Vehicle communication method, control method, control system, storage medium and vehicle-mounted terminal

Abstract

The invention discloses a vehicle communication method, a control method, a control system, a storage medium and a vehicle-mounted terminal, and the communication method comprises the steps: transmitting request information to each second vehicle end in a monitoring range in real time, so as to enable the second vehicle end to return position information based on the request information; the position information is received, the minimum position distance is calculated according to each piece of position information, and the second vehicle end with the minimum position distance is selected as a target vehicle; communication connection is established between the first vehicle end and the second vehicle end through a DSRC short-distance communication technology, the second vehicle end in a monitoring range is identified by sending periodical sending request information, the nearest second vehicle end is calculated as a target vehicle, vehicle state data information sent by the second vehicle end is received, and the vehicle state data information is sent to the first vehicle end through the DSRC short-distance communication technology. And the selected target vehicle is updated according to the periodically sent request information, so that the accuracy of data transmission is ensured, and driving control is performed according to the received vehicle state data information.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and particularly to a vehicle communication method, a control method, a control system, a storage medium, and an in-vehicle terminal. Background Art

[0002] In the existing field of autonomous driving, the acquisition of the driving information of the vehicle in front is usually sensed and output through cameras and radars. This involves the use of numerous image processing and calculation algorithms, consuming a huge amount of chip computing power and memory occupancy, and there are also certain deviations in accuracy, and the development investment is relatively large.

[0003] The DSRC short-range communication technology has a fast transmission speed and is less affected by interference. Currently, DSRC communication is mainly used between the vehicle end and the traffic environment (lanes, traffic lights, etc.) and can handle relatively static communication requirements. However, since the communication between vehicles is dynamic and variable, using DSRC communication is prone to communication conflicts, thereby reducing the communication quality. Therefore, there is no relatively accurate and reliable information interaction method yet. Summary of the Invention

[0004] The purpose of the present invention is to solve the disadvantages existing in the prior art, and a vehicle communication method, a control method, a control system, a storage medium, and an in-vehicle terminal are proposed.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions: A vehicle communication method, applied to the first vehicle end, includes:

[0006] Real-time sending of request information to each second vehicle end within the monitoring range, so that the second vehicle end returns position information based on the request information;

[0007] Receiving the position information, calculating the minimum position distance according to each position information, and selecting the second vehicle end with the minimum position distance as the target vehicle.

[0008] As a further description of the above technical solution: The method for the first vehicle end to send request information to each second vehicle end within the monitoring range includes:

[0009] Sending request information according to a preset first time period;

[0010] Identifying whether there is a second vehicle end according to the monitoring range. If so, entering the signal receiving state. If not, waiting to enter the next first time period.

[0011] As a further description of the above technical solution: The method for the first vehicle end to calculate the minimum position distance according to each position information includes:

[0012] Identify the identification ID and position coordinates of the second car end according to the position information;

[0013] Obtain the position coordinates of the first car end, calculate the distances from the position coordinates of each of the second car ends, and determine the minimum position distance.

[0014] There is also a vehicle communication method applied to the second car end, including:

[0015] Receive request information, receive the request information sent by the first car end, and generate position information based on the request information;

[0016] Send the position information to the first car end for the first car end to perform position calculation;

[0017] When the first car end calculates the minimum position distance based on the position information, the current second car end is determined by the first car end as the target vehicle.

[0018] As a further description of the above technical solution: The method for the car end to generate the position information includes:

[0019] Obtain the identification ID and position coordinates of the car end, and generate a message;

[0020] Perform encryption processing on the message to generate the position information.

[0021] There is also a vehicle control method applied to the first car end, including:

[0022] After the first car end determines the target vehicle, receive the vehicle status data information sent by the target vehicle, where the vehicle data information is generated by the second car end according to a preset second time period;

[0023] Send the data information to the control unit for the control unit to generate a control strategy for maintaining a safe vehicle speed and distance from the target vehicle, and send the control strategy to the power unit for driving control.

[0024] As a further description of the above technical solution: The control strategy includes vehicle acceleration, accelerator pedal opening, or brake pedal opening.

