at least one of a real-time traffic information type, a road safety and warning information type, a concerned area road information type, and a service information type; Based on the type and quantity of information to be pushed, the information to be pushed is sent to the connected vehicle, including: In response to the number of pieces of information to be pushed being multiple, determining a sending order of the multiple pieces of information to be pushed based on a priority corresponding to a type of each piece of information to be pushed and a time when the information occurs, wherein the priority of the road safety and warning information type is greater than the priority of the real-time road condition information type, greater than the priority of the concerned area road information type, and greater than the service information type; Based on the sending order, multiple pieces of information to be pushed are sent to the connected vehicles in sequence.

[0012] In some implementations, determining the order of sending the plurality of messages to be pushed based on the priority corresponding to the type of each message to be pushed and the time when the message occurs includes: In response to the plurality of pieces of information to be pushed including a plurality of pieces of information to be pushed having different priorities, determining a sending order of the plurality of pieces of information to be pushed having different priorities in descending order of priority; In response to the multiple pieces of information to be pushed including multiple pieces of information to be pushed with the same priority, the sending order of the multiple pieces of information to be pushed with the same priority is determined according to the sequence of occurrence times of the multiple pieces of information to be pushed with the same priority.

[0013] In some embodiments, determining the first roadside sensing device in the roadside sensing system that is closest to the connected vehicle according to the first vehicle information reported in real time by the connected vehicle includes: obtaining a driving path of the connected vehicle according to the first vehicle information reported in real time by the connected vehicle and the road information obtained from the map; determining the first roadside sensing device in the roadside sensing system that is located in front of the connected vehicle and closest to the connected vehicle according to the driving direction of the vehicle in the driving path; According to the first vehicle information and the second vehicle information, first position information of the networked vehicle is obtained, including: inputting the first vehicle information and the second vehicle information into a graph convolutional network to obtain the first position information of the networked vehicle.

[0014] On the other hand, an embodiment of the present invention further provides an electronic device, comprising: at least one processor; and a memory, the memory storing a computer program that can be run on the processor, characterized in that when the processor executes the program, the steps of the method of any of the above embodiments are performed.

[0015] The present invention has at least the following beneficial effects: The present invention provides a method and electronic device for pushing information of a connected vehicle. Through the first vehicle information reported in real time by the connected vehicle, the first roadside sensing device closest to the connected vehicle is determined, and the second vehicle information of the connected vehicle is sensed by the first roadside sensing device. Through the first vehicle information reported by the connected vehicle and the second vehicle information sensed by the first roadside sensing device closest to the connected vehicle, the lane-level precise position information of the connected vehicle can be obtained. Through the first position information, the information to be pushed that needs to be pushed to the connected vehicle can be determined, and the determined information to be pushed is sent to the connected vehicle. The scheme of the present invention can determine the information to be pushed that needs to be sent to each connected vehicle in a targeted manner through the precise position at the lane level, thereby reducing the amount of information sent to the vehicle, reducing the additional occupation of vehicle resources, reducing the data processing load of the vehicle, improving the collaborative working effect of the vehicle, the road and the cloud, and improving the safety of vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention 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, the drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other embodiments can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A flowchart of a method for pushing information of a networked vehicle provided by an embodiment of the present invention; Figure 2 A flowchart of a method for determining a first roadside sensing device according to first vehicle information reported in real time by a vehicle provided by an embodiment of the present invention; Figure 3 A flowchart of a method for determining vehicle location information according to first vehicle information reported in real time by the vehicle provided in an embodiment of the present invention; Figure 4a A flowchart of a method for extracting key features from a preprocessed image based on a feature extraction algorithm provided by an embodiment of the present invention; Figure 4b A schematic diagram of matching a feature extracted from an image with a geographic feature database provided by an embodiment of the present invention; Figure 5 A flowchart of a method for obtaining first vehicle position information according to first vehicle information and second vehicle information provided by an embodiment of the present invention; Figure 6 A schematic diagram of a speed limit warning provided by an embodiment of the present invention; Figure 7 A red light running warning schematic diagram provided by an embodiment of the present invention; Figure 8 A schematic diagram of a forward collision warning provided by an embodiment of the present invention; Fig. 9 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the embodiments of the present invention are further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0019] It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are for distinguishing two non-identical entities with the same name or non-identical parameters. It can be seen that "first" and "second" are only for the convenience of expression and should not be understood as limitations on the embodiments of the present invention. The subsequent embodiments will not explain this one by one.

[0020] The present invention provides a method for pushing information of a networked vehicle and an electronic device. The present invention is described in detail below in conjunction with embodiments and drawings.

[0021] The first aspect of the embodiment of the present invention provides a method for pushing information of a networked vehicle. The method for pushing information of a networked vehicle provided in the embodiment of the present invention can be applied to the cloud, and the cloud can be an electronic device with a processor such as a server or a computer. The vehicle in the embodiment of the present invention refers to a networked vehicle.

[0022] like Figure 1 As shown, the method for pushing information of a networked vehicle provided in an embodiment of the present invention may include steps S10 to S14.

[0023] S10. Determine, based on the first vehicle information reported by the connected vehicle in real time, a first roadside sensing device in the roadside sensing system that is closest to the connected vehicle.

[0024] The first vehicle information may include vehicle location information, image information collected by the vehicle, and other information.

