技术领域technical field
本发明涉及车辆通信领域，尤其涉及一种实现组建行驶车队的方法及装置。The invention relates to the field of vehicle communication, in particular to a method and device for realizing the establishment of a driving fleet.
背景技术Background technique
随着经济社会高速发展，中国的汽车保有量迅速增长，由此带来的行车效率低下的问题非常严重。即使在宽阔的公路上，由于每个人的驾驶技术、驾驶习惯、心理素质等的不同，经常会出现堵车、汽车行驶缓慢等现象。为了提高行车效率，充分利用现有的道路基础设施，提高道路的利用率，需要协调车辆的行为方式，从而提高运行速度和效率。据国外的统计数据表明，以一个车队行驶的若干车辆，比单独行驶时，至少可以提高30％的通行效率。With the rapid economic and social development, China's car ownership has grown rapidly, and the resulting problem of low driving efficiency is very serious. Even on wide roads, due to the differences in driving skills, driving habits, and psychological quality of each person, traffic jams and slow-moving cars often occur. In order to improve driving efficiency, make full use of existing road infrastructure, and improve road utilization, it is necessary to coordinate the behavior of vehicles to increase operating speed and efficiency. According to foreign statistical data, a number of vehicles traveling in a convoy can increase the traffic efficiency by at least 30% compared with traveling alone.
早期的汽车无人驾驶和防碰撞技术主要采用摄像头和雷达技术来实现，然而，这类技术容易受到天气和道路环境的影响，而且行车雷达根据探测到的车前和车后靠近的物体/汽车发出报警和提示消息的方式是一种被动的行车安全措施，不能适应主动行车安全(如自动驾驶、车队管理等)的需求。Early autopilot and anti-collision technologies were mainly realized by camera and radar technology. However, this type of technology is easily affected by weather and road environment, and the driving radar is based on the detected objects/cars in front of and behind the car. The way of sending out alarms and prompt messages is a passive driving safety measure, which cannot meet the needs of active driving safety (such as automatic driving, fleet management, etc.).
为此，西方发达国家纷纷开展了智能交通系统的研究，这些研究集中在如何协调车-车、车-路和车与人之间的沟通协调。即研究如何更好地实现车-车、车-路、车-基础设施的通信，防止碰撞发生，以提高通行效率。欧盟和北美正在研究开发汽车专用的短距离通信(DSRC，Dedicated Short RangeCommunications)技术。目前，应用于行车安全领域的DSRC标准主要是电气和电子工程师协会(IEEE，Institute of Electrical and Electronics Engineers)802.11p(又称WAVE，Wireless Access in the Vehicular Environment)，它是一个由IEEE 802.11标准扩充的通信协议，主要规定了无线通信的物理层和链路层的工作原理和技术要求，采用5.9千兆赫(5.85-5.925千兆赫)波段工作。为了满足从底层的物理层到上面的应用层的整体需要，IEEE又制定了IEEE 1609.x系列标准，该系列标准底层采用IEEE 802.11p通信协议，上层可以提供诸如不停车收费、出入控制、车队管理、信息服务等应用，从而可以实现在特定区域内对高速运动下的移动目标的识别和双向通信，例如车-路、车-车双向通信，实时传输图像、语音和数据信息等。For this reason, developed countries in the West have carried out research on intelligent transportation systems one after another. These studies focus on how to coordinate the communication and coordination between vehicle-vehicle, vehicle-road, and vehicle-to-human. That is to study how to better realize vehicle-vehicle, vehicle-road, vehicle-infrastructure communication, prevent collisions, and improve traffic efficiency. The European Union and North America are researching and developing a dedicated short-range communication (DSRC, Dedicated Short Range Communications) technology for automobiles. At present, the DSRC standard applied in the field of driving safety is mainly the Institute of Electrical and Electronics Engineers (IEEE, Institute of Electrical and Electronics Engineers) 802.11p (also known as WAVE, Wireless Access in the Vehicular Environment), which is an extension of the IEEE 802.11 standard The communication protocol mainly stipulates the working principle and technical requirements of the physical layer and link layer of wireless communication, and uses the 5.9 GHz (5.85-5.925 GHz) band to work. In order to meet the overall needs from the underlying physical layer to the upper application layer, IEEE has formulated the IEEE 1609.x series of standards. The bottom layer of this series of standards adopts the IEEE 802.11p communication protocol, and the upper layer can provide services such as non-stop charging, access control, fleet Management, information services and other applications, so as to realize the identification and two-way communication of moving targets under high-speed movement in a specific area, such as vehicle-road, vehicle-vehicle two-way communication, real-time transmission of images, voice and data information, etc.
图1为现有技术中基于IEEE 802.11p协议的通信场景示意图。如图1所示，A、B、C、D、E为802.11p基站(即路边通信单元(RSU，Road SideUnit))，以上述基站为中心(无线作用范围内)的所有车辆与基站进行通信。为了保证每辆车都可以接入网络，需要沿路部署上述基站。上述基站可以与其辖区内的每辆车沟通，并接收车辆发给它的安全信息(比如车辆自身故障、周围环境的障碍物告警等)，并将接收的安全信息发送给与基站通过光纤相连的交通管理控制中心，交通管理控制中心收到这些安全信息后，转发给该基站附近的基站，附近的基站收到这些安全信息后告知本辖区内的车辆。或者，这些基站还可以将有关的安全信息直接通过无线方式传给相连的基站。在上述场景中，安全消息必须以10-100毫秒的间隔进行发送，采用5.9千兆赫附近的75M赫兹(5.85-5.925千兆赫)波段工作，实现车辆的车-路、车-车双向通信。具体到北美地区而言，75M赫兹中10-30Mhz用于车-车通信，45-65MHz用于车-路(RSU)的通信(带宽总共不超过75M)，通信方式采用载波侦听多路访问/冲突避免(CSMA/CA，Carrier Sense MultipleAccess/Collision Avoidance)机制。FIG. 1 is a schematic diagram of a communication scenario based on the IEEE 802.11p protocol in the prior art. As shown in Figure 1, A, B, C, D, and E are 802.11p base stations (that is, roadside communication units (RSU, Road SideUnit)), and all vehicles centered on the above base stations (within the wireless range) communicate with the base station communication. In order to ensure that every vehicle can access the network, the above-mentioned base stations need to be deployed along the road. The above-mentioned base station can communicate with each vehicle in its jurisdiction, and receive the safety information sent to it by the vehicle (such as the failure of the vehicle itself, the obstacle warning of the surrounding environment, etc.), and send the received safety information to the base station through optical fiber. The traffic management control center, after receiving the safety information, the traffic management control center forwards it to the base station near the base station, and the nearby base station notifies the vehicles in its jurisdiction after receiving the safety information. Alternatively, these base stations can also transmit relevant safety information directly to the connected base stations wirelessly. In the above scenario, safety messages must be sent at intervals of 10-100 milliseconds, using the 75M Hz (5.85-5.925 GHz) band near 5.9 GHz to achieve vehicle-to-road and vehicle-to-vehicle two-way communication. Specifically in North America, 10-30Mhz of 75M hertz is used for vehicle-vehicle communication, 45-65MHz is used for vehicle-road (RSU) communication (the total bandwidth does not exceed 75M), and the communication method adopts carrier sense multiple access / Collision Avoidance (CSMA/CA, Carrier Sense Multiple Access/Collision Avoidance) mechanism.
