CN115662139A - Control method for early warning output of intelligent vehicle road cooperative system based on C-V2X and vehicle - Google Patents
Control method for early warning output of intelligent vehicle road cooperative system based on C-V2X and vehicle Download PDFInfo
- Publication number
- CN115662139A CN115662139A CN202211349796.2A CN202211349796A CN115662139A CN 115662139 A CN115662139 A CN 115662139A CN 202211349796 A CN202211349796 A CN 202211349796A CN 115662139 A CN115662139 A CN 115662139A
- Authority
- CN
- China
- Prior art keywords
- early warning
- warning message
- message
- historical
- level
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000012360 testing method Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 8
- 230000001960 triggered effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000003993 interaction Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000001413 cellular effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Images
Landscapes
- Traffic Control Systems (AREA)
Abstract
The invention provides a control method and a vehicle for early warning output of an intelligent vehicle-road cooperative system based on C-V2X, wherein the intelligent vehicle-road cooperative system based on C-V2X comprises an early warning message generating module, an early warning message output arbitration module and an early warning message display module, and the control method comprises the following steps: the early warning message generating module is used for carrying out V2X scene triggering judgment according to the mobile vehicle message and the road side terminal message received by the vehicle, and generating and sending early warning messages; the early warning message output arbitration module schedules and arbitrates the early warning message, and stores and sends the emergency early warning message; the early warning message display module displays an emergency early warning message. According to the control method for early warning output of the C-V2X-based intelligent vehicle-road cooperative system, the most urgent early warning message can be selected and output, the simultaneous broadcast of multiple early warning messages is avoided, the back-and-forth switching of an early warning interface is avoided by setting the early warning threshold, and the user experience is improved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a C-V2X-based control method for early warning output of an intelligent vehicle-road cooperative system and a vehicle.
Background
By carrying related software and hardware on the vehicle and the road, dynamic real-time information interaction of the vehicle and the vehicle road can be carried out. The vehicle-road cooperation system is based on an advanced C-V2X (Cellular vehicle-to-environment) technology, integrates a new-generation high-precision positioning technology and an advanced Internet of things technology, and realizes dynamic real-time information interaction among a vehicle-to-vehicle (V2V), a vehicle-to-road (V2I), a vehicle-to-person (V2P) and a vehicle-to-cloud platform (V2N). On the basis of all-round dynamic traffic information acquisition and fusion, the vehicle-road cooperative system realizes vehicle active driving safety early warning and control and road traffic cooperative management, and fully realizes effective cooperation of people, vehicles, roads and clouds, so that driving safety is improved, urban traffic jam is reduced, traffic trip quality is improved, and management effect of an urban traffic management department is improved.
In recent years, the C-V2X industry in our country has developed rapidly. From three spans in 2018 to four spans in 2019 to new four spans in 2020 and large scale, from more than 20 participating units to more than 100 participating units, 7 application scenes are expanded to 17, and participating manufacturers and V2X demonstration scenes are gradually increased. From V2X practical application scene, consider the urban area road that the traffic is complicated, the probability that multiple V2X scene triggered simultaneously is especially high, and a plurality of early warning messages are reported simultaneously, frequently switch over, will certainly bring the interference for user's safety, seriously influence user's judgement and experience, the potential safety hazard of bringing of not equidimension.
Disclosure of Invention
The technical problems to be solved by the embodiment of the invention are that the probability of simultaneously triggering various V2X scenes is high, and a plurality of early warning messages are simultaneously broadcast and frequently switched, so that the judgment and experience of customers are influenced, and potential safety hazards are brought.
In view of the above, the invention provides a control method for early warning output of an intelligent vehicle-road cooperative system based on C-V2X.
The invention further provides an intelligent vehicle-road coordination system based on the C-V2X.
The invention also provides a vehicle with the C-V2X-based intelligent vehicle-road cooperative system.
In order to solve the technical problems, the invention adopts the following technical scheme:
according to the control method for early warning output of the C-V2X-based intelligent vehicle-road cooperative system, disclosed by the embodiment of the invention, the early warning message is output through the C-V2X-based intelligent vehicle-road cooperative system, the C-V2X-based intelligent vehicle-road cooperative system comprises an early warning message generating module, an early warning message output arbitration module and an early warning message display module, and the method comprises the following steps:
the early warning message generation module carries out V2X scene triggering judgment according to the mobile vehicle message and the road side terminal message received by the vehicle, and generates and sends early warning messages;
the early warning message output arbitration module schedules and arbitrates the early warning message, and stores and sends an emergency early warning message;
and the early warning message display module displays the emergency early warning message.