[0025] There is also a car end control system, including: The car end includes a first car end and a second car end, and each car end includes a first communication unit and a second communication unit;

[0026] The first communication unit of the first car end is used to establish communication with the second communication unit of the second car end;

[0027] The second communication unit of the second vehicle end is used to receive a request and return location information based on the request. When the first vehicle end determines that the current second vehicle end is the target vehicle based on the location information, it receives the vehicle status data information sent by the second vehicle end;

[0028] The control unit generates a control strategy for maintaining a safe vehicle speed and distance from the target vehicle based on the vehicle status data information;

[0029] The power unit controls the vehicle's driving based on the control strategy.

[0030] It also includes a vehicle end control system, including: The vehicle end includes a first vehicle end and a second vehicle end, and each vehicle end includes a first communication unit and a second communication unit;

[0031] The first communication unit of the second vehicle end is used to establish communication with the second communication unit of the first vehicle end;

[0032] The second communication unit of the first vehicle end is used to receive a request and return location information based on the request. When the second vehicle end determines that the current first vehicle end is the target vehicle based on the location information, it receives the vehicle status data information sent by the first vehicle end;

[0033] The control unit generates a control strategy for maintaining a safe vehicle speed and distance from the target vehicle based on the vehicle status data information;

[0034] The power unit controls the vehicle's driving based on the control strategy.

[0035] It also includes a computer-readable storage medium that stores computer programs for running the communication method and the control method. Among them, the computer programs enable the computer to execute the communication method and the control method described in any one of the above technical solutions.

[0036] It also includes an in-vehicle terminal, including:

[0037] One or more processors; a memory; and

[0038] One or more programs, where the one or more programs are stored in the memory and are configured to be executed by the one or more processors. The programs include the communication method and the control method described in any one of the above technical solutions.

[0039] The above technical solutions have the following advantages or beneficial effects:

[0040] A communication connection is established between the first vehicle end and the second vehicle end through DSRC short-range communication technology. By periodically sending request messages, the second vehicle ends within the monitoring range are identified, the second vehicle end with the shortest distance is calculated as the target vehicle, the vehicle status data information sent by the second vehicle end is received, and the selected target vehicle is updated according to the periodically sent request messages to ensure the accuracy of data transmission, and driving control is performed based on the received vehicle status data information. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0042] Figure 1 It is a flowchart of the communication method of the first vehicle end in the present invention;

[0043] Figure 2 It is a flowchart of the method for the first vehicle end to send request messages to each second vehicle end within the monitoring range in the present invention;

[0044] Figure 3 It is a flowchart of the method for the first vehicle end to calculate the minimum position distance according to each position information in the present invention;

[0045] Figure 4 It is a flowchart of the communication method of the second vehicle end in the present invention;

[0046] Figure 5 It is a flowchart of the method for the vehicle end to generate position information in the present invention;

[0047] Figure 6 It is a flowchart of the control method of the first vehicle end in the present invention;

[0048] Figure 7 It is a schematic structural diagram of the control system proposed by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0050] The applicant has found in the research that in the existing field of autonomous driving, the acquisition of the driving information of the vehicle in front is usually sensed and output through cameras and radars, which consumes huge chip computing power and memory occupancy, and there are also certain deviations in accuracy; while the DSRC short-range communication technology has a fast transmission speed and is less affected by interference, but most of it is used to process relatively static communication requirements, and the communication between vehicles is dynamic and variable. Using DSRC communication is likely to cause communication conflicts, thus reducing the communication quality. Therefore, there is no relatively accurate and reliable information interaction method yet.

[0051] To solve the above problems, an embodiment of a vehicle communication method provided by the present invention is described with reference to Figure 1 and is applied to the first vehicle end, including:

[0052] S11: Real-time send a request message to each second vehicle end within the monitoring range, so that the second vehicle end returns location information based on the request message;

[0053] S12: Receive the location information, calculate the minimum location distance according to each location information, and select the second vehicle end with the minimum location distance as the target vehicle.

[0054] In this embodiment, the first vehicle end real-time sends a request message to each second vehicle end within the monitoring range. Among them, the monitoring range can be preset based on signal strength and geographical area. By sending the request message to identify each second vehicle end within the monitoring range, so that the second vehicle end sends the location information back to the corresponding first vehicle end after receiving the request message number. The request message includes the identification ID of the first vehicle end.