然而，在上述现有方案中，需要在车辆行驶的沿途部署大量、无覆盖盲点的接入点(即RSU)，导致需要很大的投资成本，因此，现有的DSRC技术的应用进展缓慢，其大规模商用前景并不明朗。另外，由于现有采用CSMA/CA技术，因此，存在容量不足、带宽使用不灵活的问题。而且，由于缺乏集中的控制协调，当用户数较多时会导致资源碰撞冲突加剧，容易出现系统拥塞，进而严重影响通信传输性能。However, in the above-mentioned existing solutions, it is necessary to deploy a large number of access points (ie, RSUs) without coverage blind spots along the way of the vehicle, resulting in a large investment cost. Therefore, the application of the existing DSRC technology is progressing slowly. Its large-scale commercial prospects are not clear. In addition, because the existing CSMA/CA technology is used, there are problems of insufficient capacity and inflexible use of bandwidth. Moreover, due to the lack of centralized control and coordination, when the number of users is large, resource collisions and conflicts will intensify, and system congestion will easily occur, which will seriously affect communication transmission performance.
发明内容Contents of the invention
为了解决上述技术问题，本发明提供一种实现组建行驶车队的方法及装置，用来解决现有行车安全领域采用IEEE 802.11p等DSRC技术存在的成本高、带宽使用不灵活、传输性能不佳等问题。In order to solve the above technical problems, the present invention provides a method and device for building a driving fleet, which is used to solve the problems of high cost, inflexible bandwidth usage, and poor transmission performance in the existing driving safety field using IEEE 802.11p and other DSRC technologies. question.
为了达到上述技术目的，本发明提供一种实现组建行驶车队的方法，包括：安装在车辆上的通信终端从长期演进(LTE)基站接收车辆之间通信能使用的频谱资源信息；安装在车辆上的通信终端采用所述车辆之间通信能使用的频谱资源信息所指示的频谱，广播所在车辆的车辆行驶信息，并接收周边车辆广播的车辆行驶信息；当所述安装在车辆上的通信终端收到加入周边车辆所在行驶车队的指示时，所述通信终端根据所在车辆的车辆行驶信息以及接收到的周边车辆的车辆行驶信息，确定所述通信终端所在车辆加入所述行驶车队时所需的行驶方向、行驶速度及加速度。In order to achieve the above technical purpose, the present invention provides a method for realizing the formation of a driving fleet, including: a communication terminal installed on a vehicle receives spectrum resource information that can be used for communication between vehicles from a long-term evolution (LTE) base station; The communication terminal adopts the frequency spectrum indicated by the spectrum resource information that can be used for communication between the vehicles, broadcasts the vehicle driving information of the vehicle where it is located, and receives the vehicle driving information broadcast by surrounding vehicles; when the communication terminal installed on the vehicle receives When the instruction to join the driving team of the surrounding vehicle is reached, the communication terminal determines the driving time required when the vehicle where the communication terminal is located joins the driving team according to the vehicle driving information of the vehicle where it is located and the received vehicle driving information of the surrounding vehicles. direction, travel speed and acceleration.
进一步地，车辆行驶信息包括以下信息：车辆位置信息、行驶方向信息、行驶速度及加速度信息、车辆标识、所属车队标识、车辆之间通信能使用的频谱资源信息。Further, the vehicle driving information includes the following information: vehicle position information, driving direction information, driving speed and acceleration information, vehicle identification, fleet identification, and spectrum resource information that can be used for communication between vehicles.
进一步地，安装在车辆上的通信终端从LTE基站接收车辆之间通信能使用的频谱资源信息之前，该方法还包括：安装在车辆上的通信终端接入LTE基站，LTE基站根据与其通信的车辆数量确定所述车辆之间通信能使用的频谱资源信息。Further, before the communication terminal installed on the vehicle receives from the LTE base station the spectrum resource information that can be used for inter-vehicle communication, the method further includes: the communication terminal installed on the vehicle accesses the LTE base station, and the LTE base station communicates with the vehicle according to The quantity determines spectrum resource information that can be used for the inter-vehicle communication.
进一步地，安装在车辆上的通信终端从LTE基站接收车辆之间通信能使用的频谱资源信息之后，该方法还包括：当通信终端无法与LTE基站保持通信时，通信终端根据无法与LTE基站保持通信之前接收到的车辆之间通信能使用的频谱资源信息所指示的频谱与周边车辆进行通信。Further, after the communication terminal installed on the vehicle receives the spectrum resource information that can be used for inter-vehicle communication from the LTE base station, the method further includes: when the communication terminal cannot maintain communication with the LTE base station, the communication terminal The spectrum indicated by the spectrum resource information available for inter-vehicle communication received before the communication is used to communicate with surrounding vehicles.
进一步地，确定所述通信终端所在车辆加入所述行驶车队时所需的行驶方向、行驶速度及加速度之后，该方法还包括：所述通信终端根据确定的行驶方向、行驶速度及加速度，控制所在车辆的行驶方向、行驶速度及加速度。Further, after determining the driving direction, driving speed and acceleration required for the vehicle where the communication terminal is located to join the driving fleet, the method further includes: the communication terminal controls the vehicle according to the determined driving direction, driving speed and acceleration. The direction, speed and acceleration of the vehicle.