[0025] There are multiple ways for a vehicle to collect the first vehicle information. Different collection methods will result in different collected vehicle information. For example, a vehicle may send vehicle location information to a cloud device through a vehicle positioning device (e.g., a GPS device). Vehicle location information may include data information such as latitude and longitude, elevation, and timestamp. For example, a vehicle may also capture image information in front of the vehicle in real time through an image acquisition device (e.g., an image acquisition device such as a driving recorder or a front-view camera), and upload it to a cloud device at a certain frequency. The cloud device may calculate the location of the vehicle based on the image information sent by the vehicle.

[0026] Based on the vehicle position information in the first vehicle information, a trajectory point sequence of the vehicle can be formed in chronological order. By mapping the trajectory point sequence to the actual road, a trajectory point sequence containing road information can be obtained. The trajectory point sequence containing road information can be used to calculate the vehicle's moving direction and speed. The vehicle's approximate driving path can be obtained based on the vehicle's moving direction and speed, thereby matching the first roadside perception device that is closest to the vehicle on the driving path.

[0027] S11. Obtain second vehicle information of the connected vehicle sensed by the first roadside sensing device.

[0028] Roadside perception equipment is used to monitor and collect data information such as road environment, traffic participants and traffic events in real time. Roadside perception equipment may include environmental sensors, millimeter wave radars and lidars, cameras and other equipment. Each roadside perception device has its corresponding perception range. For example, a camera can perceive environmental information 100m in front of its lens. The 100m is the perception range of the camera. For example, a radar can sense target information 300m away from it, and the 300m is the perception range of the radar. It should be understood that the examples of camera and radar perception ranges here are only used to explain and illustrate the perception range of roadside perception equipment, and are not used to limit the present invention.

[0029] The vehicle information can be collected by the first roadside sensing device. The second vehicle information of the vehicle sensed by the first roadside sensing device may include: vehicle driving direction, vehicle driving lane, relative position of the vehicle to the first roadside sensing device, vehicle speed and other information.

[0030] S12. Obtain first position information of the networked vehicle based on the first vehicle information and the second vehicle information.

[0031] There are multiple ways to obtain the first position information of the vehicle based on the first vehicle information and the second vehicle information. For example, one optional way is to input the first vehicle information and the second vehicle information into a deep learning model, so as to obtain the first position information of the vehicle. The deep learning model may be a neural convolutional network or a graph convolutional network model, which is not specifically limited here.

[0032] The first position information may include the lane where the vehicle is currently located and the relative position of the vehicle relative to the first roadside equipment. Through the first position information, the vehicle position can be more accurately located, and then the information useful to the vehicle can be filtered out from a large amount of information based on the precise position of the vehicle, so as to send the information to the vehicle in a targeted manner.

[0033] S13. Determine information to be pushed to the networked vehicle based on the first location information.

[0034] The first position information of the vehicle can also be used to filter out useful information for the vehicle from a large amount of information, so that the information can be sent to the vehicle in a targeted manner. The first position information can also be used to accurately locate the vehicle. In a variety of application scenarios (for example, vehicle collision warning, vehicle red light warning, severe weather warning, traffic congestion, traffic accidents, abnormal road parking, etc.), the precise positioning of the vehicle can improve the collaborative work effect of the vehicle, road and cloud, and improve the safety of vehicle driving.

[0035] In some examples, the first location information of the vehicle can also be combined with information sent by the roadside perception system and / or a third-party system, or combined with second vehicle information and first location information of vehicles near the vehicle, to trigger more information to be sent to the vehicle. Therefore, the number of information to be pushed is at least one.

[0036] S14. The information to be pushed is sent to the connected vehicle.

[0037] The information to be pushed can be pushed to the connected vehicle through a push strategy. For example, the push strategy can be a push mechanism based on the number of information, the importance of the information and / or the chronological order of occurrence. That is to say, after determining the information to be pushed, if the number of information to be pushed that needs to be sent to the connected vehicle is 1, then the number of information to be pushed that can be directly sent to the connected vehicle is multiple; if the number of information to be pushed that needs to be sent to the connected vehicle is multiple, then the information contained in the information to be pushed can be pushed to the corresponding vehicle in sequence according to the importance of the information and / or the chronological order of occurrence, so as to avoid pushing a large amount of information to the vehicle and causing unnecessary interference to the vehicle.

[0038] According to the solution of the present invention, the entire information push process does not require the help of roadside communication equipment. Through the precise lane-level position of the connected vehicle, the information to be pushed to each connected vehicle can be determined in a targeted manner, which greatly reduces the amount of information sent to the vehicle, reduces the additional occupation of vehicle resources, reduces the data processing load of the vehicle, improves the collaborative working effect of the vehicle, the road and the cloud, and improves the safety of vehicle driving.

[0039] In some embodiments of the present invention, Figure 1 The step S10 shown, determining the first roadside sensing device in the roadside sensing system that is closest to the connected vehicle based on the first vehicle information reported by the connected vehicle in real time, can include: obtaining the driving path of the connected vehicle based on the first vehicle information reported by the connected vehicle in real time and the road information obtained from the map; determining the first roadside sensing device in the roadside sensing system that is located in front of the connected vehicle and closest to the connected vehicle based on the driving direction of the vehicle in the driving path.

[0040] Specifically, based on the position information in the first vehicle information reported by the vehicle in real time and the road information obtained from the non-high-precision map, the vehicle position information containing road information can be obtained, and the vehicle's driving path can be determined based on the vehicle position information containing road information; based on the vehicle's driving direction in the vehicle's driving path, the first roadside perception device in the roadside perception system that is located in front of the vehicle and closest to the connected vehicle can be determined.

