Vehicle-infrastructure cooperation system, vehicle-infrastructure cooperation method and vehicle

Abstract

The invention provides a vehicle-road cooperation system, a vehicle-road cooperation method, a vehicle, computer equipment and a computer readable storage medium. The vehicle-road cooperation system comprises: an information acquisition module configured to acquire vehicle-connected everything information of a vehicle; the rapid prototyping development system comprises an advanced driving assistance system, the advanced driving assistance system is configured to monitor the surrounding environment of the vehicle and generate driving assistance information, and the rapid prototyping development system is configured to generate a control instruction based on the vehicle-connected everything information and the driving assistance information; and the execution module comprises a chassis controller which is configured to control a chassis of the vehicle based on the control instruction from the rapid prototyping development system. According to the vehicle-road cooperation system, the rapid prototype development system is additionally arranged between the information acquisition module and the execution module, and the advanced driving assistance system is carried on the rapid prototype development system, so that the advanced driving assistance system can be iterated and optimized in real time, and the development period of a vehicle-road cooperation system algorithm is shortened.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to the field of vehicle-road collaboration. More specifically, the present invention relates to a vehicle-road collaboration system, a vehicle-road collaboration method, a vehicle, a computer device, and a computer-readable storage medium. Background Art

[0002] The vehicle-road cooperative system usually provides real-time driving assistance through the Advanced Driver Assistance System (ADAS). The ADAS system generally has basic functions such as Adaptive Cruise Control (ACC), Autonomous Emergency Braking (AEB) and Traffic Jam Assistant (TJA), which can support basic assisted driving needs of vehicles such as steering wheel angle control, brake deceleration control, and pedal acceleration control interface. At present, the software algorithms for ACC, AEB and TJA functions are integrated into the controller of the ADAS system, and the data interaction interface and flashing interface of the algorithm have been packaged, so it is very difficult to iterate the algorithm and monitor the data of the vehicle-road cooperative system. Summary of the invention

[0003] The purpose of the present invention is to solve the problems existing in the above-mentioned prior art and to provide an improved vehicle-road cooperative system to improve the performance of the vehicle-road cooperative system in a cost-effective and reliable manner.

[0004] To this end, according to one aspect of the present invention, a vehicle-road cooperative system is provided, the vehicle-road cooperative system comprising: an information acquisition module, the information acquisition module is configured to acquire vehicle-connected everything information of the vehicle; a rapid prototyping development system, the rapid prototyping development system comprises an advanced driving assistance system, the advanced driving assistance system is configured to monitor the surrounding environment of the vehicle and generate driving assistance information, the rapid prototyping development system is configured to generate control instructions based on the vehicle-connected everything information and the driving assistance information; an execution module, the execution module comprises a chassis controller, the chassis controller is configured to control the chassis of the vehicle based on the control instructions from the rapid prototyping development system.

[0005] According to the above technical concept, the present invention may further include any one or more of the following optional forms.

[0006] In certain optional forms, the rapid prototyping system includes a fusion model configured to fuse the connected vehicle information and the driving assistance information and generate the control instruction.

[0007] In some optional forms, the rapid prototyping system includes a decision model configured to make a decision in response to the generated control instruction.

[0008] In certain optional forms, the decision-making judgment includes at least one of starting, steering, braking and driving of the vehicle.

[0009] In certain optional forms, the rapid prototyping system includes a state machine model configured to convert an operating state of the vehicle based on the control instruction so that the chassis controller controls the chassis.

[0010] In some optional forms, the rapid prototyping development system includes a monitoring and calibration model, which is configured to: monitor internal variables of the rapid prototyping development system in real time, and modify a preset calibration quantity of the rapid prototyping development system based on the monitored internal variables to calibrate the performance of the rapid prototyping development system.

[0011] In some optional forms, the internal variables include the operating status of the vehicle and / or the control instructions.

[0012] In some optional forms, the monitoring and calibration model is further configured to: add observations in the rapid prototyping system to monitor the internal variables in real time.

[0013] In certain optional forms, the observable includes at least one of an environmental parameter, an external command, and sensor data.

[0014] In certain optional forms, the rapid prototyping system includes a handshake model configured to communicate with the information acquisition module and the execution module via a handshake protocol.