本发明还提供一种实现组建行驶车队的装置，包括：第一通信模块，用于从LTE基站接收车辆之间通信能使用的频谱资源信息；第二通信模块，用于采用所述车辆之间通信能使用的频谱资源信息所指示的频谱，广播所在车辆的车辆行驶信息，并接收周边车辆广播的车辆行驶信息；处理模块，用于当收到加入周边车辆所在行驶车队的指示时，根据所在车辆的车辆行驶信息以及接收到的周边车辆的车辆行驶信息，确定所在车辆加入所述行驶车队时所需的行驶方向、行驶速度及加速度。The present invention also provides a device for forming a driving fleet, including: a first communication module, used to receive spectrum resource information that can be used for communication between vehicles from an LTE base station; a second communication module, used to use the information between vehicles The frequency spectrum indicated by the spectrum resource information that can be used for communication broadcasts the vehicle driving information of the vehicle in which it is located, and receives the vehicle driving information broadcast by surrounding vehicles; The vehicle driving information of the vehicle and the received vehicle driving information of the surrounding vehicles determine the driving direction, driving speed and acceleration required when the vehicle where the vehicle is located joins the driving fleet.
进一步地，所述车辆行驶信息包括以下信息：车辆位置信息、行驶方向信息、行驶速度及加速度信息、车辆标识、所属车队标识、车辆之间通信能使用的频谱资源信息。Further, the vehicle driving information includes the following information: vehicle position information, driving direction information, driving speed and acceleration information, vehicle identification, fleet identification, and spectrum resource information that can be used for communication between vehicles.
进一步地，所述车辆之间通信能使用的频谱资源信息由LTE基站根据与其通信的车辆数量进行确定。Further, the frequency spectrum resource information available for communication between vehicles is determined by the LTE base station according to the number of vehicles communicating with it.
进一步地，所述第二通信模块，还用于当第一通信模块无法与LTE基站保持通信时，根据无法与LTE基站保持通信之前，第一通信模块接收到的车辆之间通信能使用的频谱资源信息所指示的频谱与周边车辆进行通信。Further, the second communication module is also used for when the first communication module cannot maintain communication with the LTE base station, according to the spectrum that can be used for communication between vehicles received by the first communication module before the communication with the LTE base station cannot be maintained The frequency spectrum indicated by the resource information communicates with surrounding vehicles.
进一步地，所述处理模块，还用于根据确定的行驶方向、行驶速度及加速度，控制所在车辆的行驶方向、行驶速度及加速度。Further, the processing module is further configured to control the traveling direction, traveling speed and acceleration of the vehicle where the vehicle is located according to the determined traveling direction, traveling speed and acceleration.
在本发明中，安装在车辆上的通信终端从长期演进(LTE，Long TermEvolution)基站接收车辆之间通信能使用的频谱资源信息；安装在车辆上的通信终端采用车辆之间通信能使用的频谱资源信息所指示的频谱，广播所在车辆的车辆行驶信息，并接收周边车辆广播的车辆行驶信息；当通信终端收到加入周边车辆所在行驶车队的指示时，通信终端根据所在车辆的车辆行驶信息以及接收到的周边车辆的车辆行驶信息，确定通信终端所在车辆加入所述行驶车队时所需的行驶方向、行驶速度及加速度。如此，本发明可以重用现有的LTE网络和基站节点，避免了大量新的路边通信单元(RSU，Road SideUnit)的部署，节省了大量投资。而且，通过LTE基站对车辆之间通信频谱资源的统一协调和集中分配，充分利用了资源，实现了优先保证车-车/车-设施(V2V/V2I)的安全类应用，保证了服务质量，并最大化V2V/V2I的容量，避免了现有技术中采用CSMA/CA技术带来的容量不足、容易出现系统拥塞的缺点。另外，通过组建行驶车队使得公路上的大量车辆协同一致，以相同的速度和方向行驶，充分利用了公路基础设施，提高了通行效率，同时减少了交通碰撞的发生。In the present invention, the communication terminal installed on the vehicle receives spectrum resource information that can be used for inter-vehicle communication from a Long Term Evolution (LTE, Long Term Evolution) base station; the communication terminal installed on the vehicle uses the spectrum that can be used for inter-vehicle communication The frequency spectrum indicated by the resource information broadcasts the vehicle driving information of the vehicle where it is located, and receives the vehicle driving information broadcast by surrounding vehicles; when the communication terminal receives the instruction to join the driving fleet of the surrounding vehicle, the communication terminal will The received vehicle driving information of surrounding vehicles determines the driving direction, driving speed and acceleration required when the vehicle where the communication terminal is located joins the driving fleet. In this way, the present invention can reuse the existing LTE network and base station nodes, avoiding the deployment of a large number of new roadside communication units (RSU, Road SideUnit), and saving a large amount of investment. Moreover, through the unified coordination and centralized allocation of communication spectrum resources between vehicles by the LTE base station, the resources are fully utilized, and the security applications of vehicle-vehicle/vehicle-facility (V2V/V2I) are prioritized, and the quality of service is guaranteed. And the capacity of V2V/V2I is maximized, avoiding the disadvantages of insufficient capacity and easy occurrence of system congestion caused by adopting CSMA/CA technology in the prior art. In addition, through the formation of a driving fleet, a large number of vehicles on the road are coordinated to drive in the same speed and direction, making full use of the road infrastructure, improving traffic efficiency, and reducing traffic collisions.
附图说明Description of drawings
图1为现有技术中基于IEEE 802.11p协议的通信场景示意图；FIG. 1 is a schematic diagram of a communication scenario based on the IEEE 802.11p protocol in the prior art;
图2为本发明实施例提供的实现组建行驶车队的方法的流程图；Fig. 2 is the flow chart of the method for realizing the formation of driving fleet provided by the embodiment of the present invention;
图3为本发明实施例的通信场景示意图；FIG. 3 is a schematic diagram of a communication scene according to an embodiment of the present invention;
图4为本发明一实施例提供的实现组建行驶车队的装置的示意图。Fig. 4 is a schematic diagram of a device for forming a driving fleet provided by an embodiment of the present invention.
具体实施方式detailed description
以下结合附图对本发明的实施例进行详细说明，应当理解，以下所说明的实施例仅用于说明和解释本发明，并不用于限定本发明。The embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the embodiments described below are only used to illustrate and explain the present invention, and are not intended to limit the present invention.
图1为本发明实施例提供的实现组建行驶车队的方法的流程图。如图1所示，本实施例提供的实现组建行驶车队的方法包括以下步骤：FIG. 1 is a flow chart of a method for establishing a driving fleet provided by an embodiment of the present invention. As shown in Figure 1, the method for realizing the formation of a driving fleet provided by this embodiment includes the following steps:
步骤11：安装在车辆上的通信终端从LTE基站接收车辆之间通信能使用的频谱资源信息。Step 11: The communication terminal installed on the vehicle receives spectrum resource information that can be used for inter-vehicle communication from the LTE base station.
