CN113852925B - Vehicle command method and system - Google Patents
Vehicle command method and system Download PDFInfo
- Publication number
- CN113852925B CN113852925B CN202110899853.3A CN202110899853A CN113852925B CN 113852925 B CN113852925 B CN 113852925B CN 202110899853 A CN202110899853 A CN 202110899853A CN 113852925 B CN113852925 B CN 113852925B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- information
- water level
- road
- cloud platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 84
- 238000001556 precipitation Methods 0.000 claims abstract description 18
- 238000004458 analytical method Methods 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 abstract description 5
- 230000006855 networking Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000012876 topography Methods 0.000 description 3
- 230000010267 cellular communication Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- General Physics & Mathematics (AREA)
- Analytical Chemistry (AREA)
- Medical Informatics (AREA)
- Chemical & Material Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Computing Systems (AREA)
- Health & Medical Sciences (AREA)
- Mathematical Physics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to the technical field of automobiles, in particular to a vehicle command method and system. The vehicle command method comprises the following steps: obtaining precipitation information through preset road side equipment, wherein the precipitation information comprises but is not limited to: the method comprises the steps of sending early warning information to a corresponding terminal and sending road information obtained by each road side device to a cloud platform when the water level height and the rainfall meet preset conditions; the cloud platform analyzes the road information sent by each road side device, forms a safe driving track according to the analysis result and sends the safe situation track data to different vehicles. By the method, the whole large-range road section can be comprehensively judged, namely, a driver can be given correct guidance based on the global visual field and the strategy, and the driver cannot be blocked in a half road, so that the driver is difficult to advance and retreat.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a vehicle command method and system.
Background
When the vehicle is in a rainy season, partial areas are covered by water due to heavy rain, so that the vehicle is difficult to pass, a vehicle owner cannot judge how to pass when facing the scene, and particularly in a large-scale flooded area, the dangerous situation cannot be estimated. There is also an accident in which the owner of the vehicle gets stuck on the road, resulting in the vehicle being submerged in water which is subsequently rising. At present, aiming at the situation, partial urban through (ponding) monitoring and early warning systems, water level information is sensed through a rainfall sensor, a water level sensor and the like, is transmitted to a cloud platform through the Internet of things and then is transmitted to a vehicle owner to remind a road section of flooding information. The vehicle owners can also judge whether the vehicles can pass through visual inspection of the passing conditions of surrounding vehicles or the flooding conditions of reference objects such as garbage cans, guard rails and the like, and estimate the flooding conditions.
The two modes bring great risk of the front unknown road section due to the lack of guidance of a larger visual field when the water is flooded in a large range, and the large driving risk is not easy to be detected in some places with deep pits. Meanwhile, for the non-present car owners, the cars cannot be transferred timely, so that the car lovers are flooded.
Disclosure of Invention
Therefore, a vehicle command method is needed to solve the technical problems that when a large-scale waterlogging occurs, large-field guidance cannot be performed, and driving risks are caused. The specific technical scheme is as follows:
a vehicle commanding method comprising the steps of:
Obtaining precipitation information through preset road side equipment, wherein the precipitation information comprises but is not limited to: the method comprises the steps of sending early warning information to a corresponding terminal when the water level height and the rainfall meet preset conditions, and sending road information obtained by each road side device to a cloud platform;
the cloud platform analyzes the road information sent by each road side device, forms a safe driving track according to the analysis result and sends the safe driving track to different vehicles.
Further, before the step of sending the early warning information to the corresponding terminal, the method specifically further includes the steps of:
the road side equipment records and transmits vehicle information of vehicle-mounted equipment which is not configured with V2X in the coverage area of the road side equipment to the cloud platform;
The cloud platform sends vehicle information of the vehicle-mounted equipment without the V2X to a corresponding traffic information network platform;
the traffic information network platform acquires corresponding vehicle owner information according to the vehicle information;
the step of sending the early warning information to the corresponding terminal specifically further comprises the steps of:
And the traffic information network platform sends early warning information to different vehicle owners according to the vehicle owner information.
Further, the step of sending the early warning information to the corresponding terminal specifically further includes the steps of:
Sending early warning information to a vehicle owner of a vehicle provided with V2X vehicle-mounted equipment through the Internet of vehicles;
when the car owner cannot move by himself, responding to the command car moving request, automatically starting the car, and automatically driving the car by an automatic driving system of the car according to the safe driving track.
Further, the "self-contained automatic driving system of the vehicle automatically drives according to the safe driving track" specifically further includes the steps of:
In the running process, judging the water level on the path corresponding to the safe running track, and updating the safe running track when the water level is too high to pass.