[0015] In some optional forms, the information acquisition module includes a roadside unit, and the roadside unit is configured to acquire the connected vehicle information of the vehicle.

[0016] In some optional forms, the information acquisition module further includes an on-board unit configured to receive the vehicle-connected everything information from the roadside unit and transmit the vehicle-connected everything information to the rapid prototyping system.

[0017] In some optional forms, the rapid prototyping system is configured with a terminal device, and the terminal device includes a display and / or an emergency stop switch.

[0018] According to another aspect of the present invention, a vehicle-road collaboration method is provided, and the vehicle-road system method includes: acquiring vehicle-connected everything information of the vehicle; monitoring the surrounding environment of the vehicle and generating driving assistance information; generating control instructions based on the vehicle-connected everything information and the driving assistance information; and controlling the chassis of the vehicle based on the control instructions.

[0019] In some optional forms, generating a control instruction based on the connected vehicle information and the driving assistance information includes: fusing the connected vehicle information and the driving assistance information, and generating the control instruction.

[0020] In some optional forms, the vehicle-road collaboration method includes: making a decision in response to the generated control instruction.

[0021] In some optional forms, the vehicle-road collaboration method includes: converting the operating state of the vehicle based on the control instruction to control the chassis.

[0022] According to another aspect of the present invention, a vehicle is provided, the vehicle comprising the above-mentioned vehicle-road cooperative system.

[0023] According to another aspect of the present invention, a computer device is provided, which includes a memory, a processor, and instructions stored in the memory and executable by the processor, wherein the processor implements the above-mentioned vehicle-road collaborative method when executing the instructions.

[0024] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium has computer-executable instructions stored thereon, and the computer-executable instructions are used to execute the above-mentioned vehicle-road collaboration method.

[0025] According to the vehicle-road cooperative system of the present invention, a rapid prototyping development system is added between the information acquisition module and the execution module and the advanced driver assistance system is mounted on the rapid prototyping development system, so that the advanced driver assistance system can be iterated and optimized in real time, thereby reducing the development cycle of the vehicle-road cooperative system algorithm. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Other features and advantages of the present invention will be better understood through the following optional embodiments described in detail in conjunction with the accompanying drawings, in which:

[0027] Figure 1 A schematic diagram of a vehicle-road cooperative system according to an embodiment of the present invention is shown;

[0028] Figure 2 A flow chart of a vehicle-road collaboration method according to an embodiment of the present invention is shown;

[0029] Figure 3 A flowchart showing a vehicle-road collaboration method according to another embodiment of the present invention is shown; and

[0030] Figure 4 A schematic diagram of a computer device according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0031] The implementation and use of the embodiments are discussed in detail below. However, it should be understood that the specific embodiments discussed are merely illustrative of specific ways to implement and use the invention, and are not intended to limit the scope of the invention.

[0032] In addition, the flowcharts and block diagrams in the accompanying drawings illustrate possible implementation architectures, functions, and operations of the methods and systems according to various embodiments of the present invention. It should be noted that the functions marked in the blocks may also occur in an order different from that marked in the accompanying drawings. For example, two consecutively represented blocks may actually be executed substantially in parallel, or they may sometimes be executed in the opposite order, depending on the functions involved.

[0033] During the operation of the vehicle-road cooperative system, the ADAS system can use the vehicle's radar, camera, ultrasound, GPS and other equipment to monitor the environment around the vehicle, allowing the driver to be aware of possible dangers. The inventors found that the software algorithm in the current vehicle ADAS system is integrated into the vehicle's ADAS controller, and the algorithm's data interaction interface and flash interface are already packaged, making it very difficult to iterate the algorithm and monitor the data.

[0034] Reference Figure 1 , Figure 1 A schematic diagram of a vehicle-road cooperative system according to an embodiment of the present invention is shown.

[0035] According to an embodiment of the present invention, the vehicle-road cooperative system 100 generally includes an information acquisition module 110, a rapid prototyping system 120 and an execution module 130. Specifically, the information acquisition module 110 is used to obtain the vehicle-to-everything (V2X) information of the vehicle, and the V2X information includes the communication information between vehicles (V2V), vehicles and infrastructure (V2I), vehicles and pedestrians (V2P), vehicles and networks (V2N), etc. The rapid prototyping system 120 communicates with the information acquisition module 110 via a controller area network (CAN) channel. The rapid prototyping system 120 includes an ADAS system 121, which is used to monitor the surrounding environment of the vehicle and generate driving assistance information. The driving assistance information may include monitoring information from, for example, vehicle-road cameras and radars, and the rapid prototyping system 120 generates control instructions based on the V2X information and the driving assistance information. The execution module 130 communicates with the rapid prototyping system 120 via a CAN channel. The execution module 130 includes a chassis controller 131 . The chassis controller 131 is used to receive control instructions from the rapid prototyping system 120 and control the chassis of the vehicle based on the control instructions.

[0036] In this way, the vehicle-road cooperative system 100 provided by the present invention can add a rapid prototyping development system 120 between the information acquisition module 110 and the execution module 130, and install the vehicle's ADAS system 121 on the rapid prototyping development system 120. There is no need to change the hardware structure of the vehicle chassis, and the design and function of the ADAS system 121 can be quickly verified. Through rapid iteration, it helps users to quickly discover and fix problems, and after compilation is completed, it can be directly run on the actual vehicle without the need for vehicle control unit (VCU) burning, software and hardware restart and other steps, thereby reducing the development cycle of the vehicle-road cooperative system 100 and improving the stability and reliability of the vehicle-road cooperative system 100.

[0037] In some embodiments, the rapid prototyping system 120 may include a fusion model 122, which can fuse the V2X information from the information acquisition module 110 and the driving assistance information from the ADAS system 121 to generate control instructions. In this way, the vehicle can be helped to make more accurate driving decisions. For example, at an intersection, V2X information can provide the status of traffic lights, while driving assistance information can provide location information of surrounding vehicles and pedestrians. After fusing V2X information with driving assistance information, the perception capability and perception range of the ADAS system 121 can also be improved, enabling the ADAS system 121 to perform beyond-visual-range perception.

[0038] like Figure 1 As shown, the rapid prototyping system 120 may include a decision model 123, which may make a decision in response to the generated control instruction. Such a decision may include determining whether the vehicle is started, turned, braked, driven, etc. The decision model 123 may be independent of the ADAS system 121 to provide flexibility to the ADAS system 121. It is understood that the decision model 123 may also be integrated into the ADAS system 121 as needed.

[0039] Continue to refer to Figure 1 , the rapid prototyping system 120 may include a state machine model 124, which converts the working state of the vehicle based on the control instructions so that the chassis controller 131 controls the chassis. Specifically, the state machine model 124 is used to define different working states of the vehicle (for example, driving state, parking state, turning state, emergency braking state, etc.), and trigger the state transition according to specific rules or conditions. For example, when the vehicle is in a driving state, if the ADAS system 121 detects an obstacle in front, the state machine model 124 can trigger a state transition and switch the vehicle state to an emergency braking state to ensure safety, and the chassis controller 131 performs corresponding control actions according to the converted state. In this way, the state machine model 124 provides controllability of the behavior of the vehicle-road cooperative system 100. Clearly defined states and transition conditions can help users better determine the behavior of the vehicle-road cooperative system 100 and improve the stability and reliability of the vehicle-road cooperative system 100.

[0040] In some embodiments, the rapid prototyping system 120 may include a monitoring and calibration model 125, which is used to monitor the internal variables of the rapid prototyping system 120 in real time, such as the working state of the vehicle (including driving state, parking state, turning state, emergency braking state, etc.), and the control instructions generated by the rapid prototyping system 120, such as steering instructions, braking instructions, acceleration instructions, etc. In addition, the monitoring and calibration model 125 can modify the preset calibration quantity of the rapid prototyping system 120 based on the monitored internal variables, such as the parameters, weights, thresholds, etc. of the algorithm of the rapid prototyping system 120, so as to calibrate the performance of the rapid prototyping system 120. In this way, the user can continuously monitor the internal variables, analyze the performance of the rapid prototyping system 120, and then modify the calibration quantity to gradually optimize the rapid prototyping system 120.