[0041] In the embodiment of the present invention, the first vehicle information may be GPS information. Based on the GPS location information reported by the vehicle GPS device, the approximate driving path and driving direction of the vehicle, as well as the number and approximate distance of the nearest roadside sensing device in the driving path can be preliminarily determined. It should be noted that "approximately" in the embodiment of the present invention can be understood as the accuracy level of the obtained information is relatively low. For example, the approximate driving path of the vehicle can be understood as the name of the road and street where the vehicle is currently traveling (for example, xx road xx street).

[0042] It should be understood that there are various ways to preliminarily determine the vehicle's approximate driving path, driving direction, and the number and approximate distance of the nearest roadside sensing device on the driving path through the reported GPS location information. Figure 2 As shown, the approximate driving path and driving direction of the vehicle, as well as the number and approximate distance of the nearest roadside sensing device in the driving path can be obtained in the following manner.

[0043] S20. Build a roadside perception system database.

[0044] The roadside perception system database includes key information such as the number, location, coverage, and perception capability of several roadside perception devices.

[0045] S21. Forming a driving trajectory point sequence of the vehicle based on the GPS information reported by the vehicle in real time.

[0046] Based on the latitude and longitude, elevation, timestamp and other point data information in the GPS information reported by the vehicle in real time, the point sequence of the vehicle's driving trajectory is formed in chronological order.

[0047] S22. In combination with the Internet map, each trajectory point in the driving trajectory point sequence of the vehicle is mapped to the actual road to obtain a driving trajectory point sequence after the vehicle is mapped.

[0048] By using a map matching algorithm and combining road network data obtained from common Internet maps (e.g., Amap, Baidu Map, etc.), each trajectory point in the vehicle's driving trajectory point sequence is mapped to the actual road, thereby obtaining the mapped driving trajectory point sequence of the vehicle.

[0049] S23, according to the driving trajectory point sequence mapped by the vehicle, calculate the moving direction and speed of the vehicle, and calculate the approximate driving path of the vehicle according to the moving direction and speed of the vehicle. For example, the vehicle travels from west to east on xx road and xx street.

[0050] S24. Search the roadside sensing system database for a roadside sensing device that matches the current driving path of the vehicle and is closest to the vehicle, and obtain the roadside sensing device information.

[0051] The roadside sensing device information includes: the number, location and coverage of the roadside sensing device. The coverage can be understood as the effective range of the roadside sensing device for detecting road surface information (including the second vehicle information).

[0052] The solution of the present invention realizes the mapping of vehicle GPS information and road information through Internet maps. The speed and driving direction of the vehicle can be calculated through the mapped vehicle trajectory information, thereby matching the roadside sensing device closest to the vehicle, and obtaining the approximate distance between the vehicle and the roadside sensing device through the roadside sensing device information, thereby determining the approximate position of the vehicle. The whole process does not need to rely on high-precision maps, that is, the positioning of the vehicle is realized, which reduces the consumption of cloud resources, reduces additional costs, reduces the dependence on high-precision maps, and improves the accuracy of vehicle positioning.

[0053] In a specific implementation, the frequency of the vehicle reporting GPS location information can also be configured according to the road grade where the vehicle is located. For example, in urban road scenarios with a speed limit of 60 km / h or less, the vehicle is configured to report GPS location information to the cloud at a frequency of 1 Hz; on highways and urban expressways with a speed limit of 120 km / h or less, the vehicle is configured to report GPS location information to the cloud at a frequency of 2 Hz. In this way, while ensuring the accuracy of data calculation, the consumption of cloud computing resources can be reduced and the data processing speed can be guaranteed.

[0054] In some application scenarios, the area where the vehicle is traveling may have no GPS signal or a weak GPS signal, which makes it impossible for the cloud to obtain the GPS location information reported by the vehicle, resulting in missing trajectory points in the vehicle's driving trajectory point sequence, which in turn affects subsequent calculation results. In order to avoid the above problems, the accuracy of subsequent calculations is further improved. The embodiment of the present invention can obtain the vehicle's location information based on the vehicle image sensing device sensing the vehicle's surrounding environment image. There are many ways to obtain the vehicle's location information based on the vehicle image sensing device sensing the vehicle's surrounding environment image. For example, Figure 3 As shown, the vehicle's location information can be obtained in the following ways: S30. Build a geographic feature database.

[0055] The geographic feature database contains image features and corresponding location information of various road signs, buildings, traffic signals, etc.

[0056] S31. Acquire image information in front of the vehicle from the vehicle, and perform image preprocessing on the image.

[0057] The vehicle's driving recorder or front-view camera collects image information in front of the vehicle in real time and uploads it to the cloud at a certain frequency. The cloud determines the approximate location of the current vehicle based on the image information reported by the vehicle and combined with the roadside perception camera.

[0058] In order to improve the accuracy of vehicle position judgment, the image can also be preprocessed, such as performing noise reduction, image enhancement, color correction and other processing on the image to improve the image quality.

[0059] S32. Extract key features from the preprocessed image based on a feature extraction algorithm.

[0060] Key features can be features such as road signs, building outlines, traffic signals, etc.

