CN113382384A - Vehicle local networking oriented road region dividing method based on multi-source sensing technology - Google Patents
Vehicle local networking oriented road region dividing method based on multi-source sensing technology Download PDFInfo
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- CN113382384A CN113382384A CN202110657602.4A CN202110657602A CN113382384A CN 113382384 A CN113382384 A CN 113382384A CN 202110657602 A CN202110657602 A CN 202110657602A CN 113382384 A CN113382384 A CN 113382384A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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- 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]
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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Abstract
The invention discloses a vehicle local networking oriented road area dividing method based on a multi-source sensing technology, which comprises the steps of firstly, building a vehicle terminal system on a vehicle, and collecting vehicle information by adopting a virtual wall system; dividing the road into a plurality of communication areas by using an adjacent virtual wall system, wherein the three division strategies comprise a road-vehicle capacity based strategy, a signal attenuation based strategy and a crossing classification based strategy; and finally, performing regional coordination according to the divided regions. The method has low cost for laying the related sensors and improves the feasibility of actual engineering. The stability of vehicle networking is promoted, and the method can be suitable for various complex road conditions.
Description
Technical Field
The invention belongs to the technical field of vehicle networking, and particularly relates to a method for dividing a vehicle local networking road area.
Background
The vehicle road area division depends on accurate positioning, namely methods based on Beidou and GPS differential positioning, video acquisition and digital image processing and other technologies, but the method is low in civil popularization rate and high in technical cost, and is not beneficial to engineering application realization and popularization. The vehicle local area networking has higher requirements on vehicle area division in the driving process, effectively and accurately completes the vehicle area division in the vehicle road cooperation process, and has important significance on realizing vehicle local area networking communication.
At present, no road area division method based on a multi-source sensing technology is available for confirming vehicle position information, effectively filtering information and improving the efficiency of communication and vehicle-road cooperation among running vehicles.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a vehicle local area networking oriented road area division method based on a multi-source sensing technology, which comprises the steps of firstly, building a vehicle terminal system on a vehicle, and collecting vehicle information by adopting a virtual wall system; dividing the road into a plurality of communication areas by using an adjacent virtual wall system, wherein the three division strategies comprise a road-vehicle capacity based strategy, a signal attenuation based strategy and a crossing classification based strategy; and finally, performing regional coordination according to the divided regions. The method has low cost for laying the related sensors and improves the feasibility of actual engineering. The stability of vehicle networking is promoted, and the method can be suitable for various complex road conditions.
The technical scheme adopted by the invention for solving the technical problem comprises the following steps:
step 1: a vehicle terminal system is mounted on a vehicle, and a virtual wall system is adopted to collect vehicle information;
the vehicle terminal system can acquire the motion state and the positioning information of the vehicle, perform data analysis on the real-time state of the vehicle and realize the wireless communication function of the vehicle;
the virtual wall comprises a sensing module, a control module, a communication module, a processing module and a drive test edge calculation unit; the sensing module, the communication module, the processing module and the drive test edge calculation unit are respectively connected with the control module;
the sensing module comprises a downward sensing array, a lateral photoelectric-microwave sensor and an upward QTC/optical fiber-photoelectric sensor array; the downward sensing array consists of an ultrasonic-photoelectric sensor, is arranged on a road section with part of limited height and is used for detecting the height of the car roof; the lateral photoelectric-microwave sensor detects vehicle information laterally, and can be combined with a street lamp to improve the utilization rate of a road space; measuring the wheel track and the pressure of the vehicle by an upper QTC/optical fiber-photoelectric sensor array; the sensing module is arranged on a road and is responsible for acquiring traffic flow information and triggering the vehicle-mounted communication system, and the sensor can generate a characteristic signal when a vehicle passes by; the virtual wall system calculates the running speed, the running direction, the vehicle-mounted weight and the vehicle type information of the vehicle according to the characteristic signals generated when the vehicle passes through the sensing module; the processing module is responsible for processing the sensor information;
the control module controls the operation of the virtual wall system; the communication module shares real-time road condition information with the vehicle and the road side unit; the drive test edge calculation unit performs comprehensive calculation and analysis on the information acquired by the system and provides decision support for the control module;
a plurality of virtual wall systems can share the same drive test edge calculation unit so as to reduce the cost and improve the efficiency;
step 2: dividing a road into a plurality of communication areas by using an adjacent virtual wall system;
step 2-1: a layout strategy based on road-vehicle capacity;
the virtual wall system is laid according to the mode of setting the intervals at equal intervals or equal road accommodation capacity, and the road area between the adjacent virtual walls is a vehicle communication area; the vehicle can communicate with other vehicles and road side units in the same communication area;
step 2-2: a signal attenuation-based deployment strategy;
the virtual wall system is arranged according to the distance of each attenuation setting decibel of the communication module signal;
step 2-3: a layout strategy based on intersection classification;
classifying intersections of the non-linear road, dividing intersection regions of different types by using a virtual wall system, and laying the virtual wall system;
and step 3: a region combination strategy;
when a vehicle enters different communication areas, the vehicle can communicate with a vehicle terminal and a road side unit in the same communication area;
when a plurality of areas need to be coordinated, the vehicles depend on a relay system or base station equipment to realize cross-area communication coordination.