The control method for early warning output of the C-V2X-based intelligent vehicle-road cooperative system according to the embodiment of the invention also comprises the following technical characteristics:
further, the early warning message output arbitration module schedules and arbitrates the early warning message, and stores and transmits an emergency early warning message, including:
comparing the danger levels of different early warning messages, and outputting an early warning message with a high danger level; and if the danger levels are the same, outputting early warning messages with high early warning levels and storing the early warning messages as historical early warning messages.
Further, the danger level sequentially comprises three levels of collision early warning, safety reminding and road condition reminding from high to low.
Further, the calculation formula of the early warning level is as follows:
P＝X-(Value/Threshold)*X，
wherein, P is a standardized early warning level, and if Value is collision time, threshold is a time Threshold; threshold is a distance Threshold if Value is distance.
Further, if the danger levels are the same, outputting an early warning message with a high early warning level, and storing the early warning message as a historical early warning message, further comprising:
in a set period, defining an early warning message with the same type as the historical early warning message and the highest early warning level as TM1; defining the early warning message with the type different from that of the historical early warning message and the highest early warning level as TM2;
under the condition that the TM1 and the TM2 exist, saving the TM1 and the TM2, and comparing the early warning levels of the TM1 and the TM2; if the early warning level of the TM2 is higher than the early warning level setting threshold of the TM1, outputting the TM2, otherwise, outputting the TM1;
under the condition that the TM1 does not exist but the TM2 exists, comparing the TM2 with the early warning level of the historical early warning message; if the warning level of the TM2 is higher than the warning level set threshold of the historical warning message, outputting the TM2, otherwise, continuously outputting the historical warning message until the sending times of the historical warning message reach the set times, and outputting the TM2;
and under the condition that the TM1 does not exist and the TM2 does not exist, continuously sending the historical early warning message until the early warning cancellation times/time threshold value is reached, and then not outputting the early warning message.
According to a second aspect of the invention, the intelligent vehicle-road coordination system based on C-V2X comprises:
the system comprises a warning message generation module, a warning message generation module and a warning message sending module, wherein the warning message generation module is used for carrying out V2X scene triggering judgment according to mobile vehicle messages and roadside terminal messages received by a vehicle, and generating and sending warning messages;
the early warning message output arbitration module is used for scheduling and arbitrating the early warning message, storing and sending an emergency early warning message;
and the early warning message display module displays the emergency early warning message.
Furthermore, the early warning message generation module and the early warning message output arbitration module are communicated through UDP Socket JSON, and the early warning message output arbitration module and the early warning message display module are communicated through TCP Socket JSON.
Further, the early warning message output arbitration module compares the danger levels of different early warning messages and outputs the early warning message with a high danger level; and if the danger levels are the same, outputting early warning messages with high early warning levels and storing the early warning messages as historical early warning messages.
Further, if the danger levels are the same, outputting an early warning message with a high early warning level, and storing the early warning message as a historical early warning message, further comprising:
the early warning message output arbitration module defines the early warning message with the same type as the historical early warning message and the highest early warning level as TM1 in a set period; defining the early warning message with the type different from that of the historical early warning message and the highest early warning level as TM2;
under the condition that the TM1 and the TM2 exist, saving the TM1 and the TM2, and comparing the early warning levels of the TM1 and the TM2; if the early warning level of the TM2 is higher than the early warning level setting threshold of the TM1, outputting the TM2, otherwise, outputting the TM1;
comparing the warning levels of the TM2 and the historical warning messages under the condition that the TM1 does not exist but the TM2 exists; if the early warning level of the TM2 is higher than the early warning level set threshold of the historical early warning message, outputting the TM2, otherwise, continuously outputting the historical early warning message until the sending times of the historical early warning message reach the set times, and outputting the TM2;
and under the conditions that the TM1 does not exist and the TM2 does not exist, the historical early warning message is continuously sent, and the early warning message is not output until the number of times/time threshold value for canceling the early warning is reached.
The vehicle according to the third aspect of the invention comprises the C-V2X-based intelligent vehicle-road coordination system.