Further, the step of obtaining precipitation information through the preset road side equipment specifically further includes the steps of:
The rainfall is obtained through a water quantity sensor;
The water level height is obtained by processing the photographed picture.
In order to solve the technical problems, the vehicle command system is further provided, and the specific technical scheme is as follows:
a vehicle command system comprising: the road side equipment is in communication connection with the cloud platform;
The road side device is used for: obtaining precipitation information including, but not limited to: the method comprises the steps of sending early warning information to a corresponding terminal and sending road information to a cloud platform when the water level height and the rainfall meet preset conditions;
The cloud platform is used for: and analyzing the road information sent by each road side device, forming a safe driving track according to the analysis result, and sending the safe driving track to different vehicles.
Further, the method further comprises the following steps: the information platform of the traffic network,
The roadside device is further configured to: recording and transmitting vehicle information of vehicle-mounted equipment which is not configured with V2X in the coverage area of the vehicle-mounted equipment to a cloud platform;
the cloud platform is further for: transmitting the vehicle information of the unconfigured V2X vehicle-mounted equipment to a corresponding traffic information network platform;
The traffic information network platform is further configured to: and acquiring corresponding vehicle owner information according to the vehicle information, and sending early warning information to different vehicle owners according to the vehicle owner information.
Further, the road side device is further configured to: sending early warning information to a vehicle owner of a vehicle provided with V2X vehicle-mounted equipment through the Internet of vehicles;
the cloud platform is further for: when the car owner cannot move by himself, responding to the command car moving request, automatically starting the car, and automatically driving the car by an automatic driving system of the car according to the safe driving track.
Further, the cloud platform is further configured to: in the running process, judging the water level on the path corresponding to the safe running track, and updating the safe running track when the water level is too high to pass.
Further, the roadside device includes: a water amount sensor, an image pickup device, and a processor unit;
the water quantity sensor is used for acquiring the rainfall;
the processor unit is used for processing the picture shot by the image pickup device to obtain the water level height.
The beneficial effects of the invention are as follows: a vehicle commanding method comprising the steps of: obtaining precipitation information through preset road side equipment, wherein the precipitation information comprises but is not limited to: the method comprises the steps of sending early warning information to a corresponding terminal and sending road information obtained by each road side device to a cloud platform when the water level height and the rainfall meet preset conditions; the cloud platform analyzes the road information sent by each road side device, forms a safe driving track according to the analysis result and sends the safe situation track data to different vehicles. By the method, the whole large-range road section can be comprehensively judged, namely, a driver can be given correct guidance based on the global visual field and the strategy, and the driver cannot be blocked in a half road, so that the driver is difficult to advance and retreat.
Drawings
FIG. 1 is a flow chart of a vehicle commanding method according to an embodiment;
FIG. 2 is a schematic diagram of tunnel water level calculation according to an embodiment;
FIG. 3 is a schematic diagram of reference object height calculation according to an embodiment;
fig. 4 is a schematic block diagram of a vehicle command system according to an embodiment.
Reference numerals illustrate:
400. A command system for a vehicle, comprising a command unit,
401. The road side equipment is used for the road side equipment,
402. And (5) a cloud platform.
Detailed Description
In order to describe the technical content, constructional features, achieved objects and effects of the technical solution in detail, the following description is made in connection with the specific embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 to 3, the following terms will be explained first:
V2X: vehicle to everything, namely vehicle-to-external information exchange.
In this embodiment, a vehicle commanding method may be applied to a vehicle commanding system, where the vehicle commanding system includes: the road side equipment and the cloud platform are arranged on the side of a target road section, namely the road side equipment needs to be paved on a part of a narrow road section which is easy to be jammed. In particular, in areas (such as tunnels, areas with low topography, etc.) that are prone to waterlogging, a pole may be specifically disposed beside the target road section, and the road side device may be disposed on the pole.
The following description will be developed specifically:
The roadside devices (Road Side Equipment, RSE) are highly intelligent embedded information platforms. Its main hardware architecture includes, but is not limited to: the system comprises a processor unit, a storage unit, a camera, a laser radar, a positioning module, a differential positioning module, a communication module, an environment sensor and a signal lamp control module.
The communication module includes: the C-V2X communication module is used for carrying out vehicle-to-vehicle communication between road side equipment and vehicles, the road side equipment provides information such as signal lamps and road conditions for the vehicles through the C-V2X equipment, and the movement state information sent by the vehicles is received.
The cellular communication module is used for communicating the road side equipment with the cloud platform to realize data exchange. The road side equipment sends vehicle and environment condition information to the cloud platform, and the cloud platform sends road reminding information, software upgrading management information, strategies and the like to the road side equipment.
