阅读说明：本技术 多用户协同交互式导航及应急控制系统 (Multi-user collaborative interactive navigation and emergency control system ) 是由 吴仁钢 谢春燕 何文 曹斌涛 蔡春茂 王敏 于 2021-08-31 设计创作，主要内容包括：本发明提供一种多用户协同交互式导航及应急控制系统,通过构建车辆队列,实现车与云端信息处理单元、车与车之间的自主通信功能,建立周围车辆队列名单并进行信息共享整合,实现在同一个路段行驶的匿名车辆之间的摄像头图像和车辆状态共享、应急信息自动分发、前方车辆周围环境信息查阅等功能。本系统可用于自动传递避险信息和附近车辆周围图像,来解决雾天连环撞车避险滞后、堵车不知前方路况、突发灾害缺少应急通信、通信中断区域无法分享图片等用户需求,用于车辆的发现盲区障碍物和车辆的导航和应急通信,严重堵车时为用户提供前方实时视频和图像信息,为用户提供参考建议。(The invention provides a multi-user collaborative interactive navigation and emergency control system which realizes the autonomous communication function between vehicles and a cloud information processing unit and between vehicles by constructing a vehicle queue, establishes a surrounding vehicle queue list and carries out information sharing and integration, and realizes the functions of sharing camera images and vehicle states, automatically distributing emergency information, looking up surrounding environment information of vehicles ahead and the like among anonymous vehicles running on the same road section. The system can be used for automatically transmitting danger avoiding information and images around nearby vehicles, so that the user requirements of delayed vehicle collision danger avoiding in foggy days, traffic jam and unknown road conditions in the front, emergency communication lack in emergency disasters, picture sharing in communication interruption areas and the like are met, the system is used for finding blind area obstacles and navigation and emergency communication of the vehicles, front real-time video and image information are provided for the users during severe traffic jam, and reference suggestions are provided for the users.)

1. A multi-user collaborative interactive navigation and emergency control system, comprising:

the vehicle queue establishing unit is configured at a vehicle end and a cloud end and used for receiving position information sent by vehicles regularly in real time and establishing a queue of other vehicles around each vehicle through vehicle positioning information, navigation planning and a short-distance V2X communication system;

the vehicle-end information processing unit is configured on each vehicle, adopts distributed processing, is used for establishing a current vehicle surrounding environment model according to environment information detected by an environment perception sensor of the vehicle or information such as a vehicle surrounding environment model, data, an alarm, an emergency instruction and the like generated after receiving images transmitted by other vehicles and processing, compares the current vehicle surrounding environment model with known data, and performs positioning, navigation, prediction and decision making, transmits information and sends a control instruction;

the information transmission unit is used for carrying out low-delay communication between the vehicle and other surrounding vehicles through a private Bluetooth, WiFi or 5G data transmission protocol, transmitting information processed by the vehicle-end information processing unit, and carrying out information transmission between the vehicle and the cloud platform through the mobile internet; when the network around the vehicle with the collision or the fault is not connected, the information is cached and transported in an information caching and relay communication mode, and information is repeatedly transmitted between the vehicle with the collision or the fault and the cloud server; when the network connection is normal, information sharing operation is carried out;

and the cloud information processing unit is configured on the cloud server and used for receiving the vehicle information, processing and pushing the vehicle information.

2. The multi-user collaborative interactive navigation and emergency control system according to claim 1, wherein the information delivery unit performs information caching and relay communication in a manner that is specifically: the method comprises the steps that a collision or fault vehicle transmits current vehicle state and position information to vehicles passing by the periphery, the vehicles around buffer and transmit the current vehicle state and position information to the vehicle running faster or the vehicle in front for buffering and transmitting until the vehicle with the buffered information runs to a network position, the information is uploaded to a cloud server, the cloud server pushes current rescue progress and inquiry content to nearby vehicles through a background for information buffering, the vehicle with the buffered information searches for the fault vehicle when reaching the position nearby a specified position, and the buffered data is transmitted to the fault vehicle.

3. The multi-user collaborative interactive navigation and emergency control system according to claim 1, wherein the information transfer unit transmits information about the time, location, etc. of the collision to surrounding vehicles and/or cloud servers through the vehicle-side information transfer unit when the vehicle collides; when a vehicle breaks down, the fault vehicle transmits fault information such as a vehicle position, a driving path, a vehicle surrounding picture and the like to surrounding vehicles and/or a cloud server through a vehicle-end information transmission unit.

4. The multi-user collaborative interactive navigation and emergency control system of claim 1, wherein the processing and pushing by the cloud information processing unit comprises: when vehicle collision information is received, pushing an early warning instruction to an in-vehicle APP such as a rear vehicle navigation map; after vehicle fault information is received, audio and video around a fault vehicle or an accident vehicle are remotely checked through a network, driving parameters and paths before vehicle accidents are analyzed, a rescue scheme is determined, and current rescue progress, inquiry content, the rescue scheme and the like are pushed to nearby vehicles with networks.

5. The multi-user collaborative interactive navigation and emergency control system according to claim 1, wherein the cloud information processing unit is further configured to send the warning information to a non-intelligent vehicle-mounted navigation software user and a mobile terminal navigation software user behind the warning information through a low-latency mobile network when receiving a warning or emergency instruction, and if the warning hazard source is fixed in a certain road location, the warning information is continuously sent to an approaching user until the warning is released.

6. The multi-user collaborative interactive navigation and emergency control system according to claim 1, wherein the vehicle-side information processing unit is further configured to receive and integrate information such as videos transmitted by surrounding vehicles in real time, build a 3D model around the vehicle, attach real-time video images, and implement a perspective navigation interface on a navigation map to see through surrounding vehicles to discover states of vehicles and obstacles in front, rear, left, and right blind areas.