Further, the vehicle terminal system comprises a control module, a display module, a communication module, a sensing module and a processing module; the display module, the communication module, the sensing module and the processing module are respectively connected with the control module; the display module realizes a human-computer interaction function, the communication module realizes a wireless communication function between the vehicle and the network, the sensing module collects the motion state and the positioning information of the vehicle, and the processing module collects the real-time state of the vehicle to perform data analysis.
Further, the sensing module adopts a pneumatic tube sensor or adopts an optical fiber or QTC sensor or a laser sensor.
The invention has the following beneficial effects:
1. the method has low cost for laying the related sensors and improves the feasibility of actual engineering.
2. The method can monitor the traffic flow of each area and improve the networking efficiency of the vehicle areas.
3. The method can improve the accuracy of vehicle capture and identity recognition and improve the networking stability of the vehicle.
4. The method has simple region division method, flexible virtual boundary layout mode based on the multisource sensing technology and can be suitable for various complex road conditions.
Drawings
FIG. 1 is a block diagram of a vehicle terminal module according to the present invention.
FIG. 2 is a block diagram of a virtual wall system according to the present invention.
FIG. 3 is a hardware diagram of the virtual wall system according to the present invention.
Fig. 4 is a schematic diagram of the invention based on the road-vehicle capacity division.
Fig. 5 the invention is based on a signal attenuation division diagram.
FIG. 6 is a schematic diagram illustrating the division of the intersection area according to the present invention.
Fig. 7 is a schematic diagram of the division of the annular intersection area according to the present invention.
Fig. 8 is a one-way cooperative diagram of the intersection of the present invention.
FIG. 9 is a schematic diagram of the intersection of the present invention showing the cooperation of four-way intervals.
FIG. 10 is a schematic view of the intersection area coordination of the present invention.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The technical problem to be solved by the invention is as follows: the accurate regional division of the running vehicles in the complex road is efficiently realized, and early support is provided for the follow-up efficient local networking of the vehicles and the improvement of the cooperative efficiency and accuracy of the vehicle and road.