The processor is used for processing and sending information, and specifically can be: the processor is a center for analyzing and processing different network communication data by road side equipment, is communicated with a V2X vehicle and other V2X equipment through an accessed C-V2X communication module, is communicated with a cloud platform through a cellular communication module, is communicated with detection sensors (laser radar, cameras and the like) through a physical interface (serial port and network port) of the processor, processes acquired data and distributes the processed data to the vehicle and the cloud platform, and simultaneously transmits a scheduling strategy transmitted by the cloud platform to the vehicle, and the vehicle execution condition is checked through the detection sensors to assist scheduling.
The positioning module comprises: GPS/BDS positioning module. The GPS/BDS positioning module is used for providing time calibration and position information acquisition services for road side equipment.
The differential positioning module is a high-precision differential positioning module, and the high-precision differential positioning module is used for: and acquiring local road differential data, and providing differential positioning auxiliary information for the vehicle through the C-V2X communication module.
The environmental sensor includes, but is not limited to: a water quantity sensor. After road environment data are collected by road side equipment, the road environment data are packaged into standard Internet of vehicles information through an Internet of vehicles application program, the standard Internet of vehicles information is broadcast to surrounding vehicles through a C-V2X module, and the standard Internet of vehicles information is sent to a cloud platform through a cellular network module.
For vehicles, in the present embodiment, each vehicle may be equipped with an automatic driving system and apparatus, and a V2X system and V2X vehicle-mounted apparatus including, but not limited to: V2X controller (VBOX in this embodiment), antenna, custom system, connection harness;
the V2X controller includes, but is not limited to: LTE-V module, MCU, 4G module, high-accuracy positioning module; the V2X controller is configured to: periodically broadcasting the vehicle signal to acquire other vehicle information and drive test information; in this embodiment, the vehicle may acquire policy information on the road side, and send the policy information to the intelligent driving domain controller for processing, so as to implement path planning.
The antenna comprises one or more of the following: a 4G antenna, a 5G antenna, an LTE-V antenna and a GNSS antenna, wherein the antennas are used for signal receiving and transmitting;
The customization system is integrated in the in-vehicle infotainment system for presentation and provides relevant information to the driver.
The road section covered with the road side equipment can be a road section high-precision map built by special vehicles through laser radar, cameras, high-precision positioning equipment and the like. And outputting the map data to the cloud platform. Namely, the cloud platform acquires high-precision map information of different road sections.
The above road side apparatus is equipped with one of a laser radar or a camera, or may both of them, and monitors the vehicle of the corresponding road section. The road side device can acquire relevant information (vehicle speed, positioning, vehicle width height, license plate number, positioning information and vehicle image) of vehicles passing in a monitoring range and road information through a camera or a laser radar of the road side device and information transmitted to a road side by vehicles based on V2X communication, wherein the road information comprises but is not limited to: flooding conditions, traffic flow, passable areas, etc. All the road side devices can transmit the information to the cloud platform, and the cloud platform can judge the vehicle condition of the whole road section and the road section flooding condition according to the information, so that a proper safe driving track is generated for vehicles on different road sections to serve as vehicle auxiliary traffic guidance.
The following specifically describes a vehicle command method:
Step S101: obtaining precipitation information through preset road side equipment, wherein the precipitation information comprises but is not limited to: the water level height and the rainfall. The rainfall can be obtained through a water quantity sensor, and the water level height is calculated as follows:
1) Calculating the tunnel water level: the water level scales can be marked at the tunnel portal in advance, the road side equipment can compare the pictures before and after shooting, as in fig. 2, the pictures shot at the same angle are different due to flooding, the edge line (image texture change point) is found according to the flooding difference, and the water level line can be calculated by combining the water level scales.
2) Reference height calculation (calibration calculation): for other sections easy to submerge, calibration can be completed by measuring related fixed references, then when flooding is performed, edges are obtained through picture differences, and as related parameters such as shooting positions and angles are unchanged, the water level height can be calculated through the differences and the proportion of normal parts. As shown in fig. 3.
Step S102: and when the water level height and the rain amount meet preset conditions, sending early warning information to the corresponding terminal, and simultaneously sending road information obtained by each road side device to the cloud platform.
Step S103: and the cloud platform analyzes the road information sent by each road side device.
Step S104: and forming a safe driving track according to the analysis result and sending the safe driving track to different vehicles.
When the water level is greater than the water level threshold and the rainfall is greater than the rainfall threshold, each road side device performs the following treatment on the vehicles parked in the coverage area: and sending corresponding early warning information to a corresponding terminal (such as a mobile phone of each car owner) so as to remind the car owner of working in advance.