The technical scheme of the invention at least has the following technical effects:
according to the control method for early warning output of the C-V2X-based intelligent vehicle-road cooperative system, all early warning messages are scheduled and arbitrated according to rules, the most urgent early warning messages can be selected and output, the simultaneous broadcasting of a plurality of early warning messages is avoided, meanwhile, the switching of early warning interfaces is avoided by setting early warning threshold values, the user experience and judgment are improved, and potential safety hazards are reduced.
Drawings
FIG. 1 is a flow chart of a control method for early warning output of a C-V2X-based intelligent vehicle-road cooperative system according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a C-V2X-based intelligent vehicle-road coordination system according to an embodiment of the invention;
FIG. 3 is a flowchart illustrating the priority determination of the control method for early warning output of the C-V2X-based intelligent vehicle-road cooperative system according to the embodiment of the present invention;
fig. 4 is a diagram of early warning test effects before and after the priority determination of the FCW and RLVW with different hazard levels according to the first embodiment of the present invention;
fig. 5 is a diagram of the early warning test effect before and after the FCW and ICW priority determination of different early warning levels according to the second embodiment of the present invention;
fig. 6 is a diagram of an early warning test effect before the FCW and ICW priorities of the same early warning level are determined according to the third embodiment of the present invention;
fig. 7 is a diagram of switching test effects of early warning scenes after the priorities of the same early warning level are determined according to the third embodiment of the present invention.
Reference numerals
A C-V2X based intelligent vehicle-road coordination system 200; a generate early warning message module 210; an early warning message output arbitration module 220; an early warning message display module 230.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
The following specifically describes a control method for early warning output of an intelligent vehicle-road cooperative system based on C-V2X according to an embodiment of the present invention with reference to the accompanying drawings.
As shown in fig. 1 and 2, according to the control method for early warning output of the C-V2X-based intelligent vehicle-road coordination system of the embodiment of the present invention, the early warning message is output through the C-V2X-based intelligent vehicle-road coordination system 200, the C-V2X-based intelligent vehicle-road coordination system 200 includes an early warning message generation module 210, an early warning message output arbitration module 220, and an early warning message display module 230, and the method includes the following steps:
s110, a generating early warning message module 210 performs V2X scene triggering judgment according to the mobile vehicle message and the road side terminal message received by the vehicle, and generates and sends an early warning message;
s120, the early warning message output arbitration module 220 schedules and arbitrates the early warning message, and stores and sends the emergency early warning message;
s130, the warning message display module 230 displays the emergency warning message.
In other words, the control method of the early warning output of the intelligent Vehicle-road cooperative system based on the C-V2X carries out V2X scene triggering judgment according to a mobile Vehicle (RV) message and a roadside terminal (RSU) message received by a Host Vehicle (HV); and then scheduling and arbitrating the early warning messages according to corresponding rules and combining the emergency degree triggered by the scene, and selecting the most emergency early warning message for outputting and displaying, so that the interference and trouble caused by the simultaneous broadcast of a plurality of early warning messages to users are avoided.
Therefore, according to the control method for early warning output of the C-V2X-based intelligent vehicle-road cooperative system, all early warning messages are scheduled and arbitrated according to rules, the most urgent early warning messages can be selected and output, and the influence on user experience due to the fact that a plurality of early warning messages are broadcast at the same time is avoided.
In one embodiment of the present invention, scheduling and arbitrating early warning messages, and storing and transmitting emergency early warning messages, comprises: comparing the danger levels of different early warning messages, and outputting an early warning message with a high danger level; and if the danger levels are the same, outputting an early warning message with a high early warning level, and storing the early warning message as a historical early warning message.
That is to say, the application scenes in the V2X scene information are divided into different danger levels, and a judgment standard of an early warning level of each application scene is defined; when the early warning messages are scheduled and arbitrated, the danger levels are preferentially compared, if the danger levels are high, the early warning messages with high danger levels are directly output, if the danger levels are the same, the early warning levels are compared, the early warning messages with high early warning levels are output, priority judgment of the early warning messages is achieved, and the multiple early warning messages are prevented from being output simultaneously.
In one embodiment of the invention, the danger level comprises three levels of collision early warning, safety reminding and road condition reminding from high to low in sequence.
Specifically, 16 application scenes (except for a Near Field payment scene (VNFP)) in a first stage and 4 application scenes in a second stage of the application layer and application data interaction standard of the vehicular Communication system of the cooperative intelligent transportation system are sequentially divided into 3 levels of collision early warning, safety reminding and road condition reminding according to the danger level from high to low. The green wave vehicle speed guidance, ramp entry (second stage) and special vehicle priority scene (second stage) are not in the early warning priority strategy range and can be displayed simultaneously with other early warnings.