[0061] There are many ways to extract key features from preprocessed images. For example, refer to Figure 4a , based on the first feature extraction algorithm (e.g., ORB algorithm, SIFT algorithm), the road surface entity contour features (e.g., building contours, roadside equipment contours, etc.) can be extracted from the preprocessed image. Based on the second feature extraction algorithm (e.g., GCN algorithm), the road sign features (e.g., lane lines, signboards, etc.) can be extracted from the preprocessed image.

[0062] S33. Reference Figure 4b ,The extracted features are matched with the geographic feature database maintained in the cloud, and the geographic features most similar to the extracted features are found from the geographic feature database.

[0063] Thus, the extracted feature position information is determined based on the position information of the geographic feature stored in the geographic feature database, and the extracted feature position information is used as the vehicle position information.

[0064] In some embodiments of the present invention, Figure 1 Step S12 shown, obtaining first position information of the vehicle based on the first vehicle information and the second vehicle information, may include: inputting the first vehicle information and the second vehicle information into a graph convolutional network to obtain the first position information of the connected vehicle.

[0065] Reference Figure 5Based on the vehicle information from the BEV (bird's eye view) perspective perceived by the first roadside perception device (such as a lidar, millimeter-wave radar, high-definition camera or a combination of the above devices), the vehicle can be accurately positioned to obtain the second vehicle information of the vehicle. The second vehicle information may include the vehicle's driving direction, current driving lane, relative position (distance) from the first roadside perception device, current vehicle speed, vehicle license plate, vehicle type, vehicle color and other information. The second vehicle information perceived by the roadside perception device and the first vehicle information reported by the vehicle are input into the graph convolutional network to obtain the lane-level precise position information of the vehicle, thereby improving the accuracy of vehicle positioning, and further improving the accuracy of subsequent information processing and information push.

[0066] In some embodiments of the present invention, Figure 1 The step S13 shown, determining the information to be pushed to the connected vehicle based on the first position information, may include: determining the information to be pushed to the connected vehicle based on the first position information and information obtained from the roadside perception system and / or the third-party system; and / or determining the information to be pushed to the connected vehicle based on the second vehicle information and the first position information of the connected vehicle and the surrounding connected vehicles.

[0067] Specifically, the information obtained from the roadside perception system may include: any one or more of road abnormality information and signal light information. Among them, road abnormality information may include traffic congestion, accidents, road construction, abnormal parking on the road, water accumulation ahead, spilled objects, etc. Signal light information may include information such as traffic light status.

[0068] The third-party system may be a third-party system such as a traffic system or a taxi-hailing platform. In some examples, the information that can be obtained from the traffic system is traffic rule information, such as speed limit information, height limit information, width limit information, prohibited area information, etc. The information that can be obtained from the taxi-hailing platform is taxi order information, freight order information, etc.

[0069] By combining the first location information with the information obtained from the roadside perception system and / or the third-party system, more information to be pushed can be determined to be sent to the connected vehicle, enriching the content of the information that the vehicle can receive, further improving the vehicle's collaborative work effect, and further improving the safety of vehicle driving.

[0070] In some embodiments of the present invention, determining the information to be pushed to the connected vehicle based on the first location information and information obtained from the roadside perception system and / or the third-party system may include: determining the information to be pushed to the connected vehicle based on one or more of the vehicle type, vehicle speed and driving direction in the second vehicle information of the connected vehicle, the first location information, and information obtained from the roadside perception system and / or the third-party system.

[0071] Specifically, there are multiple ways to determine the information to be pushed, and the following describes the ways to determine the information to be pushed through multiple examples.

[0072] In some examples, information that affects the vehicle's driving can be filtered out from the road condition information sent by the roadside perception system based on the vehicle's lane in the first position information of the connected vehicle and the vehicle's driving direction in the second vehicle information, as the information to be pushed to the connected vehicle.

[0073] In some examples, information that affects the driving of the vehicle can be filtered out from the information sent by the traffic system based on the lane of the vehicle in the first position information of the connected vehicle and the vehicle's driving direction and vehicle type in the second vehicle information, as the information to be pushed to the connected vehicle.

[0074] In some examples, information useful to the vehicle can be filtered out from the information sent by the taxi platform based on the lane of the vehicle in the first position information of the connected vehicle and the vehicle's driving direction and vehicle type in the second vehicle information, as the information to be pushed to the connected vehicle.

[0075] In some examples, based on the lane of the connected vehicle in the first position information and the vehicle's driving direction and vehicle type in the second vehicle information, information that affects the vehicle's driving can be filtered out from the road condition information sent by the roadside perception system and the information sent from the traffic system as the information to be pushed to the connected vehicle.

[0076] In some examples, red light running warning information can be generated for vehicles at risk of running a red light based on the lane of the vehicle and the distance of the vehicle from the roadside sensing device in the first position information of the connected vehicle, the vehicle speed and vehicle travel direction in the second vehicle information, and the status of traffic lights in the vehicle travel direction, and the red light running warning information is used as the information to be pushed to the connected vehicle.

[0077] In some examples, when determining the information to be pushed to the connected vehicle based on the first location information and the information obtained from the roadside perception system and / or the third-party system, the information to be pushed to the connected vehicle can also be determined based on the type of information obtained from the roadside perception system and / or the third-party system. The type of information includes at least one of real-time road condition information type, road safety and warning information type, concerned area road information type, and service information type.

[0078] In an optional manner, information of the real-time traffic condition type may be selectively pushed based on the vehicle's driving path and the first location information.