[0041] In some embodiments, the rapid prototyping system 120 may include a handshake model 126 that communicates with the information acquisition module 110 and the execution module 130 via a handshake protocol to ensure that the information acquisition module 110 and the chassis of the vehicle are continuously controllable.

[0042] In some embodiments, the information acquisition module 110 may include a road side unit (RSU) 111, which is arranged on the side of the road and usually communicates with the vehicle using dedicated short range communication technology (DSRC). The road side unit 111 can obtain the V2X information of the vehicle and provide real-time traffic information, including traffic congestion, traffic accident alarms, construction information, etc., which helps the driver to take timely action, choose a faster and safer route, and avoid potential dangers. It is understandable that the information acquisition module 110 is not limited to this. For example, the information acquisition module 110 may also include a mobile communication base station, a satellite navigation system, etc., wherein the satellite navigation system is, for example, a global positioning system, i.e., GPS.

[0043] Figure 1 The information acquisition module 110 may also include an on-board unit (OBU) 112. The on-board unit 112 is used to receive V2X information from the roadside unit 111 and transmit the V2X information to the rapid prototyping system 120. The on-board unit 112 enables the vehicle to communicate with infrastructure, other vehicles, and traffic management centers, etc., so as to provide key traffic information, improve road safety, traffic flow management, and traffic efficiency. When a vehicle passes the roadside unit 111 at high speed, microwave communication can be used between the on-board unit 112 and the roadside unit 111 to receive V2X information from the roadside unit 111.

[0044] Reference Figure 2 , Figure 2 A flow chart of a vehicle-road collaboration method according to an embodiment of the present invention is shown.

[0045] In this embodiment, the vehicle-road collaboration method includes the following steps:

[0046] Step S101: Obtain the vehicle's V2X information.

[0047] In step S101 , the V2X information of the vehicle may be acquired through the information acquisition module 110 .

[0048] Step S102: Monitor the surrounding environment of the vehicle and generate driving assistance information.

[0049] In step S102 , the ADAS system 121 may monitor the surrounding environment of the vehicle and generate driving assistance information.

[0050] Step S103: Generate control instructions based on V2X information and driving assistance information.

[0051] In step S103 , a control instruction may be generated by the rapid prototyping system 120 .

[0052] Step S104: Control the chassis of the vehicle based on the control instruction.

[0053] In step S104 , the chassis of the vehicle may be controlled by the chassis controller 131 based on the control instruction.

[0054] In this way, the vehicle-road collaborative method of this embodiment can realize communication between vehicles and road infrastructure, other vehicles and pedestrians, etc., thereby improving traffic safety, traffic efficiency, driving experience, etc.

[0055] Reference Figure 3 , Figure 3 A vehicle-road collaboration method according to another embodiment of the present invention is shown.

[0056] Figure 3 The vehicle-road collaboration method shown is similar to Figure 2 The differences between the vehicle-road collaboration methods are mainly:

[0057] Step S205: Fuse the V2X information and the driving assistance information and generate control instructions.

[0058] In this embodiment, after the roadside unit obtains the V2X information of the vehicle (step S201), the on-board unit shakes hands with the rapid prototyping development system via the handshake protocol (step S202). After the handshake is successful, the on-board unit transmits the V2X information to the rapid prototyping development system (step S203), the ADAS system monitors the surrounding environment of the vehicle and generates driving assistance information (step S204), and the fusion model fuses the V2X information and the driving assistance information and generates control instructions (step S205).

[0059] Step S206: the decision model makes a decision in response to the generated control instruction.

[0060] Step S207: the state machine model converts the working state of the vehicle based on the control instruction so that the chassis controller controls the chassis.

[0061] In this way, the vehicle-road collaboration method according to the present invention provides a rapid development and testing capability that integrates V2X information and driving assistance information of the ADAS system.

[0062] Reference Figure 4 , Figure 4 A schematic diagram of a computer device according to an embodiment of the present invention is shown.

[0063] The present invention also provides a computer device 200, such as Figure 4 As shown, the computer device 200 may include a memory 210 and a processor 220. Instructions 211 may be stored in the memory 210, and the instructions 211 may be executed by the processor 220. When the processor 220 executes the instructions 211, the vehicle-road collaboration method according to the above-mentioned embodiment is implemented.