[0055] Each second vehicle end that receives the request message will return its own location information to the first vehicle end. The location information of the vehicle is obtained through an in-vehicle positioning system, such as GPS, Beidou, etc., to obtain location data such as the longitude, latitude, and altitude of the vehicle. The second vehicle end packs these data into location information and sends it back to the first vehicle end.

[0056] The first vehicle end calculates the location distance from the second vehicle end after receiving the location information sent by each second vehicle end within the monitoring range, and selects the second vehicle end with the minimum location distance as the target vehicle. When there are multiple second vehicle ends within the monitoring range, select the second vehicle end with the minimum location distance as the target vehicle. When there is only one second vehicle end within the monitoring range, select this vehicle as the target vehicle. When there is no second vehicle end within the monitoring range, it is considered that there are no vehicles near the first vehicle end, so there is no need to communicate. The purpose of selecting the target vehicle is different in different scenarios. In the cooperative driving scenario of the vehicle networking, in order to select the vehicle closest in distance for information interaction, resource sharing, or cooperative operation; while in the obstacle avoidance scenario of autonomous driving, selecting the vehicle closest in distance is used as a potential source of danger.

[0057] After confirming that the second vehicle end is the target vehicle, the first vehicle end sends communication information to the second vehicle end, causing the second vehicle end to send feedback information after receiving the communication information. At this time, communication is established between the first vehicle end and the second vehicle end, and subsequent vehicle status data information is transmitted. The communication information includes communication protocols, data transmission formats, or encryption key information.

[0058] Refer to Figure 2 , the method for the first vehicle end to send request information to each second vehicle end within the monitoring range includes:

[0059] S111: Send request information according to a preset first time period;

[0060] S112: Identify whether there is a second vehicle end according to the monitoring range. If so, enter the signal reception state. If not, wait to enter the next first time period.

[0061] In this embodiment, by means of the preset first time period, the sending frequency of the request information is adjusted, which is set according to the actual application scenarios and requirements. For example, in the urban road scenario with large traffic flow and frequent vehicle position changes, in order to obtain the latest position information of surrounding vehicles in a timely manner, the first time period is set shorter; while in the highway scenario with relatively sparse vehicle distribution and relatively slow position changes, the first time period can be appropriately extended. Preferably, the first time period is 10 ms. Sending request information according to the preset first time period can ensure the continuity and regularity of obtaining the position information of the second vehicle end. It realizes timely tracking of the position changes of the second vehicle end within the monitoring range and provides real-time data support for the control strategy of subsequent driving control.

[0062] The first communication unit in the in-vehicle terminal of the first vehicle end monitors. If it detects the existence of a second vehicle end, the first vehicle end will enter the signal reception state and be ready to receive the position information from the second vehicle end. If it does not detect the second vehicle end, the first vehicle end will not wait indefinitely, but wait to enter the next first time period, then send the request information again and conduct monitoring, avoiding the first vehicle end waiting ineffectively for a long time and improving the efficiency and resource utilization rate of the system.

[0063] Refer to Figure 3 , the method for the first vehicle end to calculate the minimum position distance based on each position information includes:

[0064] S121: Identify the identification ID and position coordinates of the second vehicle end according to the position information;

[0065] S122: Obtain the position coordinates of the first vehicle end, calculate the distances from the position coordinates of each second vehicle end, and determine the minimum position distance.

[0066] In this embodiment, the first vehicle end identifies the identifier and position coordinates of the second vehicle end according to the position information, and parses the position information received from each second vehicle end after receiving it. The position information usually includes the identifier ID of the second vehicle end and its position coordinates. The identifier ID is obtained by encrypting and converting the VIN code of the vehicle end and is used to distinguish different second vehicle ends. The position coordinates are obtained through the vehicle-mounted positioning system, such as latitude and longitude coordinates, or the coordinates in the space rectangular coordinate system identified by the monitoring camera.

