Communicating and sensing integrated roadside device for vehicle-road cooperation

Abstract

The invention, which relates to the technical field of the road side device, discloses a vehicle-road cooperation-oriented communication and sensing integrated road side device comprising a microwave communication and sensing integrated unit and an edge calculation unit, the microwave communication and sensing integrated unit comprising a millimeter wave transmit-receive array radar and a communication receiving channel; the millimeter wave transceiving array radar transmits millimeter wave signals to external equipment and receives echo signals of the external equipment, so that the condition of a traffic intersection is sensed in real time, and sensing information is sent to the edge computing unit; the communication receiving channel communicates with external equipment by acquiring an echo signal of the millimeter wave transceiving array radar and modulating a millimeter wave signal of the millimeter wave transceiving array radar; and the edge computing unit generates intersection warning information according to the sensing information, sends the warning information to the microwave communication sensing integrated unit, modulates the warning information to a millimeter wave signal through a communication receiving channel, and sends the warning information to external equipment through the millimeter wave transceiving array radar, so that the warning information is sent to the external equipment. The wireless communication function and the radar sensing function of the roadside device are combined into one, the size and power consumption of the device are reduced, the system cost is reduced, and the system efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of roadside devices, and in particular to a synesthesia-integrated roadside device for vehicle-road collaboration. Background Art

[0002] Roadside devices are an important part of the vehicle-road-cloud integrated system. Their main function is to collect information such as current road conditions and traffic conditions, and to exchange data with the electronic traffic control facilities, central subsystem, vehicle subsystem and personal subsystem in the road subsystem through the communication network to assist drivers in driving and ensure the safety of people and vehicles in the entire transportation field.

[0003] Traditional roadside devices include roadside units (RSU), perception units, and computing and decision-making units. Among them, the roadside unit (RSU) integrates C-V2X technology to achieve all-round connection between road and vehicle, road and person, road and cloud platform, providing traffic safety, traffic efficiency and information service applications for connected vehicles, and also providing effective means for traffic collaborative management and control and traffic operation services. The perception unit can be composed of a series of roadside perception devices and processing devices to achieve real-time perception of the local traffic environment and status, including traffic light information, traffic participant information, traffic event information, positioning information, etc. The computing and decision-making unit has multiple implementation methods on the device side and can be integrated into the RSU. It can be a local MEC unit or a regional computing center, which is responsible for processing and storing local or regional data, as well as computing and publishing applications and services.

[0004] It can be seen that perception and communication are two important functions of roadside devices. In existing technologies or products, these two functions are implemented by different components / modules respectively. Summary of the invention

[0005] In order to overcome the defects in the above-mentioned prior art, the present invention provides an integrated roadside device for vehicle-road collaboration, which combines the wireless communication and radar sensing functions in the roadside device into one, reduces the size and power consumption of the equipment, reduces system costs, and improves system efficiency.

[0006] To achieve the above object, the present invention adopts the following technical solutions, including:

[0007] The roadside device is a sensory integrated device for vehicle-road collaboration, which includes a microwave communication sensory integrated unit and an edge computing unit.

[0008] The microwave communication sensing integrated unit includes a millimeter wave transceiver array radar and a communication receiving channel;

[0009] The millimeter wave transceiver array radar transmits millimeter wave signals to external devices and receives echo signals from external devices, thereby sensing the conditions of traffic intersections in real time and sending the sensing information to the edge computing unit;

[0010] The communication receiving channel receives communication information of an external device by acquiring an echo signal received by the millimeter-wave transceiver array radar; the communication receiving channel also sends communication information to the external device by modulating the millimeter-wave signal transmitted by the millimeter-wave transceiver array radar;

[0011] The edge computing unit is used to generate intersection warning information based on the perception information, and send the warning information to the microwave communication perception integrated unit, modulate the warning information onto the millimeter wave signal through the communication receiving channel, and transmit it to the external device through the millimeter wave transceiver array radar, thereby sending the warning information to the external device.

[0012] Preferably, the millimeter wave transceiver array radar includes a signal transmission channel and a signal receiving channel;

[0013] In the signal transmission channel, the LFMCW waveform is generated by FPGA, and then converted into an analog signal through the DA module. Then, the millimeter-wave radar signal is obtained by up-conversion with the first local oscillator source. The millimeter-wave radar signal is sent to the transmitting chip, and after the transmitting chip multiplies the frequency, the millimeter-wave radar signal is transmitted outward through the transmitting antenna.

[0014] In the signal receiving channel, the echo signal is received by the receiving antenna and multiplied by the receiving chip, and then sent to the first mixer. In the first mixer, the echo signal is mixed with the local oscillator signal of the second local oscillator source to generate an IF signal. The IF signal is digitally sampled by the first AD module and then sent to the radar signal processing module for imaging for image reconstruction.