Wherein there are two further categories for vehicles within coverage: one type of vehicle is a vehicle that is not equipped with an automated driving system and V2X in-vehicle devices, and one type is a vehicle that is equipped with an automated driving system and V2X in-vehicle devices.
For a vehicle that is not equipped with an automated driving system and V2X vehicle-mounted equipment:
Before the early warning information is sent to the corresponding terminal, the method specifically further comprises the steps of: the road side equipment records and transmits vehicle information of vehicle-mounted equipment which is not configured with V2X in the coverage area of the road side equipment to the cloud platform; the cloud platform sends vehicle information of the vehicle-mounted equipment without the V2X to a corresponding traffic information network platform; the traffic information network platform acquires corresponding vehicle owner information according to the vehicle information;
the step of sending the early warning information to the corresponding terminal specifically further comprises the steps of:
and the traffic information network platform sends early warning information to different vehicle owners according to the vehicle owner information. If the mobile phone number of the car owner is obtained, early warning information is sent to the mobile phone of the car owner according to the mobile phone number of the car owner.
For a vehicle equipped with an automated driving system and V2X vehicle-mounted equipment:
the step of sending the early warning information to the corresponding terminal specifically further comprises the steps of:
Sending early warning information to a vehicle owner of a vehicle provided with V2X vehicle-mounted equipment through the Internet of vehicles;
when the car owner cannot move by himself, responding to the command car moving request, automatically starting the car, and automatically driving the car by an automatic driving system of the car according to the safe driving track.
The automatic driving system of the vehicle automatically drives according to the safe driving track, and the method specifically further comprises the following steps:
in the running process, judging the water level on the path corresponding to the safe running track, and updating the safe running track when the water level is too high to pass. The method comprises the following steps:
the vehicle with the automatic driving system and the V2X vehicle-mounted equipment is characterized in that a road side system can transmit information to a vehicle owner through the vehicle networking system through the vehicle networking, and the vehicle owner can check the flooding condition of the current road section through the mobile phone APP connection road side system.
The car owner can move forward by himself, and when the car cannot be moved, the car owner can also command the car moving through the APP request road side system.
The road side system can send all road section information of the city to the cloud platform, and each road side system can reflect the current flooding condition, traffic flow, passable area and other information. When a road side system of a partial area is flooded, the cloud platform can radiate outwards through the sequence of the area, the adjacent area and the like to find out whether a proper non-parked area with higher topography is used for parking. According to the vehicle position and the safe area position, the central system avoids the conditions such as a water pit and the like according to the water level condition of the road section, forms a safe driving track and sends the safe driving track to the vehicle, the vehicle starts the vehicle according to an automatic wake-up strategy, an automatic driving system forms an automatic driving strategy according to the track, the vehicle is executed to move according to the track, and the track is corrected by matching with a corresponding road end system in the process until the destination.
(3) The vehicle in running can judge whether the front part can pass or not through the water level on the navigation destination path by the central system, the central system can plan a path avoiding the water pit position for the vehicle, and the vehicle moves forward along the track. The front part cannot pass through, the center can re-plan a safe path according to the water level condition by matching the road end at the position with the adjacent road end system, and the safe path bypasses to reach the destination. The data are calculated in real time, so that the vehicle is accurate, safe and reliable, different safe driving tracks are generated for each vehicle, and point-to-point auxiliary driving is realized.
A vehicle commanding method comprising the steps of: obtaining precipitation information through preset road side equipment, wherein the precipitation information comprises but is not limited to: the method comprises the steps of sending early warning information to a corresponding terminal and sending road information obtained by each road side device to a cloud platform when the water level height and the rainfall meet preset conditions; the cloud platform analyzes the road information sent by each road side device, forms a safe driving track according to the analysis result and sends the safe situation track data to different vehicles. By the method, the whole large-range road section can be comprehensively judged, namely, a driver can be given correct guidance based on the global visual field and the strategy, and the driver cannot be blocked in a half road, so that the driver is difficult to advance and retreat.
Referring to fig. 2 to 4, in this embodiment, a specific embodiment of a vehicle command system 400 is as follows:
a vehicle command system 400 comprising: a road side device 401 and a cloud platform 402, wherein the road side device 401 is in communication connection with the cloud platform 402;
The roadside apparatus 401 is configured to: obtaining precipitation information including, but not limited to: the water level height and the rainfall are both met, and when the water level height and the rainfall meet preset conditions, early warning information is sent to the corresponding terminal, and meanwhile road information is sent to the cloud platform 402;
The cloud platform 402 is configured to: the road information transmitted from each road side device 401 is analyzed, and a safe running track is formed according to the analysis result and transmitted to different vehicles.