[0067] The first vehicle end obtains its own position coordinates, calculates the distance between the position coordinates of the first vehicle end and each second vehicle end according to the position coordinates of different second vehicle ends. If the coordinates are latitude and longitude coordinates, the calculation method used is the Haversine formula. If the coordinates are in the space rectangular coordinate system, the distance between two points can be directly calculated. The first vehicle end will compare each calculated distance value to determine the minimum position distance.

[0068] Refer to Figure 4 , and also includes a vehicle communication method applied to the second vehicle end, including:

[0069] S21: Receive the request information, receive the request information sent by the first vehicle end, and generate position information based on the request information;

[0070] S22: Send the position information to the first vehicle end for the first vehicle end to perform position calculation;

[0071] S23: When the first vehicle end determines the minimum position distance based on the position information, the current second vehicle end is determined as the target vehicle by the first vehicle end.

[0072] In this embodiment, the second vehicle end receives the request information sent by the first vehicle end, identifies the request information, and according to the obtained identifier ID of the first vehicle end, the second vehicle end obtains the position data such as latitude, longitude, and altitude of the vehicle through the vehicle-mounted positioning system, such as GPS, Beidou, etc. The second vehicle end packages these data into position information.

[0073] Send the location information to the corresponding first vehicle end according to the recognized identification ID, so that the first vehicle end calculates the position distance from the second vehicle end. If the distance between the current second vehicle end and the first vehicle end is the smallest, it is determined by the first vehicle end as the target vehicle, receive the communication information sent by the first vehicle end, parse it according to the communication protocol and data format in the communication information, generate feedback information, and the feedback information includes the confirmation information of the communication request and the communication capability information. The confirmation information indicates that the second vehicle end has received the communication information and agrees to establish a communication connection. The communication capability information includes the maximum transmission rate, the data formats that can be received, etc., so that the first vehicle end can adapt in subsequent data transmissions. If encrypted communication is involved, the second vehicle end will perform key verification according to the encryption key information sent by the first vehicle end. After the verification passes, inform the first vehicle end in the feedback information that the encryption setting is ready. After the first vehicle end receives the feedback information, a communication is established between the first vehicle end and the second vehicle end, and subsequent vehicle status data information is transmitted.

[0074] Refer to Figure 5 , the method for the vehicle end to generate location information includes:

[0075] S211: Obtain the identification ID and location coordinates of the vehicle end, and generate a message;

[0076] S212: Encrypt the message to generate location information.

[0077] In this embodiment, the identification ID is obtained by encrypting and transforming the VIN code (the vehicle frame number preset during vehicle production) of the vehicle end, which is used to distinguish different second vehicle ends. The location coordinates are obtained through the vehicle-mounted positioning system, such as longitude and latitude coordinates, or the coordinates in the spatial rectangular coordinate system identified by the monitoring camera. After obtaining the identification ID and location coordinates, the vehicle end will combine this information according to the message format, and the message format usually follows the relevant communication protocol standards. The message also contains a timestamp and vehicle status information. The timestamp is used to record the acquisition time of the location information; the vehicle status information, such as vehicle speed, driving direction, etc., to provide more comprehensive vehicle dynamic information. Arrange this information in the field order and data type specified by the protocol to form a complete message, preparing for subsequent encryption processing and transmission.

[0078] The encryption processing of the message is mainly to ensure the security and privacy of the vehicle location information during transmission. The message is encrypted using encryption algorithms, including symmetric encryption algorithms and asymmetric encryption algorithms, and the encrypted message is used as the final location information.

[0079] Refer to Figure 6 , and also includes a vehicle control method, which is applied to the first vehicle end and includes:

[0080] S31: After the first vehicle end determines the target vehicle, it receives the vehicle status data information sent by the target vehicle, where the vehicle data information is generated by the second vehicle end according to a preset second time period;

[0081] S32: Send the data information to the control unit to enable the control unit to generate a control strategy for maintaining a safe vehicle speed and distance from the target vehicle, and send the control strategy to the power unit for driving control.

