Networked vehicle situation awareness and driving intention driven communication terminal selection method and device

Abstract

The invention discloses a networked vehicle situation awareness and driving intention driven communication terminal selection method and device, and aims to effectively select a cooperative service transmission terminal by integrating the network topology situation of the scene of a networked vehicle at the moment and the related information of the driving intention. The method comprises the following steps: in a data acquisition stage, a network connection vehicle collects own information, and meanwhile, appearance feature information, relative distance, speed, angle and other perception information of the surrounding network connection vehicle are observed / perceived by using a camera, a radar or a sensing integrated device. In the situation awareness topology construction stage, the networked vehicle constructs and verifies the networked vehicle situation awareness topology containing the position data based on the collected information. In the collaborative service transmission terminal selection stage, the collaborative service transmission terminal is selected by using the network topology situation of the network connection vehicle and the driving intention related information, so that the communication efficiency of the network connection vehicle is effectively improved, and the invalid transmission of the driving service is reduced.

Description

Technical Field

[0001] The present invention relates to the field of wireless communication technology, and in particular to the field of networked vehicle cooperative communication technology, and specifically is a key technology for cooperative networked vehicles based on mobile communication. Background Art

[0002] With the rapid development of autonomous driving technology and the widespread deployment of connected vehicles, a large number of driving services that are deeply coupled with driving scenarios have been brought about. The efficient interaction and sharing of these services are crucial to the realization of modern traffic flow management. However, under the frequent interaction needs of driving services, the current broadcast-based Internet of Vehicles communication mode causes neighboring vehicles or surrounding facilities to receive the same message and easily leads to a large number of transmission collisions, thereby reducing network coordination efficiency and communication efficiency. On the other hand, the collaborative information content and the connected vehicle topology cannot be effectively matched and accurately identified, which further leads to low utilization of collaborative messages, and thus cannot fully realize the true original intention of network coordination. In order to improve the processing efficiency of collaborative services and reduce resource waste, especially in scenarios with dense connected vehicles, it is necessary to design a selection strategy for the collaborative service transmission terminal set based on the three key elements of driving scenarios, driving intentions and driving services to optimize the information interaction between connected vehicles. Summary of the invention

[0003] Purpose of the invention: In view of the current situation that scenes and driving services are deeply coupled in the collaborative communication environment of connected vehicles, the present invention comprehensively considers the key elements of driving scenes and driving intentions, and proposes a communication terminal selection method and device driven by situational awareness and driving intentions of connected vehicles, so as to improve information utilization and traffic operation efficiency, ensure the reliability of data transmission under complex and changeable traffic conditions, and provide strong communication guarantee for intelligent driving.

[0004] Technical solution: To achieve the above-mentioned invention object, the present invention adopts the following technical solution:

[0005] In a first aspect, the present invention provides a method for selecting a communication terminal driven by situational awareness and driving intention of a connected vehicle, comprising the following steps:

[0006] Step 1: The connected vehicle collects its own information and the information of surrounding connected vehicles it observes / perceives;

[0007] Step 2: By exchanging the collected information, the connected vehicle determines the communication ID information of the surrounding connected vehicles it observes / perceives based on the acquired GPS data, vehicle appearance features, or relative distance, speed and angle, builds the situational awareness topology of the connected vehicle, forms the association between the connected vehicle number and the communication ID information observed / perceived by the connected vehicle, and forms a situational awareness topology information relationship table set, which is used to record the information collected by the connected vehicle number and the associated surrounding connected vehicles;

[0008] Step 3: Determine the topology quality by comparing the local network topologies constructed at consecutive moments and verify the connected vehicle situational awareness topology;

[0009] Step 4: Based on the constructed situational awareness topology information relationship table, the information of surrounding connected vehicles is concentrated, combined with driving intention, and the set of collaborative business transmission terminals is determined.

[0010] Preferably, in step 1, the self-information collected by the connected vehicle includes communication ID, IP address, GPS information, appearance feature information and the vehicle's own speed information; the information collected by the connected vehicle on observing / perceiving surrounding connected vehicles includes appearance feature information, relative distance information, speed information and angle information.

[0011] Preferably, in step 2, when the two connected vehicles exchanging information can both obtain their own GPS data, the GPS data is used to construct a local network topology; when the two connected vehicles exchanging information cannot obtain their own GPS data but can share vehicle appearance feature information, the appearance feature information is used to construct a local network topology; when the two connected vehicles exchanging information can neither obtain their own GPS data nor share vehicle appearance feature information, the relative distance information, speed information and angle information obtained by radar or tele-sensory integrated equipment are used to construct a local network topology.

[0012] Preferably, in step 2, the association between the connected vehicle number and the communication ID information observed / perceived by the connected vehicle is recorded through a situation awareness topological association matrix, list, set or array. When connected vehicle A and connected vehicle B exchange the collected information, connected vehicle A uses the GPS data of the two vehicles, vehicle appearance features, or relative distance, speed and angle to identify that the surrounding connected vehicle with the connected vehicle number n observed / perceived by connected vehicle A is connected vehicle B, and the nth row and nth column of the situation awareness topological association matrix of connected vehicle A, or the element at the nth position in the situation awareness topological association list, set or array is set to the communication ID information of connected vehicle B.

[0013] Preferably, in step 3, at least two local network topologies constructed at consecutive moments are compared to determine the topology quality. If the association between the connected vehicle number and the communication ID information between the local network topologies constructed at two consecutive moments is consistent after excluding the connected vehicles that have left and newly joined, the topology quality is considered to be high. When the topology quality is judged to be high for k≥1 consecutive moments, the connected vehicle situation awareness topology is considered to be constructed correctly.