Preferably, the calculation formula of the early warning level is as follows:
P＝X-(Value/Threshold)*X，
wherein, P is a standardized early warning level, and if Value is collision time, threshold is a time Threshold; if Value is the distance, threshold is the distance Threshold.
In other words, the early warning level is set by each application scene according to the early warning parameters of each application, the early warning parameters may include time parameters, distance parameters, speed parameters, and the like, for example, the early warning level of the scene is calculated by collision time or danger distance, and the time and distance parameters are unified/standardized to the same range, such as 0 to X, so as to realize the unified standard of different scenes under different early warning parameter judgment.
According to an embodiment of the present invention, scheduling and arbitrating the early warning message, and storing and transmitting the emergency early warning message further comprises:
in a set period, defining an early warning message with the same type as the historical early warning message and the highest early warning level as TM1; defining an early warning message which is different from the historical early warning message in type and has the highest early warning level as TM2;
under the condition that TM1 and TM2 exist, the TM1 and TM2 are saved, and the early warning levels of the TM1 and TM2 are compared; if the early warning level of TM2 is higher than the early warning level of TM1 by a set threshold, outputting TM2, otherwise outputting TM1;
comparing the early warning level of the TM2 with the early warning level of the historical early warning message under the condition that the TM1 does not exist but the TM2 exists; if the warning level of TM2 is higher than the warning level set threshold of the historical warning message, outputting TM2, otherwise, continuously outputting the historical warning message until the sending times of the historical warning message reach the set times, and outputting TM2;
and under the conditions that the TM1 does not exist and the TM2 does not exist, the historical early warning message is continuously sent until the early warning cancellation times/time threshold value is reached, and the early warning message is not output.
Specifically, as shown in fig. 3, when the warning message is output, in order to avoid the situation that the warning type is frequently switched, the warning message with the same type as the historical warning type is preferentially output. In the unit early warning period, in the received early warning messages, the early warning message TM1 with the same danger level as the historical early warning message and the highest early warning level and the early warning message TM2 with the different danger level from the historical early warning message and the highest early warning level are stored through comparison among the early warning messages. If TM2 is higher than the early warning level of TM1 by a set threshold (configurable), TM2 is output, otherwise TM1 is output. When the TM1 is not received, if the TM2 is higher than the early warning level of the historical early warning message by a set threshold, outputting the TM2, otherwise, continuously outputting the historical early warning message until the sending time threshold is reached (configurable); if the historical early warning message reaches the threshold value of the sending times, TM2 is directly output. If the TM1 and the TM2 do not receive the early warning message, the historical early warning message is continuously sent until the number of times/time threshold value (configurable) of early warning cancellation is reached, and the early warning message is not output after the number of times threshold value of early warning cancellation is reached.
Therefore, according to the control method for early warning output of the C-V2X-based intelligent vehicle-road cooperative system, provided by the embodiment of the invention, the danger level of a V2X application scene is divided, the early warning scene judgment is carried out by combining the emergency degree triggered by the scene, and the frequent switching of early warning messages is avoided by increasing the early warning threshold value, so that the accurate and stable output of the early warning messages is realized, the early warning messages with the highest emergency degree can be output at the same time, the safe, reliable and effective early warning prompt is brought to customers, and the customer experience is improved. Specifically, the priority judgment embodiment of the control method for early warning output of the intelligent vehicle-road cooperative system based on C-V2X is shown in the following.
The first embodiment is as follows:
scene testing of different risk levels
The early warning message output arbitration module 220 preferentially determines the risk level: forward Collision Warning (FCW) > Red Light Warning (RLVW), the output Warning message is an FCW Collision Warning message. The warning level is not judged any more thereafter, so even if the warning level: FCW < RLVW, FCW collision warning message is still only output, as shown in table 1 and fig. 4.
TABLE 1 scene test data for different hazard levels
Example two:
same hazard level scenario testing
The early warning message output arbitration module 220 preferentially determines the risk level: forward Collision Warning (FCW) = Intersection Collision Warning (ICW), and then the Warning level is judged: when the FCW is less than the ICW, the output warning message is only the ICW collision warning message through the priority judgment, as shown in table 2 and fig. 5.