[0082] In this embodiment, after the first vehicle end determines the target vehicle, it establishes a communication connection. The first vehicle end receives the vehicle status data information sent by the target vehicle, and the vehicle status data information is generated and sent by the second vehicle end according to a preset second time period. The preset second time period is set according to actual needs to ensure the real-time and effectiveness of the data. If the second time period is too short, it will increase the communication burden of the vehicle and consume too much network resources; if the second time period is too long, it may lead to data lag and unable to reflect the true state of the target vehicle in a timely manner.

[0083] The vehicle status data information generated by the second vehicle end includes the vehicle speed of the second vehicle end, the real-time acceleration calculated through the accelerator pedal opening, the real-time deceleration calculated through the brake pedal opening, the steering wheel angle, and the high-precision positioning position.

[0084] After the first vehicle end receives the status data information of the target vehicle, it sends this data to the vehicle control unit. The control unit generates a control strategy for maintaining a safe vehicle speed and distance from the target vehicle based on the received target vehicle status data information, combined with the driving state of the first vehicle end itself and preset safety rules and algorithms. The control unit sends this strategy to the power unit to achieve driving control, enabling the first vehicle end to adjust its own driving state in real time according to the driving state of the target vehicle and ensuring driving safety. For example, when it detects that the target vehicle is decelerating, the control unit will calculate the deceleration amplitude and time required for the first vehicle end based on factors such as the current speeds and distances of the two vehicles and the braking performance of the first vehicle end to avoid rear-end collisions.

[0085] The control strategy includes vehicle acceleration, accelerator pedal opening, or brake pedal opening.

[0086] In this embodiment, the control unit sends a generated control strategy to the power unit. The control strategy is related to the received vehicle status data information. When the target vehicle accelerates or decelerates, the first vehicle end needs to calculate an appropriate acceleration according to the actual situation; when vehicle acceleration is required, the control unit will send a signal to the electronic throttle control system to increase the accelerator pedal opening; when it detects dangerous situations such as being too close to the target vehicle or the target vehicle decelerating, the control unit will control the braking system to increase the brake pedal opening.

[0087] Refer to Figure 7, further comprising a vehicle end control system, including: The vehicle end includes a first vehicle end 1 and a second vehicle end 2, and each vehicle end includes a first communication unit 3 and a second communication unit 4;

[0088] The first communication unit of the first vehicle end 1 is used to establish communication with the second communication unit of the second vehicle end 2;

[0089] The second communication unit of the second vehicle end 2 is used to receive a request and return position information based on the request. When the first vehicle end 1 determines that the current second vehicle end 2 is the target vehicle based on the position information, it receives the vehicle status data information sent by the second vehicle end 2;

[0090] A control unit 5 generates a control strategy for maintaining a safe vehicle speed and distance from the target vehicle based on the vehicle status data information;

[0091] A power unit 6 controls the vehicle's driving based on the control strategy.

[0092] In this embodiment, a communication connection is established between the first communication unit 3 of the first vehicle end 1 and the second communication unit 4 of the second vehicle end 2. The second communication unit of the second vehicle end 2 receives the request information from the first vehicle end 1. After receiving the request, the second vehicle end 2 obtains the position information and sends it back to the first vehicle end 1. When the first vehicle end 1 determines that the current second vehicle end 2 is the target vehicle based on the received position information, the first vehicle end 1 receives the vehicle status data information sent by the second vehicle end 2. The control unit 5 receives the vehicle status data information of the target vehicle obtained by the first vehicle end 1, combines the driving state of the first vehicle end 1 itself, as well as the preset safety rules and algorithms, to generate a control strategy for maintaining a safe vehicle speed and distance from the target vehicle; the power unit 6 performs actual driving control on the vehicle according to the control strategy generated by the control unit 5.

[0093] The first communication unit 3 and the second communication unit 4 are DSRC devices with different functions.

[0094] Further comprising a vehicle end control system, including: The vehicle end includes a first vehicle end 1 and a second vehicle end 2, and each vehicle end includes a first communication unit and a second communication unit;

[0095] The first communication unit of the second vehicle end 2 is used to establish communication with the second communication unit of the first vehicle end 1;

[0096] The second communication unit of the first vehicle end 1 is used to receive a request and return position information based on the request. When the second vehicle end 2 determines that the current first vehicle end 1 is the target vehicle based on the position information, it receives the vehicle status data information sent by the first vehicle end 1;

[0097] A control unit 5 generates a control strategy for maintaining a safe vehicle speed and distance from the target vehicle based on the vehicle status data information;

[0098] The power unit 6 controls the vehicle's driving based on a control strategy.

[0099] In this embodiment, the first communication unit of the second vehicle end 2 is responsible for establishing a communication connection with the second communication unit of the first vehicle end 1. The second communication unit of the first vehicle end 1 receives the request information from the second vehicle end 2. After receiving the request, the first vehicle end 1 obtains the current position information and returns it to the second vehicle end 2. After receiving the position information of the first vehicle end 1, the second vehicle end 2 determines whether the first vehicle end 1 is the target vehicle according to the preset rules and algorithms. When the second vehicle end 2 determines that the first vehicle end 1 is the target vehicle, it receives the vehicle status data information sent by the first vehicle end 1. The control unit 5 receives the vehicle status data information of the target vehicle obtained by the second vehicle end 2, combines the driving state of the second vehicle end 2 itself, as well as the preset safety rules and algorithms, to generate a control strategy for maintaining a safe vehicle speed and distance from the target vehicle; the power unit 6 performs actual driving control on the vehicle according to the control strategy generated by the control unit 5.

[0100] It also includes a computer-readable storage medium that stores computer programs for running the communication method and the control method. Among them, the computer programs cause the computer to execute the following steps:

[0101] S11: Real-time send request information to each second vehicle end within the monitoring range to make the second vehicle end return position information based on the request information;

[0102] S12: Receive the position information, calculate the minimum position distance according to each position information, and select the second vehicle end with the minimum position distance as the target vehicle.

[0103] Or,

[0104] S31: After the first vehicle end determines the target vehicle, it receives the vehicle status data information sent by the target vehicle, where the vehicle data information is generated by the second vehicle end according to a preset second time period;

[0105] S32: Send the data information to the control unit to make the control unit generate a control strategy for maintaining a safe vehicle speed and distance from the target vehicle, and send the control strategy to the power unit for driving control.

[0106] Among them, the computer-readable storage medium can be a computer storage medium or a communication medium. The communication medium includes any medium that facilitates the transmission of a computer program from one place to another. The computer storage medium can be any available medium accessible by a general-purpose or special-purpose computer. For example, the computer-readable storage medium is coupled to the processor so that the processor can read information from the computer-readable storage medium and write information to the computer-readable storage medium. Of course, the computer-readable storage medium can also be a component of the processor. The processor and the computer-readable storage medium can be located in an Application Specific Integrated Circuits (ASIC). In addition, the ASIC can be located in the user equipment. Of course, the processor and the computer-readable storage medium can also exist as discrete components in the communication device.

[0107] Specifically, the computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically-Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable read-only memory (PROM), Read-Only Memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disk. The storage medium can be any available medium accessible by a general-purpose or special-purpose computer.

[0108] It further includes a vehicle-mounted terminal, including:

[0109] One or more processors; a memory; and

[0110] One or more programs, where one or more programs are stored in the memory and are configured to be executed by one or more processors. The programs include steps for performing the following:

[0111] S11: Real-time send request information to each second vehicle terminal within the monitoring range to enable the second vehicle terminal to return location information based on the request information;

[0112] S12: Receive the location information, calculate the minimum location distance based on each location information, and select the second vehicle terminal with the minimum location distance as the target vehicle.

[0113] Or

[0114] S31: After the first vehicle end determines the target vehicle, it receives the vehicle status data information sent by the target vehicle, where the vehicle data information is generated by the second vehicle end according to a preset second time period;

[0115] S32: Send the data information to the control unit, so that the control unit generates a control strategy for maintaining a safe vehicle speed and distance from the target vehicle, and sends the control strategy to the power unit for driving control.

[0116] A memory for storing computer programs. This memory may include a high-speed random access memory (Random Access Memory, RAM), and may also include non-volatile memory (Non-Volatile Memory, NVM), such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk or an optical disc, etc.

[0117] A processor for executing the computer programs stored in the memory. The processor may be a central processing unit (Central Processing Unit, CPU), or may also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the invention can be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0118] Optionally, the memory can be either independent or integrated with the processor.

[0119] When the memory is a device independent of the processor, the vehicle-mounted terminal may further include a bus. This bus is used to connect the memory and the processor. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc.

[0120] It should be noted that through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments. In this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including the said element.

[0121] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A vehicle communication method, characterized in that Applied to the first vehicle end, including: Real-time send request information to each second vehicle end within the monitoring range, so as to enable the second vehicle end to return location information based on the request information; Receive the location information, calculate the minimum location distance according to each location information, and select the second vehicle end with the minimum location distance as the target vehicle.

2. The communication method according to claim 1, characterized in that: The method for the first vehicle end to send request information to each second vehicle end within the monitoring range includes: Send request information according to a preset first time period; Identify whether there is a second vehicle end according to the monitoring range. If so, enter the signal receiving state. If not, wait to enter the next first time period.

3. The communication method according to claim 1, wherein: The method for the first vehicle end to calculate the minimum location distance according to each location information includes: According to the location information, identify the identification ID and location coordinates of the second vehicle end; Obtain the location coordinates of the first vehicle end, calculate the distance from the location coordinates of each second vehicle end, and determine the minimum location distance.

4. A vehicle communication method, characterized in that, Applied to the second vehicle end, including: Receive request information, receive the request information sent by the first vehicle end, and generate location information based on the request information; Send the location information to the first vehicle end, so as to enable the first vehicle end to perform location calculation; When the first vehicle end calculates the minimum location distance based on the location information, the current second vehicle end is determined as the target vehicle by the first vehicle end.

5. The communication method according to claim 4, wherein: The method for the vehicle end to generate the location information includes: Obtain the identification ID and location coordinates of the vehicle end, and generate a message; Encrypt the message to generate the location information.

6. A vehicle control method, characterized in that, Applied to the first vehicle end, including: After the first vehicle end determines the target vehicle, receive the vehicle status data information sent by the target vehicle, wherein the vehicle data information is generated by the second vehicle end according to a preset second time period; Send the data information to the control unit, so as to enable the control unit to generate a control strategy for maintaining a safe vehicle speed and distance from the target vehicle, and send the control strategy to the power unit for driving control.

7. The control method according to claim 6, characterized in that: The control strategy includes vehicle acceleration, accelerator pedal opening or brake pedal opening.

8. A car-end control system, characterized in that, Including: The vehicle end includes a first vehicle end and a second vehicle end, and each vehicle end includes a first communication unit and a second communication unit; The first communication unit of the first vehicle end is used to establish communication with the second communication unit of the second vehicle end; The second communication unit of the second vehicle end is used to receive a request and return location information based on the request. When the first vehicle end determines the current second vehicle end as the target vehicle based on the location information, receive the vehicle status data information sent by the second vehicle end; The control unit generates a control strategy for maintaining a safe vehicle speed and distance from the target vehicle based on the vehicle status data information; The power unit performs driving control on the vehicle based on the control strategy.

9. A car body control system, characterized in that, Including: The vehicle end includes a first vehicle end and a second vehicle end, and each vehicle end includes a first communication unit and a second communication unit; The first communication unit of the second vehicle end is used to establish communication with the second communication unit of the first vehicle end; The second communication unit of the first vehicle end is used to receive a request and return location information based on the request. When the second vehicle end determines that the current first vehicle end is the target vehicle based on the location information, it receives the vehicle status data information sent by the first vehicle end; The control unit generates a control strategy for maintaining a safe vehicle speed and distance from the target vehicle based on the vehicle status data information; The power unit controls the vehicle's driving based on the control strategy.

10. A computer-readable storage medium, characterized in that, It stores a computer program for running the communication method and the control method. Among them, the computer program causes the computer to execute the communication method according to any one of claims 1-5 and the control method according to any one of claims 6-7.

11. A vehicle-mounted terminal, characterized in that, It includes: One or more processors; A memory; And One or more programs, where the one or more programs are stored in the memory and are configured to be executed by the one or more processors. The programs include those for executing the communication method according to any one of claims 1-5 and the control method according to any one of claims 6-7.

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