A vehicle local networking-oriented road region dividing method based on a multi-source sensing technology comprises the following steps:
step 1: a vehicle terminal system is mounted on a vehicle, and a virtual wall system is adopted to collect vehicle information;
as shown in fig. 1, the vehicle terminal system includes a control module, a display module, a communication module, a sensing module, and a processing module; the display module, the communication module, the sensing module and the processing module are respectively connected with the control module; the display module realizes a human-computer interaction function, the communication module realizes a wireless communication function between the vehicle and a network, the sensing module acquires the motion state and the positioning information of the vehicle, and the processing module collects the real-time state of the vehicle for data analysis; the sensor can generate a characteristic signal when the vehicle passes by, the vehicle speed, the wheel base and the like can be calculated according to the signal time interval and the sensor distance, different vehicle types can be distinguished according to the pressure signal, the wheel base and the wheel number, the passing vehicle can be monitored and counted, and the vehicle flow in each area can be monitored in real time;
as shown in fig. 2 and 3, the virtual wall includes a sensing module, a control module 4, a communication module 5, a processing module, and a drive test edge calculation unit 6; the sensing module, the communication module 5, the processing module and the drive test edge calculation unit 6 are respectively connected with the control module 4;
the sensing module comprises a downward sensing array 1, a lateral photoelectric-microwave sensor 2 and an upward QTC/optical fiber-photoelectric sensor array 3; the downward sensing array 1 consists of ultrasonic-photoelectric sensors, is arranged on a road section with part of limited height and is used for detecting the height of a car roof; the lateral photoelectric-microwave sensor 2 detects vehicle information laterally, and can be combined with a street lamp to improve the road space utilization rate; the upper QTC/optical fiber-photoelectric sensor array 3 measures the wheel track and the pressure of the vehicle; the sensing module is arranged on a road and is responsible for acquiring traffic flow information and triggering the vehicle-mounted communication system, and the sensor can generate a characteristic signal when a vehicle passes by; the virtual wall system calculates the running speed, the running direction, the vehicle-mounted weight and the vehicle type information of the vehicle according to the characteristic signals generated when the vehicle passes through the sensing module; the processing module is responsible for processing the sensor information;
the control module 4 controls the operation of the virtual wall system; the communication module 5 shares the real-time road condition information with the vehicle and the road side unit; the drive test edge calculation unit 6 performs comprehensive calculation and analysis on the information acquired by the system and provides decision support for the control module 4;
a plurality of virtual wall systems can share the same drive test edge calculation unit 6 so as to reduce the cost and improve the efficiency;
step 2: dividing a road into a plurality of communication areas by using an adjacent virtual wall system; any complex road shape can be divided into a plurality of areas by using a virtual wall system, and the embodiment only takes typical straight-going roads, crossroads and four-intersection roundabouts as examples; other types such as: the multiple intersections, roundabouts, viaducts and overpasses can be flexibly laid according to actual conditions based on corresponding strategies;
step 2-1: a layout strategy based on road-vehicle capacity;
the virtual wall system is laid according to the mode of setting the intervals at equal intervals or equal road accommodation capacity, and the road area between the adjacent virtual walls is a vehicle communication area; as shown in fig. 4, the straight road is divided into five regions by virtual walls L1, L2, L3, L4; the vehicle can communicate with other vehicles and road side units in the same communication area;
step 2-2: a signal attenuation-based deployment strategy;
the virtual wall system is arranged according to the distance of each attenuation setting decibel of the communication module signal; as shown in fig. 5, a is the roadside unit whose road length is d1, d2, d3 per attenuation X db of signal strength; when the signal intensity of the roadside unit a is attenuated to the threshold value X db, the covered road length is d1, the distance between the sensor modules L2 and L3 is set to d1, the region R3 is divided by using L2 and L3 as boundaries, the distance between the sensor modules L3 and L4 is set to d2, the region R4 is divided by using L3 and L4 as boundaries, and the regions R1, R2 and R3 are divided.
Step 2-3: a layout strategy based on intersection classification;
classifying intersections of the non-linear road, dividing intersection regions of different types by using a virtual wall system, and laying the virtual wall system; aiming at complex roads such as multiple intersections, roundabouts and the like, dividing each intersection region by using a virtual wall;
as shown in fig. 6, a plurality of areas are defined by virtual walls at the intersection, and the roadside units and the vehicle terminals in the plurality of areas can be coordinated as necessary. If the blockage needs to be removed, all terminals in N1, W1, S1 and E1 can be coordinated, or certain areas in the N1, W1, S1 and E1 can be grouped and coordinated according to needs.
As shown in fig. 7, the four-way intersection roundabout in the figure divides four intersections into regions R1, R2, R3, and R4 in order to allow vehicles at the entrance and exit of the roundabout to cooperatively communicate with each other, thereby providing information such as a road condition ahead of the entering vehicle from the exiting vehicle.
And step 3: a region combination strategy;
when a vehicle enters different communication areas, the vehicle can communicate with a vehicle terminal and a road side unit in the same communication area;
when a plurality of areas need to be coordinated, the vehicles depend on a relay system or base station equipment to realize cross-area communication coordination.