[0014] Preferably, the connected vehicle A compares the local network topology constructed at consecutive moments, and determines the quality of the network topology at time t+1 according to the following method: compare whether the elements at corresponding positions in the situation awareness topology association matrix, list, set or array of the connected vehicle A at time t and time t+1 are equal, and output 0 if they are equal, otherwise output 1, and the smaller the sum of the output values ​​of all position elements, the higher the quality of the situation awareness topology at time t+1.

[0015] Furthermore, when determining the collaborative service transmission terminal set in step 4, the distance and speed between the connected vehicles are comprehensively considered to predict the dynamic changes in the status of the connected vehicles.

[0016] Furthermore, when a certain connected vehicle needs to build a situational awareness topology beyond its own observation / perception range, it requests the RSU roadside unit to build it. The RSU collects information of all connected vehicles within the perception range through the observation / perception device, and obtains the collected information submitted by each connected vehicle. According to the GPS data, the appearance characteristics of the vehicle, or the relative distance, speed and angle, the communication ID information of the connected vehicle observed / perceived by the RSU is determined to build a situational awareness topology for the connected vehicle; wherein the association between the connected vehicle number and the communication ID information is determined according to the GPS data by matching the relative motion information calculated by the GPS data with the relative motion information perceived by the RSU; the association between the connected vehicle number and the communication ID information is determined according to the vehicle appearance characteristics by matching the appearance characteristics submitted by the connected vehicle with the vehicle appearance characteristics perceived by the RSU; the association between the connected vehicle number and the communication ID information is determined according to the relative distance, speed and angle by: the RSU uses its own position as the coordinate origin to convert the perceived relative motion information into the coordinate information of each connected vehicle, and calculates the relative motion information between all vehicles based on the coordinate information, and then matches the relative motion information submitted by the vehicle with the calculated relative motion information between the vehicles.

[0017] In a second aspect, the present invention provides a communication terminal selection device driven by situation awareness and driving intention of a connected vehicle, comprising:

[0018] An information collection module is used for the connected vehicle to collect its own information and the information of surrounding connected vehicles that it observes / perceives;

[0019] A situation awareness topology building module is used to determine the communication ID information of the surrounding connected vehicles observed / perceived by the connected vehicle based on the acquired GPS data, vehicle appearance features, or relative distance, speed and angle by exchanging the collected information, build the situation awareness topology of the connected vehicle, form the association between the connected vehicle number observed / perceived by the connected vehicle and the communication ID information, and form a situation awareness topology information relationship table set, which is used to record the information collected by the connected vehicle number and the associated surrounding connected vehicles;

[0020] A situation awareness topology verification module is used to determine the topology quality by comparing the local network topology constructed at consecutive moments and verify the situation awareness topology of the connected vehicle;

[0021] And, a communication terminal selection module is used to determine the set of collaborative business transmission terminals based on the information of surrounding networked vehicles concentrated on the constructed situation awareness topology information relationship table and combined with driving intention.

[0022] Furthermore, it also includes a roadside unit topology construction and verification module, which is used by the RSU roadside unit to build and verify the situational awareness topology according to the request of the connected vehicle and send it to the connected vehicle.

[0023] Beneficial effects: The implementation basis of the communication terminal selection method and device strategy for the situational awareness and driving intention of the connected vehicle proposed in the present invention is to construct a situational awareness topology of the connected vehicle containing location information, and use the driving intention information to effectively select and determine the collaborative service transmission terminal, reduce communication network interference and information leakage, and improve the network collaboration efficiency, information utilization and traffic operation efficiency of network collaborative driving. Compared with the prior art, the advantages of the present invention are: 1) The present invention fully considers the driving scene, driving intention and collaborative service requirements, and proposes a communication terminal selection method driven by situational awareness and driving intention. By repeatedly constructing and verifying the network topology, the accuracy and reliability of situational awareness are improved, ensuring that the driving service can be accurately delivered to the target connected vehicle to avoid misleading driving decisions. 2) The present invention constructs a situational awareness topology of the connected vehicle containing the information of the connected vehicle, dynamically optimizes the set of collaborative service transmission terminals, improves the information utilization rate and traffic operation efficiency, and provides efficient communication guarantee for intelligent driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the embodiments of the present invention are briefly introduced below.

[0025] Figure 1 The figure is a schematic diagram of the method flow and scenario of an embodiment of the present invention.

[0026] Figure 2 Schematic diagram of a case scenario in an embodiment of the present invention.

[0027] Figure 3 A schematic diagram of topological construction of situational awareness of connected vehicles in an embodiment of the present invention.

[0028] Figure 4 A schematic diagram of constructing a collaborative service terminal set in an embodiment of the present invention. DETAILED DESCRIPTION

[0029] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific embodiments.

[0030] Considering that the information content in networked collaboration is highly bursty and the network topology is highly dynamic, which is different from the unicast method in traditional cellular or wireless LAN communications, where the transmitting node knows to send the transmission content to the corresponding terminal node or the terminal node actively transmits (requests) information to the base station or access point. This makes the terminal nodes of collaborative message sharing uncertain or dynamic, that is, collaborative message sharing is closely related to the network topology scenario and driving intention. Although the location information of connected vehicles can be obtained through GPS (Global Positioning System), there are often some signal coverage blind spots in GPS signals, so other sensing technologies, such as radar and cameras, are needed to obtain the relative distance information of connected vehicles, and then build or dynamically update the network topology of connected vehicles.