[0079] Specifically, if the road information perceived by the roadside perception system includes abnormal road information such as traffic congestion, accidents, road construction, abnormal parking on the road, water accumulation ahead, and spilled objects, then the corresponding information such as "traffic congestion", "accident", "road construction", "abnormal parking on the road", "water accumulation ahead", and "spilled objects" will be triggered. These types of abnormal road information all belong to the type of real-time traffic information. For information of the real-time traffic information type, the lane in which the vehicle is located is distinguished when pushing. For example, if there is road construction near the intersection ahead, then when pushing this information at this intersection, it will only be pushed to vehicles in the straight lane of the driving path, and vehicles in the left / right turn lanes will not be pushed.

[0080] In an optional manner, information on the road information type of the concerned area may be selectively pushed according to the vehicle type, the lane the vehicle is in, and the driving path.

[0081] Specifically, if the road information obtained by the cloud from the third-party platform includes traffic rules such as speed limit information, height limit information, width limit information, and prohibited area information, then the corresponding "speed limit", "height limit", "width limit", "prohibited area" and other information will be triggered. For the information of the road information type of the concerned area, selective push is carried out according to the vehicle type, the lane where the vehicle is located, and the driving path.

[0082] For example, refer to Figure 6 ,For speed limit information, all can be pushed according to the lane and driving path of the vehicle.

[0083] For example, height and width limit information can be pushed only to vehicles that comply with lane rules, driving path rules, and are trucks / buses.

[0084] For example, the prohibited area information can be pushed to vehicles that comply with lane rules, driving path rules and are truck vehicles.

[0085] In an optional manner, whether information of the road safety and warning information type is triggered can be determined based on the first vehicle information, the second vehicle information, and the first position information of the vehicle. Information belonging to the road safety and warning information type can be determined based on the classification of safety information in Phase I of TCSAE 53-2020. For example, information of the road safety and warning information type may include "red light running warning", "forward collision warning", "intersection collision warning", "bad weather warning", "blind spot warning", "collision warning for vulnerable traffic parameters", "front vehicle emergency brake reminder", "potential danger area prompt" and other information. For information of the road safety and warning information type, it can be filtered and pushed according to the lane the vehicle is in, the current speed of the vehicle, and road control status information (such as traffic light countdown information).

[0086] In a selective push method based on road safety and warning information type information, for example, referring to Figure 7 , the triggered information is "Red Light Running Warning", then the cloud will selectively remind vehicles with potential red light running risks based on the current vehicle speed, lane the vehicle is in, distance relative to the intersection, and the status information of the traffic lights in the driving direction.

[0087] In an optional manner, information of the service information type may be pushed according to the vehicle's driving route and vehicle purpose.

[0088] Specifically, if the road information perceived by the roadside perception system includes service information types such as gas stations, parking lots, restaurants, supermarkets, etc., such information can be filtered and pushed based on the vehicle's driving path and purpose, without distinguishing the lane in which the vehicle is located.

[0089] In some examples, cloud devices can also obtain service information such as freight information of commercial vehicles and order information of taxis from third-party platforms, and filter and push information based on the purpose of the vehicle, instead of distinguishing the lane the vehicle is in. For example, only push passenger order information or potential passenger flow area information to taxis.

[0090] The embodiments of the present invention use different push mechanisms to push information, which can reduce the pressure on the communication link, reduce the redundant information received by the vehicle, reduce the vehicle operation cost, and improve the vehicle driving safety.

[0091] In some embodiments of the present invention, determining the information to be pushed to the connected vehicle based on the second vehicle information and the first position information of the connected vehicle and the surrounding connected vehicles may include: judging whether there is a danger between the connected vehicle and the surrounding connected vehicles based on the speed and driving direction and the first position information in the second vehicle information of the connected vehicle, and the speed and driving direction and the first position information in the second vehicle information of the surrounding connected vehicles; in response to the risk of collision between the connected vehicle and the surrounding vehicles, using the collision risk information as the information to be pushed that needs to be sent to the connected vehicle and the surrounding connected vehicles.

[0092] Peripheral connected vehicles (hereinafter referred to as peripheral vehicles) refer to connected vehicles within a certain distance range near a connected vehicle (hereinafter referred to as vehicle). For example, vehicles within a certain radius (for example, 100m, 120m, 150m or 180m, etc.) with the connected vehicle itself as the center can be determined as the peripheral connected vehicles of the connected vehicle.

[0093] The second roadside perception device is the roadside perception device closest to the surrounding vehicles in the roadside perception system.

[0094] During the driving process of the vehicle, the distance between the vehicle and the surrounding vehicles can be calculated based on the first position information of the vehicle and the surrounding vehicles, and whether there is a risk of collision between the vehicle and the surrounding vehicles can be determined based on the distance and the speed of the vehicle.

[0095] If there is a risk of collision between the vehicle and its surrounding vehicles, collision risk information can be generated as information to be pushed to the vehicle and its surrounding vehicles, and collision warning information can be sent to the vehicle and its surrounding vehicles respectively.

[0096] The generation of collision risk information is described below with reference to a specific example. It should be understood that the following example is only used to explain the present invention but not to limit the present invention.

[0097] Reference Figure 8 , taking the collision risk information as “forward collision warning” as an example, the forward collision warning process is specifically described.