As shown in fig. 8, when the one-way coordination and control of the intersection is performed, a certain direction area of the intersection is coordinated; as shown in fig. 9, when the crossroad is unblocked, the control can be coordinated with the intersection annular regions N2, W2, S2 and E2. Or as shown in fig. 10, combining the intersection regions E1, N1, W1, S1 into R1; the combination of regions E2, N2, W2, S2 is R2. When the road junction needs to be dredged, vehicles in R1 and R2 areas can be dredged respectively, and the vehicle speed and the traffic sequence are coordinated remotely.
Claims (3)
1. A vehicle local networking-oriented road region dividing method based on a multi-source sensing technology is characterized by comprising the following steps:
step 1: a vehicle terminal system is mounted on a vehicle, and a virtual wall system is adopted to collect vehicle information;
the vehicle terminal system can acquire the motion state and the positioning information of the vehicle, perform data analysis on the real-time state of the vehicle and realize the wireless communication function of the vehicle;
the virtual wall comprises a sensing module, a control module, a communication module, a processing module and a drive test edge calculation unit; the sensing module, the communication module, the processing module and the drive test edge calculation unit are respectively connected with the control module;
the sensing module comprises a downward sensing array, a lateral photoelectric-microwave sensor and an upward QTC/optical fiber-photoelectric sensor array; the downward sensing array consists of an ultrasonic-photoelectric sensor, is arranged on a road section with part of limited height and is used for detecting the height of the car roof; the lateral photoelectric-microwave sensor detects vehicle information laterally, and can be combined with a street lamp to improve the utilization rate of a road space; measuring the wheel track and the pressure of the vehicle by an upper QTC/optical fiber-photoelectric sensor array; the sensing module is arranged on a road and is responsible for acquiring traffic flow information and triggering the vehicle-mounted communication system, and the sensor can generate a characteristic signal when a vehicle passes by; the virtual wall system calculates the running speed, the running direction, the vehicle-mounted weight and the vehicle type information of the vehicle according to the characteristic signals generated when the vehicle passes through the sensing module; the processing module is responsible for processing the sensor information;
the control module controls the operation of the virtual wall system; the communication module shares real-time road condition information with the vehicle and the road side unit; the drive test edge calculation unit performs comprehensive calculation and analysis on the information acquired by the system and provides decision support for the control module;
a plurality of virtual wall systems can share the same drive test edge calculation unit so as to reduce the cost and improve the efficiency;
step 2: dividing a road into a plurality of communication areas by using an adjacent virtual wall system;
step 2-1: a layout strategy based on road-vehicle capacity;
the virtual wall system is laid according to the mode of setting the intervals at equal intervals or equal road accommodation capacity, and the road area between the adjacent virtual walls is a vehicle communication area; the vehicle can communicate with other vehicles and road side units in the same communication area;
step 2-2: a signal attenuation-based deployment strategy;
the virtual wall system is arranged according to the distance of each attenuation setting decibel of the communication module signal;
step 2-3: a layout strategy based on intersection classification;
classifying intersections of the non-linear road, dividing intersection regions of different types by using a virtual wall system, and laying the virtual wall system;
and step 3: a region combination strategy;
when a vehicle enters different communication areas, the vehicle can communicate with a vehicle terminal and a road side unit in the same communication area;
when a plurality of areas need to be coordinated, the vehicles depend on a relay system or base station equipment to realize cross-area communication coordination.
2. The vehicle local networking-oriented road area dividing method based on the multi-source sensing technology is characterized in that the vehicle terminal system comprises a control module, a display module, a communication module, a sensing module and a processing module; the display module, the communication module, the sensing module and the processing module are respectively connected with the control module; the display module realizes a human-computer interaction function, the communication module realizes a wireless communication function between the vehicle and the network, the sensing module collects the motion state and the positioning information of the vehicle, and the processing module collects the real-time state of the vehicle to perform data analysis.
3. The vehicle local networking-oriented road area dividing method based on the multi-source sensing technology as claimed in claim 1, wherein the sensing module adopts a pneumatic tube sensor or adopts an optical fiber or a QTC sensor or a laser sensor.
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