TABLE 2 same hazard level scene survey data
Example three:
early warning scene switch test
Before the early warning priority is applied: during the Forward Collision Warning (FCW) Warning output and continuous triggering process, an Intersection Collision Warning (ICW) scenario is triggered, without any processing and judgment, while an FCW scenario is output, a reverse overtaking Warning (Do Not Pass Warning, DNPW) scenario is output, and the Warning output test result is shown in fig. 6.
After the early warning priority is applied: in the FCW early warning output and continuous triggering process, a DNPW scenario is triggered, and the early warning message output arbitration module 220 first determines the risk level: continuing to judge whether the early warning level standard value DNPW is larger than FCW + threshold, continuing to output the FCW scene before exceeding, and switching DNPW scene output after exceeding; only one early warning scene is output at the same time, so that the interference of the attention of the user by simultaneous reporting is avoided, as shown in table 3 and attached drawing 7.
TABLE 3 early warning scene switch test
In summary, according to the control method for early warning output of the C-V2X-based intelligent vehicle-road cooperative system in the embodiment of the present invention, by scheduling and arbitrating all early warning messages according to rules, the most urgent early warning message can be selected and output, so that multiple early warning messages are prevented from being broadcast at the same time, and meanwhile, the early warning interface is prevented from switching back and forth by setting an early warning threshold, thereby improving user experience.
The C-V2X-based intelligent vehicle-road coordination system 200 according to the second aspect of the present invention includes an early warning message generation module 210, an early warning message output arbitration module 220, and an early warning message display module 230.
Specifically, the early warning message generation module 210 performs V2X scene triggering judgment according to the mobile vehicle message and the roadside terminal message received by the vehicle, generates and transmits an early warning message, the early warning message output arbitration module 220 schedules and arbitrates the early warning message, stores and transmits an emergency early warning message, and the early warning message display module 230 displays the emergency early warning message.
In other words, the C-V2X-based intelligent vehicle-road coordination system 200 according to the embodiment of the present invention may utilize an on-board unit (OBU) of a vehicle-mounted terminal to complete an early warning message prompting function. The OBU of the vehicle-mounted terminal can be integrally divided into three layers: an input/output Layer (I/O Layer), an Application Service Layer (Service Layer), and an Application Layer (Application Layer). The generation early warning message module 210 of the application layer is configured to perform V2X scene triggering judgment according to a mobile Vehicle (RV) message and a Road Side Unit (RSU) message received by a Host Vehicle (HV), and generate an early warning message. The early warning message output arbitration module 220 of the application service layer schedules and arbitrates the early warning messages according to corresponding rules, selects the most urgent early warning messages, and outputs the early warning messages to the early warning message display module 230 of the input and output layer for outputting the early warning messages.
Therefore, according to the C-V2X-based intelligent vehicle-road cooperative system 200 provided by the embodiment of the invention, the most urgent early warning messages can be selected and output by scheduling and arbitrating all the early warning messages according to the rules, so that the simultaneous broadcast of a plurality of early warning messages is avoided, and the user experience is improved.
In an embodiment of the present invention, the early warning message generation module 210 communicates with the early warning message output arbitration module 220 through UDP Socket JSON, and the early warning message output arbitration module 220 communicates with the early warning message display module 230 through TCP Socket JSON. Communication is carried out among all levels through TCP/UDP Socket JSON, the division of labor is clear, and the coupling degree is small.
Optionally, the early warning message output arbitration module 220 compares the danger levels of different early warning messages and outputs an early warning message with a high danger level; and if the danger levels are the same, outputting an early warning message with a high early warning level, and storing the early warning message as a historical early warning message.
In other words, the application scenes in the V2X scene information are divided into different danger levels, and a determination criterion of an early warning level of each application scene is defined; when scheduling and arbitrating the early warning message, preferentially comparing the danger level, if the danger level is high, directly outputting the early warning message with high danger level, if the danger level is the same, comparing the early warning level, and outputting the early warning message with high early warning level.
In one embodiment of the invention, the danger level comprises three levels of collision early warning, safety reminding and road condition reminding from high to low in sequence.
Specifically, 16 application scenes (except a near field payment scene VNFP) in a first stage and 4 application scenes in a second stage of 'application layer and application data interaction standard of the vehicular communication system of the cooperative intelligent transportation system' are sequentially divided into 3 levels of collision early warning, safety reminding and road condition reminding according to the danger level from high to low. The green wave vehicle speed guidance, ramp entry (second stage) and special vehicle priority scene (second stage) are not in the early warning priority strategy range and can be displayed simultaneously with other early warnings.
Preferably, the calculation formula of the early warning level is as follows:
P＝X-(Value/Threshold)*X，
wherein, P is a standardized early warning level, and if Value is collision time, threshold is a time Threshold; if Value is the distance, threshold is the distance Threshold.
In other words, the early warning level is set by each application scene according to the early warning parameters of each application, and the early warning parameters may include time parameters, distance parameters, speed parameters, and the like, for example, the early warning level of the scene is calculated by collision time or danger distance, and the time and distance parameters are unified/standardized to the same range, such as 0 to X, so as to realize the unified standard of different scenes under different early warning parameter determinations.
Furthermore, scheduling and arbitrating the early warning message, and storing and sending the emergency early warning message; further comprising:
the early warning message output arbitration module 220 defines an early warning message with the same type as the historical early warning message and the highest early warning level as TM1 in a set period; defining the early warning message with the type different from that of the historical early warning message and the highest early warning level as TM2;
under the condition that TM1 and TM2 exist, the TM1 and TM2 are saved, and the early warning levels of the TM1 and TM2 are compared; if the early warning level of TM2 is higher than the early warning level of TM1 by a set threshold, outputting TM2, otherwise outputting TM1;
comparing the early warning levels of the TM2 and the historical early warning messages under the condition that the TM1 does not exist but the TM2 exists; if the warning level of the TM2 is higher than the warning level set threshold of the historical warning message, outputting the TM2, otherwise, continuously outputting the historical warning message until the sending times of the historical warning message reach the set times, and outputting the TM2;
and under the conditions that the TM1 does not exist and the TM2 does not exist, the historical early warning message is continuously sent until the early warning cancellation times/time threshold value is reached, and the early warning message is not output.
That is, as shown in fig. 3, when the warning message is output, in order to avoid the situation that the warning type is frequently switched, the warning message of the same type as the historical warning type is preferentially output. In the unit early warning period, in the received early warning messages, the early warning message TM1 with the same danger level as the historical early warning message and the highest early warning level and the early warning message TM2 with the different danger level from the historical early warning message and the highest early warning level are stored through comparison among the early warning messages. If the TM2 is higher than the early warning level of the TM1 by a set threshold (configurable), outputting the TM2, and otherwise, outputting the TM1. If the TM1 is not received, if the TM2 is higher than the early warning level of the historical early warning message by a set threshold value, outputting the TM2, otherwise, continuously outputting the historical early warning message until a sending time threshold value is reached (configurable); if the historical early warning message reaches the threshold value of the sending times, TM2 is directly output. If the TM1 and the TM2 do not receive the warning message, the historical warning message is continuously sent until the number of times/time threshold value (configurable) of warning cancellation is reached, and warning is not output after the number of times threshold value of warning cancellation is reached.
In summary, according to the C-V2X-based intelligent vehicle-road coordination system 200 provided by the embodiment of the present invention, by dividing the risk level of the V2X application scene, performing early warning scene determination in combination with the emergency degree triggered by the scene, and increasing the early warning threshold to avoid frequent switching of early warning messages, accurate and stable output of the early warning messages is realized, the early warning messages with the highest emergency degree are guaranteed to be output at the same time, so as to provide safe, reliable and effective early warning prompts for the customer, and improve the customer experience.
In the third embodiment of the present invention, the vehicle includes the C-V2X-based intelligent vehicle-road coordination system 200 according to the above embodiment, and because the C-V2X-based intelligent vehicle-road coordination system 200 according to the above embodiment of the present invention has the above technical effects, the vehicle according to the embodiment of the present invention also has corresponding technical effects, that is, it can be ensured that the early warning message with the highest degree of urgency is output at the same time, frequent switching of the early warning message is avoided, a safe, reliable, and effective early warning prompt is brought to the customer, and customer experience is improved.
Other structures and operations of the vehicle according to the embodiment of the present invention will be understood and readily implemented by those skilled in the art, and thus will not be described in detail.
Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships are changed accordingly.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A control method for early warning output of an intelligent vehicle-road cooperative system based on C-V2X is characterized in that the method comprises the following steps:
the early warning message generating module is used for carrying out V2X scene triggering judgment according to the mobile vehicle message and the road side terminal message received by the vehicle, and generating and sending early warning messages;
the early warning message output arbitration module schedules and arbitrates the early warning message, and stores and sends an emergency early warning message;
and the early warning message display module displays the emergency early warning message.