[0098] Assume that the current position of the vehicle is P 自车 , speed is V 自车 , direction is O 自车 , taking the vehicle as the center, the area within a radius of 100m is determined as the target area. The vehicles in the target area are all the surrounding vehicles of the vehicle. Assume that the position of the surrounding vehicles is P 周边车 , speed is V 周边车 , direction is O 周边车 .

[0099] Since this example is an illustration of "forward collision warning", in this example, only the distance between the surrounding vehicles in the target area and in front of the vehicle and the vehicle is calculated. In some examples, it is also possible to directly calculate whether there is a collision risk between all surrounding vehicles in the target area and the vehicle based on the following calculation method.

[0100] (1) Configure the query time T. Customize the query time based on the vehicle's speed and driving habits. For example, if the vehicle is traveling at a high speed (e.g., V 自车 If the ego vehicle is traveling at a slower speed (for example, V 自车 If the speed is lower than the second custom speed threshold), or the driver is used to following other vehicles, the T time can be configured to be shorter (for example, 3 seconds).

[0101] (2) Based on the configured query time and the vehicle’s position P 自车 , speed V 自车 and towards O 自车 , the position of surrounding vehicles P 周边车 , speed V 周边车 and towards O 自车 , calculate the distance between the ego vehicle and surrounding vehicles with the same direction, and determine whether the ego vehicle is at risk of being hit by surrounding vehicles based on the distance between the ego vehicle and surrounding vehicles.

[0102] In different scenarios, the distance between the vehicle and surrounding vehicles with the same direction is calculated differently.

[0103] Scenario 1: If the vehicle's speed V 自车 ≤60km / h, the distance Dist between the vehicle and surrounding vehicles can be calculated based on formula (1), or the relative distance between the vehicle and surrounding vehicles can be calculated based on formula (2) .

[0104] Dist = P 自车 -P 周边车 (1) (2) If the calculated , then there is no risk of collision between the vehicle and surrounding vehicles.

[0105] If the calculated , then based on formula (3), the Dist' between the vehicle and the surrounding vehicles is recalculated.

[0106] Dist' = V 周边车 ×O 周边车 ×T' - P 自车 (3) Wherein, T' can be any value in the next 1 to 5 seconds.

[0107] If the calculated Dist'≤5m, there is a risk of collision between the vehicle and surrounding vehicles.

[0108] Scenario 2: If the vehicle's speed V 自车 >60km / h, the distance Dist' between the vehicle and surrounding vehicles can be calculated based on formula (3).

[0109] Dist' = V 周边车 ×O 周边车 ×T' - P 自车 (3) Wherein, T' can be any value in the next 1 to 5 seconds.

[0110] If Dist'≤5m, there is a risk of collision between the vehicle and surrounding vehicles.

[0111] (3) When there is a risk of collision between the ego vehicle and surrounding vehicles, a “forward collision warning” message is triggered and sent to the ego vehicle for forward collision warning.

[0112] In some embodiments of the present invention, before sending the information to be pushed to the connected vehicle, the method further includes: obtaining a vehicle identification from the cloud registration information according to the second vehicle information. Sending the information to be pushed to the connected vehicle may include: sending the information to be pushed to the connected vehicle based on the vehicle identification.

[0113] The networked vehicle information push method provided by the embodiment of the present invention can register the vehicle before pushing information to the vehicle, that is, the cloud receives the vehicle registration request and assigns a unique communication identifier (i.e., vehicle identifier) ​​to the vehicle according to the registration information in the vehicle registration request. Based on the unique communication identifier, the corresponding vehicle can be matched when the vehicle information is processed in the cloud. When a message needs to be sent to the vehicle, the vehicle identifier can be used to enable the cloud and the vehicle corresponding to the vehicle identifier to communicate. The communication method between the vehicle and the cloud can adopt the Uu communication method (a method of communicating through a cellular network (such as 4G / 5G)).

[0114] Registration information may include: basic vehicle information (such as VIN, license plate, brand, model, etc.), vehicle type (such as sedan, SUV, MPV, large / medium / small passenger car, truck, dangerous goods transport vehicle, etc.), vehicle purpose (such as taxi, bus, freight truck, sanitation truck, passenger bus, school bus, etc.), autonomous driving level, etc. Among them, the autonomous driving level can be divided according to the vehicle autonomous driving level specified in GBT 40429-2021 "Automotive Driving Automation Classification".

[0115] When a vehicle reports the first vehicle information, the vehicle identification of the vehicle and the first vehicle information are reported to the cloud together, so that the cloud can distinguish the information reported by each vehicle.

[0116] The second vehicle information may also include information such as vehicle license plate and vehicle type, through which the corresponding vehicle identification may be matched. When sending the information to be pushed to the connected vehicle, it may be sent to the connected vehicle based on the vehicle identification of the connected vehicle.

[0117] In some embodiments of the present invention, Figure 1 The step S14 shown, sending the information to be pushed to the connected vehicle may include: sending the information to be pushed to the connected vehicle based on the type of the information to be pushed and the amount of the information to be pushed.

[0118] Specifically, when the number of information to be pushed is 1, the information to be pushed is directly sent to the vehicle. When the number of information to be pushed is multiple, the sending order of the multiple information to be pushed is determined based on the type of each information to be pushed, and the corresponding information to be pushed is sent to the vehicle in sequence based on the sending order.

[0119] The type of information to be pushed may be at least one of a real-time traffic condition information type, a road safety and warning information type, a concerned area road information type, and a service information type.