[0031] The embodiment of the present invention discloses a method for selecting a communication terminal driven by situation awareness and driving intention of a networked vehicle, which aims to comprehensively integrate the network topology situation and driving intention information of the networked vehicle at this time and scene, and effectively select a collaborative service transmission terminal. Figure 1 As shown, the method for selecting a communication terminal driven by situational awareness and driving intention of the networked vehicle includes three stages: data collection, situational awareness topology construction, and collaborative service transmission terminal selection. In the data collection stage, the networked vehicle collects its own information such as the communication ID, IP address, GPS information, etc. of the surrounding networked vehicles, and uses cameras, radars or inter-sensory integrated equipment to observe / perceive the appearance feature information, relative distance, speed, angle and other perception information of the surrounding networked vehicles. In the situational awareness topology construction stage, the networked vehicle builds and verifies the situational awareness topology of the networked vehicle containing location data based on the collected information. In the collaborative service transmission terminal selection stage, the network topology situation of the networked vehicle and the driving intention related information are used to select the collaborative service transmission terminal, thereby effectively improving the communication efficiency of the networked vehicle and reducing the ineffective transmission of driving services.

[0032] Specifically, the method for selecting a communication terminal driven by situational awareness and driving intention of a connected vehicle comprises the following steps:

[0033] Step S101: The connected vehicle collects its own information and the information of surrounding connected vehicles that it observes / perceives;

[0034] Step S102: By exchanging the collected information, the connected vehicle determines the communication ID information of the surrounding connected vehicles observed / perceived according to the acquired GPS data, vehicle appearance features, or relative distance, speed and angle, builds a connected vehicle situation awareness topology, forms an association relationship between the connected vehicle number observed / perceived by the connected vehicle and the communication ID information, and a situation awareness topology information relationship table set, which is used to record the connected vehicle number and the information collected by the associated surrounding connected vehicles;

[0035] Step S103: Determine the topology quality by comparing the local network topologies constructed at consecutive moments, and verify the situational awareness topology of the connected vehicle;

[0036] Step S104: Based on the constructed situation awareness topology information relationship table, the locations of surrounding networked vehicles are concentrated and combined with driving intentions to determine the collaborative service transmission terminal set.

[0037] The connected vehicle situation awareness and driving intention-driven communication terminal selection method described in the embodiment of the present invention can be applied to connected vehicle communication terminals and non-vehicle terminals (such as roadside collaborative control units, intelligent traffic lights). The connected vehicles and devices participating in the collaborative service transmission must have communication capabilities and perception capabilities, among which the perception capabilities include positioning capabilities, environmental recognition capabilities, vehicle identification capabilities, etc. that can be achieved through devices such as GPS, radar, cameras, or telepathic integrated devices.

[0038] The core of the embodiment of the present invention includes making full use of technologies such as GPS, radar and camera to obtain relevant information of the connected vehicle, and then constructing a connected vehicle situation awareness topology that includes information such as the location of the connected vehicle and the user communication ID, and further proposing a communication terminal selection strategy driven by connected vehicle situation awareness and driving intention.

[0039] The connected vehicle situational awareness topology constructed by the embodiment of the present invention, which includes information such as the location of the connected vehicle and the user ID, can ensure that the driving service is accurately transmitted to the target connected vehicle, thereby avoiding misleading driving decisions, improving the network coordination efficiency, information utilization, and traffic operation efficiency of network collaborative driving, and reducing safety risks. According to the dynamic changes of driving services and network topology, the connected vehicle can dynamically optimize the collaborative service transmission terminal set, significantly reduce conflicts in the driving service transmission process, and thus achieve efficient and safe traffic flow management.

[0040] More specifically, in some embodiments, the detailed implementation process of the method for selecting a communication terminal for situational awareness and driving intention of a connected vehicle may include the following steps:

[0041] Step S201: Collecting information about connected vehicles. Information collected by connected vehicle A at time t in Represents the self-information set of the connected vehicle A, Represents the set of observation / perception information of connected vehicle A, which is described as follows:

[0042] Including but not limited to the communication ID, IP address, GPS information, license plate number, vehicle type, vehicle model, and the vehicle's own speed information of the connected vehicle A. M s,t The number of information categories representing the own information, a s,t,1 Indicates the communication ID identification information of the connected vehicle A, a s,t,2 Indicates the communication IP information of connected vehicle A, a s,t,3 Indicates GPS information, a s,t,4 Indicates the license plate number, a s,t,5 Indicates vehicle type information, a s,t,6 Indicates vehicle model information, a s,t,7 Indicates the vehicle's own speed information, etc.

[0043] Including but not limited to the appearance feature information such as the license plate number, vehicle type, vehicle model, etc. of other connected vehicles around it observed / perceived by connected vehicle A, the distance information, speed information, angle information, etc. of the surrounding connected vehicles relative to connected vehicle A. Where N a,o,t is the number of surrounding connected vehicles observed / perceived by connected vehicle A, n is the vehicle number index of the surrounding connected vehicles observed / perceived by connected vehicle A, L a,o,t is the number of information categories of surrounding connected vehicles observed / perceived by connected vehicle A, l is the information category index of surrounding connected vehicles observed by connected vehicle A, a o,t,n,1 Indicates the license plate number information of the vehicle number n of the surrounding connected vehicles, a o,t,n,2 Indicates the vehicle type information of the vehicle number n of the surrounding connected vehicles, a o,t,n,3 Indicates the vehicle model information of the vehicle number n of the surrounding connected vehicles, a o,t,n,4 Relative distance information between the connected vehicle with vehicle number n and the connected vehicle A, a o,t,n,5 Indicates the speed information of the surrounding connected vehicles with vehicle number n, a o,t,n,6 Relative angle information of vehicle number n of surrounding connected vehicles, etc.