2. The control method for early warning output of the C-V2X-based intelligent vehicle-road cooperative system according to claim 1, wherein the early warning message output arbitration module schedules and arbitrates the early warning message, and stores and transmits an emergency early warning message, and comprises:
comparing the danger levels of different early warning messages, and outputting an early warning message with a high danger level; and if the danger levels are the same, outputting an early warning message with a high early warning level and storing the early warning message as a historical early warning message.
3. The control method for early warning output of the C-V2X-based intelligent vehicle-road cooperative system according to claim 2, wherein the danger level comprises three levels of collision early warning, safety warning and road condition warning in sequence from high to low.
4. The control method for early warning output of the C-V2X-based intelligent vehicle-road cooperative system according to claim 2, wherein the calculation formula of the early warning level is as follows:
P＝X-(Value/Threshold)*X，
wherein, P is a standardized early warning level, and if Value is collision time, threshold is a time Threshold; if Value is the distance, threshold is the distance Threshold.
5. The control method for early warning output of the C-V2X-based intelligent vehicle-road cooperative system according to claim 2, wherein if the danger levels are the same, an early warning message with a high early warning level is output and stored as a historical early warning message, further comprising:
in a set period, defining an early warning message with the same type as the historical early warning message and the highest early warning level as TM1; defining the early warning message with the type different from that of the historical early warning message and the highest early warning level as TM2;
under the condition that the TM1 and the TM2 exist, saving the TM1 and the TM2, and comparing the early warning levels of the TM1 and the TM2; if the early warning level of the TM2 is higher than the early warning level setting threshold of the TM1, outputting the TM2, otherwise, outputting the TM1;
comparing the warning levels of the TM2 and the historical warning messages under the condition that the TM1 does not exist but the TM2 exists; if the warning level of the TM2 is higher than the warning level set threshold of the historical warning message, outputting the TM2, otherwise, continuously outputting the historical warning message until the sending times of the historical warning message reach the set times, and outputting the TM2;
and under the condition that the TM1 does not exist and the TM2 does not exist, continuously sending the historical early warning message until the early warning cancellation times/time threshold value is reached, and then not outputting the early warning message.
6. The utility model provides an intelligence car road cooperative system based on C-V2X which characterized in that includes:
the system comprises a warning message generation module, a warning message generation module and a warning message sending module, wherein the warning message generation module is used for carrying out V2X scene triggering judgment according to mobile vehicle messages and roadside terminal messages received by a vehicle, and generating and sending warning messages;
the early warning message output arbitration module is used for scheduling and arbitrating the early warning message and storing and sending an emergency early warning message;
and the early warning message display module displays the emergency early warning message.
7. The C-V2X-based intelligent vehicle-road cooperative system as claimed in claim 6, wherein the early warning message generation module communicates with the early warning message output arbitration module through UDP Socket JSON, and the early warning message output arbitration module communicates with the early warning message display module through TCP Socket JSON.
8. The C-V2X-based intelligent vehicle-road cooperative system according to claim 6, wherein the early warning message output arbitration module compares the danger levels of different early warning messages and outputs an early warning message with a high danger level; and if the danger levels are the same, outputting early warning messages with high early warning levels and storing the early warning messages as historical early warning messages.
9. The C-V2X-based intelligent vehicle-road coordination system according to claim 8, wherein if the danger levels are the same, an early warning message with a high early warning level is output and stored as a historical early warning message, further comprising:
the early warning message output arbitration module defines an early warning message with the same type as the historical early warning message and the highest early warning level as TM1 in a set period; defining the early warning message with the type different from that of the historical early warning message and the highest early warning level as TM2;
under the condition that the TM1 and the TM2 exist, saving the TM1 and the TM2, and comparing the early warning levels of the TM1 and the TM2; if the early warning level of the TM2 is higher than the early warning level setting threshold of the TM1, outputting the TM2, otherwise, outputting the TM1;
comparing the warning levels of the TM2 and the historical warning messages under the condition that the TM1 does not exist but the TM2 exists; if the warning level of the TM2 is higher than the warning level set threshold of the historical warning message, outputting the TM2, otherwise, continuously outputting the historical warning message until the sending times of the historical warning message reach the set times, and outputting the TM2;
and under the condition that the TM1 does not exist and the TM2 does not exist, continuously sending the historical early warning message until the early warning cancellation times/time threshold value is reached, and then not outputting the early warning message.