7. The multi-user collaborative interactive navigation and emergency control system according to claim 1, wherein an electrical architecture of the system is that a navigation satellite antenna provides a navigation position signal to be transmitted to a vehicle-mounted multimedia device, a vehicle-mounted camera provides a vehicle surrounding image to the vehicle-mounted multimedia device, and a 4G/5G/WiFi module built in the vehicle-mounted multimedia provides a network communication function; the driver interacts through the vehicle-mounted multimedia terminal, and the vehicles are connected through 5G, Bluetooth and WiFi protocols; each vehicle is in wireless connection with the cloud, and the cloud server processes information and images, processes and distributes data.

8. The multi-user collaborative interactive navigation and emergency control system of claim 1, wherein the system is based on a driving direction provided by GNSS positioning and navigation software, a fast sharing network of the vehicle queue is established through Bluetooth, WiFi, 5G or a mobile network, the network is formed by serially connecting Bluetooth, WiFi, 5G or mobile terminal private networks of a plurality of users or distributing data through a third-party navigation cloud information processing unit such as WeChat and Gaudi maps, the users can set a driving recorder, a 360-degree panoramic current image, a millimeter wave radar and a laser radar which share the users in incall, data is transmitted through private WiFi, 5G protocol or cloud platform when requests are made around, and sharing among a plurality of WiFi or 5G terminals is supported, and distribution or relay forwarding of the cache information collected in a non-network area is supported.

9. The multi-user collaborative interactive navigation and emergency control system of claim 1, wherein the following steps are performed at the vehicle end for emergency information processing:

(1) the method comprises the steps of connecting with a cloud server through a network to obtain a surrounding vehicle list;

(2) connecting with other vehicles in the vehicle queue through a network to synchronize queue information;

(3) acquiring surrounding environment information through an environment perception sensor, and confirming the running state of the vehicle;

(4) confirming whether the owner authorizes the third party to use the information, if so, entering the step (5), and if not, entering the step (8);

(5) anonymizing and processing vehicle information, video and audio information inside and outside the vehicle according to the authorized range and the law;

(6) judging whether peripheral queue vehicles exist or not, and judging whether a cloud information processing unit requests to acquire information such as images around the vehicles, if so, entering a step (7), and if not, entering a step (8);

(7) providing data through a network, and synchronizing the data through a cloud information processing unit;

(8) requesting information such as images, processed models, data, emergency and emergency instructions to be transmitted to surrounding vehicles;

(9) judging whether data feedback is obtained or not, if so, entering a step (10), and if not, entering a step (11);

(10) synthesizing and perspective road scene real-time videos of surrounding vehicles, and displaying the videos; wherein risk-free vehicles and shelters that do not require driver attention are displayed as semi-transparent outlines;

(11) judging whether conditions such as pedestrians, non-motor vehicles, obstacles, animals, road conditions and the like exist around; if yes, entering the step (12), otherwise, ending;

(12) highlighting the obstacle on the perspective road scene video;

(13) judging whether braking is needed, if so, entering a step (14);

(14) lighting a brake lamp to carry out danger avoiding operation;

(15) judging whether the vehicle has collided, if so, entering the step (16), and if not, entering the step (18)

(16) Judging whether the collision video needs to be processed according to laws and regulations, if so, entering the step (17)

(17) Anonymizing, blurring or/and modeling to process data such as field video, images and the like;

(18) sending warning information to rear queue vehicles and a cloud information processing unit, wherein the warning information comprises information such as positions, lanes and images, and the cloud information processing unit sends the warning information to terminals around obstacles and vehicle-mounted terminals;

(19) judging whether the vehicles in the queue send alarm information, if so, entering a step (20), and if not, ending;

(20) and displaying the alarm information, executing the forced instruction and ending.

10. The multi-user collaborative interactive navigation and emergency control system of claim 1, wherein at the cloud server, the following steps are performed:

(1) receiving vehicle position and queue information;

(2) judging whether a vehicle has collided or not, if not, entering the step (9), and if so, entering the step (3);

(3) requesting information such as images, processed models and data and the like from the fault vehicle and other surrounding vehicles;

(4) judging whether data feedback is obtained or not, if so, entering the step (5), and if not, entering the step (1);

(5) synthesizing a road scene real-time panoramic video and a model of an accident scene, and pushing the panoramic video and the model to a vehicle end display screen for displaying;

(6) judging whether the fault vehicle is a dangerous vehicle, if so, entering a step (7), and if not, entering a step (9);

(7) informing surrounding vehicles in the vehicle queue to evacuate, and informing vehicles in the surrounding possibly affected distance to avoid danger in real time;

(8) the method comprises the steps that vehicle fault information is sent to a third-party navigation cloud information processing unit such as a WeChat map and a Gaode map, and the information is used for reminding a user of peripheral navigation software;

(9) judging whether the rescue control personnel request data such as site audio and the like, if so, entering a step (10), and if not, entering a step (11);

(10) outputting data such as audio and driving records to rescue workers;

(11) judging whether surrounding vehicles request the scene video of the accident vehicle, if so, entering the step (12), and if not, entering the step (15);

(12) judging whether the video needs to be processed according to laws and regulations, if so, entering a step (13), and if not, entering a step (14);

(13) data such as on-site video and images are processed anonymously, fuzzily or/and in a modeling mode;

(14) outputting audio and video information to the vehicle requesting the image;

(15) judging whether a vehicle approaches behind the historical driving path of the fault vehicle, if so, entering a step (16), and if not, entering a step (17);

(16) evaluating the passable width, and prompting vehicles behind the vehicle queue to avoid a lane where the fault vehicle is located;

(17) transmitting information such as the position and lane of the fault vehicle to a third-party navigation cloud information processing unit;

(18) prompting all road users to queue in a passable lane for uniform-speed running.