Further, the roadside device 401 includes: a water amount sensor, an image pickup device, and a processor unit;
the water quantity sensor is used for acquiring the rainfall;
the processor unit is used for processing the picture shot by the image pickup device to obtain the water level height.
The water level height is calculated as follows:
1) Calculating the tunnel water level: the water level scale can be marked at the tunnel portal in advance, the road side device 401 can compare the pictures before and after shooting, as in fig. 2, due to flooding, the pictures shot at the same angle are different, the edge line (image texture change point) is found according to the flooding difference, and the water level line can be calculated by combining the water level scale.
2) Reference height calculation (calibration calculation): for other sections easy to submerge, calibration can be completed by measuring related fixed references, then when flooding is performed, edges are obtained through picture differences, and as related parameters such as shooting positions and angles are unchanged, the water level height can be calculated through the differences and the proportion of normal parts. As shown in fig. 3.
When the water level is greater than the water level threshold and the rainfall is greater than the rainfall threshold, each road side device 401 performs the following treatment on the vehicles parked in the coverage area: and sending corresponding early warning information to a corresponding terminal (such as a mobile phone of each car owner) so as to remind the car owner of working in advance.
Wherein there are two further categories for vehicles within coverage: one type of vehicle is a vehicle that is not equipped with an automated driving system and V2X in-vehicle devices, and one type is a vehicle that is equipped with an automated driving system and V2X in-vehicle devices.
For a vehicle that is not equipped with an automated driving system and V2X vehicle-mounted equipment:
further, the method further comprises the following steps: the information platform of the traffic network,
The roadside apparatus 401 is further configured to: recording and transmitting vehicle information of vehicle-mounted equipment which is not configured with V2X in the coverage area to the cloud platform 402;
The cloud platform 402 is further configured to: transmitting the vehicle information of the unconfigured V2X vehicle-mounted equipment to a corresponding traffic information network platform;
the traffic information network platform is further configured to: and acquiring corresponding vehicle owner information according to the vehicle information, and sending early warning information to different vehicle owners according to the vehicle owner information. If the mobile phone number of the car owner is obtained, early warning information is sent to the mobile phone of the car owner according to the mobile phone number of the car owner.
For a vehicle equipped with an automated driving system and V2X vehicle-mounted equipment:
further, the roadside device 401 is further configured to: sending early warning information to a vehicle owner of a vehicle provided with V2X vehicle-mounted equipment through the Internet of vehicles;
The cloud platform 402 is further configured to: when the car owner cannot move by himself, responding to the command car moving request, automatically starting the car, and automatically driving the car by an automatic driving system of the car according to the safe driving track.
Further, the cloud platform 402 is further configured to: in the running process, judging the water level on the path corresponding to the safe running track, and updating the safe running track when the water level is too high to pass.
The method comprises the following steps:
the vehicle with the automatic driving system and the V2X vehicle-mounted equipment is characterized in that a road side system can transmit information to a vehicle owner through the vehicle networking system through the vehicle networking, and the vehicle owner can check the flooding condition of the current road section through the mobile phone APP connection road side system.
The car owner can move forward by himself, and when the car cannot be moved, the car owner can also command the car moving through the APP request road side system.
The road side system will send all road section information of the city to the cloud platform 402, and each road side system will reflect the current flooding situation, traffic flow, passable area and other information. When a partial area roadside system is flooded, the cloud platform 402 can radiate outwards through the sequence of the area-adjacent area and the like to find out whether a proper non-parked area with a higher topography is available for parking. According to the vehicle position and the safe area position, the central system avoids the conditions such as a water pit and the like according to the water level condition of the road section, forms a safe driving track and sends the safe driving track to the vehicle, the vehicle starts the vehicle according to an automatic wake-up strategy, an automatic driving system forms an automatic driving strategy according to the track, the vehicle is executed to move according to the track, and the track is corrected by matching with a corresponding road end system in the process until the destination.
(3) The vehicle in running can judge whether the front part can pass or not through the water level on the navigation destination path by the central system, the central system can plan a path avoiding the water pit position for the vehicle, and the vehicle moves forward along the track. The front part cannot pass through, the center can re-plan a safe path according to the water level condition by matching the road end at the position with the adjacent road end system, and the safe path bypasses to reach the destination. The data are calculated in real time, so that the vehicle is accurate, safe and reliable, different safe driving tracks are generated for each vehicle, and point-to-point auxiliary driving is realized.