[0120] In some embodiments of the present invention, sending information to be pushed to a connected vehicle based on the type of information to be pushed and the number of information to be pushed may include: in response to the number of multiple information to be pushed, determining the sending order of the multiple information to be pushed based on the priority corresponding to the type of each information to be pushed and the time when the information occurs; and sending the multiple information to be pushed to the connected vehicle in sequence based on the sending order.

[0121] In order to facilitate the push of information and avoid push conflicts between multiple pieces of information, you can also set the priority of the information to be pushed. You can set different priorities for each type of information to be pushed. For example, you can set the priority of road safety and warning information type > the priority of real-time road condition information type > the priority of concerned area road information type > the priority of service information type.

[0122] In the push strategy, if the information to be pushed contains one piece of information, the push information will be directly pushed to the corresponding vehicle.

[0123] In the push strategy, if the information to be pushed contains multiple pieces of information, the sending order of the multiple pieces of information to be pushed is determined according to the priority of the information and the time of occurrence, so that the multiple pieces of information to be pushed are sent to the corresponding vehicles in sequence based on the sending order. For example, when multiple types of different information are triggered at the same time, the one with the highest priority will be pushed first; when multiple pieces of the same type of information are triggered at the same time, they will be pushed in the order of occurrence time.

[0124] In the push strategy, you can also set the minimum time interval threshold for pushing the same type of information. That is, when the information to be pushed contains multiple pieces of information of the same priority level, while pushing them in the order of occurrence, it is also ensured that the push time interval between each piece of information is greater than the set minimum time interval threshold.

[0125] The embodiments of the present invention can reduce the pressure on the communication link, reduce the redundant information received by the vehicle, reduce the vehicle operation cost, and improve the vehicle driving safety by adopting different push mechanisms for information push.

[0126] In some embodiments of the present invention, determining the order of sending multiple messages to be pushed based on the priority corresponding to the type of each message to be pushed and the time when the message occurs may include: in response to the multiple messages to be pushed containing multiple messages to be pushed with different priorities, determining the order of sending the multiple messages to be pushed with different priorities in descending order of priority; in response to the multiple messages to be pushed containing multiple messages to be pushed with the same priority, determining the order of sending the multiple messages to be pushed with the same priority according to the order of their occurrence time.

[0127] Specifically, you can use P i Indicates the priority of the i-th category of information. Assuming the highest priority is 4, we can define safety and warning information P1=4, real-time traffic information P2=3, road information in the concerned area P3=2, and service information P4=1. j Indicates the time when the jth piece of information occurs, using ΔT min Identifies the minimum time interval threshold set by the user. Defines a Push Order Index (POI) to calculate the comprehensive score of each piece of information based on the priority and occurrence time of the information, and represents the push order of each piece of information based on the comprehensive score. There are many ways to calculate the comprehensive score of information based on the priority and occurrence time of the information. For example, it can be calculated based on the following methods: For the jth piece of information in the i-th category, first calculate its basic priority score S Pi =P i If there are multiple pieces of information with the same priority, the time score is further calculated. For information j, its time score is STj Indicates that S Tj =max(0,(T j -T prev )-ΔT min ), where T prev is the timestamp of the last push of the same type of information. The push order index POI (i.e., comprehensive score) of the jth information of the i-th category is: POI i =S Pi *10 5 -S Tj .

[0128] The embodiments of the present invention can reduce the pressure on the communication link, reduce the redundant information received by the vehicle, reduce the vehicle operating cost, and improve the vehicle driving safety by calculating the comprehensive score of the information and pushing the information to the designated vehicles in order of the scores from high to low.

[0129] Based on the same inventive concept, according to another aspect of the present invention, Fig. 9 As shown, an embodiment of the present invention further provides an electronic device 900, which includes a processor 910 and a memory 920. The memory 920 stores a computer program 921 that can be run on the processor. When the processor 910 executes the program, the steps of the above method are performed.

[0130] Among them, the memory, as a non-volatile storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as the program instructions / modules corresponding to the compression method in the embodiment of the present application. The processor executes various functional applications and data processing of the device by running the non-volatile software programs, instructions and modules stored in the memory, that is, realizing the compression method of the above method embodiment.

[0131] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the device, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the local module via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0132] Based on the same inventive concept, according to another aspect of the present invention, an embodiment of the present invention further provides a computer storage medium, which stores a computer program that performs the above method when executed by a processor.

[0133] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium of the program can be a disk, an optical disk, a read-only storage memory (ROM) or a random access memory (RAM), etc. The above-mentioned computer program embodiment can achieve the same or similar effect as the corresponding above-mentioned any method embodiment.

[0134] It will also be appreciated by those skilled in the art that various exemplary logic blocks, modules, circuits and algorithm steps described in conjunction with the disclosure herein can be implemented as electronic hardware, computer software or a combination of the two. In order to clearly illustrate this interchangeability of hardware and software, a general description has been given to the functions of various schematic components, blocks, modules, circuits and steps. Whether this function is implemented as software or hardware depends on specific applications and the design constraints imposed on the entire system. Those skilled in the art can implement the function in various ways for each specific application, but this implementation decision should not be interpreted as causing a departure from the disclosed scope of the embodiments of the present invention.