11. The multi-user collaborative interactive navigation and emergency control method according to claim 1, wherein the step of sending and receiving emergency information in an emergency communication manner at a vehicle end comprises the steps of:

(1) acquiring surrounding environment information through an environment perception sensor, and confirming the running state of the vehicle;

(2) judging whether the vehicle has collided, if so, entering the next step, and if not, entering the step (5);

(3) judging whether network connection exists, if so, entering the next step, and if not, entering the step (7);

(4) sending a rescue request signal through a network, and then emptying a cache;

(5) judging whether other vehicle rescue data are cached or not, if so, entering the next step, and if not, ending;

(6) judging whether the cache data is in the set time, if so, returning to the step (3), and if not, emptying the cache;

(7) judging whether a user inputs a new message, if so, entering the next step, and if not, entering the step (9);

(8) updating the own vehicle user message;

(9) judging whether the peripheral vehicle queue can be accessed wirelessly or not, if so, entering the next step, and if not, entering the sleep mode;

(10) transmitting fault information such as the cache information, the position, the driving path, the surrounding vehicle pictures and the like of the user to the surrounding vehicle cache;

(11) inquiring whether the surrounding vehicles have a message sent to the vehicle by the cloud, if so, entering the next step, and if not, entering the dormancy;

(12) requesting message transmission, playing the message to a user, and then entering dormancy;

(13) after waiting for a while, step (3) is entered again.

Technical Field

The invention belongs to the field of automobile navigation, automatic driving emergency risk avoidance and image interaction, and particularly relates to a multi-user collaborative interactive navigation and emergency control technology.

Background

In order to improve the safety of vehicle driving in automatic driving, it is necessary to perform queue management and brake control on vehicles and perform information sharing between vehicles.

The prior art has the following motorcade management, autopilot and unmanned aerial vehicle control related patent information disclosures: for example, CN202010234623.0 discloses a fleet intersection obstacle avoidance control method based on multi-level leader pigeon group theory, CN201810818222.2 discloses a mobile sharing-oriented intelligent internet traffic management system, CN201280069382.2 discloses a method and device for collective navigation, and others, some of them cannot be used for emergency traffic accident risk avoidance, do not have functions of image information sharing, and others lack information communication between vehicles, some are centralized decision making, and are not distributed control, the technologies cannot meet user requirements of delayed danger avoidance, traffic congestion, unknown road conditions in front, lack of emergency communication in sudden disasters, incapability of sharing pictures in communication interruption areas and the like in foggy days, and cannot effectively feed back to rear vehicles by identifying abnormal conditions of roads to remind the rear vehicles of finding obstacles or vehicles in blind areas, so that support is provided for danger avoidance and rescue information transmission in sudden traffic accidents.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a multi-user collaborative interactive navigation and emergency control system, which realizes the functions of sharing camera images and vehicle states, automatically distributing emergency information, looking up the surrounding environment information of front vehicles and the like among anonymous vehicles running on the same road section by establishing a surrounding vehicle queue list and carrying out information sharing and integration, is used for a navigation system and an emergency communication system for finding blind zone obstacles and vehicles of the vehicles, provides front real-time video and image information for users when in severe traffic jam, and provides reference suggestions for the users.

The technical scheme of the invention is as follows:

the invention provides a multi-user collaborative interactive navigation and emergency control system, which comprises:

and the vehicle queue establishing unit is used for receiving the position information periodically sent by the vehicles in real time and establishing a queue of other vehicles around for each vehicle through the vehicle positioning information, the navigation plan and the short-distance V2X communication system.

And the vehicle-end information processing unit is configured on each vehicle, adopts distributed processing, and is used for each vehicle to receive information such as vehicle surrounding environment models, data, alarms, emergency instructions and the like generated after processing according to the information collected by the environment perception sensor of the vehicle or images transmitted by other vehicles.

The information transmission unit is used for carrying out low-delay communication between the vehicle and other vehicles around hundreds of meters through a private Bluetooth, WiFi or 5G data transmission protocol, transmitting the information processed by the vehicle-end information processing unit, and carrying out information transmission between the vehicle and the cloud platform through the mobile internet; when the network around the vehicle with the collision or the fault is not connected, carrying out information caching transportation operation, and repeatedly transmitting information between the vehicle with the collision or the fault and the cloud server in an information caching and relay communication mode; and when the network connection is normal, performing information sharing operation.

The cloud information processing unit is configured in the cloud server, is used for receiving the vehicle information and processes the vehicle information, and comprises: when vehicle collision information is received, pushing an early warning instruction to an in-vehicle APP such as a rear vehicle navigation map; after vehicle fault information is received, audio and video around a fault vehicle or an accident vehicle are remotely checked through a network, driving parameters and paths before vehicle accidents are analyzed, a rescue scheme is determined, and current rescue progress, inquiry content, the rescue scheme and the like are pushed to nearby vehicles with networks.

Further, the information caching and relay communication mode of the information transfer unit is specifically as follows: the method comprises the steps that a collision or fault vehicle transmits current vehicle state and position information to vehicles passing by the periphery, the vehicles around buffer and transmit the current vehicle state and position information to the vehicle running faster or the vehicle in front for buffering and transmitting until the vehicle with the buffered information runs to a network position, the information is uploaded to a cloud server, the cloud server pushes current rescue progress and inquiry content to nearby vehicles through a background for information buffering, the vehicle with the buffered information searches for the fault vehicle when reaching the position nearby a specified position, and the buffered data is transmitted to the fault vehicle.

Further, the information transmitted by the information transfer unit includes: images, real-time video, short video, audio, and vehicle position, acceleration, speed, trajectory, path planning, attitude, size, braking distance, etc. collected by the vehicle camera. Specifically, when the vehicle is in collision, the vehicle in collision transmits information such as the time and place of the collision to surrounding vehicles and/or a cloud server through the vehicle-end information transmission unit; when a vehicle breaks down, the fault vehicle transmits fault information such as a vehicle position, a driving path, a vehicle surrounding picture and the like to surrounding vehicles and/or a cloud server through a vehicle-end information transmission unit.