A vehicle command system 400 comprising: a road side device 401 and a cloud platform 402, wherein the road side device 401 is in communication connection with the cloud platform 402; the roadside apparatus 401 is configured to: obtaining precipitation information including, but not limited to: the water level height and the rainfall are both met, and when the water level height and the rainfall meet preset conditions, early warning information is sent to the corresponding terminal, and meanwhile road information is sent to the cloud platform 402; the cloud platform 402 is configured to: the road information transmitted from each road side device 401 is analyzed, and a safe running track is formed according to the analysis result and transmitted to different vehicles. Through the system, the whole large-range road section can be comprehensively judged, namely, a driver can be given correct guidance based on the global visual field and the strategy, and the driver cannot be blocked in a half road, so that the driver is difficult to advance and retreat.
It should be noted that, although the foregoing embodiments have been described herein, the scope of the present invention is not limited thereby. Therefore, based on the innovative concepts of the present invention, alterations and modifications to the embodiments described herein, or equivalent structures or equivalent flow transformations made by the present description and drawings, apply the above technical solution, directly or indirectly, to other relevant technical fields, all of which are included in the scope of the invention.
Claims (6)
1. A vehicle commanding method, comprising the steps of:
Obtaining precipitation information through preset road side equipment, wherein the precipitation information comprises but is not limited to: the method comprises the steps of sending early warning information to a corresponding terminal when the water level height and the rainfall meet preset conditions, and sending road information obtained by each road side device to a cloud platform;
The cloud platform analyzes the road information sent by each road side device, forms a safe driving track according to the analysis result and sends the safe driving track to different vehicles;
before the early warning information is sent to the corresponding terminal, the method specifically further comprises the steps of:
the road side equipment records and transmits vehicle information of vehicle-mounted equipment which is not configured with V2X in the coverage area of the road side equipment to the cloud platform;
The cloud platform sends vehicle information of the vehicle-mounted equipment without the V2X to a corresponding traffic information network platform;
the traffic information network platform acquires corresponding vehicle owner information according to the vehicle information;
the step of sending the early warning information to the corresponding terminal specifically further comprises the steps of:
The traffic information network platform sends early warning information to different vehicle owners according to the vehicle owner information;
the method for acquiring the precipitation information through the preset road side equipment comprises the following steps:
The rainfall is obtained through a water quantity sensor;
the water level height is obtained by processing the shot picture;
The water level height is calculated as follows:
1) Calculating the tunnel water level: the water level scales can be marked at the tunnel portal in advance, road side equipment can compare pictures before and after shooting, the pictures shot at the same angle are different due to flooding, the edge line is found according to the flooding difference, and the water level line can be calculated by combining the water level scales;
2) Reference height calculation: for other sections easy to submerge, calibration is completed by measuring the related fixed reference objects, then when flooding is performed, the edges are obtained through picture difference, and as related parameters such as shooting positions and angles are unchanged, the water level height can be calculated through the difference and the proportion of the normal parts.
2. The vehicle commanding method according to claim 1, wherein the step of sending the pre-warning information to the corresponding terminal, specifically further comprises the steps of:
Sending early warning information to a vehicle owner of a vehicle provided with V2X vehicle-mounted equipment through the Internet of vehicles;
when the car owner cannot move by himself, responding to the command car moving request, automatically starting the car, and automatically driving the car by an automatic driving system of the car according to the safe driving track.
3. The vehicle commanding method according to claim 2, wherein the "self-contained autopilot system of the vehicle drives automatically according to the safe driving track", further comprising the steps of:
In the running process, judging the water level on the path corresponding to the safe running track, and updating the safe running track when the water level is too high to pass.
4. A vehicle command system, comprising: the road side equipment is in communication connection with the cloud platform;
The road side device is used for: obtaining precipitation information including, but not limited to: the method comprises the steps of sending early warning information to a corresponding terminal and sending road information to a cloud platform when the water level height and the rainfall meet preset conditions;
The cloud platform is used for: analyzing road information sent by each road side device, forming a safe driving track according to an analysis result, and sending the safe driving track to different vehicles;
Further comprises: the information platform of the traffic network,
The roadside device is further configured to: recording and transmitting vehicle information of vehicle-mounted equipment which is not configured with V2X in the coverage area of the vehicle-mounted equipment to a cloud platform;
the cloud platform is further for: transmitting the vehicle information of the unconfigured V2X vehicle-mounted equipment to a corresponding traffic information network platform;
the traffic information network platform is further configured to: corresponding vehicle owner information is obtained according to the vehicle information, and early warning information is sent to different vehicle owners according to the vehicle owner information;
the roadside apparatus includes: a water amount sensor, an image pickup device, and a processor unit;
the water quantity sensor is used for acquiring the rainfall;
the processor unit is used for processing the picture shot by the camera device to obtain the water level height;
The water level height is calculated as follows:
1) Calculating the tunnel water level: the water level scales can be marked at the tunnel portal in advance, road side equipment can compare pictures before and after shooting, the pictures shot at the same angle are different due to flooding, the edge line is found according to the flooding difference, and the water level line can be calculated by combining the water level scales;
2) Reference height calculation: for other sections easy to submerge, calibration is completed by measuring the related fixed reference objects, then when flooding is performed, the edges are obtained through picture difference, and as related parameters such as shooting positions and angles are unchanged, the water level height can be calculated through the difference and the proportion of the normal parts.