[0044] Step S202: constructing the situational awareness topology of connected vehicles.

[0045] Step S2021: When all connected vehicles are able to obtain their own GPS data, the GPS data is used to build a local network topology. and information, using a s,t,3 With b s,t,3 The information can identify the topological relationship between connected vehicles A and B, and then the communication ID information b of connected vehicle B s,t,1 Establish a one-to-one correspondence with the connected vehicle A observing / perceiving the connected vehicle number n, and use N a,o,t ×N a,o,t The matrix E a,t It represents the topological association matrix of the connected vehicle situation awareness between the connected vehicle A and other connected vehicles around it that it observes / perceives, E a,t The value of (n,n) is b s,t,1 , so that the connected vehicle A obtains the connected vehicle situation awareness topology information relationship table set with the observed / perceived surrounding connected vehicles The representation forms of the topological association relationship of the situational awareness of connected vehicles include but are not limited to matrices, lists, sets, arrays, etc.

[0046] Step S2022: When some connected vehicles within the communication range of connected vehicle A are unable to obtain their own GPS data, the appearance features are used to construct a local network topology. and information, using a s,t,4 、a s,t,5 , a s,t,6 、a o,t,n,1 、a o,t,n,2 、a o,t,n,3 Information and s,t,4 、b s,t,5 , b s,t,6 、b o,t,n,1 、b o,t,n,2 、b o,t,n,3 , the topological relationship between connected vehicles A and B can be identified, and the communication ID information b of connected vehicle B can be obtained. s,t,1 Establish a one-to-one correspondence with the connected vehicle number n observed / perceived by the connected vehicle A to form the situational awareness topological association matrix E of the connected vehicle A a,t , so that the connected vehicle A obtains the connected vehicle situation awareness topology information relationship table set with the observed / perceived surrounding connected vehicles

[0047] Step S2023: When some connected vehicles within the communication range of connected vehicle A do not obtain their own GPS data and cannot share vehicle appearance feature information, radar or telepathic integrated equipment is used to build a local network topology. and Information, Comparison of connected vehicle A and connected vehicle B o,t,n,4、a o,t,n,5 、a o,t,n,6 、a s,t,7 , b o,t,n,4 , b o,t,n,5 , b o,t,n,6 , b s,t,7 When the relative distance, relative angle, speed and other information can correspond to each other, the connected vehicle situation awareness topological relationship between connected vehicle A and connected vehicle B can be identified, and then the communication ID information b of connected vehicle B can be obtained. s,t,1 Establish a one-to-one correspondence with the connected vehicle number n observed / perceived by the connected vehicle A to form the situational awareness topological association matrix E of the connected vehicle A a,t , so that the connected vehicle A obtains the connected vehicle situation awareness topology information relationship table set with the observed / perceived surrounding connected vehicles

[0048] Step S203: Verify the connected vehicle situation awareness topology.

[0049] Verifying connected vehicle situational awareness topology Verify the topology information relationship table set of the connected vehicle situation awareness At least two time points of data are required, including the connected vehicle A connected vehicle situation awareness information relationship table set from time t to time t+k Connected vehicle situation awareness topology correlation matrix E a,t ,...,E a,t+k The quality of the topological correlation matrix of the situational awareness of the connected vehicle at time t is determined by the E a,t-1 With the current moment E a,t The consistency of the network topology is determined by the connected vehicle A. The quality of the network topology at time t+1 is shown in formula (1):

[0050]

[0051] Among them, the f(·) function is used to determine E a,t If the elements in Q are equal, the equality function f(·) outputs 0, otherwise it outputs 1. g,t+k The smaller the value, the higher the topological quality of the situational awareness of the connected vehicle in the continuous time. g,t+k = 0, it can be considered that the connected vehicle situation awareness topology is constructed correctly. When the connected vehicle situation awareness topology changes with time nodes, it is necessary to remove the vehicles that have left and newly joined the network before calculating formula (1) to ensure that the size of the connected vehicle situation awareness topology association matrix at different times is consistent.

[0052] Step S204: Construct a communication terminal set. The networked vehicle A generates a set of relationship tables with the networked vehicle situation awareness topology information according to the driving intention. The information of the surrounding network vehicles is used to determine the communication terminal set. In some embodiments, the distance and speed between the connected vehicles can be further considered to predict the dynamic changes of the connected vehicle situation and determine the communication terminal set. The connected vehicle A generates the corresponding service content for executing the driving action according to the driving intention and the connected vehicle situation perception topology information relationship table, and transmits it to the communication terminal.