于步骤11之前，该方法还包括：安装在车辆上的通信终端接入LTE基站，LTE基站根据与其通信的车辆数量确定车辆之间通信能使用的频谱资源信息。Before step 11, the method further includes: the communication terminal installed on the vehicle accesses the LTE base station, and the LTE base station determines spectrum resource information available for communication between vehicles according to the number of vehicles communicating with it.
于此，安装在车辆上的通信终端与LTE基站之间的通信使用LTE专用频谱(主要集中在低频部分，比如2.6GHz)，车辆之间的直接通信(如安装在不同车辆上的通信终端之间的通信)使用智能交通系统(ITS，IntelligentTransport System)专用频谱(主要集中在高频部分，比如5.9GHz)。其中，具体频段可根据实际情况确定，本发明对此并不限定。Here, the communication between the communication terminal installed on the vehicle and the LTE base station uses the LTE dedicated spectrum (mainly concentrated in the low frequency part, such as 2.6GHz), and the direct communication between the vehicles (such as the communication terminal installed on different vehicles) Inter-communication) using intelligent transportation system (ITS, Intelligent Transport System) dedicated spectrum (mainly concentrated in the high-frequency part, such as 5.9GHz). Wherein, the specific frequency band may be determined according to actual conditions, which is not limited in the present invention.
于此，安装在车辆上的通信终端与LTE基站之间采用固定频谱进行通信。因此，在接入认证通过情况下，任何遵循第三代合作伙伴计划(3GPP，3rd Generation Partnership Project)标准、采用此频段的移动通信终端(比如手机、平板电脑、汽车终端等物联网设备)都可以与LTE基站通信。Here, the fixed frequency spectrum is used for communication between the communication terminal installed on the vehicle and the LTE base station. Therefore, in the case of passing the access certification, any mobile communication terminal (such as mobile phone, tablet computer, car terminal and other Internet of Things devices) that follows the 3rd Generation Partnership Project (3GPP, 3rd Generation Partnership Project) standard and uses this frequency band Can communicate with LTE base stations.
对于车辆之间的直接通信，举例而言，假设采用5.9千兆赫附近的75M赫兹(5.85-5.925千兆赫)波段工作，以实现车-路、车-车之间的双向通信。在现有技术中，75M赫兹中10-30Mhz用于车-车通信，45-65MHz用于车-路(RSU)的通信。于本实施例中，由于车-路之间的通信由安装在车辆上的通信终端与LTE基站之间的通信来完成，因此，整个75M带宽都可以用于车车通信，如此，大大提高了系统的容量。而且，为了进一步高效利用这些频谱，将这些频谱分成若干段(比如5段，此时，每一段有15M带宽)，例如表1所示。For direct communication between vehicles, for example, it is assumed that the 75 MHz (5.85-5.925 GHz) band near 5.9 GHz is used to achieve two-way communication between vehicles and vehicles. In the prior art, 10-30 MHz of 75 MHz is used for vehicle-vehicle communication, and 45-65 MHz is used for vehicle-road (RSU) communication. In this embodiment, since the communication between the vehicle and the road is completed by the communication between the communication terminal installed on the vehicle and the LTE base station, therefore, the entire 75M bandwidth can be used for vehicle-vehicle communication, thus greatly improving the system capacity. Moreover, in order to further efficiently utilize these spectrums, these spectrums are divided into several segments (for example, 5 segments, at this time, each segment has a bandwidth of 15M), as shown in Table 1 for example.
表1 频谱分段对应关系Table 1 Correspondence between spectrum segments
基于表1，LTE基站可以根据自己辖区的车辆数量(如通过与其通信的车载通信终端发送的车辆标识进行统计确定)确定本辖区的车载通信终端能使用的频段。当某一LTE基站辖区的车辆数量由少变多时，该LTE基站可以分配给车辆使用的频段从“频段1”到“频段5”逐步增加，即当车辆很多时，这5个频段都可以使用。具体而言，当该LTE基站指示其管理的所有车载通信终端都使用频段1时，那么这些车载通信终端都采用波段(5.850-5.865M)相互通信；当频段1不够用时，该LTE基站可以指示相应车载通信终端采用其他频段(如频段2、3、4或5)进行通信。其中，LTE基站可以识别车辆标识(ID)，并将车辆标识与分配的波段绑定，以通知相应车载通信终端能使用的频谱资源信息。另外，不同的LTE基站为其辖区的车载通信终端分配的波段可不同。如此，极大地提高了频谱资源的利用率。而且，对于行驶车辆较少的区域，可以指定某些波段用于其他移动终端(例如，郊区的农田、水利基础设施等的监控终端)，从而进一步实现频谱资源复用。Based on Table 1, the LTE base station can determine the frequency bands that can be used by the vehicle communication terminals in its jurisdiction according to the number of vehicles in its jurisdiction (such as statistically determined through the vehicle identification sent by the vehicle communication terminal communicating with it). When the number of vehicles in the jurisdiction of a certain LTE base station changes from small to large, the frequency bands that the LTE base station can allocate to vehicles gradually increase from "frequency band 1" to "frequency band 5", that is, when there are many vehicles, these 5 frequency bands can be used . Specifically, when the LTE base station instructs all the vehicular communication terminals it manages to use frequency band 1, then these vehicular communication terminals use the band (5.850-5.865M) to communicate with each other; when frequency band 1 is not enough, the LTE base station can instruct The corresponding vehicle communication terminal uses other frequency bands (such as frequency band 2, 3, 4 or 5) for communication. Wherein, the LTE base station can identify the vehicle identification (ID), and bind the vehicle identification with the allocated band, so as to notify the corresponding vehicle communication terminal of spectrum resource information that can be used. In addition, different LTE base stations may allocate different frequency bands to vehicle communication terminals in their jurisdictions. In this way, the utilization rate of spectrum resources is greatly improved. Moreover, for areas with fewer vehicles, certain frequency bands can be designated for other mobile terminals (for example, monitoring terminals for farmland in the suburbs, water conservancy infrastructure, etc.), so as to further realize spectrum resource reuse.
于步骤11之后，该方法还包括：当通信终端无法与LTE基站保持通信时，通信终端根据无法与LTE基站保持通信之前接收到的车辆之间通信能使用的频谱资源信息所指示的频谱与周边车辆进行通信。After step 11, the method further includes: when the communication terminal cannot maintain communication with the LTE base station, the communication terminal receives the frequency spectrum indicated by the spectrum resource information that can be used for inter-vehicle communication before the communication terminal cannot maintain communication with the LTE base station. Vehicles communicate.