5. The vehicle command system of claim 4, wherein the roadside apparatus is further configured to: sending early warning information to a vehicle owner of a vehicle provided with V2X vehicle-mounted equipment through the Internet of vehicles;
the cloud platform is further for: when the car owner cannot move by himself, responding to the command car moving request, automatically starting the car, and automatically driving the car by an automatic driving system of the car according to the safe driving track.
6. The vehicle command system of claim 5, wherein the cloud platform is further configured to: in the running process, judging the water level on the path corresponding to the safe running track, and updating the safe running track when the water level is too high to pass.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110899853.3A CN113852925B (en) | 2021-08-06 | 2021-08-06 | Vehicle command method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110899853.3A CN113852925B (en) | 2021-08-06 | 2021-08-06 | Vehicle command method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113852925A CN113852925A (en) | 2021-12-28 |
| CN113852925B true CN113852925B (en) | 2024-06-04 |
Family
ID=78975490
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110899853.3A Active CN113852925B (en) | 2021-08-06 | 2021-08-06 | Vehicle command method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113852925B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114312796A (en) * | 2022-01-25 | 2022-04-12 | 中国第一汽车股份有限公司 | A vehicle speed control method, device, storage medium and system |
| CN115273508A (en) * | 2022-06-17 | 2022-11-01 | 智道网联科技(北京)有限公司 | Vehicle travel guidance method, device, electronic device, and storage medium |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108909656A (en) * | 2017-04-18 | 2018-11-30 | 宝沃汽车（中国）有限公司 | A kind of vehicle early warning method, device and vehicle |
| CN109118764A (en) * | 2018-09-03 | 2019-01-01 | 山东交通学院 | A kind of car networking communication system based on ZigBee |
| CN109801494A (en) * | 2019-01-25 | 2019-05-24 | 浙江众泰汽车制造有限公司 | A kind of crossing dynamic guiding system and method based on V2X |
| WO2019165737A1 (en) * | 2018-02-27 | 2019-09-06 | 浙江吉利汽车研究院有限公司 | Safe passing system and method for vehicle |
| CN110322690A (en) * | 2019-06-17 | 2019-10-11 | 西北工业大学 | A kind of sinking section ponding condition monitoring early warning system and its prediction and warning method |
| CN110796834A (en) * | 2019-11-01 | 2020-02-14 | 广州小鹏汽车科技有限公司 | Vehicle flooding alarm method and system, vehicle and readable storage medium |
| EP3618026A1 (en) * | 2018-08-31 | 2020-03-04 | Baidu Online Network Technology (Beijing) Co., Ltd. | Roadside sensing system based on vehicle infrastructure cooperation, and method for controlling vehicle thereof |
| CN111367292A (en) * | 2020-03-20 | 2020-07-03 | 特路（北京）科技有限公司 | Intelligent road system for automatically driving automobile |
| EP3690858A1 (en) * | 2019-01-31 | 2020-08-05 | StradVision, Inc. | Method and device for learning generating lane departure warning (ldw) alarm by referring to information on driving situation to be used for adas, v2x or driver safety required to satisfy level 4 and level 5 of autonomous vehicles |
| CN112068548A (en) * | 2020-08-07 | 2020-12-11 | 北京航空航天大学 | Special scene-oriented unmanned vehicle path planning method in 5G environment |
| KR20210021204A (en) * | 2019-08-14 | 2021-02-25 | 현대모비스 주식회사 | Intersection collision avoidance system and method using V2X no-vehicle recognition |
| CN112735165A (en) * | 2020-12-28 | 2021-04-30 | 深圳市金溢科技股份有限公司 | Vehicle-road cooperative road early warning method, vehicle-mounted unit and road side unit |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8606512B1 (en) * | 2007-05-10 | 2013-12-10 | Allstate Insurance Company | Route risk mitigation |
| US10150471B2 (en) * | 2016-12-23 | 2018-12-11 | Centurylink Intellectual Property Llc | Smart vehicle apparatus, system, and method |
-
2021
- 2021-08-06 CN CN202110899853.3A patent/CN113852925B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108909656A (en) * | 2017-04-18 | 2018-11-30 | 宝沃汽车（中国）有限公司 | A kind of vehicle early warning method, device and vehicle |