10. A vehicle comprising the C-V2X based intelligent vehicle infrastructure coordination system of any one of claims 6-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211349796.2A CN115662139A (en) | 2022-10-31 | 2022-10-31 | Control method for early warning output of intelligent vehicle road cooperative system based on C-V2X and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211349796.2A CN115662139A (en) | 2022-10-31 | 2022-10-31 | Control method for early warning output of intelligent vehicle road cooperative system based on C-V2X and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115662139A true CN115662139A (en) | 2023-01-31 |
Family
ID=84996263
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211349796.2A Pending CN115662139A (en) | 2022-10-31 | 2022-10-31 | Control method for early warning output of intelligent vehicle road cooperative system based on C-V2X and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115662139A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112349141A (en) * | 2019-08-09 | 2021-02-09 | 广州汽车集团股份有限公司 | Front collision control method, front collision early warning device and automobile |
| CN112533174A (en) * | 2020-11-24 | 2021-03-19 | 东风汽车集团有限公司 | Early warning and communication redundancy method and system for red light running scene based on C-V2X |
| 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 |
| CN113660637A (en) * | 2021-08-17 | 2021-11-16 | 安徽江淮汽车集团股份有限公司 | Driving danger condition arbitration method based on vehicle-road cooperative system |
| US20220132289A1 (en) * | 2020-10-27 | 2022-04-28 | Lear Corporation | System and method for transmission of an emergency message from a host vehicle via a vehicle-to-x communication system |
-
2022
- 2022-10-31 CN CN202211349796.2A patent/CN115662139A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112349141A (en) * | 2019-08-09 | 2021-02-09 | 广州汽车集团股份有限公司 | Front collision control method, front collision early warning device and automobile |
| US20220132289A1 (en) * | 2020-10-27 | 2022-04-28 | Lear Corporation | System and method for transmission of an emergency message from a host vehicle via a vehicle-to-x communication system |
| CN112533174A (en) * | 2020-11-24 | 2021-03-19 | 东风汽车集团有限公司 | Early warning and communication redundancy method and system for red light running scene based on C-V2X |
| 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 |
| CN113660637A (en) * | 2021-08-17 | 2021-11-16 | 安徽江淮汽车集团股份有限公司 | Driving danger condition arbitration method based on vehicle-road cooperative system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9946262B2 (en) | Smart vehicle | |
| CN107045797B (en) | Information processing method and mobile terminal | |
| US20200312133A1 (en) | Express Lane Planning Method and Unit | |
| US9711050B2 (en) | Smart vehicle | |
| EP3811030B1 (en) | Enhancing navigation experience using v2x supplemental information | |
| US20160357262A1 (en) | Smart vehicle | |
| US20160357187A1 (en) | Smart vehicle | |
| CN109660967A (en) | A kind of driving safety monitoring apparatus and method based on the fusion of car networking BSM information | |
| CN107845253B (en) | Reservation order early warning method and server | |
| CN109887319A (en) | A kind of intelligent traffic light display methods based on navigation | |
| CN103700055A (en) | Tourist vehicle scheduling monitoring method and system | |
| CN106408986A (en) | Driving traffic jam avoiding system and method | |
| CN112017438B (en) | Driving decision generation method and system | |
| CN115331471B (en) | V2X-based intelligent navigation scheduling method, device, equipment and storage medium | |
| CN115662139A (en) | Control method for early warning output of intelligent vehicle road cooperative system based on C-V2X and vehicle | |
| CN114694398A (en) | Real-time road pothole early warning method and system, electronic equipment and storage medium | |
| CN111038518B (en) | Driving control method and device, electronic equipment and storage medium | |
| Humagain et al. | Dynamic prioritization of emergency vehicles for self-organizing traffic using VTL+ EV | |
| CN110413718A (en) | Site polling method and apparatus violating the regulations | |
| CN114162141B (en) | Control method, device, system, electronic equipment, storage medium and vehicle | |
| CN116238332A (en) | HMI system-based multi-V2X scene display strategy, system and automobile | |
| CN110322715A (en) | Control method, system, computer storage medium and the terminal that PUSH message is presented | |
| CN114664065A (en) | Intelligent cabin man-machine interaction method and system based on multi-information fusion | |
| CN115550872A (en) | Early warning method, electronic device and computer-readable storage medium | |
| CN216673307U (en) | Test system of real vehicle V2X function |
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 |