[0015] Preferably, the millimeter wave transceiver array radar includes a signal transmission channel and a signal receiving channel;

[0016] After receiving the echo signal, the signal receiving channel also sends the echo signal to the communication receiving channel, and the communication receiving channel sends the echo signal to the second mixer. In the second mixer, the echo signal is mixed with the local oscillator signal of the second local oscillator source to generate an IF signal. The IF signal is digitally sampled through the second AD module and then sent to the communication signal processing module to restore the communication content.

[0017] Preferably, the communication receiving channel also modulates the center frequency and bandwidth of the LFMCW waveform generated by the FPGA. Through the combination of K center frequencies and L bandwidths, a symbol of a constellation diagram of size K×L can be transmitted in one chirp, and the corresponding number of bits is

[0018] Preferably, OOK modulation is added to a section of the LFMCW signal corresponding to the center frequency. If there are M bits of OOK modulation, the number of information bits transmitted in a chirp is

[0019] Preferably, the LFMCW waveform generated by the FPGA has a waveform bandwidth not greater than 1.333 GHz, is converted into an analog signal between 0 and 1.333 GHz through DA digital-to-analog conversion, and then is up-converted with the first local oscillator source of 25 GHz to obtain a 26 GHz millimeter wave signal with a bandwidth of 1.333 GHz; the transmitting chip has a frequency tripling function inside; and the second local oscillator source generates a 76 GHz local oscillator signal.

[0020] Preferably, the external device comes from one or more of a vehicle, a pedestrian, a cloud platform, and a manufacturer.

[0021] Preferably, the roadside device further includes a laser visual perception unit;

[0022] The laser vision perception unit uses laser radar and video acquisition functions to perceive the conditions of traffic intersections in real time and sends the perception information to the edge computing unit;

[0023] The edge computing unit fuses the perception information of the microwave communication perception integration unit and the laser vision perception unit to generate intersection warning information.

[0024] The advantages of the present invention are:

[0025] (1) The present invention adopts the integrated communication and perception technology to fully share the space-time-frequency and other dimensional resources of wireless communication and radar perception, and realize the coexistence, mutual assistance and mutual benefit of the two (perception and communication). By using this technology, the wireless communication and radar perception functions of the roadside device can be combined into one, reducing the size and power consumption of the equipment, reducing the system cost and improving the system efficiency.

[0026] (2) Based on microwave communication and sensing integrated technology, a set of devices is used to realize millimeter-wave radar imaging and warning information broadcasting at intersections, reducing processing delays, system power consumption and costs.

[0027] (3) The present invention is based on microwave communication perception integration technology. It collects traffic conditions at intersections through millimeter wave radar, lidar, and video, and integrates and analyzes multi-source data to obtain alarm information. The alarm information is then modulated onto the radar signal and broadcast to vehicles and pedestrians about to enter the intersection, thereby improving the real-time nature of the alarm and reducing the power consumption and cost of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1This is the structural diagram of the microwave communication sensing integrated unit.

[0029] Figure 2 Schematic diagram of a synergy-integrated roadside device for vehicle-road collaboration.

[0030] Figure 3 This is a waveform diagram of the warning information after being modulated onto the radar signal. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Example 1

[0033] The integrated roadside device for vehicle-road collaboration includes: an integrated microwave communication perception unit and an edge computing unit.

[0034] The microwave communication perception integrated unit uses the millimeter-wave radar imaging function to perceive the conditions at traffic intersections in real time and sends the perception information (millimeter-wave radar signal) to the edge computing unit.

[0035] The edge computing unit is used to generate intersection warning information based on the perception information, and send the warning information to the microwave communication perception integration unit, which modulates it into the millimeter wave radar signal and broadcasts it to external devices. Among them, the external devices come from one or more of the vehicles, pedestrians, cloud platforms, and manufacturers.

[0036] Depend on Figure 1 As shown, the microwave communication sensing integrated unit includes a millimeter wave transceiver array radar and a communication receiving channel. Among them, the millimeter wave transceiver array radar includes a signal transmission channel and a signal receiving channel.

[0037] The signal transmission channel is used to transmit millimeter wave signals to external devices, and the signal transmission channel includes: FPGA, DA module, first local oscillator source, transmission chip and transmission antenna.

[0038] The signal receiving channel is used to receive the echo signal of the external device, and the signal receiving channel includes: a receiving antenna, a first mixer, a second local oscillator, a first AD module and a radar signal processing module. After receiving the echo signal, the signal receiving channel also sends the echo signal to the communication receiving channel.