[0053] In addition, in some embodiments, when a connected vehicle needs a larger range of situational awareness topology, it can request the RSU roadside unit (RSU) to build it. When one or more connected vehicles within the communication range of the RSU request a situational awareness topology, if the situational awareness topology has not yet been built, the RSU builds the situational awareness topology in similar steps S201 to S203; if the situational awareness topology has been built, the situational awareness topology is directly shared with the requesting vehicle. The specific steps for the RSU to build a situational awareness topology are as follows:

[0054] Step S301: Connected vehicle information collection. Connected vehicle A requests the RSU to build a situational awareness topology. Considering that the RSU is in a fixed position and does not need to send its own position information to the connected vehicle, the information observed / perceived by the RSU at time t is not limited to other connected vehicles around connected vehicle A, but all connected vehicles within the RSU's perception range. The collected information is in Represents the set of observation / perception information of RSU, which is described as follows:

[0055] Including but not limited to the appearance feature information such as the license plate number, vehicle type, vehicle model, etc. of other connected vehicles around the RSU observed / perceived, the distance information, speed information, angle information, etc. of the surrounding vehicles relative to the RSU. Where N r,o,t is the number of surrounding connected vehicles observed / perceived by the RSU, n is the vehicle number index of the surrounding connected vehicles observed / perceived by the RSU, L r,o,t is the number of information categories of surrounding connected vehicles observed / perceived by RSU, l is the information category index of surrounding connected vehicles observed by RSU, and r o,t,n,1 Indicates the license plate number information of the vehicle number n of the surrounding networked vehicles, r o,t,n,2 Indicates the vehicle type information of the vehicle number n of the surrounding connected vehicles, r o,t,n,3 Indicates the vehicle model information of the vehicle number n of the surrounding connected vehicles, r o,t,n,4Relative distance information between the connected vehicle with vehicle number n and the RSU, r o,t,n,5 represents the speed information of the surrounding connected vehicles with vehicle number n, r o,t,n,6 Relative angle information of vehicle number n of surrounding connected vehicles, etc.

[0056] Step S302: constructing the situational awareness topology of connected vehicles.

[0057] Step S3021: When all connected vehicles are able to obtain their own GPS data, the GPS data is used to build a local network topology. Connected vehicle B submits the observed / perceived information to RSU, RSU combines its own GPS information with b s,t,3 Information can identify the topological relationship of the connected vehicle situation awareness of the connected vehicle B, and then the communication ID information b of the connected vehicle B s,t,1 Establish a one-to-one correspondence with the RSU observation / perception network vehicle number n, using N r,o,t ×N r,o,t The matrix E r,t It represents the topological association matrix of the connected vehicle situation awareness between the RSU and other connected vehicles around it that it observes / perceives, E r,t The value of (n,n) is b s,t,1 , so that the RSU obtains the connected vehicle situation awareness topology information relationship table set with the observed / perceived surrounding connected vehicles The representation forms of the topological association relationship of the situational awareness of connected vehicles include but are not limited to matrices, lists, sets, arrays, etc.

[0058] Step S3022: When some connected vehicles within the RSU communication range are unable to obtain their own GPS data, the appearance features are used to construct a local network topology. Information to RSU, using r o,t,n,1 、r o,t,n,2 、r o,t,n,3 Information and s,t,4 , b s,t,5 , b s,t,6 , the topological relationship between the RSU and the connected vehicle B can be identified, and the communication ID information b of the connected vehicle B can be obtained. s,t,1 Establish a one-to-one correspondence with the RSU observation / perception network vehicle number n to form a situation awareness topology association matrix E r,t , thereby obtaining a set of connected vehicle situation awareness topology information relationship tables with the observed / perceived surrounding connected vehicles

[0059] Step S3023: When some connected vehicles within the communication range of the RSU do not obtain their own GPS data and cannot share vehicle appearance feature information, radar or telepathic integrated equipment is used to build a local network topology. The RSU first uses its own position as the coordinate origin. o,t,n,4 、r o,t,n,5 、r o,t,n,6 The information is further converted into the coordinate information of each connected vehicle, and then the relative distance and angle between all vehicles are calculated based on the coordinate information and saved together with the speed information in In. Connected vehicle B submits Information to RSU, RSU based on The number of connected vehicles around N b,o,t , the distance b of the surrounding vehicles relative to the connected vehicle B o,t,n,4 , speed b o,t,n,5 , angle information b o,t,n,6 ,exist Search for connected vehicles with the same data in the network. When a connected vehicle has the same number, relative distance, angle, and speed as its surrounding vehicles, When the data in are equal, the connected vehicle situation awareness topological relationship between the vehicle position and the connected vehicle B is established. When all vehicles within the communication range of the RSU complete the establishment of the connected vehicle situation awareness topological relationship, the RSU situation awareness topological association matrix E is formed. r,t , so that the RSU obtains the connected vehicle situation awareness topology information relationship table set with the observed / perceived surrounding connected vehicles

[0060] Step S303: Verify the connected vehicle situation awareness topology.

[0061] Verifying connected vehicle situational awareness topology Verify the topology information relationship table set of the connected vehicle situation awareness At least two time points of data are required, including the RSU networked vehicle situation awareness information relationship table set from time t to time t+k Connected vehicle situation awareness topology correlation matrix E r,t ,…,E r,t+k The quality of the topological correlation matrix of the situational awareness of the connected vehicle at time t is determined by the E r,t-1 With the current moment E r,t The consistency of the network is determined by the RSU comparing the local network topology constructed at consecutive moments. The quality of the network topology at moment t+1 is shown in formula (2):

[0062]

[0063] Among them, the f(·) function is used to determine E r,tIf the elements in Q are equal, the equality function f(·) outputs 0, otherwise it outputs 1. g,t+k The smaller the value, the higher the topological quality of the situational awareness of the connected vehicle in the continuous time. g,t+k = 0, it can be considered that the connected vehicle situation awareness topology is constructed correctly. When the connected vehicle situation awareness topology changes with time nodes, it is necessary to remove the vehicles that have left and newly joined the network before calculating formula (2) to ensure that the size of the connected vehicle situation awareness topology association matrix at different times is consistent.

