Vehicle-road cooperation system

Abstract

The invention discloses a vehicle-road cooperation system, and the system comprises a fusion computing power layer; the distributed computing power layer comprises a plurality of interconnected roadside devices, and each roadside device comprises at least one acquisition module and a plurality of function modules; wherein each roadside device carries out data acquisition by using at least one acquisition module, carries out data calculation by using a plurality of functional modules, and sends a calculation result to the fusion computing power layer; wherein the roadside equipment requests other roadside equipment or the fusion computing power layer to cooperatively process the acquired data under the condition that at least one functional module in the roadside equipment fails. According to the scheme provided by the invention, after the functional module of the roadside equipment breaks down, other roadside equipment can be requested to carry out transverse cooperative processing, and a fusion computing power layer can be requested upwards to carry out longitudinal cooperative processing.

Description

Technical Field

[0001] The present invention relates to the field of vehicle-road collaboration, and in particular to a vehicle-road collaboration system. Background Art

[0002] When an existing roadside edge device fails, it will stop working directly. However, a general failure will not cause all functions of the roadside edge device to be unavailable. For example, if only the computing function fails, its acquisition module and communication module are normal. If it stops working directly, it will lead to a waste of resources and a reduction in the distributed collaborative capability of the vehicle-road collaboration. Summary of the invention

[0003] In view of this, in order to overcome at least one aspect of the above problems, an embodiment of the present invention proposes a vehicle-road cooperative system, including:

[0004] Fusion computing layer;

[0005] A distributed computing power layer, comprising a plurality of interconnected roadside devices, each of which comprises at least one acquisition module and a plurality of functional modules, wherein each of the roadside devices uses at least one acquisition module to collect data and uses a plurality of the functional modules to perform data calculation and sends the calculation results to the fusion computing power layer;

[0006] Among them, when at least one functional module of the roadside equipment fails, the roadside equipment requests other roadside equipment or the fusion computing layer to collaboratively process the collected data.

[0007] In some embodiments, the system further comprises:

[0008] The central computing power layer, the fusion computing power layer is connected to the central computing power layer;

[0009] Among them, the fusion computing power layer is used for: if the roadside equipment where at least one functional module fails requests the fusion computing power layer to perform collaborative processing, the fusion computing power layer obtains and installs the same collaborative processing module as at least one failed functional module from the central computing power layer, so as to use the collaborative processing module to collaboratively process the collected data.

[0010] In some embodiments, the roadside equipment is used to: send a coordination request to other roadside equipment and receive status information of other roadside equipment based on the coordination request response when at least one functional module thereof fails, and use the status information to calculate the priority of each other roadside equipment; and select one other roadside equipment according to the priority level for collaborative processing of collected data, and if the priority of each other roadside equipment is less than a threshold, select the fusion computing power layer for collaborative processing of collected data.

[0011] In some embodiments, the status information includes firmware version, GPU load and temperature, CPU load and temperature, wireless signal quality, and storage resource utilization;

[0012] The roadside equipment is further used to determine the weight of each type of status information according to the category of the functional module that has failed, and calculate the priority using a preset algorithm and the weight of each type of status information.

[0013] In some embodiments, the functional modules include at least a compression storage module for compressing and storing the collected data, a computing module for performing perception calculations on the collected data, and a wireless communication module for sending calculation results.

[0014] In some embodiments, the collaboration request includes collaboration content, demand reason, current status, requester status information, requester configuration information, and requester interface information;

[0015] Among them, the collaborative content includes at least one of a computing resource collaborative request, a communication resource collaborative request, and a storage resource collaborative request.

[0016] In some embodiments, the demand reason includes at least one of a computing power failure, a wireless failure, and a storage failure;

[0017] The current state includes at least one of a sensor configuration and a firmware version;

[0018] The requester status information includes a device address;

[0019] The requester configuration information includes a sensor pose matrix table used for data calculation;

[0020] The requester interface information includes interface information and topic information used to interact with the fusion computing power layer.

[0021] In some embodiments, the collaboration request also includes a status snapshot of the requester.

[0022] In some embodiments, multiple interconnected roadside devices form a converged ring network through optical fibers.

[0023] In some embodiments, the acquisition module includes at least one or more of a laser radar, a millimeter wave radar, a camera, and an acoustic and optical device.

[0024] The present invention has one of the following beneficial technical effects: the vehicle-road cooperative system proposed in the present invention includes a distributed computing power layer and a fusion computing power layer, so that when a functional module of a roadside device fails, other roadside devices can be requested to perform horizontal collaborative processing, or the fusion computing power layer can be requested to perform vertical collaborative processing upward. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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.