[0039] The communication receiving channel receives the communication information of the external device according to the echo signal, and sends the communication information to the external device by modulating the millimeter wave signal. The communication receiving channel includes: a second mixer, a second local oscillator source, a second AD module and a communication signal processing module. The communication receiving channel and the signal receiving channel share the same second local oscillator source.

[0040] In the signal transmission channel, the FPGA generates an LFMCW waveform (linear frequency modulated continuous wave radar signal) with a waveform bandwidth no greater than 1.333 GHz. The waveform is then converted into an analog signal between 0 and 1.333 GHz by the first DA module for digital-to-analog conversion. The signal is then up-converted with the first local oscillator source near 25 GHz to obtain a millimeter-wave signal with a bandwidth of approximately 1.333 GHz near 26 GHz. The millimeter-wave signal is then sent to each transmitting chip, which has a frequency tripling function. The transmitting chip converts the frequency of the millimeter-wave signal to around 77 GHz with a bandwidth of approximately 4 GHz. The millimeter-wave radar signal is finally transmitted outward through the transmitting antenna.

[0041] In the signal receiving channel, the second local oscillator source generates a 76GHz local oscillator signal. The echo signal is received by the receiving antenna and multiplied by the receiving chip, and then sent to the first mixer. In the first mixer, the echo signal is mixed with the local oscillator signal of the second local oscillator source, i.e., down-converted, to generate an IF signal (intermediate frequency signal). The mixed IF signal is digitally sampled by the first AD module and then sent to the radar signal processing module for imaging for image reconstruction.

[0042] For radar imaging function, the working mode of millimeter wave transceiver array radar is similar to that of traditional LFMCW radar (linear frequency modulated continuous wave radar). It realizes the separation of signals between different transceiver channels through time division multiplexing of the transmitting antenna, and then reconstructs the image of the target area by improving the traditional BP algorithm.

[0043] The second local oscillator source in the communication receiving channel generates a 76GHz local oscillator signal, and the echo signal received by the receiving antenna is mixed with the local oscillator signal of the second local oscillator source through the second mixer, i.e., down-converted to generate an IF signal (intermediate frequency signal). The mixed IF signal is digitally sampled through the second AD module, and then sent to the communication signal processing module to restore the communication content.

[0044] The communication receiving channel also modulates the center frequency and bandwidth of the LFMCW waveform generated by the FPGA (IM, Index modulation). Through the combination of K center frequencies and L bandwidths, a constellation diagram (the distribution diagram of the signal vector endpoints is called a constellation diagram) of size K×L can be transmitted in one chirp (coded pulse), and the corresponding number of bits is At the same time, OOK modulation can be added to a section of the LFMCW signal corresponding to the center frequency. If there are M bits of OOK modulation, the number of information bits transmitted in a chirp is If the pulse repetition frequency is PRF, the communication rate can reach The waveform diagram is as follows Figure 3 shown.

[0045] The edge computing unit is an efficient, low-latency computing processing unit that can be deployed at intersections or along roads. It generates alarm data through local computing and data processing, and then uses the microwave communication perception integrated unit to provide more accurate and real-time traffic information to vehicles and pedestrians, providing vehicles and pedestrians with safer and more direct data services.

[0046] The present invention combines the wireless communication and radar sensing functions in the roadside device into one, reducing the size and power consumption of the equipment, reducing system costs, and improving system efficiency. Based on the integrated microwave communication and sensing technology, a set of devices is used to realize millimeter-wave radar imaging and warning information broadcasting at intersections, reducing processing delays, system power consumption and costs.

[0047] Example 2

[0048] Depend on Figure 2 As shown, based on the above-mentioned embodiment 1, the roadside device also includes a laser visual perception unit.

[0049] The laser vision perception unit uses the laser radar imaging function and video acquisition function to perceive the conditions at traffic intersections in real time, and sends the perception information (laser radar signal, video signal) to the edge computing unit.

[0050] The edge computing unit fuses the perception information (millimeter-wave radar signal) from the microwave communication perception integration unit and the perception information (lidar signal and video signal) from the laser vision perception unit to generate intersection warning information, and sends the warning information to the microwave communication perception integration unit, which modulates it onto the millimeter-wave radar signal and broadcasts it to external devices.

[0051] The laser visual perception unit includes cameras, laser radars, etc., and is mainly responsible for collecting roadside information. The unit can actively obtain video stream data at each key node, and achieve global acquisition of vehicles, pedestrians and other environments within the 500-800m area in the vehicle's observation direction. After data processing and analysis by the edge computing unit, this type of data generates corresponding warning information, and realizes road-to-vehicle release and road-to-cloud reporting, so that vehicles about to enter the area can receive real-time road condition information ahead, providing drivers with real-time and effective road condition information.

[0052] The edge computing unit is an efficient, low-latency computing processing unit that can be deployed at intersections or along roads. It integrates the radar and video information of the microwave communication perception integrated unit and the laser vision perception unit to form alarm data through local computing and data processing.

[0053] The present invention is based on integrated microwave communication perception technology. It collects traffic conditions at intersections through millimeter-wave radar, lidar, and video, and obtains warning information by fusing and analyzing multi-source data. The warning information is then modulated onto the radar signal and broadcast to vehicles and pedestrians about to enter the intersection, thereby improving the real-time nature of the warning and reducing the power consumption and cost of the equipment.

[0054] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. The integrated roadside device for vehicle-road collaboration is characterized by: The roadside device includes a microwave communication sensing integrated unit and an edge computing unit; The microwave communication sensing integrated unit includes a millimeter wave transceiver array radar and a communication receiving channel; The millimeter wave transceiver array radar transmits millimeter wave signals to external devices and receives echo signals from external devices, thereby sensing the conditions of traffic intersections in real time and sending the sensing information to the edge computing unit; The communication receiving channel receives communication information of an external device by acquiring an echo signal received by the millimeter-wave transceiver array radar; the communication receiving channel also sends communication information to the external device by modulating the millimeter-wave signal transmitted by the millimeter-wave transceiver array radar; The edge computing unit is used to generate intersection warning information based on the perception information, and send the warning information to the microwave communication perception integrated unit, modulate the warning information onto the millimeter wave signal through the communication receiving channel, and transmit it to the external device through the millimeter wave transceiver array radar, thereby sending the warning information to the external device.

2. The synaesthesia integrated roadside device for vehicle-road collaboration according to claim 1 is characterized in that: The millimeter wave transceiver array radar includes a signal transmission channel and a signal receiving channel; In the signal transmission channel, the LFMCW waveform is generated by FPGA, and then converted into an analog signal through the DA module. Then, the millimeter-wave radar signal is obtained by up-conversion with the first local oscillator source. The millimeter-wave radar signal is sent to the transmitting chip, and after the transmitting chip multiplies the frequency, the millimeter-wave radar signal is transmitted outward through the transmitting antenna. In the signal receiving channel, the echo signal is received by the receiving antenna and multiplied by the receiving chip, and then sent to the first mixer. In the first mixer, the echo signal is mixed with the local oscillator signal of the second local oscillator source to generate an IF signal. The IF signal is digitally sampled by the first AD module and then sent to the radar signal processing module for imaging for image reconstruction.

3. The synesthesia integrated roadside device for vehicle-road collaboration according to claim 2 is characterized in that: The millimeter wave transceiver array radar includes a signal transmission channel and a signal receiving channel; After receiving the echo signal, the signal receiving channel also sends the echo signal to the communication receiving channel, and the communication receiving channel sends the echo signal to the second mixer. In the second mixer, the echo signal is mixed with the local oscillator signal of the second local oscillator source to generate an IF signal. The IF signal is digitally sampled through the second AD module and then sent to the communication signal processing module to restore the communication content.

4. The synaesthesia integrated roadside device for vehicle-road collaboration according to claim 2, characterized in that: The communication receiving channel also modulates the center frequency and bandwidth of the LFMCW waveform generated by the FPGA. Through the combination of K center frequencies and L bandwidths, a symbol with a constellation size of K×L can be transmitted in one chirp, and the corresponding number of bits is 5. The synaesthesia integrated roadside device for vehicle-road collaboration according to claim 4 is characterized in that: In the LFMCW signal, OOK modulation is added to a section near the center frequency. If there are M bits of OOK modulation, the number of information bits transmitted in a chirp is 6. The synaesthesia integrated roadside device for vehicle-road collaboration according to claim 2, characterized in that: The LFMCW waveform generated by the FPGA has a waveform bandwidth no greater than 1.333 GHz. It is converted into an analog signal between 0 and 1.333 GHz through DA digital-to-analog conversion, and then up-converted with the first local oscillator source of 25 GHz to obtain a 26 GHz millimeter wave signal with a bandwidth of 1.333 GHz. The transmitting chip has a frequency tripling function inside; the second local oscillator source generates a 76 GHz local oscillator signal.

7. According to any one of claims 1-6, the integrated synesthesia roadside device for vehicle-road collaboration, the external device comes from one or more of the vehicle, pedestrian, cloud platform, and manufacturer.

8. The synaesthesia integrated roadside device for vehicle-road collaboration according to any one of claims 1 to 6, characterized in that: The roadside device also includes a laser visual perception unit; The laser vision perception unit uses laser radar and video acquisition functions to perceive the conditions of traffic intersections in real time and sends the perception information to the edge computing unit; The edge computing unit fuses the perception information of the microwave communication perception integration unit and the laser vision perception unit to generate intersection warning information.

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