图3为本发明实施例的通信场景示意图。如图3所示，按照LTE基站对路面车辆覆盖状态可以将安装在车辆上的通信终端的网络状态划分成两种：覆盖状态和非覆盖状态。覆盖状态指安装在车辆上的通信终端(例如，车载单元(OBU，On Board Unit))与支持车联网业务的LTE基站有连接，能够与LTE基站保持通信，从LTE基站实时获取数据(例如，图3中的LTE基站A、B、C，能够覆盖的车辆包括V1、V2、V3、V4、V5、V6)；非覆盖状态指安装在车辆上的通信终端不在LTE基站的覆盖下(比如隧道、涵洞等区域)，此时，通信终端工作在非覆盖状态下，例如，图3中的车辆V13、V12、V11的通信终端处在非覆盖状态，该些车辆的通信终端只能进行车辆之间的直接通信。Fig. 3 is a schematic diagram of a communication scene according to an embodiment of the present invention. As shown in FIG. 3 , according to the coverage status of road vehicles by LTE base stations, the network status of communication terminals installed on vehicles can be divided into two types: coverage status and non-coverage status. The coverage state means that the communication terminal (for example, On Board Unit (OBU, On Board Unit)) installed on the vehicle is connected to the LTE base station supporting the Internet of Vehicles service, can maintain communication with the LTE base station, and obtain data from the LTE base station in real time (for example, LTE base stations A, B, and C in Fig. 3, the vehicles that can be covered include V1, V2, V3, V4, V5, V6); the non-coverage state refers to that the communication terminal installed on the vehicle is not under the coverage of the LTE base station (such as tunnel , culverts and other areas), at this time, the communication terminal is working in the non-coverage state, for example, the communication terminals of the vehicles V13, V12, and V11 in Figure 3 are in the non-coverage state, and the communication terminals of these vehicles can only communicate between vehicles. direct communication between.
于此，当车辆行驶进入无LTE基站覆盖区域(即，安装在车辆上的通信终端处于非覆盖状态)后，安装在车辆上的通信终端保持进入非覆盖状态前LTE基站所分配的车辆之间通信能使用的频谱，直到进入覆盖状态时重新收到LTE基站分配的车辆之间通信能使用的频谱资源信息才改变频谱的使用情况。Here, when the vehicle enters the coverage area without LTE base station (that is, the communication terminal installed on the vehicle is in a non-coverage state), the communication terminal installed on the vehicle remains in the non-coverage state before entering the non-coverage state. The spectrum that can be used for communication does not change the usage of the spectrum until it receives the spectrum resource information that can be used for communication between vehicles allocated by the LTE base station when it enters the coverage state.
于此，在LTE基站覆盖区域，行驶车辆会逐次从一个基站覆盖区域进入到下一个基站覆盖区域，因此，LTE基站可以持续为车载通信终端分配车辆之间通信能使用的频谱。此外，LTE基站可以实现每1-10Hz与车辆上的通信终端进行交互，而且这些含有小数据报文的交互不会对系统造成大的影响，即LTE系统还能够支持其它的物联网通信应用。Here, in the coverage area of the LTE base station, the driving vehicle will enter the coverage area of the next base station successively from one base station coverage area. Therefore, the LTE base station can continuously allocate the spectrum that can be used for communication between vehicles for the vehicle communication terminal. In addition, the LTE base station can interact with the communication terminal on the vehicle every 1-10Hz, and these interactions containing small data packets will not have a major impact on the system, that is, the LTE system can also support other IoT communication applications.
步骤12：安装在车辆上的通信终端采用车辆之间通信能使用的频谱资源信息所指示的频谱，广播所在车辆的车辆行驶信息，并接收周边车辆广播的车辆行驶信息。Step 12: The communication terminal installed on the vehicle adopts the spectrum indicated by the spectrum resource information that can be used for inter-vehicle communication, broadcasts the vehicle driving information of the vehicle where it is located, and receives the vehicle driving information broadcast by surrounding vehicles.
其中，车辆行驶信息包括以下信息：车辆位置信息、行驶方向信息、行驶速度及加速度信息、车辆标识、所属车队标识、车辆之间通信能使用的频谱资源信息。Wherein, the vehicle driving information includes the following information: vehicle position information, driving direction information, driving speed and acceleration information, vehicle identification, fleet identification, and spectrum resource information that can be used for communication between vehicles.
具体而言，安装在车辆上的通信终端除了与LTE基站进行通信外，还与离所在车辆前后预设距离内的周边车辆进行通信，其中，该预设距离取决于车辆的发射能力以及路况环境。Specifically, in addition to communicating with the LTE base station, the communication terminal installed on the vehicle also communicates with surrounding vehicles within a preset distance from the vehicle, where the preset distance depends on the vehicle's transmission capability and road conditions .
其中，行驶速度及加速度信息例如通过汽车总线进行收集。车辆位置信息及行驶方向信息例如通过全球定位系统及地理信息系统确定。若该车辆已经加入某一行驶车队，则所属车队标识为该车队的标识，若该车辆未加入行驶车队，则所属车队标识例如为空。Among them, the driving speed and acceleration information are collected through the bus of the car, for example. Vehicle position information and driving direction information are determined, for example, by a global positioning system and a geographic information system. If the vehicle has joined a driving team, the identification of the team it belongs to is the identification of the team, and if the vehicle has not joined the driving team, the identification of the team it belongs to is, for example, empty.
步骤13：当安装在车辆上的通信终端收到加入周边车辆所在行驶车队的指示时，所述通信终端根据所在车辆的车辆行驶信息以及接收到的周边车辆的车辆行驶信息，确定所述通信终端所在车辆加入所述行驶车队时所需的行驶方向、行驶速度及加速度。Step 13: When the communication terminal installed on the vehicle receives an instruction to join the driving fleet of the surrounding vehicle, the communication terminal determines the communication terminal according to the vehicle driving information of the vehicle where it is located and the received vehicle driving information of the surrounding vehicles. The required driving direction, driving speed and acceleration of the vehicle when it joins the driving team.
于步骤13之后，该方法还包括：通信终端根据确定的行驶方向、行驶速度及加速度，控制所在车辆的行驶方向、行驶速度及加速度。After step 13, the method further includes: the communication terminal controls the traveling direction, traveling speed and acceleration of the vehicle where it is located according to the determined traveling direction, traveling speed and acceleration.
于此，任何一辆车辆均可发起形成一个行驶车队。举例而言，某一行驶车辆(如车辆C1)的通信终端向周边车辆广播行驶车队组建消息及自身的车辆行驶信息，其中，该车辆行驶信息中包括该车辆(C1)的车辆位置信息、行驶方向信息、行驶速度及加速信息、车辆标识、发起的行驶车队标识、车辆之间通信能使用的频谱资源信息。在该车辆周边(如后面或者旁边)的车辆(如车辆C2)的通信终端收到该车辆(C1)的行驶车队组建消息后，可以响应选择加入或者不加入该行驶车队。若车辆(如C2)的司机选择加入该行驶车队，则安装在车辆C2上的通信终端根据车辆C2的车辆行驶信息及接收到的车辆C1的车辆行驶信息，确定加入该行驶车队时所需的行驶方向、行驶速度及加速度，并根据该行驶方向、行驶速度及加速度控制车辆C2的行驶方向、行驶速度及加速度，以加入车辆C1的行驶车队。Here, any vehicle can initiate the formation of a driving fleet. For example, the communication terminal of a driving vehicle (such as vehicle C1) broadcasts a driving fleet formation message and its own vehicle driving information to surrounding vehicles, wherein the vehicle driving information includes the vehicle's (C1) vehicle position information, driving Direction information, driving speed and acceleration information, vehicle identification, initiated driving team identification, spectrum resource information that can be used for communication between vehicles. After the communication terminal of the vehicle (such as vehicle C2) around the vehicle (such as behind or next to it) receives the vehicle (C1) driving team formation message, it can respond to choose to join or not to join the driving team. If the driver of the vehicle (such as C2) chooses to join the driving team, the communication terminal installed on the vehicle C2 determines the required information for joining the driving team according to the vehicle driving information of the vehicle C2 and the received vehicle driving information of the vehicle C1. The driving direction, driving speed and acceleration, and control the driving direction, driving speed and acceleration of the vehicle C2 according to the driving direction, driving speed and acceleration, so as to join the driving team of the vehicle C1.
另外，当若干辆车辆形成一个行驶车队后，行驶在该行驶车队后面的车辆可以继续加入该行驶车队，但该行驶车队前面和侧面的车辆在加入该行驶车队时需要慢行至该行驶车队的尾部，以加入该行驶车队。而且，一旦一个行驶车队形成后，需要占用一个行驶车道。In addition, when several vehicles form a driving team, the vehicles behind the driving team can continue to join the driving team, but the front and side vehicles of the driving team need to travel slowly to the front of the driving team when joining the driving team. tail to join the driving convoy. Moreover, once a driving fleet is formed, a driving lane needs to be occupied.
此外，本发明实施例还提供一种实现组建行驶车队的装置，包括：第一通信模块，用于从LTE基站接收车辆之间通信能使用的频谱资源信息；第二通信模块，用于采用所述车辆之间通信能使用的频谱资源信息所指示的频谱，广播所在车辆的车辆行驶信息，并接收周边车辆广播的车辆行驶信息；处理模块，用于当收到加入周边车辆所在行驶车队的指示时，根据所在车辆的车辆行驶信息以及接收到的周边车辆的车辆行驶信息，确定所在车辆加入所述行驶车队时所需的行驶方向、行驶速度及加速度。In addition, an embodiment of the present invention also provides a device for building a driving fleet, including: a first communication module, configured to receive spectrum resource information that can be used for communication between vehicles from an LTE base station; a second communication module, configured to use the The frequency spectrum indicated by the spectrum resource information that can be used for the communication between vehicles, broadcasts the vehicle driving information of the vehicle in which it is located, and receives the vehicle driving information broadcast by surrounding vehicles; the processing module is used to receive instructions to join the driving fleet of surrounding vehicles At this time, according to the vehicle driving information of the vehicle and the received vehicle driving information of surrounding vehicles, the driving direction, driving speed and acceleration required for the vehicle joining the driving team are determined.
其中，车辆行驶信息包括以下信息：车辆位置信息、行驶方向信息、行驶速度及加速度信息、车辆标识、所属车队标识、车辆之间通信能使用的频谱资源信息。其中，车辆之间通信能使用的频谱资源信息由LTE基站根据与其通信的车辆数量进行确定。Wherein, the vehicle driving information includes the following information: vehicle position information, driving direction information, driving speed and acceleration information, vehicle identification, fleet identification, and spectrum resource information that can be used for communication between vehicles. Wherein, the spectrum resource information that can be used for communication between vehicles is determined by the LTE base station according to the number of vehicles communicating with it.
于一实施例中，第二通信模块，还用于当第一通信模块无法与LTE基站保持通信时，根据无法与LTE基站保持通信之前，第一通信模块接收到的车辆之间通信能使用的频谱资源信息所指示的频谱与周边车辆进行通信。In one embodiment, the second communication module is also used for when the first communication module cannot maintain communication with the LTE base station, according to the inter-vehicle communication received by the first communication module before the communication with the LTE base station can not be used. The spectrum indicated by the spectrum resource information communicates with surrounding vehicles.
于一实施例中，处理模块，还用于根据确定的行驶方向、行驶速度及加速度，控制所在车辆的行驶方向、行驶速度及加速度。In one embodiment, the processing module is further configured to control the driving direction, driving speed and acceleration of the vehicle where the vehicle is located according to the determined driving direction, driving speed and acceleration.
图4为本发明一实施例提供的实现组建行驶车队的装置的示意图。如图4所示，本实施例提供的实现组建行驶车队的装置，包括第一通信模块、第二通信模块、其它通信模块、处理模块、辅助驾驶控制模块、地理信息系统、全球定位系统(GPS，Global Positioning System)、摄像头、雷达、显示触摸屏及扬声器。于此，该装置例如为安装在车辆上的车载终端，该实施例适用于高速公路上有大量行驶车辆的情况，然而，本发明对此并不限定。Fig. 4 is a schematic diagram of a device for forming a driving fleet provided by an embodiment of the present invention. As shown in Figure 4, the device that realizes setting up driving team provided by the present embodiment includes a first communication module, a second communication module, other communication modules, a processing module, an assisted driving control module, a geographic information system, a global positioning system (GPS) , Global Positioning System), camera, radar, display touch screen and speaker. Here, the device is, for example, a vehicle-mounted terminal installed on a vehicle. This embodiment is applicable to a situation where there are a large number of vehicles on a highway, however, the present invention is not limited thereto.
具体而言，处理模块通过地理信息系统和GPS获取车辆位置信息、行驶方向信息及道路轨迹，辅助驾驶控制模块通过汽车总线收集行驶车辆的速度及加速度，并上传给处理模块。如此，处理模块可以统计获取该行驶车辆的车辆行驶信息。行驶车辆的行驶轨迹、车辆行驶信息及是否加入行驶车队的选择例如可显示在显示触摸屏上，同时通过扬声器可以提示司机车辆进入车队行驶模式或相关道路提示和告警信息。Specifically, the processing module obtains vehicle location information, driving direction information and road trajectory through the geographic information system and GPS, and the auxiliary driving control module collects the speed and acceleration of the driving vehicle through the vehicle bus and uploads them to the processing module. In this way, the processing module can statistically acquire the vehicle traveling information of the traveling vehicle. The driving trajectory of the driving vehicle, vehicle driving information and the choice of whether to join the driving fleet can be displayed on the display touch screen, for example, and the driver can be prompted through the speaker to enter the fleet driving mode or related road prompts and warning information.
于此，第一通信模块与LTE基站进行通信，接收LTE基站发送的消息，该消息携带车辆之间通信能使用的频谱资源信息，第一通信模块将上述信息传送给处理模块及第二通信模块。Here, the first communication module communicates with the LTE base station, and receives a message sent by the LTE base station. The message carries spectrum resource information that can be used for communication between vehicles. The first communication module transmits the above information to the processing module and the second communication module. .
另外，随着信息和通信技术(ICT，Information and CommunicationTechnology)的广泛使用，交通管理部门在某些特定路段布置路边通信单元(RSU)，RSU通过光纤与交通管理部门的控制中心相连，通过接收交通管理中心的信息，RSU通过短距无线通信(比如射频集成电路(RFIC)以及其它特定/专用短距离通信技术)和/或者普通的广播通信将道路前面是否有路障/故障信息、红绿灯信号等信息告知沿路开来的车辆，起到告警、警示作用。于此，其它通信模块接收RSU消息，该消息例如携带红绿灯信息、告警信息等，并将上述信息传送给处理模块，用于行驶车辆根据上述信息实行绕道、减速或者刹车、停车等行为。In addition, with the widespread use of information and communication technology (ICT, Information and Communication Technology), the traffic management department arranges roadside communication units (RSUs) on certain road sections. Information from the traffic management center, the RSU will communicate whether there are roadblocks/fault information, traffic light signals, etc. The information informs the vehicles coming along the road, which plays the role of warning and warning. Here, other communication modules receive the RSU message, which carries traffic light information, warning information, etc., and transmits the above information to the processing module for the driving vehicle to detour, decelerate or brake, stop and other behaviors according to the above information.
于此，第二通信模块采用从第一通信模块(或处理模块)接收到的车辆之间通信能使用的频谱与其他周边车辆的第二通信模块进行通信。具体而言，第二通信模块接收来自其他第二通信模块(如车辆B的第二通信模块)发送的车辆行驶信息(例如，携带车辆B的车辆位置、行驶速度、行驶方向、行驶加速度，车辆标识，所属车队标识，车辆之间通信能使用的频谱资源等信息)，并发送给处理模块；同时，第二通信模块也将由处理模块发来的本车车辆行驶信息(如车辆A的车辆行驶信息)以广播消息的方式发送出去，周边车辆(比如车辆B的第二通信模块)可以接收该消息。Here, the second communication module communicates with the second communication modules of other surrounding vehicles by using the frequency spectrum that can be used for inter-vehicle communication received from the first communication module (or processing module). Specifically, the second communication module receives vehicle travel information (for example, vehicle position, travel speed, travel direction, travel acceleration, vehicle B) sent from other second communication modules (such as the second communication module of vehicle B), vehicle identification, identification of the fleet to which they belong, information such as spectrum resources that can be used for communication between vehicles), and send it to the processing module; at the same time, the second communication module also sends the vehicle driving information (such as the vehicle driving information of vehicle A) sent by the processing module Information) is sent out in the form of a broadcast message, and surrounding vehicles (such as the second communication module of vehicle B) can receive the message.
于此，以车辆A加入车辆B所属行驶车队为例进行说明。当车辆A的司机慢速行驶至车辆B所属车队的队尾，并通过显示触摸屏选择加入该车队后，车辆A的显示触摸屏显示车辆A进入车队模式，车辆A的处理模块计算本车(车辆A)与前车(如车辆B)之间的距离，同时，接管本车的控制权，由车辆A的辅助驾驶控制模块进行控制；当车辆A的司机通过显示触摸屏选择离开该车队后，车辆A的司机接管本车的控制权。Here, it will be described by taking vehicle A joining the driving fleet to which vehicle B belongs as an example. When the driver of vehicle A drives slowly to the end of the fleet to which vehicle B belongs, and chooses to join the fleet through the display touch screen, the display touch screen of vehicle A shows that vehicle A enters the fleet mode, and the processing module of vehicle A calculates the vehicle (vehicle A ) and the vehicle in front (such as vehicle B), and at the same time, take over the control of the vehicle, which is controlled by the assisted driving control module of vehicle A; when the driver of vehicle A chooses to leave the convoy through the display touch screen, vehicle A The driver takes over control of the vehicle.
具体而言，车辆A进入车队模式后，车辆A的第二通信模块将接收到的车辆B发送的车辆行驶信息(例如包括车辆B的车辆位置、行驶速度、行驶方向、行驶加速度、本车ID、所属车队ID、车辆之间通信能使用的频谱资源信息)发送给车辆A的处理模块，车辆A的处理模块从中提取车辆B的位置、速度、方向、加速度信息，并结合本车(车辆A)的位置、速度、方向、加速度信息，计算出本车(车辆A)与前车(车辆B)的距离。如果距离保持在规定阈值内，则无需加减速，通过车辆A的辅助驾驶控制模块控制车辆A按照与车辆B一样的速度和加速度行驶，如果距离不满足规定阈值，则通过车辆A的辅助驾驶控制模块控制车辆A加速或减速，当距离满足规定阈值后，通过车辆A的辅助驾驶控制模块控制车辆A按照与车辆B一样的速度和加速度行驶。Specifically, after vehicle A enters the convoy mode, the second communication module of vehicle A will receive the vehicle driving information sent by vehicle B (for example, including vehicle B's vehicle position, driving speed, driving direction, driving acceleration, vehicle ID , fleet ID, and spectrum resource information that can be used for communication between vehicles) to the processing module of vehicle A, and the processing module of vehicle A extracts the position, speed, direction, and acceleration information of vehicle B from it, and combines the information of the vehicle (vehicle A ) position, speed, direction, and acceleration information to calculate the distance between the vehicle (vehicle A) and the vehicle in front (vehicle B). If the distance remains within the specified threshold, there is no need to accelerate or decelerate. The assisted driving control module of vehicle A controls vehicle A to drive at the same speed and acceleration as vehicle B. If the distance does not meet the specified threshold, the assisted driving control of vehicle A The module controls vehicle A to accelerate or decelerate. When the distance meets the specified threshold, the assisted driving control module of vehicle A controls vehicle A to drive at the same speed and acceleration as vehicle B.
此外，当遇到紧急情况时，比如车队的前方有障碍物或者危险事件时，车辆B进行了急刹车，车辆B的第二通信模块会发送紧急刹车的信息，车辆A的第二通信模块收到这个紧急刹车的信息后，传送给车辆A的处理模块，车辆A的处理模块再将这个信息传给辅助驾驶控制模块，控制车辆紧急刹车，从而保证行驶车辆不会发生碰撞。此外，各车辆还通过摄像头和雷达为辅助驾驶控制模块收集信息，例如，行驶过程中借助摄像头对侧面路线图像进行解析，借助雷达对路线隔离栏进行探测，以保证车辆在规定的车道行驶。In addition, when encountering an emergency situation, such as when there is an obstacle or a dangerous event in front of the convoy, and vehicle B brakes suddenly, the second communication module of vehicle B will send information about emergency braking, and the second communication module of vehicle A will receive After receiving the emergency braking information, it is transmitted to the processing module of vehicle A, and the processing module of vehicle A then transmits this information to the assisted driving control module to control the emergency braking of the vehicle, so as to ensure that the driving vehicle will not collide. In addition, each vehicle also collects information for the assisted driving control module through the camera and radar. For example, the camera is used to analyze the side route image during driving, and the radar is used to detect the route barrier to ensure that the vehicle is driving in the specified lane.
当车辆A离开该行驶车队时，车辆A之后的该行驶车队的车辆的第二通信模块收到车辆A的第二通信模块发送的离开消息后，需要加速以赶上该车队前面的车，并与前车保持一定的距离，这个距离可以根据车队行驶的速度来确定，比如以120km/s行驶时，车间的距离可以保持30-50m。于此，车队的行驶速度例如取决于高速公路的规定值，其例如在地理信息系统中标识。此外，在实际操作时，可以选择略小于高速公路规定值的值作为车队的行驶速度，本发明对此并不限定。此外，一个行驶车队占用一个行驶车道。但是，本发明对此并不限定。占用行驶车道的数目(即车队内并排车辆的数目)例如取决于高速公路车道的数量(该数量信息例如可从地理信息系统获取)。举例而言，除了应急车道外，若高速公路车道的数量较多，那么可以选择两个车道作为车队的行驶车道。When vehicle A leaves the driving fleet, after the second communication module of the vehicle of the driving fleet behind vehicle A receives the leaving message sent by the second communication module of vehicle A, it needs to accelerate to catch up with the car in front of the fleet, and Keep a certain distance from the vehicle in front. This distance can be determined according to the driving speed of the convoy. For example, when driving at 120km/s, the distance between the workshops can be kept at 30-50m. In this case, the driving speed of the convoy depends, for example, on motorway regulations, which are identified, for example, in a geographic information system. In addition, in actual operation, a value slightly smaller than the specified value of the expressway can be selected as the driving speed of the fleet, which is not limited in the present invention. In addition, a driving convoy occupies a driving lane. However, the present invention is not limited thereto. The number of occupied driving lanes (that is to say the number of parallel vehicles in the convoy) depends, for example, on the number of highway lanes (this number information can be obtained, for example, from a geographic information system). For example, in addition to the emergency lane, if the number of expressway lanes is large, then two lanes can be selected as the driving lanes of the convoy.
此外，在LTE基站没有覆盖的区域，车辆的第一通信模块不能从LTE基站获取动态分配的车辆之间通信能使用的频谱资源信息时，车辆的第二通信模块保持使用进入非覆盖状态时的频谱不变。In addition, in an area where the LTE base station does not cover, when the first communication module of the vehicle cannot obtain from the LTE base station the spectrum resource information that can be dynamically allocated for inter-vehicle communication, the second communication module of the vehicle will keep using the spectrum resource information when it enters the non-coverage state. The spectrum is unchanged.
综上所述，本发明实施例通过LTE无线通信能够支持V2X(X可以指车，也可以指基站)间以10Hz频繁通信，时延小于100ms，300米内通信可靠性达到99％，支持相对速度300km/h，并支持有覆盖及无覆盖场景。相比于传统的DSRC技术(比如IEEE 802.11p)，基于LTE技术的车与基站、车车通信可以重用现有LTE网络和基站节点，避免了部署大量新的RSU；通过LTE基站的统一协调、集中分配资源，避免了采用CSMA/CA技术带来的容量不足、容易出现系统拥塞的缺点；公路上的大量汽车协同一致，以相同的速率和方向行驶，可以充分利用公路基础设施，提高了通行效率，同时减少了交通碰撞的发生。In summary, the embodiment of the present invention can support V2X (X can refer to vehicles or base stations) through LTE wireless communication at frequent communication at 10 Hz, with a time delay of less than 100 ms, a communication reliability of 99% within 300 meters, and support for relative speed 300km/h, and supports coverage and non-coverage scenarios. Compared with the traditional DSRC technology (such as IEEE 802.11p), the vehicle-to-base station and vehicle-to-vehicle communication based on LTE technology can reuse the existing LTE network and base station nodes, avoiding the deployment of a large number of new RSUs; through unified coordination of LTE base stations, Centralized allocation of resources avoids the disadvantages of insufficient capacity and system congestion caused by the adoption of CSMA/CA technology; a large number of vehicles on the road are coordinated and drive in the same speed and direction, which can make full use of the road infrastructure and improve traffic. Efficiency, while reducing the occurrence of traffic collisions.
以上显示和描述了本发明的基本原理和主要特征和本发明的优点。本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. The present invention is not limited by the above-mentioned embodiments, and what described in the above-mentioned embodiments and the description only illustrates the principle of the present invention, and without departing from the spirit and scope of the present invention, the present invention also has various changes and improvements, these changes All modifications and improvements are within the scope of the claimed invention.
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| RJ01 | Rejection of invention patent application after publication | Application publication date:20170215 |