[0064] Step S304: Build a communication terminal set. After the RSU completes the situational awareness topology construction, it sends it to all connected vehicles that request the network topology. Taking connected vehicle A as an example, connected vehicle A sets the relationship table of driving intention and connected vehicle situational awareness topology information. The information of surrounding network vehicles is collected, and the dynamic changes of the networked vehicle situation are predicted by comprehensively considering the distance and speed between the networked vehicles to determine the communication terminal set. The location of the surrounding network vehicles in the network generates the corresponding service content for executing the driving action and transmits it to the communication terminal. When the driving service needs to be transmitted to the communication terminal outside its own communication range, the networked vehicle A The location of the communication terminal selects one or more connected vehicles to forward the collaborative business.

[0065] In order to more easily understand the method of the present invention, Figure 2 In the scenario shown, the embodiment of the present invention exemplarily illustrates the method for selecting a communication terminal for situational awareness and driving intention of a connected vehicle. The method is applied to selecting a collaborative service transmission terminal, and specifically includes the following steps:

[0066] Step S401: Collecting information about connected vehicles. Figure 2 In the current driving scene, there are six lanes in both directions, with three lanes in each direction and nine connected vehicles in total. All connected vehicles are in motion (driving). The width of each lane is set to 3.5 meters, the total length of the lanes in the scene is 1 kilometer, and the location distribution of connected vehicles is as follows: Figure 2 Take connected vehicle A as an example. There are three connected vehicles B, C, and D around connected vehicle A. The information collected at time t in Represents the self-information set of the connected vehicle A, represents the set of observation / perception information of connected vehicle A, The specific values ​​are shown in Tables 1 and 2, and the information sets of connected vehicles B, C, and D are shown in Tables 3 to 5:

[0067] Table 1: Information collection of connected vehicle A The value of the element

[0068] Element Meaning Element Symbols Numeric Communication ID <![CDATA[a s,t,1 ]]> V-20250122-12345 IP address <![CDATA[a s,t,2 ]]> 192.168.1.100 GPS Information <![CDATA[a s,t,3 ]]> (28.2134°N,112.9628°E) License plate number <![CDATA[a s,t,4 ]]> Hunan A-12345 Vehicle Type <![CDATA[a s,t,5 ]]> truck Vehicle Model <![CDATA[a s,t,6 ]]> Black van Vehicle speed information <![CDATA[a s,t,7 ]]> 20 km / h

[0069] Table 2: The set of other connected vehicles around it observed / perceived by connected vehicle A The value of the element

[0070]

[0071] Table 3: Information collection of connected vehicle B The value of the element

[0072]

[0073] Table 4: Information collection of connected vehicle C The value of the element

[0074] Element Meaning Element Symbols Numeric Communication ID <![CDATA[c s,t,1 ]]> V-20250122-00002 IP address <![CDATA[c s,t,2 ]]> 192.168.1.102 GPS Information <![CDATA[c s,t,3 ]]> Null License plate number <![CDATA[c s,t,4 ]]> Xiang A-23456D Vehicle Type <![CDATA[c s,t,5 ]]> taxi Vehicle Model <![CDATA[c s,t,6 ]]> Yellow car Vehicle speed information <![CDATA[c s,t,7 ]]> 10 km / h

[0075] Table 5: Information collection of connected vehicle D The value of the element

[0076]

[0077]

[0078] Step S402: constructing the topology of the situational awareness of the connected vehicles. Figure 3 As shown in the data in Tables 1 to 5, connected vehicles A and B can both obtain their own GPS data. Then connected vehicles A and B respectively calculate the relative distance and angle information based on the GPS information using the commonly used spherical trigonometry calculation formula. Calculation shows that connected vehicle B corresponds to vehicle number 1. Connected vehicle C cannot provide GPS information, but can provide appearance feature information. By comparing the appearance feature information of each vehicle number with the appearance feature information provided by connected vehicle C, it can be seen that connected vehicle C corresponds to vehicle number 2. Connected vehicle D cannot provide GPS information and appearance feature information, so it is judged by relative position, angle and speed. By comparing all relative positions, angles and speeds perceived by connected vehicle A, it can be seen that connected vehicle D corresponds to vehicle number 3. Based on the above association results, the connected vehicle situation awareness topological association matrix E is constructed. a,t As shown in formula (3):

[0079]

[0080] Connected vehicle A obtains a set of connected vehicle situation awareness topology information relationship tables with the observed / perceived surrounding connected vehicles

[0081] Step S403: Verify the topology of the connected vehicle situation awareness. The connected vehicle A obtains E through data at multiple times. a,t ,…,E a,t+k , input the result of step S302 into formula (1) to calculate Q at different times g,t+k It is used to evaluate the correctness of the situational awareness topology of the connected vehicle. After calculation, it can be seen that the situational awareness topology of the connected vehicle is constructed correctly.

[0082] Step S404: Construct a collaborative service transmission terminal set. Figure 4 As shown in Figure 2, at time t, the driving intention of connected vehicle A is to change lanes to the right and generate collaborative services with the vehicles behind in the two lanes on the right. Connected vehicle A searches for Middle o,t,n,4 、a o,t,n,5 、a o,t,n,6 The information such as whether there is a connected vehicle behind the right and the communication ID of the related connected vehicle is used to determine that the connected vehicle C is the collaborative service transmission terminal. At this time, the connected vehicle C also completes the connected vehicle situation awareness topology information relationship table set. The situational awareness topology includes connected vehicles A, D, and H. The construction process is consistent with the above steps. After receiving the collaborative service from connected vehicle A, connected vehicle C first generates a deceleration driving intention and collaborative service, and then searches for the collaborative service requirements of connected vehicle A and itself. Medium o,t,n,4 、c o,t,n,5 、c o,t,n,6 and other information to determine whether there are connected vehicles behind and behind the right and the communication ID of the connected vehicles, and to determine that the connected vehicle H behind the right is related to the collaborative business of connected vehicle A, so the collaborative business is transmitted to connected vehicle H, and the location, speed and other information of connected vehicle H are informed to connected vehicle A to assist driving. So far, connected vehicle A has completed the construction of the collaborative business transmission terminal set, which includes connected vehicles C and connected vehicles H.

[0083] Based on the same inventive concept, the embodiment of the present invention also discloses a communication terminal selection device driven by situational awareness of a networked vehicle and driving intention, including: an information collection module, the networked vehicle collects its own information and the information of the surrounding networked vehicles observed / perceived; a situational awareness topology construction module, which is used to exchange the collected information, and the networked vehicle determines the communication ID information of the surrounding networked vehicles observed / perceived according to the acquired GPS data, vehicle appearance characteristics, or relative distance, speed and angle, constructs the situational awareness topology of the networked vehicle, forms the association relationship between the networked vehicle number observed / perceived by the networked vehicle and the communication ID information, and a situational awareness topology information relationship table set, which is used to record the networked vehicle number and the information collected by the associated surrounding networked vehicles; a situational awareness topology verification module, which is used to determine the topology quality by comparing the local network topology constructed at consecutive moments, and verify the situational awareness topology of the networked vehicle; and a communication terminal selection module, which is used to determine the collaborative service transmission terminal set based on the location of the surrounding networked vehicles in the constructed situational awareness topology information relationship table, combined with the driving intention. The implementation details of each module can be found in the aforementioned method embodiments, which will not be repeated.

[0084] In other embodiments, the device further includes a roadside unit topology construction and verification module, which is used for the RSU roadside unit to construct and verify the situational awareness topology according to the request of the connected vehicle and send it to the connected vehicle.

[0085] Specifically, the RSU collects information of all connected vehicles within the perception range through observation / perception devices, and obtains the collected information submitted by each connected vehicle, determines the communication ID information of the connected vehicle observed / perceived by the RSU based on GPS data, vehicle appearance features, or relative distance, speed and angle, and constructs a connected vehicle situation awareness topology; wherein determining the association between the connected vehicle number and the communication ID information based on GPS data is to match the relative motion information calculated by GPS data with the relative motion information perceived by the RSU; determining the association between the connected vehicle number and the communication ID information based on the vehicle appearance features is to match the appearance features submitted by the connected vehicle with the vehicle appearance features perceived by the RSU; determining the association between the connected vehicle number and the communication ID information based on the relative distance, speed and angle is: the RSU uses its own position as the coordinate origin to convert the perceived relative motion information into the coordinate information of each connected vehicle, and calculates the relative motion information between all vehicles based on the coordinate information; and then matches the relative motion information submitted by the vehicle with the calculated relative motion information between the vehicles.

[0086] The matters not described in detail in the present invention are all known technologies to those skilled in the art.

[0087] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A method for selecting a communication terminal driven by situational awareness and driving intention of a connected vehicle, characterized in that: The steps include: Step 1: The connected vehicle collects its own information and the information of surrounding connected vehicles it observes / perceives; Step 2: By exchanging the collected information, the connected vehicle determines the communication ID information of the surrounding connected vehicles it observes / perceives based on the acquired GPS data, vehicle appearance features, or relative distance, speed and angle, builds the situational awareness topology of the connected vehicle, forms the association between the connected vehicle number and the communication ID information observed / perceived by the connected vehicle, and forms a situational awareness topology information relationship table set, which is used to record the information collected by the connected vehicle number and the associated surrounding connected vehicles; Step 3: Determine the topology quality by comparing the local network topologies constructed at consecutive moments and verify the connected vehicle situational awareness topology; Step 4: Based on the constructed situational awareness topology information relationship table, the information of surrounding connected vehicles is concentrated, combined with driving intention, and the set of collaborative business transmission terminals is determined.

2. The method for selecting a communication terminal driven by situational awareness and driving intention of a connected vehicle according to claim 1, characterized in that: In step 1, the self-information collected by the connected vehicle includes communication ID, IP address, GPS information, appearance feature information and the vehicle's own speed information; the information collected by the connected vehicle on observing / perceiving surrounding connected vehicles includes appearance feature information, relative distance information, speed information and angle information.

3. The method for selecting a communication terminal driven by situational awareness and driving intention of a connected vehicle according to claim 1, characterized in that: In step 2, when the two connected vehicles exchanging information can both obtain their own GPS data, the GPS data is used to construct a local network topology; when the two connected vehicles exchanging information cannot obtain their own GPS data but can share vehicle appearance feature information, the appearance feature information is used to construct a local network topology; when the two connected vehicles exchanging information can neither obtain their own GPS data nor share vehicle appearance feature information, the relative distance information, speed information and angle information obtained by radar or telepathy integrated equipment are used to construct a local network topology.

4. The method for selecting a communication terminal driven by situational awareness and driving intention of a connected vehicle according to claim 1, characterized in that: In step 2, the association between the connected vehicle number and the communication ID information observed / perceived by the connected vehicle is recorded through a situation awareness topological association matrix, list, set or array. After connected vehicle A and connected vehicle B exchange the collected information, connected vehicle A uses the GPS data of the two vehicles, vehicle appearance features, or relative distance, speed and angle to identify that the surrounding connected vehicle with the connected vehicle number n observed / perceived by connected vehicle A is connected vehicle B, and the nth row and nth column of the situation awareness topological association matrix of connected vehicle A, or the element at the nth position in the situation awareness topological association list, set or array is set to the communication ID information of connected vehicle B.

5. The method for selecting a communication terminal driven by situational awareness and driving intention of a connected vehicle according to claim 1, characterized in that: In the step 3, at least two local network topologies constructed at consecutive moments are compared to determine the topology quality. If the association between the connected vehicle number and the communication ID information between the local network topologies constructed at two consecutive moments is consistent after excluding the connected vehicles that have left and newly joined, the topology quality is considered to be high. When the topology quality is judged to be high for k≥1 consecutive moments, the connected vehicle situation awareness topology is considered to be correctly constructed.

6. The method for selecting a communication terminal driven by situational awareness and driving intention of a connected vehicle according to claim 5, characterized in that: The connected vehicle A compares the local network topology constructed at consecutive moments and determines the quality of the network topology at time t+1 according to the following method: compare whether the elements at corresponding positions in the situation awareness topology association matrix, list, set or array of the connected vehicle A at time t and time t+1 are equal. If they are equal, output 0, otherwise output 1. The smaller the sum of the output values ​​of all position elements, the higher the quality of the situation awareness topology at time t+1.

7. The method for selecting a communication terminal driven by situational awareness and driving intention of a connected vehicle according to claim 1, characterized in that: When determining the collaborative service transmission terminal set in step 4, the distance and speed between the connected vehicles are comprehensively considered to predict the dynamic changes in the status of the connected vehicles.

8. The method for selecting a communication terminal driven by situational awareness and driving intention of a connected vehicle according to claim 1, characterized in that: Also includes: The connected vehicle requests the RSU roadside unit to build a situational awareness topology. The RSU collects information about all connected vehicles within the perception range through observation / perception equipment, and obtains the collected information submitted by each connected vehicle. According to GPS data, vehicle appearance features, or relative distance, speed and angle, the communication ID information of the connected vehicle observed / perceived by the RSU is determined to build a situational awareness topology for the connected vehicle. Among them, determining the association between the connected vehicle number and the communication ID information according to GPS data is to match the relative motion information calculated by GPS data with the relative motion information perceived by the RSU; determining the association between the connected vehicle number and the communication ID information according to the vehicle appearance features is to match the appearance features submitted by the connected vehicle with the vehicle appearance features perceived by the RSU; according to The relationship between the connected vehicle number and the communication ID information determined by the relative distance, speed and angle is: the RSU uses its own position as the coordinate origin to convert the perceived relative motion information into the coordinate information of each connected vehicle, and calculates the relative motion information between all vehicles based on the coordinate information; then matches the relative motion information submitted by the vehicle with the calculated relative motion information between the vehicles.

9. A communication terminal selection device for situational awareness and driving intention driven by a networked vehicle, used to implement the method according to any one of claims 1 to 7, characterized in that: include: An information collection module is used for the connected vehicle to collect its own information and the information of surrounding connected vehicles that it observes / perceives; A situation awareness topology building module is used to determine the communication ID information of the surrounding connected vehicles observed / perceived by the connected vehicle based on the acquired GPS data, vehicle appearance features, or relative distance, speed and angle by exchanging the collected information, build the situation awareness topology of the connected vehicle, form the association between the connected vehicle number observed / perceived by the connected vehicle and the communication ID information, and form a situation awareness topology information relationship table set, which is used to record the information collected by the connected vehicle number and the associated surrounding connected vehicles; A situation awareness topology verification module is used to determine the topology quality by comparing the local network topology constructed at consecutive moments and verify the situation awareness topology of the connected vehicle; And, a communication terminal selection module is used to determine the set of collaborative business transmission terminals based on the information of surrounding networked vehicles concentrated on the constructed situation awareness topology information relationship table and combined with driving intention.

10. The communication terminal selection device for networked vehicle situation awareness and driving intention drive according to claim 9, characterized in that: Also includes: The roadside unit topology construction and verification module is used for the RSU roadside unit to build and verify the situational awareness topology according to the request of the connected vehicle and send it to the connected vehicle; wherein, the RSU collects information of all connected vehicles within the perception range through the observation / perception device, and obtains the collected information submitted by each connected vehicle, and determines the communication ID information of the connected vehicle observed / perceived by the RSU according to the GPS data, the appearance characteristics of the vehicle, or the relative distance, speed and angle, and builds the situational awareness topology of the connected vehicle; wherein the association between the connected vehicle number and the communication ID information is determined according to the GPS data by matching the relative motion information calculated by the GPS data with the relative motion information perceived by the RSU; the association between the connected vehicle number and the communication ID information is determined according to the vehicle appearance characteristics by matching the appearance characteristics submitted by the connected vehicle with the vehicle appearance characteristics perceived by the RSU; according to The relationship between the connected vehicle number and the communication ID information determined by the relative distance, speed and angle is: the RSU uses its own position as the coordinate origin to convert the perceived relative motion information into the coordinate information of each connected vehicle, and calculates the relative motion information between all vehicles based on the coordinate information; then matches the relative motion information submitted by the vehicle with the calculated relative motion information between the vehicles.

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