[0064] The computer device 200 of this embodiment can be a notebook, a desktop computer, a cloud server, etc. It is understandable that the components included in the computer device 200 are not limited to the memory 210 and the processor 220, and can vary depending on different needs. Exemplarily, the computer device 200 can also include multiple components ( Figure 4 ), including but not limited to: input units, such as a keyboard, a mouse, etc.; output units, such as a display, a speaker, etc.; storage units, such as semiconductor storage devices, magnetic surface storage devices, optical storage devices, etc.; and communication units, such as a network card, a wireless communication transceiver, etc.

[0065] In some embodiments, the memory 210 may include, for example, a random access memory (RAM) or a read-only memory (ROM). The memory 210 may be used to store instructions, programs, codes, and other programs and data required by the computer device 200, but is not limited thereto.

[0066] In addition, the processor 220 can be a central processing unit (CPU) or other general-purpose processors, such as a digital signal processing (DSP), a field programmable gate array (FPGA), a programmable logic array (PLA), etc.

[0067] In an exemplary embodiment of the present invention, a computer-readable storage medium is further provided. The computer-readable storage medium has computer-executable instructions stored thereon. The computer-executable instructions are used to execute the vehicle-road collaboration method according to the above embodiment.

[0068] Alternatively, the computer-readable storage medium according to the present embodiment may be a ROM, a RAM, a semiconductor storage device, a magnetic surface storage device, an optical storage device, and the like.

[0069] The vehicle-road cooperative system 100 of the present invention addresses the problems of algorithm iteration and data monitoring difficulties of the ADAS system 121 in the vehicle-road cooperative system 100. A rapid prototyping development system is embedded between the V2X information interface and the vehicle chassis, and the ADAS system 121 is mounted on the rapid prototyping development system, so that the ADAS system 121 can be modified, compiled, tested, calibrated, etc. in real time. After the algorithm is compiled, it can be directly run on the actual vehicle without the need for VCU burning, software and hardware restart, etc., thereby reducing the development cycle of the vehicle-road cooperative system 100.

[0070] The vehicle-road cooperative system 100 of the present invention can also monitor the internal variables of the rapid prototyping system 120 in real time by adding observation quantities in the rapid prototyping system 120, and the monitoring range is greatly increased. The observation quantities may include environmental parameters (such as temperature, humidity, pressure), external instructions (such as user input instructions), sensor data (such as vehicle radar data, camera data), etc. In addition, an external terminal device may be connected to the rapid prototyping system 120, and the terminal device may include hardware such as a display and an emergency stop switch to improve the safety and visibility of the rapid prototyping system 120.

[0071] In addition, the vehicle-road cooperative system 100 of the present invention can also be applied to a higher-level ADAS system, such as an L4+ level autonomous driving system. When applied to an L4+ level autonomous driving system, the L4+ level autonomous driving system is mounted on a rapid prototyping system 120, and the rapid prototyping system 120 generates control instructions based on the V2X information from the information acquisition module 110 and the autonomous driving information from the L4+ level autonomous driving system, and the chassis controller 131 controls the chassis of the vehicle based on the control instructions.

[0072] It should be understood that the embodiments shown in the figures only illustrate optional configurations of the vehicle-road cooperative system according to the present invention, which are only illustrative and not restrictive, and other configurations may be adopted without departing from the spirit and scope of the present invention.

[0073] The technical content and technical features of the present invention have been disclosed above. However, it can be understood that under the creative ideas of the present invention, those skilled in the art can make various changes and improvements to the above disclosed concepts, but they all belong to the protection scope of the present invention. The description of the above embodiments is illustrative rather than restrictive, and the protection scope of the present invention is determined by the claims.

Claims

1. A vehicle-road cooperative system, characterized in that: The vehicle-road cooperative system (100) comprises: An information acquisition module (110), the information acquisition module (110) being configured to acquire vehicle-connected everything information of the vehicle; A rapid prototyping system (120), the rapid prototyping system (120) comprising an advanced driving assistance system (121), the advanced driving assistance system (121) being configured to monitor the surrounding environment of the vehicle and generate driving assistance information, the rapid prototyping system (120) being configured to generate a control instruction based on the vehicle-connected everything information and the driving assistance information; An execution module (130) includes a chassis controller (131) configured to control a chassis of the vehicle based on the control instruction from the rapid prototyping system (120).

2. The vehicle-road cooperative system according to claim 1, characterized in that: The rapid prototyping system (120) includes a fusion model (122), and the fusion model (122) is configured to fuse the connected vehicle information and the driving assistance information and generate the control instruction.

3. The vehicle-road cooperative system according to claim 1, characterized in that: The rapid prototyping system (120) includes a decision model (123), and the decision model (123) is configured to make a decision in response to the generated control instruction.

4. The vehicle-road cooperative system according to claim 3, characterized in that: The decision judgment includes at least one of starting, steering, braking and driving of the vehicle.

5. The vehicle-road cooperative system according to claim 1, characterized in that: The rapid prototyping system (120) includes a state machine model (124), and the state machine model (124) is configured to convert the working state of the vehicle based on the control instruction so that the chassis controller (131) controls the chassis.

6. The vehicle-road cooperative system according to claim 1, characterized in that: The rapid prototyping system (120) includes a monitoring and calibration model (125), wherein the monitoring and calibration model (125) is configured to: monitor internal variables of the rapid prototyping system (120) in real time, and modify a preset calibration value of the rapid prototyping system (120) based on the monitored internal variables, so as to calibrate the performance of the rapid prototyping system (120).

7. The vehicle-road cooperative system according to claim 6, characterized in that: The internal variables include the operating state of the vehicle and / or the control instructions.

8. The vehicle-road cooperative system according to claim 6, characterized in that: The monitoring and calibration model (125) is further configured to add observations in the rapid prototyping system (120) to monitor the internal variables in real time.

9. The vehicle-road cooperative system according to claim 8, characterized in that: The observed quantity includes at least one of an environmental parameter, an external instruction, and a sensor data.

10. The vehicle-road cooperative system according to claim 1, characterized in that: The rapid prototyping system (120) includes a handshake model (126) configured to communicate with the information acquisition module (110) and the execution module (130) via a handshake protocol.

11. The vehicle-road cooperative system according to claim 1, characterized in that: The information acquisition module (110) comprises a roadside unit (111), and the roadside unit (111) is configured to acquire the connected vehicle information of the vehicle.

12. The vehicle-road cooperative system according to claim 11, characterized in that: The information acquisition module (110) further comprises an on-board unit (112), wherein the on-board unit (112) is configured to receive the vehicle-connected everything information from the roadside unit (111) and transmit the vehicle-connected everything information to the rapid prototyping system (120).

13. The vehicle-road cooperative system according to claim 1, characterized in that: The rapid prototyping system (120) is equipped with a terminal device, which includes a display and / or an emergency stop switch.

14. A vehicle-road collaboration method, characterized in that: The vehicle-road collaboration method comprises: Obtaining vehicle-connected everything information of the vehicle (S101; S201); Monitoring the surrounding environment of the vehicle and generating driving assistance information (S102; S204); Generate a control instruction based on the connected vehicle information and the driving assistance information (S103); The chassis of the vehicle is controlled based on the control instruction (S104).

15. The vehicle-road cooperative method according to claim 14, characterized in that: Generating a control instruction based on the connected vehicle information and the driving assistance information includes: fusing the connected vehicle information and the driving assistance information, and generating the control instruction (S205).

16. The vehicle-road cooperative method according to claim 14, characterized in that: The vehicle-road collaboration method includes: making a decision in response to the generated control instruction (S206).

17. The vehicle-road cooperative method according to claim 14, characterized in that: The vehicle-road collaboration method includes: converting the working state of the vehicle based on the control instruction to control the chassis (S207).

18. A vehicle, characterized in that: The vehicle includes the vehicle-road cooperative system according to any one of claims 1 to 13.

19. A computer device, characterized in that: The computer device (200) includes a memory (210), a processor (220), and instructions (211) stored in the memory (210) and executable by the processor (220), wherein the processor (220) implements the vehicle-road collaborative method described in any one of claims 14 to 17 when executing the instructions (211).

20. A computer-readable storage medium, characterized in that: The computer-readable storage medium has computer-executable instructions stored thereon, and the computer-executable instructions are used to execute the vehicle-road collaboration method according to any one of claims 14 to 17.

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