| WO2019165737A1 (en) * | 2018-02-27 | 2019-09-06 | 浙江吉利汽车研究院有限公司 | Safe passing system and method for vehicle |
| EP3618026A1 (en) * | 2018-08-31 | 2020-03-04 | Baidu Online Network Technology (Beijing) Co., Ltd. | Roadside sensing system based on vehicle infrastructure cooperation, and method for controlling vehicle thereof |
| CN109118764A (en) * | 2018-09-03 | 2019-01-01 | 山东交通学院 | A kind of car networking communication system based on ZigBee |
| CN109801494A (en) * | 2019-01-25 | 2019-05-24 | 浙江众泰汽车制造有限公司 | A kind of crossing dynamic guiding system and method based on V2X |
| EP3690858A1 (en) * | 2019-01-31 | 2020-08-05 | StradVision, Inc. | Method and device for learning generating lane departure warning (ldw) alarm by referring to information on driving situation to be used for adas, v2x or driver safety required to satisfy level 4 and level 5 of autonomous vehicles |
| CN110322690A (en) * | 2019-06-17 | 2019-10-11 | 西北工业大学 | A kind of sinking section ponding condition monitoring early warning system and its prediction and warning method |
| KR20210021204A (en) * | 2019-08-14 | 2021-02-25 | 현대모비스 주식회사 | Intersection collision avoidance system and method using V2X no-vehicle recognition |
| CN110796834A (en) * | 2019-11-01 | 2020-02-14 | 广州小鹏汽车科技有限公司 | Vehicle flooding alarm method and system, vehicle and readable storage medium |
| CN111367292A (en) * | 2020-03-20 | 2020-07-03 | 特路（北京）科技有限公司 | Intelligent road system for automatically driving automobile |
| CN112068548A (en) * | 2020-08-07 | 2020-12-11 | 北京航空航天大学 | Special scene-oriented unmanned vehicle path planning method in 5G environment |
| CN112735165A (en) * | 2020-12-28 | 2021-04-30 | 深圳市金溢科技股份有限公司 | Vehicle-road cooperative road early warning method, vehicle-mounted unit and road side unit |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113852925A (en) | 2021-12-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US12037015B2 (en) | Vehicle control device and vehicle control method | |
| CN112729316B (en) | Positioning method and device of automatic driving vehicle, vehicle-mounted equipment, system and vehicle | |
| US10163017B2 (en) | Systems and methods for vehicle signal light detection | |
| CN109828571A (en) | Automatic driving vehicle, method and apparatus based on V2X | |
| WO2019161134A1 (en) | Lane marking localization | |
| CN112829753B (en) | Guard bar estimation method based on millimeter wave radar, vehicle-mounted equipment and storage medium | |
| US11585945B2 (en) | Method for the satellite-supported determination of a position of a vehicle | |
| CN107710302A (en) | Parking lot mapping system | |
| CN109249936B (en) | Method and system for assisting driving of an autonomous vehicle on a roadway having a must-pass zone | |
| WO2009098319A2 (en) | Navigational device for a vehicle | |
| CN111383456B (en) | Localized artificial intelligence system for intelligent road infrastructure system | |
| US20230303113A1 (en) | Curb-based feature extraction for localization and lane detection using radar | |
| US20230148097A1 (en) | Adverse environment determination device and adverse environment determination method | |
| CN113852925B (en) | Vehicle command method and system | |
| US12196560B2 (en) | Localization device for visually determining the location of a vehicle | |
| WO2015009218A1 (en) | Determination of lane position | |
| CN113227831B (en) | Guardrail estimation method based on multi-sensor data fusion and vehicle-mounted equipment | |
| CN112654892A (en) | Method for creating a map of an environment of a vehicle | |
| CN109387218B (en) | Vehicle-mounted equipment and road maintenance auxiliary management system | |
| CN116434604A (en) | An intelligent traffic cone safety warning system and control method | |
| CN109144042B (en) | Method and device for controlling the travel of a vehicle in a toll gate area | |
| CN106803353B (en) | Method for determining a transformation rule of a traffic light and on-board system | |
| US20230236313A1 (en) | Thermal sensor data vehicle perception | |
| CN111439255B (en) | Car top box, control box and control device for realizing autonomous parking in matched use | |
| CN113727434B (en) | Vehicle-road cooperative auxiliary positioning system and method based on edge computing gateway |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |