WO2019000745A1 - V2x terminal, system and management method for compatible multi-system v2x - Google Patents

Abstract

A management method for compatible multi-system V2X, comprising: receiving vehicle state information about an installed vehicle, and receiving vehicle location information about the installed vehicle (S101); generating vehicle driving information according to the vehicle state information and the vehicle location information (S102); receiving surrounding vehicle data sent by V2X terminals on other vehicles and decoding same, wherein the surrounding vehicle data is transmitted based on any at least two of WAVE, ETSI-ITS and/or LTE-V standards, and after the surrounding vehicle data is received according to the corresponding technology, decoding the surrounding vehicle data and converting same into a first standard format (S103); and reminding a driver or controlling the vehicle according to the vehicle driving information and the surrounding vehicle data in the first standard format (S104). The present invention supports a plurality of known V2X standards, expands an available range, and facilitates the performance of compatibility in regions where different standards are used.

Description

V2X terminal, system and management method compatible with multi-standard V2X Technical field

The invention relates to the field of Intelligent Transportation System (ITS), in particular to a V2X terminal, system and management method compatible with multi-system V2X.

Background technique

WAVE (Wireless Access in Vehicular Environments), ETSI-ITS (European Telecommunications Standards Institute-Intelligent Transport Systems, European Telecommunications Standards Protocol-Intelligent Transportation System), LTE-V (LongTermEvolution-Vehicle) ) V2X (vehicle to X, vehicle communication / vehicle communication) communication technology is quite different and cannot be compatible with each other. Further, in the traffic safety application scenario, each upper-layer application needs to interact with the vehicle to acquire vehicle state information, and needs to interact with the positioning module to obtain real-time location information of the vehicle, and different vehicle state information and real-time location information acquisition manners are different. Great, it brings great inconvenience to application development.

Summary of the invention

To solve the above problems, the present invention provides a management method compatible with a multi-system V2X, including:

Receiving vehicle state information of the installed vehicle, and receiving vehicle location information of the installed vehicle;

Generating vehicle travel information based on the vehicle state information and the vehicle location information;

Receiving and decoding surrounding vehicle data transmitted by V2X terminals on other vehicles, wherein the week The surrounding vehicle data is transmitted based on at least two of WAVE, ETSI-ITS, and/or LTE-V standards, and after receiving the surrounding vehicle data according to a corresponding technique, the surrounding vehicle data is decoded and converted into a first standard. format;

The driver is alerted or controlled based on the vehicle travel information and the surrounding vehicle data in a first standard format.

Further, the step of receiving vehicle state information of the installed vehicle is specifically:

Receiving vehicle speed and braking state information of the vehicle through the CAN bus interface of the vehicle, and converting into a second standard format;

and / or,

The step of receiving vehicle location information of the installed vehicle is specifically;

The longitude, latitude, altitude, and direction angle information of the vehicle is received by the positioning module and converted into a third standard format.

Further, when the surrounding vehicle data is transmitted based on the WAVE standard, the transmission is a point-to-point communication based on the OCB mode;

and / or,

When the surrounding vehicle data is transmitted based on the ETSI-ITS standard, the transmission is based on the ITS-G5A access mode.

Further, the step of generating the vehicle travel information according to the vehicle state information and the vehicle location information is specifically:

Processing is performed after acquiring vehicle state information of the installed vehicle and vehicle location information of the installed vehicle, and generating vehicle travel information including historical route information of the vehicle and prediction of predicting the travel track of the vehicle Path information.

Further, the surrounding vehicle data is vehicle status information and vehicle position information of other vehicles. And receiving, in the receiving, surrounding vehicle data transmitted by a V2X terminal on another vehicle, wherein the surrounding vehicle data is transmitted based on any at least two of WAVE, ETSI-ITS, and/or LTE-V standards, After receiving the surrounding vehicle data according to a corresponding technology, after decoding and converting the surrounding vehicle data into a first standard format step, the driver is alerted or controlled according to the vehicle driving information and the surrounding vehicle data. Before the vehicle step, it also includes;

After receiving the vehicle state information and the vehicle location information of the installed vehicle and other vehicles, the other vehicles are classified and saved according to the relative positions of the installed vehicles and other vehicles.

Further, the step of alerting or controlling the driver according to the vehicle driving information and the surrounding vehicle data specifically includes:

Determining the threat of the other vehicle to the installed vehicle according to vehicle state information of the installed vehicle, vehicle position information, vehicle state information of other vehicles, vehicle position information, and vehicle travel information of the installed vehicle And prioritize the threats and prioritize the most dangerous threats.

In another aspect, the present invention also discloses a V2X terminal compatible with a multi-system V2X, including:

a receiving module, configured to receive vehicle state information and vehicle location information of the vehicle;

a sensor data processing module, configured to generate vehicle travel information according to the vehicle state information and the vehicle location information;

a wireless receiving module, configured to receive surrounding vehicle data sent by a V2X terminal on another vehicle and decode the data into a first standard format, where the wireless receiving module includes any one of a WAVE device, an ETSI-ITS device, and an LTE-V device. At least two, the WAVE device, the ETSI-ITS device, and the LTE-V device are respectively configured to decode and convert the surrounding vehicle data into a first standard after receiving the surrounding vehicle data according to a corresponding technology format;

a processing module for the surrounding vehicle according to the vehicle travel information and the first standard format The data alerts the driver or controls the vehicle.

In still another aspect, the present invention also provides a V2X terminal compatible with a multi-system V2X, comprising: a processor and a memory, wherein the memory is used to store program instructions, and the program instructions are used to be loaded by the processor to implement Method steps as described above.

Further, a multi-system V2X compatible system is provided, including a plurality of V2X terminals as described above that are respectively installed on different vehicles and are wirelessly connected.

Further, a roadside device wirelessly connected to the V2X terminal is further included.

The technical solution of the present invention implements a unified data format for vehicle state information, vehicle state information, and surrounding vehicle data of the vehicle, thereby realizing compatible access modes of different vehicles and different communication standards, without performing equipment Modifications can support a variety of known V2X standards, extend the range of availability, and facilitate compatibility in regions that use different standards.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any creative work. In the figure:

1 is a flow chart of a method for managing a multi-mode V2X compatible with the present invention.

Detailed ways

In the current V2X system, the technical standards used in each region are different, mainly including WAVE standard, ETSI-ITS standard, and LTE-V standard. The function of the multi-standard V2X is provided in the first embodiment of the present invention.

S101: Receive vehicle state information of the installed vehicle, and receive vehicle location information of the installed vehicle;

Specifically, the method is performed by a V2X terminal mounted on a vehicle, which is a vehicle in which a V2X terminal that performs the method is installed. Receiving vehicle state information of the installed vehicle is to receive vehicle speed and braking state information of the vehicle through the CAN bus interface of the vehicle, and converting into a second standard format; receiving vehicle location information of the installed vehicle is specifically, receiving by the positioning module The longitude, latitude, altitude, and direction angle information of the vehicle are converted into a third standard format.

It can be understood that the CAN bus interface is only an optional form. Since the vehicle status information is different from the content to the form of each vehicle, it needs to be converted into a standard format, that is, the second. The standard format is ready for use, and the vehicle state information in this embodiment includes the vehicle speed of the vehicle, the brake state information, and the like. Similarly, the positioning module is also a variety of systems, such as GPS, Beidou, Galileo, etc., also need to be converted to the standard format, the third standard format for use. The vehicle position information in this embodiment includes longitude, latitude, altitude, direction angle information, and the like of the vehicle, wherein the square angle is an angle between the traveling direction of the vehicle and the true north.

S102: Generate vehicle driving information according to the vehicle state information and the vehicle location information;

Specifically, after acquiring the vehicle state information of the installed vehicle and the vehicle location information of the installed vehicle, processing is performed to generate vehicle driving information, where the driving information of the vehicle includes historical path information of the vehicle and performing the driving track of the vehicle. Predicted predicted path information, which is saved for use. In other embodiments, the vehicle travel information may also be a collective name of the vehicle state information of the second standard format and the vehicle travel information of the third standard format, and only the unified combination thereof is here. It is saved, and no other processing is done. It is not limited here.

S103: Receive and decode surrounding vehicle data sent by a V2X terminal on another vehicle, where the surrounding vehicle data is transmitted based on at least two of WAVE, ETSI-ITS, and/or LTE-V standards, according to corresponding technologies. After receiving the surrounding vehicle data, the surrounding vehicle data is decoded and converted into a first standard format; it can be understood that the surrounding vehicle data is vehicle state information, vehicle location information of other vehicles, and the V2X installed thereon The terminal collects and sends. Then, the V2X terminal installed in the vehicle receives the vehicle state information and the vehicle position information of the installed vehicle and other vehicles, and classifies and saves the other vehicles according to the relative positions of the installed vehicles and other vehicles. In addition to this, there are many ways to classify, such as classifying vehicle types. The classification of the direction in which the vehicle travels can also be classified according to the influence of other vehicles on the driving of the installed vehicle, which is not limited herein. The classification save mode can quickly find the corresponding impact vehicle in order to better distinguish different application requirements, which helps to improve the timeliness of the application.

S104: Remind or control the driver according to the vehicle driving information and the surrounding vehicle data in a first standard format. Specifically, determining, according to vehicle state information of the installed vehicle, vehicle location information, vehicle state information of other vehicles, vehicle location information, and vehicle driving information of the installed vehicle, determining that the other vehicle is installed to the vehicle The threat of the vehicle, and the threats are graded to prioritize the most dangerous threats. It can be understood that there are various ways of processing, such as when the collision is early warning, using a sound or displaying an alarm device to remind the driver to avoid the impending danger. Or actively control the vehicle's brakes when it is determined that a hazard is about to occur to avoid serious injury to the driver. At the same time, it is reminded that the dangers of different danger levels can be predicted at the same time for reference.

It is easy to understand that the management method does not only provide warnings for dangerous behaviors, but also provides guidance or autopilot services to the driver in the case of system support, such as guiding free parking spaces in parking lots with roadside equipment, or The road selection is carried out at the traffic lights where the roadside equipment is installed, and will not be described here.

In another embodiment, when the surrounding vehicle data is transmitted based on the WAVE standard on the basis of Embodiment 1, the transmission is a point-to-point communication based on an OCB (OutsidetheContext of a Basic Service Set) mode; the communication mode Also includes:

WAVE MAC: Mainly responsible for channel coordination, channel switching, time slot synchronization, etc., and provides QoS-guaranteed data transmission for upper-layer applications. Its data plane can support both WSMP (WAVE Short Message Protocol) and IPv6 data services.

WSMP: WSMP is a simple network/transport layer protocol. In order to adapt to high-speed mobile nodes and fast topology changes, the data packets carried by the WSMP are generally short and are an unreliable transmission protocol. It is mainly responsible for providing interfaces for different application service requests (Channel Service Request, Provider Service Request, User Service Request, etc.), and assigning corresponding network resources to each application according to the request for supply and use.

WAVE security module: As mentioned earlier, the WAVE security module is mainly used to ensure the security of data communication and ensure that the information sent by each terminal is authentic.

TCP/IPv6: Provides Internet access for terminals. Currently, it is mainly used for terminal to obtain and verify digital certificates.

In the OCB mode, the terminal access network does not need to perform operations such as association and authentication, which greatly shortens the access time of the terminal. At the same time, the WAVE security module is introduced to ensure data security, and the timeliness is improved based on the unified data format report. More conducive to the application of the vehicle network.

When the surrounding vehicle data is transmitted based on the ETSI-ITS standard, the transmission is based on the ITS-G5A access mode. This mode includes:

GeoNetworking: A geographically-based routing exchange model that allows data to be transmitted over multiple hops in the network, providing direct service support for upper-layer transport protocols.

BTP (Basic Transport Protocol) provides end-to-end connectionless services for in-vehicle network environments.

GeoNetworking-N6: Used to provide multi-hop capability for IPv6.

The ETSI-ITS security module is used to ensure the security of data communication.

With this embodiment, multi-hop propagation can be implemented between V2X terminals, and the access time of the terminal is shortened. At the same time, the security module is introduced to ensure data security, and the timeliness is improved on the basis of unified data format reporting, which is more conducive to Application of vehicle networks.

In another embodiment, a V2X terminal compatible with a multi-system V2X includes:

a receiving module, configured to receive vehicle state information and vehicle location information of the vehicle;

a sensor data processing module, configured to generate vehicle travel information according to the vehicle state information and the vehicle location information;

a wireless receiving module, configured to receive surrounding vehicle data sent by a V2X terminal on another vehicle and decode the data into a first standard format, where the wireless receiving module includes any one of a WAVE device, an ETSI-ITS device, and an LTE-V device. At least two, the WAVE device, the ETSI-ITS device, and the LTE-V device are respectively configured to decode and convert the surrounding vehicle data into a first standard after receiving the surrounding vehicle data according to a corresponding technology format;

a processing module for the surrounding vehicle according to the vehicle travel information and the first standard format The data alerts the driver or controls the vehicle.

Also disclosed is a V2X terminal compatible with a multi-system V2X, comprising: a processor and a memory, the memory for storing program instructions for being loaded by the processor to implement as described in Embodiment 1 Method steps.

Also disclosed is a multi-format V2X compatible system comprising a plurality of V2X terminals as described above that are respectively mounted on different vehicles and are wirelessly connected. The system also includes a roadside device that is wirelessly coupled to the V2X terminal.

The above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any tampering, equivalent substitution, improvement, etc., within the spirit and scope of the present invention are intended to be included within the scope of the appended claims.

Claims (10)

A multi-standard V2X management method is characterized in that it comprises: Receiving vehicle state information of the installed vehicle, and receiving vehicle location information of the installed vehicle; Generating vehicle travel information based on the vehicle state information and the vehicle location information; Receiving and decoding surrounding vehicle data transmitted by a V2X terminal on another vehicle, wherein the surrounding vehicle data is transmitted based on at least two of WAVE, ETSI-ITS, and/or LTE-V standards, according to a corresponding technology receiving station After the surrounding vehicle data is described, the surrounding vehicle data is decoded and converted into a first standard format; The driver is alerted or controlled based on the vehicle travel information and the surrounding vehicle data in a first standard format. The method according to claim 1, wherein the step of receiving vehicle state information of the installed vehicle is specifically: Receiving vehicle speed and braking state information of the vehicle through the CAN bus interface of the vehicle, and converting into a second standard format; and / or, The step of receiving vehicle location information of the installed vehicle is specifically; The longitude, latitude, altitude, and direction angle information of the vehicle is received by the positioning module and converted into a third standard format. The method according to claim 1, wherein when the surrounding vehicle data is transmitted based on the WAVE standard, the transmission is point-to-point communication based on the OCB mode; and / or, When the surrounding vehicle data is transmitted based on the ETSI-ITS standard, the transmission is based on ITS-G5A Access mode. The method according to claim 1, wherein the step of generating vehicle travel information based on the vehicle state information and the vehicle position information is specifically: Processing is performed after acquiring vehicle state information of the installed vehicle and vehicle location information of the installed vehicle, and generating vehicle travel information including historical route information of the vehicle and prediction of predicting the travel track of the vehicle Path information. The method according to claim 1, wherein the surrounding vehicle data is vehicle state information of other vehicles, vehicle location information, and the surrounding vehicle data transmitted by the V2X terminal on the other vehicle is received and decoded. Wherein the surrounding vehicle data is transmitted based on any at least two of WAVE, ETSI-ITS, and/or LTE-V standards, and after receiving the surrounding vehicle data according to a corresponding technology, the surrounding vehicle data is decoded and converted into After the step of the first standard format, before the step of alerting or controlling the driver according to the vehicle driving information and the surrounding vehicle data, the method further includes: After receiving the vehicle state information and the vehicle location information of the installed vehicle and other vehicles, the other vehicles are classified and saved according to the relative positions of the installed vehicles and other vehicles. The method according to claim 5, wherein the step of alerting or controlling the driver according to the vehicle driving information and the surrounding vehicle data comprises: Determining the threat of the other vehicle to the installed vehicle according to vehicle state information of the installed vehicle, vehicle position information, vehicle state information of other vehicles, vehicle position information, and vehicle travel information of the installed vehicle And prioritize the threats and prioritize the most dangerous threats. A V2X terminal compatible with a multi-system V2X, comprising: a receiving module, configured to receive vehicle state information and vehicle location information of the vehicle; a sensor data processing module, configured to generate vehicle travel information according to the vehicle state information and the vehicle location information; a wireless receiving module, configured to receive surrounding vehicle data sent by a V2X terminal on another vehicle and decode the data into a first standard format, where the wireless receiving module includes any one of a WAVE device, an ETSI-ITS device, and an LTE-V device. At least two, the WAVE device, the ETSI-ITS device, and the LTE-V device are respectively configured to decode and convert the surrounding vehicle data into a first standard after receiving the surrounding vehicle data according to a corresponding technology format; And a processing module, configured to alert or control the driver according to the vehicle driving information and the surrounding vehicle data in a first standard format. A V2X terminal compatible with a multi-system V2X, comprising: a processor and a memory, wherein the memory is used to store program instructions, and the program instructions are used to be loaded by the processor to implement the claim 1 The method steps described in 6. A system compatible with a multi-system V2X, comprising: a plurality of V2X terminals according to claim 7 or 8 respectively installed on different vehicles and connected in a wireless manner. The system of claim 9 further comprising a roadside device wirelessly coupled to said V2X terminal.

Images