[0135] The above are exemplary embodiments disclosed in the present invention, but it should be noted that various changes and modifications may be made without departing from the scope of the embodiments disclosed in the present invention as defined in the claims. The functions, steps and / or actions of the method claims according to the disclosed embodiments described herein do not need to be performed in any particular order. The serial numbers of the embodiments disclosed in the above embodiments of the present invention are for description only and do not represent the advantages and disadvantages of the embodiments. In addition, although the elements disclosed in the embodiments of the present invention may be described or required in individual form, they may also be understood as multiple unless explicitly limited to the singular.

[0136] It should be understood that, as used herein, the singular forms "a", "an" are intended to include the plural forms as well, unless the context clearly supports an exception. It should also be understood that, as used herein, "and / or" refers to any and all possible combinations including one or more of the associated listed items.

[0137] A person skilled in the art should understand that the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the disclosure of the embodiments of the present invention (including the claims) is limited to these examples; under the concept of the embodiments of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and there are many other changes in different aspects of the above embodiments of the present invention, which are not provided in detail for the sake of simplicity. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present invention should be included in the protection scope of the embodiments of the present invention.

Claims

1. A method for pushing information of a networked vehicle, characterized in that: include: Determine, according to the first vehicle information reported in real time by the connected vehicle, a first roadside sensing device in the roadside sensing system that is closest to the connected vehicle; Acquire second vehicle information of the connected vehicle sensed by the first roadside sensing device; Obtaining first location information of the networked vehicle according to the first vehicle information and the second vehicle information; Determining information to be pushed to the connected vehicle according to the first location information; The information to be pushed is sent to the networked vehicle.

2. The method according to claim 1, characterized in that Determining information to be pushed to the connected vehicle according to the first location information includes: Determine, based on the first location information and information obtained from a roadside perception system and / or a third-party system, information to be pushed to the connected vehicle; and / or According to the second vehicle information and the first location information of the connected vehicle and surrounding connected vehicles, the information to be pushed that needs to be pushed to the connected vehicle is determined.

3. The method according to claim 2, characterized in that According to the first location information and the information obtained from the roadside perception system and / or the third-party system, determining the information to be pushed to the connected vehicle includes: Based on one or more of the vehicle type, vehicle speed and driving direction in the second vehicle information of the connected vehicle, the first location information, and the information obtained from the roadside perception system and / or the third-party system, the information to be pushed that needs to be sent to the connected vehicle is determined.

4. The method according to claim 2, characterized in that: The determining, based on the second vehicle information and the first location information of the connected vehicle and the surrounding connected vehicles, the information to be pushed to the connected vehicle includes: Determining whether there is a risk of collision between the connected vehicle and the surrounding connected vehicles based on the speed, driving direction and first position information in the second vehicle information of the connected vehicle and the speed, driving direction and first position information in the second vehicle information of the surrounding connected vehicles; In response to a collision risk between the networked vehicle and the surrounding vehicles, collision risk information is used as information to be pushed to the networked vehicle.

5. The method according to claim 1, characterized in that Before sending the information to be pushed to the networked vehicle, the method further includes: Obtaining a vehicle identification from cloud registration information according to the second vehicle information; The sending the information to be pushed to the networked vehicle includes: The information to be pushed is sent to the networked vehicle based on the vehicle identification.

6. The method according to claim 1, characterized in that Sending the information to be pushed to the networked vehicle includes: Based on the type of the information to be pushed and the amount of the information to be pushed, the information to be pushed is sent to the networked vehicle.

7. The method according to claim 6, characterized in that The type of information to be pushed is at least one of real-time traffic information, road safety and warning information, road information of concerned areas, and service information; Based on the type of the information to be pushed and the amount of the information to be pushed, sending the information to be pushed to the networked vehicle includes: In response to the number of the information to be pushed being multiple, determining the order of sending the multiple information to be pushed based on the priority corresponding to the type of each information to be pushed and the information occurrence time, wherein the priority of the road safety and warning information type is greater than the priority of the real-time road condition information type, greater than the priority of the concerned area road information type, and greater than the priority of the service information type; The multiple pieces of information to be pushed are sent to the networked vehicle in sequence based on the sending order.

8. The method according to claim 7, characterized in that Based on the priority of each type of information to be pushed and the time when the information occurs, the order in which multiple information to be pushed is determined, including: In response to the plurality of pieces of information to be pushed including a plurality of pieces of information to be pushed having different priorities, determining a sending order of the plurality of pieces of information to be pushed having different priorities in descending order of priority; In response to the multiple pieces of information to be pushed including multiple pieces of information to be pushed with the same priority, the sending order of the multiple pieces of information to be pushed with the same priority is determined according to the sequence of occurrence times of the multiple pieces of information to be pushed with the same priority.

9. The method according to any one of claims 1 to 8, characterized in that: The method of determining the first roadside sensing device in the roadside sensing system that is closest to the connected vehicle according to the first vehicle information reported in real time by the connected vehicle includes: obtaining the driving path of the connected vehicle according to the first vehicle information reported in real time by the connected vehicle and the road information obtained from the map; determining the first roadside sensing device in the roadside sensing system that is located in front of the connected vehicle and is closest to the connected vehicle according to the driving direction of the vehicle in the driving path; The obtaining the first position information of the connected vehicle based on the first vehicle information and the second vehicle information includes: inputting the first vehicle information and the second vehicle information into a graph convolutional network to obtain the first position information of the connected vehicle.

10. An electronic device, comprising: at least one processor; and a memory storing a computer program executable on the processor, wherein the processor executes the steps of the method according to any one of claims 1 to 9 when executing the program.

Images