Further, the cloud information processing unit is further used for sending the warning information to a non-intelligent vehicle-mounted navigation software user and a mobile terminal navigation software user which are located behind the warning information through a low-delay mobile network when receiving a warning or emergency instruction, and if the warning hazard source is fixedly located in a certain road location, the warning information is continuously sent to a user close to the warning hazard source until the warning is relieved.

Further, the vehicle-end information processing unit is also used for receiving and integrating information such as videos transmitted by surrounding vehicles in real time, establishing a 3D model around the vehicle, attaching real-time video images, and realizing a perspective navigation interface on a navigation map so as to see through the surrounding vehicles and find the states of the vehicles and obstacles in blind areas of front, back, left and right sides.

Furthermore, the electrical appliance framework of the system is that a navigation satellite antenna provides a navigation position signal to be transmitted to the vehicle-mounted multimedia equipment, a vehicle-mounted camera provides a vehicle surrounding environment image to the vehicle-mounted multimedia equipment, and a 4G/5G/WiFi module built in the vehicle-mounted multimedia provides a network communication function; carrying out information caching and transporting operation when the network is not connected, and carrying out information sharing operation when the network is normally connected; the driver interacts through the vehicle-mounted multimedia terminal, and the vehicles are connected through special 5G, V2X, Bluetooth and WiFi protocols; each vehicle is in wireless connection with the cloud, and the cloud server processes information and images, processes and distributes data.

Further, the system establishes a fast sharing network of a vehicle queue through Bluetooth, WiFi, 5G or a mobile network based on a driving direction provided by GNSS positioning and navigation software, the network is formed by connecting Bluetooth, WiFi, 5G or mobile terminal private networks of a plurality of users in series or distributing data through cloud platforms such as WeChat and Goodpasture maps, the users can set a driving recorder, a 360-degree panorama current image, a millimeter wave radar and a laser radar which are turned on/off to share the users in incall, when requests are made around, the data are transmitted through the private WiFi, 5G protocols or the cloud platforms, sharing among a plurality of WiFi or 5G terminals is supported, and network-free area collection, cache information distribution or relay forwarding is supported.

As can be seen from the above technical solutions, the present invention mainly considers the following aspects:

some vehicles on the road have an automatic driving function, and can sense the surrounding road environment, but the road condition information outside the sensing range or in the blind area blocked by the surrounding vehicles needs to be provided by other vehicles. And vehicles on the road without the automatic driving function can also obtain traffic road information uploaded by the automatic driving vehicles around through the cloud end to obtain prompts and driving suggestions under partial emergency situations.

The signal transmission between the automatic driving vehicle and the vehicle without the automatic driving function or the road user can transmit information by connecting the 4G and 5G with a cloud information processing unit or a navigation software server, and directly establishing point-to-point communication with surrounding vehicles through 5G, WiFi and Bluetooth.

The communication between the autonomous vehicles and the intelligent transportation infrastructure establishes network connection through V2X technology or a cloud information processing unit.

The application scenarios of the invention are as follows:

the vehicle that drives at a high speed probably receives the place ahead vehicle shelter can not discover some barriers, and when the place ahead vehicle was promptly avoided, the place behind vehicle reaction can lead to the accident in time, needs to share vehicle image vision between the vehicle, widens the place behind vehicle vision to avoid the accident to take place.

When the accident of the front vehicle cannot be identified and the accident of the front vehicle is broken down or the chain collision cannot be avoided in time in the foggy weather, the rear vehicle needs to be reminded of emergency braking in time so as to avoid the chain collision.

When traffic jam occurs on roads in the period of Wuyi, national day and spring festival, the rear vehicle is not clear of the reason of the traffic jam in the front, the passing time required for recovering the smoothness cannot be evaluated in time, the traffic jam is caused by missing the opportunity for adjusting the driving route, and the video or the image of the traffic jam in the front needs to be shared in time, so that the decision of a driver is supported.

When emergency such as acute diseases occur in a traffic jam area, a driver is not familiar with other drivers around, the information transmission speed is low, and the driver needs to ask for help from the vehicles with traffic jams around in time.

When dangerous chemical vehicles leak or burn due to a traffic accident and rear vehicles are not clear of the field condition, the escape opportunity is delayed, the images of the accident site in front need to be shared in time, and warning is provided for emergency avoidance of the rear vehicles.

When accidents such as vehicle rollover, anchoring and the like occur in an area without network signals, a vehicle rescue request cannot be sent, vehicles which may run cannot find accident vehicles and miss rescue opportunities, information such as vehicle tracks, states before the accident, recording of a period of time after the accident and conversation recording of a driver and a voice assistant need to be actively shared in time, the information is cached and transported to the area with the network by means of vehicles running around to be uploaded to a cloud rescue platform, and guidance is provided for timely rescue.

The invention has the following technical effects:

according to the system, the vehicle queue is built, the autonomous communication function between the vehicle and a cloud information processing unit and between the vehicles is realized, the list of the vehicle queues around the vehicle is built and information sharing and integration are carried out, the functions of camera image and vehicle state sharing, automatic emergency information distribution, front vehicle surrounding environment information lookup and the like between anonymous vehicles running on the same road section are realized, the queue based on the vehicle positions can be used for automatically transmitting danger avoiding information and surrounding images of nearby vehicles, and the user requirements that in a foggy day, continuous collision and danger avoiding lag, traffic jam and unknown front road conditions, emergent disasters lack of emergency communication, communication interruption areas cannot share pictures and the like are met. The system can be used for a navigation system and an emergency communication system for finding blind area obstacles and vehicles of the vehicles, provides front real-time video and image information for users when the vehicles are in a serious traffic jam, provides reference suggestions for the users, and improves the capability of surrounding vehicle drivers for finding safety risks and avoiding accidents.

Drawings

Fig. 1 is a hardware configuration diagram of the present system.

FIG. 2 is a schematic diagram of emergency hedge in the event of a collision;

in the figure, S101, S105, S107, S106, S108, S109 and S1010 are all one vehicle in the queue; s102 is the number of the vehicle, the number of other vehicles around the vehicle is given by the single vehicle, the sign related to the driving direction of the single vehicle is arranged on the number of other vehicles around the single vehicle, "+" represents the front in the same direction, and "-" represents the back in the same direction. S104 is a collision accident occurrence position.

FIG. 3 is a schematic view of information caching transportation in a network coverage free area;

in the figure, S203 is a cloud server monitored by customer service personnel; s201 represents a cloud-side data transmission link, and S204 represents a relay information uploading link; s202 and S205 are both areas covered by the mobile communication network; s206, S207, S208, S209, S210, S211, S212, S213 and S214 are all vehicles running on the road; s215 denotes the number of the vehicle, and the faulty vehicle numbers the surrounding vehicles in the traveling direction and in the front-rear direction in this order. The number of front vehicles running in the same direction is VR + n, n =1, 2, 3 … …; the number of rear vehicles running in the same direction is VR-n, and n =1, 2 and 3 … …; the front vehicle number of reverse travel is VL + n, n =1, 2, 3 … …; the rear vehicle traveling in reverse is numbered VL-n, n =1, 2, 3 … ….

FIG. 4 is a system architecture diagram;

in the figure, S301, S302, S303, S304, S305, and S306 are all running vehicles; s311, S312, S313, S314, S315 and S316 are all 4G/5G wireless communication connection between the vehicle and the cloud AI; s321, S322, S323, S324, S325, S326 are all vehicle driver' S authority over vehicle functions; s331, S332, S333, S334, S335 and S336 are vehicle queue numbers in driving, and the numbers dynamically change along with the movement of relative positions; s341, S342, S343, S344, S345, S346 are all multimedia communication terminals of the vehicle; s351 is the vehicle surroundings; s352 is a navigation satellite receiving antenna; s353 is a camera; s354 is vehicle panoramic image recording equipment; s355 is a cache instruction; s356 is a share information instruction; s357 is a current network state judgment condition; s361 is a datamation and software logic required by the regulations; s362 is a digitization of the privacy policy; s363 processes information and images; s364, data storage; s365 artificial intelligence processing hardware and software connected to the network; s366 is a Bluetooth, WiFi, 4G/5G communication protocol link for communication between vehicles; s367 is a third party cloud information processing unit; s368 is a vehicle navigation terminal; s369 is a mobile navigation terminal; s3610 is the navigation terminal of other computers.

Fig. 5 is a logic diagram of emergency information delivery at the vehicle end of the system.

Fig. 6 is a logic block diagram of a cloud information processing unit of the present system.

Fig. 7 is a logic diagram of emergency communication of the present system.

Detailed Description

The invention is further illustrated below with reference to the accompanying drawings:

the autonomous driving automobile related to the system is provided with various environment sensing sensors, such as a laser radar, a millimeter wave radar, an ultrasonic radar, a camera and the like, and navigation equipment, signals of the sensors are transmitted to each controller through a CAN (controller area network) bus and a vehicle-mounted Ethernet bus, a driving domain controller fuses information provided by each sensor to make decisions, and functions of steering, braking, power and the like of the automobile are controlled, so that autonomous driving of various scenes is realized.

Specifically, referring to fig. 1, hardware required for full-function operation of the system includes at least one driving controller with redundant functions, at least two laser radars, six millimeter wave high-definition 4D image radars, four panoramic cameras, six panoramic cameras, a high-precision navigation controller, a near-to-middle-distance combined forward-looking camera, and a vehicle-mounted communication terminal. Partial functions of the system can transmit important information to surrounding vehicle-mounted terminals or mobile terminals using networking navigation programs through the cloud information processing unit, so that the capabilities of surrounding vehicle drivers of finding safety risks and avoiding accidents are improved.

In one specific embodiment, the multi-user collaborative interactive navigation and emergency control system comprises the following functional units:

and the vehicle queue establishing unit is used for receiving the position information periodically sent by the vehicles in real time and establishing a queue of other vehicles around for each vehicle through the vehicle positioning information, the navigation plan and the short-distance V2X communication system.

The vehicle queue establishing unit can independently operate at a vehicle end and a cloud end, and the cloud end assists in maintenance. And at the vehicle end, processing the road field queue information in real time, inquiring the list when the cloud end is used for issuing early warning information, wherein part of cloud end information sources come from a cloud platform of a third party and can be used as vehicle end information supplement.

And the vehicle-end information processing unit is configured on each vehicle, adopts distributed processing, and is used for each vehicle to receive information such as models, data, alarms, emergency instructions and the like generated after processing according to the information collected by the environment perception sensor of the vehicle or images transmitted by other vehicles.

And the information transmission unit is used for carrying out low-delay communication between the vehicle and other vehicles around hundreds of meters through a private Bluetooth, WiFi or 5G data transmission protocol, transmitting the information processed by the vehicle-end information processing unit, and carrying out information transmission between the vehicle and the cloud platform through the mobile internet. And when the network connection is normal, performing information sharing operation. When the network around the vehicle with the collision or the fault is not connected, information caching and transporting operations are carried out, and information is repeatedly transmitted between the vehicle with the collision or the fault and the cloud server in an information caching and relay communication mode.

The cloud information processing unit is configured in the cloud server, is used for receiving the vehicle information and processes the vehicle information, and comprises: when vehicle collision information is received, pushing an early warning instruction to an in-vehicle APP such as a rear vehicle navigation map; after vehicle fault information is received, audio and video around a fault vehicle or an accident vehicle are remotely checked through a network, driving parameters and paths before vehicle accidents are analyzed, a rescue scheme is determined, and current rescue progress, inquiry content, the rescue scheme and the like are pushed to nearby vehicles with networks.

In the system, emergency hedge is carried out when collision happens, as shown in fig. 2, vehicles V0 in a fleet are numbered V0 in a vehicle queue; a surrounding vehicle, a vehicle number V + n, n =1, 2, 3 … …, ahead in the vehicle traveling direction; vehicle number V-n, n =1, 2, 3 … … behind the vehicle. When the vehicle itself collides, the information of the time, the place and the like of the collision is transmitted to surrounding vehicles through a network, so that the vehicle can perform the control of reminding, decelerating, braking, queuing, passing and the like.

The system carries out information caching and transportation in the area without network coverage, referring to fig. 3, a fault vehicle V0, wherein each vehicle in a fleet is considered as a vehicle V0; the number of front vehicles running in the same direction is VR + n, n =1, 2, 3 … …; the number of rear vehicles running in the same direction is VR-n, and n =1, 2 and 3 … …; the front vehicle number of reverse travel is VL + n, n =1, 2, 3 … …; the rear vehicle number of reverse travel is VL-n, n =1, 2, 3 … …; the fault vehicle transmits information such as vehicle position, driving path, pictures around the vehicle and the like to the surrounding vehicles through a wireless network for caching, the surrounding vehicles upload the information to the server when driving to the position with the mobile network, after receiving the fault information, customer service personnel can push the current rescue progress and inquiry content to the nearby vehicles through the background for caching, search the fault vehicle when reaching the position nearby the specified position, and transmit the cached data to the fault vehicle.

Referring to fig. 4, a part of electrical appliance architecture of the system is that a navigation position signal is provided by an S352 navigation satellite antenna and transmitted to a vehicle-mounted multimedia device, a vehicle surrounding environment image is provided by an S353 camera to the vehicle-mounted multimedia device, and a 4G/5G/WiFi module built in the vehicle-mounted multimedia device provides a network communication function; performing S355 cache operation when the network is not connected, and performing sharing operation when the network is normally connected; the driver S323 interacts through the vehicle-mounted multimedia terminal, and the vehicles are connected through special 5G, Bluetooth and WiFi protocols so as to transmit data with vehicles or mobile terminals of which other road users do not support V2X; each vehicle establishes wireless connection with a cloud, and the cloud server processes and distributes data according to legal and legal requirements, privacy protection anonymity processing and image processing.

In a further embodiment, when the vehicle is in collision danger avoidance, the vehicles establish a vehicle queue based on the positioning information of the navigation system, when one vehicle is in collision, voice prompt information is immediately pushed to surrounding users through communication modes such as a server of a navigation map provider, 4G/5G, Bluetooth and WiFi, the vehicle behind the vehicle is prompted to brake immediately, and a brake lamp is quickly flickered to prompt the vehicle behind the vehicle.

In a further embodiment, during information caching transportation, the fault vehicle transmits current vehicle state and position information to vehicles passing by the periphery, the vehicles around transmit the received information to the vehicle running faster or the vehicle ahead because the vehicles do not have a network until the vehicle with the cached information runs to a position with the network, and the information is uploaded to the cloud server and submitted to the customer service staff. After receiving the fault information, the customer service staff can push information cache to nearby vehicles through a background according to the current rescue progress and inquiry content, search for the faulty vehicle when the fault vehicle reaches the position nearby the specified position, transmit the cache data to the faulty vehicle, inquire personnel in the vehicle through a voice system on the vehicle, try to transmit the answer to the customer service staff through the relay communication mode after obtaining the answer.

In a further embodiment, when a vehicle collides, the vehicle with the collision transmits information such as the time and the place of the collision to surrounding vehicles and a cloud information processing unit through a vehicle-mounted communication terminal, and the cloud information processing unit pushes an early warning instruction to an in-vehicle APP such as a navigation map of a rear vehicle; the early warning instruction comprises: for a short-distance vehicle, the vehicle is controlled to implement an instruction of forced deceleration or emergency braking so as to prompt a user and avoid secondary damage caused by continuous vehicle collision; and controlling an instruction of immediately lighting a brake lamp close to a vehicle behind the road, and guiding a user to decelerate and avoid the obstacle through images and sounds of a head-up display system or an instrument display screen.

In a further embodiment, when a traffic lane is narrowed due to the conditions of vehicle collision or temporary road closure construction and the like, if limited lane is allowed to pass under the road conditions, a rear vehicle is informed through a queue system not to overtake/change the lane on the road section, the lane with the accident is avoided, and the vehicle is sequentially queued according to the number of the lanes which can pass through the accident section in the driving process at a certain distance from the accident section to pass through the accident section at a constant speed, so that the passing efficiency is improved.

In a further embodiment, the system establishes a fast sharing network of the vehicle queue through bluetooth, WiFi, 5G or a mobile network based on a driving direction provided by RTK, GNSS positioning, an inertial navigation sensor and navigation software, wherein the network is formed by serially connecting bluetooth, WiFi, 5G or mobile terminal private networks of a plurality of users and distributing data through a cloud information processing unit, and can also distribute data through a third party cloud information processing unit such as WeChat and Gagde maps. The user can set up in on-vehicle amusement information terminal incall to turn on/off and share his tachograph, 360 panorama current image, millimeter wave radar, laser radar, when having the request all around through private wiFi, 5G agreement or high in the clouds information processing unit transmission data, updates a picture through the compression every second, and supports sharing between a plurality of wiFi or 5G terminals, supports no network area to collect buffering information distribution or relay and forward.

Referring to fig. 5, in a further embodiment, when the vehicle end, the vehicle queue establishing unit and the vehicle end information processing unit perform emergency information processing, the following steps are performed:

1. and connecting the vehicle with a cloud server through a network to obtain a surrounding vehicle list.

2. The fleet information is synchronized via a network connection with other vehicles in the vehicle fleet.

3. And acquiring surrounding environment information through an environment perception sensor, and confirming the running state of the vehicle.

4. Confirming whether the owner authorizes the third party to use the information, if so, entering the step (5), and if not, entering the step (8);

5. and anonymizing and processing the vehicle information, the video and audio information inside and outside the vehicle according to the authorized range and the law.

6. And (4) judging whether peripheral queue vehicles exist or not, and requesting to acquire information such as images around the vehicles by the cloud information processing unit, if so, entering the step (7), and if not, entering the step (8).

7. The data is provided through the network, and the data is synchronized through the cloud information processing unit.

8. And requesting information such as images, processed models, data, emergency and emergency instructions to be transmitted to surrounding vehicles.

9. And (5) judging whether data feedback is obtained or not, if so, entering the step (10), and if not, entering the step (11).

10. Synthesizing and perspective road scene real-time videos of surrounding vehicles, and displaying the videos; wherein risk-free vehicles and shelters that do not require driver attention are displayed as semi-transparent outlines.

11. Judging whether conditions such as pedestrians, non-motor vehicles, obstacles, animals, road conditions and the like exist around; if yes, the step (12) is entered, and if not, the process is ended.

12. The obstacle is highlighted on the see-through road scene video.

13. And (4) judging whether braking is needed according to the danger level and the distance, and if so, entering the step (14).

14. And (4) lighting a brake lamp to carry out danger avoiding operation, such as forced braking deceleration, lane changing and the like.

15. And judging whether the vehicle has collided, if so, entering the step (16), and if not, entering the step (18).

16. And (4) judging whether the collision video needs to be processed according to laws and regulations, and if so, entering a step (17).

17. And anonymity, blurring and modeling process data such as live video and images.

18. And sending warning information to rear queue vehicles and a cloud information processing unit, wherein the rear queue vehicles and the cloud information processing unit comprise information such as positions, lanes and images, and the cloud information processing unit sends the warning information to certain terminals and vehicle-mounted terminals around the obstacle.

19. Judging whether the vehicles in the queue send alarm information, if so, entering a step (20), and if not, ending;

20. and displaying the alarm information, executing the forced instruction and then ending.

Referring to fig. 6, this embodiment shows the steps performed by the cloud information processing unit in the cloud server:

1. and receiving vehicle position and queue information.

2. And (4) judging whether the vehicle has collided or not, if not, entering the step (9), and if so, entering the step (3).

3. Requesting information such as images, processed models and data and the like from the fault vehicle and other surrounding vehicles;

4. and (5) judging whether data feedback is obtained or not, if so, entering the step (5), and if not, entering the step (1).

5. And synthesizing the road scene real-time panoramic video and the model of the accident scene, displaying the video and the model on a display screen, and recording recent data and archiving the data.

6. And (4) judging whether the fault vehicle is a dangerous chemical vehicle, if so, entering the step (7), and if not, entering the step (9).

7. Informing surrounding vehicles in the vehicle queue to evacuate, and informing vehicles in the surrounding possibly affected distance to avoid danger in real time;

8. and sending the fault information of the dangerous chemical vehicle to a third-party navigation cloud information processing unit.

9. And (4) judging whether the rescue control personnel request data such as site audio, if so, entering the step (10), and if not, entering the step (11).

10. And outputting data such as audio and driving records to rescuers.

11. And (4) judging whether the surrounding vehicles request the scene video of the accident vehicle, if so, entering the step (12), and if not, entering the step (15).

12. And judging whether the video needs to be processed according to laws and regulations, if so, entering a step (13), and if not, entering a step (14).

13. And anonymity, blurring and modeling process data such as live video and images.

14. And outputting the audio-video information to the vehicle requesting the image.

15. And (4) judging that a vehicle approaches behind the historical driving path of the fault vehicle, if so, entering a step (16), and if not, entering a step (17).

16. And evaluating the passable width, and prompting the vehicles behind the vehicle queue to avoid the lane where the fault vehicle is located.

17. And transmitting information such as the position and the lane of the fault vehicle to a third-party navigation cloud information processing unit.

18. And the third-party cloud information processing unit uniformly prompts all road users to queue in a passable lane and drive at a constant speed, so that the behaviors of reducing the overall passing efficiency, such as blocking, lane changing and the like in an accident road section are avoided.

Referring to fig. 7, this embodiment shows the steps of sending and receiving emergency information in an emergency communication manner at the vehicle end, the vehicle end information processing unit and the information transmission unit:

1. and acquiring surrounding environment information through an environment perception sensor, and confirming the running state of the vehicle.

2. And (5) judging whether the vehicle has collided, if so, entering the next step, and if not, entering the step (5).

3. And (4) judging whether network connection exists or not, if so, entering the next step, and if not, entering the step (7).

4. And sending a rescue request signal through an eCall or a mobile network, and then emptying the buffer.

5. And judging whether other vehicle rescue data are cached, if so, entering the next step, and if not, ending.

6. And (4) judging whether the cache data is in a set time (such as 24 hours), if so, returning to the step (3), and if not, emptying the cache.

7. And (4) judging whether the user inputs a new message, if so, entering the next step, and if not, entering the step (9).

8. And updating the own vehicle user message.

9. And judging whether the peripheral vehicle queue can be accessed wirelessly, if so, entering the next step, and if not, entering the sleep mode.

10. And transmitting fault information such as the cache message of the user of the vehicle, the position, the driving path, the picture of the surrounding vehicle and the like to the cache of the surrounding vehicle.

11. And inquiring whether the surrounding vehicles have the message sent to the vehicle by the cloud, if so, entering the next step, and if not, entering the dormancy.

12. Request message transmission, play message to user, and then go to sleep.

13. After waiting for a while, step (3) is entered again.

As can be seen from the above embodiments, the present system may implement some or all of the following functions:

vehicle queue: the vehicles regularly send the position information to the cloud server, the vehicles establish queues of other vehicles around for each vehicle through vehicle positioning information, navigation planning and a close-range V2X communication system, and then a propagation path is provided for sharing information.

Information transmission: the vehicle-mounted low-delay communication system has the advantages that private Bluetooth, WiFi and 5G data transmission protocols are used, low-delay communication between the vehicle and other vehicles around hundreds of meters is achieved, and the low-delay communication system is used for transmitting images, real-time videos, short videos and audios collected by a vehicle camera and information such as vehicle position, acceleration, speed, track, path planning, posture, size and braking distance; the information transmission between the vehicle and the cloud information processing unit is realized through the mobile internet.

Distributed processing: information collected by a camera, a millimeter wave radar and a laser radar of the vehicle or information such as a generated model, data, an alarm, an emergency instruction and the like is transmitted to a rear vehicle after images transmitted by other vehicles are processed, so that the operation resources of vehicle processing information in the whole system are saved.

Perspective and blind area obstacle finding: by integrating information such as videos transmitted by surrounding vehicles in real time, a 3D model around the vehicles is established, and real-time video images are attached, so that the function of seeing through surrounding vehicles to find the states of the vehicles and obstacles in all blind areas, namely front, rear, left and right blind areas can be realized, and traffic accidents caused by the blind areas in the visual field can be avoided. The whole vehicle can realize a perspective navigation friendly interface on a navigation map. When the emergency warning lamp is turned on by the front vehicle, the brake lamp is automatically turned on and flashes by the vehicle at a certain distance behind the front vehicle to remind the rear vehicle of paying attention to the road condition ahead, and if the front vehicle brakes and decelerates, the brake lamp of the rear vehicle flashes rapidly at a speed of 3-10 times per second to remind the rear vehicle to brake.

Avoiding chain collision: when the collision happens, the warning is sent to surrounding vehicles and the cloud information processing unit immediately, the cloud information processing unit sends out an early warning instruction for APP pushing in the vehicle such as a rear vehicle navigation map, the brake lamp is turned on immediately to guide the user to decelerate and avoid obstacles, and for close-distance vehicles, forced deceleration or emergency braking is implemented and the user is prompted, so that secondary damage caused by continuous collision is avoided.

Directly hitting a rescue site: the cloud rescue platform remotely checks the fault vehicle or the audio and video around the fault vehicle through a network after the accident occurs, analyzes the driving parameters and the path of the vehicle before the accident and determines a rescue scheme.

The passing efficiency is improved: in a passable accident vehicle road section, the cloud information processing unit and the vehicles evaluate the passable width according to the images and the radar, the passable lanes are automatically queued, and the vehicles are queued at a constant speed to run at a distance of 0.5 to a plurality of kilometers when entering the accident road section, so that the behaviors of reducing the overall passing efficiency, such as blocking, lane changing and the like in the accident road section are avoided. The empty lane that is taken by the trouble vehicle can avoid the secondary to hit the car injury, provides more possibilities for the rescue.

Remote vision: and in holidays and traveling peak periods, vehicle images and places around traffic accidents on a navigation route or a route predicted based on driving habits of the user are automatically pushed by the user, and a basis is provided for a vehicle driver to evaluate the passing time required for recovering the smoothness, so that the driver can decide whether to adjust the driving route.

Emergency treatment: in emergency situations such as acute diseases and the like in traffic jam areas, a driver can send out voice help-seeking information to vehicles in surrounding vehicle queues to explain the requirements of materials, personnel and equipment.

Emergency risk avoidance: the dangerous chemical substance vehicles detect leakage and combustion, or the surrounding vehicles intelligently recognize that the dangerous chemical substance vehicles leak or combust, the surrounding vehicles are immediately informed to evacuate, the vehicles in the surrounding possibly influenced distance are informed to avoid danger in real time, and vehicles which are close to a dangerous point and cannot drive for a period of time are recommended to abandon the vehicle for escape.

Emergency information transmission: when the vehicle collides or overturns and no network exists, the voice assistant actively inquires whether the driver starts the emergency rescue information transmission or not and wants to send out a distress signal. If the user agrees, collecting the information of the vehicle body code, the accident time, the running track before the vehicle accident, the vehicle position information, the recording of a period of time after the accident occurs, the conversation recording of the driver and a voice assistant and the like, packaging the data, using the vehicle body code and the date plus time as the event name, sending the data to the passing vehicle when the passing vehicle passes through the detected surrounding vehicle, uploading the information to a cloud server when the passing vehicle runs to a network coverage area, contacting rescue workers by the cloud server, packaging the recorded data of the problems of rescue arrangement, the injured state and the like needing to be known to the driver, sending the recorded data to the surrounding signal coverage area possibly running to other vehicles nearby the failed vehicle, transmitting the data to the failed vehicle when the other vehicles pass through, transmitting the answer of the driver to the signal coverage area by the voice assistant after the operation of asking and the like, and uploading the answer to the cloud end, thereby realizing the transmission of signals. The rescue information transmission function can also be implanted into public platforms such as a Goodpasture map and the like, and the vehicle queue supporting the protocol in the area without network coverage transmits rescue information to surrounding vehicles in a relay mode until the vehicles are connected to the cloud platform.

And (3) automatically triggering information sharing: when a traffic jam or an accident is detected or a user turns on the warning lamp, surrounding vehicles are automatically reminded of paying attention to emergencies such as safety, chemicals, traffic collision and the like, and corresponding pictures are added. Without human intervention! Quick and safe!

Information intercommunication: information between the mobile phone APP and the vehicle-mounted information terminal is communicated in real time through the WiFi, the 5G, the cloud information processing unit and the USB interface, vehicle-related information can be displayed on the mobile phone by means of the mobile phone navigation binding to a vehicle, the mobile phone navigation function is enhanced, and the function of displaying front videos and images on the mobile phone is achieved.

Authorization: the user is informed which functions need to use which information, the user determines which information can be viewed by other drivers, which information can be provided to other vehicles for safe driving, which information can be transmitted to the cloud information processing unit, and which information can be shared with the vehicles in the queue.

And (3) information security audit: the images are uploaded to the cloud information processing unit, are audited and processed and then are issued, and are audited by the local AI when no network exists, so that discomfort caused by the accident scene pictures is avoided. Pictures and videos which are processed and audited by the cloud information processing unit or the local AI can be freely shared.