[0026] Figure 1 A structural diagram of a vehicle-road cooperative system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] 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.

[0028] 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.

[0029] According to one aspect of the present invention, an embodiment of the present invention provides a vehicle-road cooperative system, such as Figure 1 As shown, it may include:

[0030] Fusion computing layer;

[0031] A distributed computing power layer, comprising a plurality of interconnected roadside devices, each of which comprises at least one acquisition module and a plurality of functional modules, wherein each of the roadside devices uses at least one acquisition module to collect data and uses a plurality of the functional modules to perform data calculation and sends the calculation results to the fusion computing power layer;

[0032] Among them, when at least one functional module of the roadside equipment fails, the roadside equipment requests other roadside equipment or the fusion computing layer to collaboratively process the collected data.

[0033] The solution proposed in the present invention can request other roadside equipment to perform horizontal collaborative processing after a functional module of a roadside device fails, and can also request the fusion computing power layer to perform vertical collaborative processing upward.

[0034] In some embodiments, the vehicle-road cooperative system of the present invention further includes:

[0035] The central computing power layer, the fusion computing power layer is connected to the central computing power layer;

[0036] Among them, the fusion computing power layer is used for: if the roadside equipment in which at least one functional module fails requests the fusion computing power layer to perform collaborative processing, the fusion computing power layer obtains and installs the same collaborative processing module as at least one failed functional module from the central computing power layer, so as to use the collaborative processing module to collaboratively process the collected data.

[0037] Specifically, Figure 1 As shown in the figure, the entire vehicle-road cooperative system can be divided into three layers: distributed computing power layer, fusion computing power layer, and central computing power layer. Among them, the distributed computing power layer uses the roadside equipment (RSSCU) as the core module. The fusion computing power layer (UPF-MEC) uses the computing power base station as the core module and is the basis of the computing power network. The central computing power layer is based on the central cloud. In this way, different data can be processed differently through the three-layer design, that is, the roadside equipment is used to collect the corresponding data, such as the vehicle's driving information, vehicle information, location information, etc., and then perception calculation is performed, and the perception calculation results are sent to the fusion computing power layer for splicing. The fusion computing power layer sends the spliced ​​data to the central computing power layer, and the central computing power layer can obtain the vehicle's driving information, vehicle information, and location information. The central computing power layer passes the access interface of the fusion computing power layer to the intelligent connected vehicle based on the location information, and at the same time sends the service information to the relevant computing power base stations on the driving route. The intelligent connected vehicle accesses the services of the fusion computing power layer based on the interface information, thereby obtaining the service data of vehicle-road cooperation. It should be noted that intelligent connected vehicles need to register vehicle and driving information with the central computing layer in advance and subscribe to related service information.

[0038] In an embodiment of the present invention, when at least one functional module in a roadside device in the distributed computing layer fails and needs to request the fusion computing layer to perform vertical collaborative processing, the fusion computing layer obtains the corresponding processing logic from the central computing layer and performs processing. For example, when a computing module of a roadside device fails, the fusion computing layer obtains firmware with the same version and processing logic as the computing module of the roadside device from the central computing layer, thereby performing calculation processing on the data collected by the roadside device.

[0039] The fusion computing layer is also Figure 1 UPF-MEC, where UPF refers to user plane function and MEC refers to edge computing. UPF mainly uses the capabilities of computing power base stations to offload data (directly importing real-time high-quality data to MEC for data processing), while also fusing data sent by the distributed computing power layer.

[0040] In some embodiments, the roadside equipment is used to: send a coordination request to other roadside equipment and receive status information of other roadside equipment based on the coordination request response when at least one functional module thereof fails, and use the status information to calculate the priority of each other roadside equipment; and select one other roadside equipment according to the priority level for collaborative processing of collected data, and if the priority of each other roadside equipment is less than a threshold, select the fusion computing power layer for collaborative processing of collected data.

[0041] Specifically, when a roadside device with at least one functional module that fails needs to request collaborative processing from other roadside devices, it is necessary to send a collaborative processing request to other roadside devices. For example, a distributed data service protocol (such as DDS) can be used to send broadcast information to other roadside devices. Other roadside devices reply with their own status information based on the collaborative processing request, so that the failed roadside device can calculate the priority of each other roadside device based on the status information, and then determine the other roadside devices for collaborative processing based on the priority. If the priority of any other roadside device is less than the threshold, horizontal collaborative processing cannot be performed, and the fusion computing power layer needs to be selected for collaborative processing of the collected data, that is, vertical collaborative processing is performed.

[0042] In some embodiments, the status information includes firmware version, GPU load and temperature, CPU load and temperature, wireless signal quality, and storage resource utilization;

[0043] The roadside equipment is further used to determine the weight of each type of status information according to the category of the functional module that has failed, and calculate the priority using a preset algorithm and the weight of each type of status information.

[0044] Specifically, the status information fed back by other roadside equipment may include sensor configuration, firmware version, GPU load / temperature, CPU load / temperature, wireless signal quality, and storage resource utilization. The sensor configuration can be used to evaluate whether the roadside equipment is capable of collaborative processing. Then, the weight of each type of information is determined according to the type of functional module that has failed. For example, if the computing module fails, the weight of the GPU load is greater when calculating the priority. If the wireless communication module fails, the weight of the wireless signal quality is greater when calculating the priority. If the compression storage module fails, the weight of the storage resource utilization is greater when calculating the priority. Then, a preset algorithm (such as PCA, principal component analysis algorithm) is used to calculate the priority according to the firmware version, GPU load / temperature, CPU load / temperature, wireless signal quality, storage resource utilization, and the corresponding weights, and one is selected for collaborative processing according to the priority.

[0045] In some embodiments, the functional modules include at least a compression storage module for compressing and storing the collected data, a computing module for performing perception calculations on the collected data, and a wireless communication module for sending calculation results.

[0046] In some embodiments, the acquisition module includes at least one or more of a laser radar, a millimeter wave radar, a camera, and an acoustic and optical device.

[0047] Specifically, perception sensors are integrated into the roadside equipment, such as one or more of lidar, millimeter-wave radar, camera, acoustic and optical equipment, and positioning and timing modules. These perception sensors can be used to collect data, and then the computing module can be used to perform deep learning reasoning to obtain perception results, and finally the perception results are passed to the fusion computing layer through the wireless communication module.

[0048] In some embodiments, the collaboration request includes collaboration content, request reason, current status, requester status information, requester configuration information, and requester interface information.

[0049] In some embodiments, the collaboration content includes at least one of a computing resource collaboration request, a communication resource collaboration request, and a storage resource collaboration request;

[0050] The demand reason includes at least one of a computing power failure, a wireless failure, and a storage failure;

[0051] The current state includes at least one of a sensor configuration and a firmware version;

[0052] The requester status information includes a device address;

[0053] The requester configuration information includes a sensor pose matrix table used for data calculation;

[0054] The requester interface information includes interface information and topic information used to interact with the fusion computing power layer.

[0055] Specifically, when one or more of the compression storage module, computing module, and wireless communication module of the roadside equipment fails, broadcast information can be sent through the distributed data service protocol. The broadcast content may include collaborative content, demand reasons, current status, requester status information, requester configuration information, and requester interface information.

[0056] Among them, the collaborative content can be determined according to the module where the fault occurs, for example, it can include at least one of a computing resource collaborative request, a communication resource collaborative request, and a storage resource collaborative request. The demand reason indicates the cause of the fault, for example, it can include at least one of a computing power fault, a wireless fault, and a storage fault. The current state indicates some functional information of itself, for example, it can include at least one of a sensor configuration and a firmware version; the requester state information includes a device address, so as to broadcast the address of the roadside device with the fault to other roadside devices; the requester configuration information includes a sensor posture matrix table for data calculation, and the sensor posture matrix table can be used for subsequent data calculation. The requester interface information includes interface information and topic information for interacting with the fusion computing layer. Through the interface information, when sending it upward to the fusion layer, it can be identified that the data sent is actually the data that the roadside device with the fault needs to send. Finally, when a roadside device is selected for collaborative processing, a confirmation request needs to be sent to the roadside device again, and the confirmation request includes the migration direction, that is, the IP address of the roadside device for collaborative processing. At the same time, the collaborative content will also become one or more of the collaborative determination of computing resources, the collaborative determination of communication resources, and the collaborative determination of storage resources.

[0057] In some embodiments, the collaboration request also includes a status snapshot of the requester.

[0058] Specifically, the collaborative content may also include a status snapshot of the roadside equipment for which collaborative processing is requested, and the status snapshot may be used for subsequent fault processing.

[0059] In some embodiments, multiple interconnected roadside devices form a converged ring network through optical fibers.

[0060] Specifically, in addition to transmitting through wireless modules, roadside devices can also be connected to adjacent roadside devices through wired or wireless means to form a local convergence ring network. Within the ring network, sensor data on each roadside device can be fused before and after data fusion.

[0061] In some embodiments, the online process of the roadside equipment of the distributed computing layer can be divided into 6 steps, as follows:

[0062] 1. Initial power-on of the system: After the roadside equipment is powered on, the equipment obtains the equipment installation location through the GPS module and the equipment records the location;

[0063] 2. Location information reporting: The roadside equipment transmits the acquired location signal to the central computing layer through the wireless communication module for information registration;

[0064] 3. Download positioning map: The central computing layer sends the local positioning reference map to the roadside equipment based on the location information of the roadside equipment for adjusting the optimal posture;

[0065] 4. Equipment posture adjustment: The installation personnel complete the equipment posture adjustment under the guidance of work simulation deployment;

[0066] 5. Configuration information exchange: The roadside equipment uploads the configuration information to the central computing layer, and the central computing layer sends the configuration information to the base station of the fusion computing layer at the same time. At the same time, the central computing layer transmits the information of the fusion computing layer, that is, the information of the nearest computing base station, to the roadside equipment;

[0067] 6. Normal operation of the system: The roadside equipment transmits the corresponding configuration data to the computing power base station based on the acquired fusion layer information, that is, the information of the nearest computing power base station, so that the system starts to work normally.

[0068] The solution proposed in the present invention can request other roadside equipment to perform horizontal collaborative processing after a functional module of a roadside device fails, and can also request the fusion computing power layer to perform vertical collaborative processing upward.

[0069] 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.

[0070] 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 disclosed in the embodiments of 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. 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.

[0071] 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.

[0072] The serial numbers of the embodiments disclosed in the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0073] 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 embodiments of the present invention as above, 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 vehicle-road cooperative system, characterized in that: include: Fusion computing layer; A distributed computing power layer, comprising a plurality of interconnected roadside devices, each of which comprises at least one acquisition module and a plurality of functional modules, wherein each of the roadside devices uses at least one acquisition module to collect data and uses a plurality of the functional modules to perform data calculation and sends the calculation results to the fusion computing power layer; Among them, when at least one functional module of the roadside equipment fails, the roadside equipment requests other roadside equipment or the fusion computing layer to collaboratively process the collected data.

2. The system according to claim 1, characterized in that Also includes: The central computing power layer, the fusion computing power layer is connected to the central computing power layer; Among them, the fusion computing power layer is used for: if the roadside equipment in which at least one functional module fails requests the fusion computing power layer to perform collaborative processing, the fusion computing power layer obtains and installs the same collaborative processing module as the at least one failed functional module from the central computing power layer, so as to use the collaborative processing module to collaboratively process the collected data.

3. The system according to claim 1, characterized in that The roadside equipment is used to: send a coordination request to other roadside equipment and receive status information of other roadside equipment based on the coordination request reply when at least one functional module thereof fails, and use the status information to calculate the priority of each other roadside equipment; and select one other roadside equipment according to the priority for collaborative processing of collected data, and if the priority of each other roadside equipment is less than a threshold, select the fusion computing power layer for collaborative processing of collected data.

4. The system according to claim 3, characterized in that The status information includes firmware version, GPU load and temperature, CPU load and temperature, wireless signal quality, and storage resource utilization; The roadside equipment is further used to determine the weight of each type of status information according to the category of the functional module that has failed, and calculate the priority using a preset algorithm and the weight of each type of status information.

5. The system according to claim 3, characterized in that The functional modules at least include a compression storage module for compressing and storing the collected data, a calculation module for performing perception calculation on the collected data, and a wireless communication module for sending the calculation results.

6. The system according to claim 5, characterized in that The collaboration request includes collaboration content, request reason, current status, requester status information, requester configuration information, and requester interface information.

7. The system according to claim 6, characterized in that The collaboration content includes at least one of a computing resource collaboration request, a communication resource collaboration request, and a storage resource collaboration request; The demand reason includes at least one of a computing power failure, a wireless failure, and a storage failure; The current state includes at least one of a sensor configuration and a firmware version; The requester status information includes a device address; The requester configuration information includes a sensor pose matrix table used for data calculation; The requester interface information includes interface information and topic information used to interact with the fusion computing power layer.

8. The system according to claim 6, characterized in that The collaboration request also includes a status snapshot of the requester.

9. The system according to claim 1, characterized in that Multiple interconnected roadside devices form a converged ring network through optical fiber.

10. The system according to claim 1, wherein: The acquisition module includes at least one or more of a laser radar, a millimeter wave radar, a camera, and an acoustic and optical device.

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