CN102546696B - Driving perception navigation system - Google Patents

Abstract

The present invention provides a driving perception navigation system. The driving perception navigation system includes a plurality of vehicles capable of forming an ad hoc network. The plurality of vehicles establish a first communication mode and A second communication mode; in the first communication mode, single-hop data transmission is used; in the second communication mode, multi-hop data transmission is used. Compared with the prior art, the driving perception navigation system of the present invention provides two communication modes, adopts two different communication modes for data transmission for different data types and their applications, and can transmit data to applications quickly and reliably All vehicles of the driving perception navigation system can improve the efficiency of data transmission, and can provide timely and accurate navigation for vehicles on the road.

Description

Driving perception navigation system

technical field

The invention relates to a vehicle perception navigation technology, in particular to a driving perception navigation system using an ad hoc network.

Background technique

The development of the automobile industry and the popularization of private cars have brought about increasingly serious traffic problems and a sharp increase in traffic accidents. The traditional centralized intelligent transportation system has become an embarrassing task. First of all, the traffic data of the traditional centralized intelligent transportation system is simplified and limited. The current traffic information mainly collects macroscopic information of road traffic conditions through video and microwave collection methods on the road. , and cannot accurately perceive the status and conditions inside each vehicle; in addition, in the centralized intelligent transportation system, the communication between the vehicle and the monitoring center (central server) needs to occupy a large amount of transmission bandwidth, and the response time of data transmission is also very slow, which affects The efficiency of information transmission; moreover, individual vehicles lack the ability to perceive the surrounding environment of the road, and there is no way for information transmission between vehicles. The information obtained by a single vehicle cannot interact with the information of other vehicles around.

In view of this, the Vehicular Ad Hoc Network (VANET) came into being, and the ad hoc network structure is the most commonly used type of VANET. The ad hoc network technology is a multi-hop, self-organizing network, including multiple nodes, each node is both a host and a router, and each node is wirelessly connected through a wireless link. For example, within the signal coverage area, two nodes can communicate directly; while outside the signal coverage area, the two nodes can communicate with each other through the forwarding of other vehicle nodes in the middle.

In an ad hoc network composed of vehicles in road traffic, each vehicle is regarded as a mobile node of the ad hoc network, and the vehicle is equipped with appropriate sending, receiving equipment and other known to those skilled in the art A device for parsing, processing, and outputting messages.

By adopting this ad hoc network, the vehicles joining the network can realize: by exchanging corresponding information, when the emergency service vehicle approaches the traffic intersection, warn other vehicles of the existence of the emergency service vehicle, so as to keep the intersection clear for emergency service Vehicles can pass quickly; vehicles can exchange information about their respective speeds. For example, a slow-moving vehicle in front needs to send a corresponding slow-speed message to warn a possibly faster-moving vehicle behind to avoid a rear-end collision, or A fast-moving vehicle needs to send a corresponding faster speed message to warn the slower-moving vehicle in front to avoid it so that the fast-moving vehicle behind can overtake safely; the vehicle in front can send the information of a collision or road congestion Send it to the vehicle running behind, so that the vehicle behind can take countermeasures of diverting, turning back or resetting the driving route after learning the information.

However, in the existing ad hoc network without a central server, the number of participating nodes and the number of connections between nodes are constantly changing, coupled with continuous changes in the external environment, so that in some cases, each node may The amount of information to be exchanged with each other is too great (e.g. audio and/or video information), which leads to a "congestion" of the communication medium and the inability to reliably transfer potentially important traffic information, e.g. about traffic accidents, road congestion, etc. sent to all mobile nodes.

Contents of the invention

The purpose of the present invention is to provide a driving perception and navigation system to solve the problems in the prior art that due to the large number of trunk amplifiers and scattered layout, centralized monitoring and power supply are relatively difficult and management is inconvenient.

The present invention provides a driving perception navigation system. The driving perception navigation system includes a plurality of vehicles capable of forming an ad hoc network. The plurality of vehicles establish a first communication mode and A second communication mode; in the first communication mode, single-hop data transmission is used; in the second communication mode, multi-hop data transmission is used.

Optionally, the first communication mode is a common communication mode; the second communication mode is a vehicle-link communication mode, and in the vehicle-link communication mode, the multiple vehicles have the same direction and a constant distance, And the data transmission is carried out in the unit of car chain.

Optionally, in the normal communication mode, data transmission is performed in a multicast manner.

Optionally, the vehicle includes: a sensor for obtaining environmental perception information; a GPS positioning device for obtaining vehicle positioning information; an image capture device for obtaining information on road conditions in front of and/or behind the vehicle; sending and receiving information A device for sending and receiving information.

Optionally, the vehicle link communication mode includes: link data collection and display layer, vehicle link dynamic navigation barrier layer, vehicle link data analysis and management layer, vehicle link routing control layer, vehicle identification and detection layer, Each layer is based on the services of the next layer; among them, the vehicle link data collection and display layer defines the interface for collecting various data; the data includes static data and dynamic data; the static data includes geographic information and Environmental awareness information, the geographic information includes road information and/or map information; the environmental awareness information includes temperature information and/or humidity information; the dynamic data includes vehicle positioning information and road condition information; the vehicle positioning information includes vehicle GPS information and/or vehicle speed information; The road condition information includes audio information and/or video information; The vehicle link dynamic navigation barrier layer defines the functions of vehicle navigation control and barrier control; Vehicle link data analysis and The management layer uses a service-oriented method to reprocess the collected data; the vehicle link routing control layer is used to perform routing control on the transmission of data transmitted by the vehicle; the vehicle identification and detection layer is used to Vehicles in the vehicle link communication mode are identified and detected to realize the safe transmission of data.

Optionally, in the navigation control, it includes: using the obtained vehicle positioning information of the own vehicle to locate the own vehicle; by obtaining the vehicle positioning information of other surrounding vehicles in the communication mode, judging that other vehicles on the driving road The real-time data of the vehicle; the obtained vehicle positioning information of the vehicle, that is, the positioning information of other vehicles, is designed for the vehicle and the most optimized guiding route is displayed.

Optionally, in the obstacle control, use the image capture device mounted in the vehicle to assist the GPS positioning device to obtain obstacle information in front of the vehicle and/or the distance between vehicles in front, and obtain the visual information through the vehicle link communication mode. Obstacle information at a distance, so as to predict and respond in advance.

Optionally, the analysis of vehicle link data and the reprocessing of data by the management team include: for static data, using an index mechanism; for dynamic data, classifying the dynamic data by service type and performing heterogeneous management .

Optionally, the identification detection at the vehicle identification detection layer includes encrypting the transmitted data at the link layer, and adding an identity identification mechanism through the combination of IPv6 and public key mechanisms.

Optionally, the plurality of vehicles further comprise a common communication mode, and in the common communication mode, data transmission is performed in a multicast manner.

In summary, the driving perception navigation system of the present invention has the following advantages:

1. The driving perception navigation system of the present invention provides two communication modes, and uses two different communication modes for data transmission for unused data types and their applications, so that data can be quickly and reliably transmitted to the application of the driving perception navigation All vehicles in the system can improve the efficiency of data transmission and provide timely and accurate navigation for vehicles on the road.

1. The present invention provides a data transmission mechanism based on vehicle links. The system uses the vehicle self-organizing network to connect the vehicle nodes in the form of links, and conducts unified local management of the vehicles in the vehicle link, avoiding the slow response time and high network bandwidth of the traditional traffic management system centralized management Defects. The proposed vehicle link transmission method can provide efficient real-time video and audio transmission, and emergency data transmission.

3. Provide multi-sensor collection and acquisition. This system provides the function of data interaction with various types of sensors, including GPS positioning information, temperature and humidity sensing information, real-time video information, audio and voice information and other perception data. Based on the traditional navigation system, rich data sources are added to make the navigation function more effective and visible.

4. Provide prediction and early warning based on sensory data. This system provides the function of responding to real-time data, including the collection of self-collected data and the response processing of data transmitted by other vehicle nodes. Specific applications include real-time road condition analysis, shortest path analysis, overspeed warning, vehicle distance reminder, etc. These response functions combined with the data interaction between the vehicle link nodes provide the driver with a guarantee of driving safety.

Description of drawings

Fig. 1 shows the system architecture diagram of the driving perception navigation system of the present invention in one embodiment;

Figure 2 shows the hierarchical frame diagram of vehicle link-aware navigation based on vehicle ad hoc network;

Figure 3 shows a schematic diagram of the process of forming a vehicle-mounted ad hoc network based on the vehicle-link communication mode;

Figure 4 shows a schematic flow diagram of vehicle nodes sending and receiving simple data;

Fig. 5 shows a schematic flow chart of sending and receiving video information by a vehicle node.

Detailed ways

The inventors of the present invention found that in the existing ad hoc network, the number of participating nodes and the number of connections between nodes are constantly changing, coupled with continuous changes in the external environment, so that in some cases, each node may The amount of information to be exchanged with each other is too large (for example, the information is audio information and/or video information), so that data congestion cannot reliably send possible important traffic information, such as about traffic accidents, road congestion, etc., to all mobile nodes .

Therefore, the inventors of the present invention provide a driving-aware navigation system comprising a plurality of vehicles capable of forming an ad-hoc network according to the type of data to be transmitted and its application A first communication mode and a second communication mode are established; in the first communication mode, single-hop data transmission is used; in the second communication mode, multi-hop data transmission is used. In this way, using two different communication modes for data transmission for different data types and their applications can quickly and reliably transmit data to all vehicles using the driving perception navigation system, improving the efficiency of data transmission; and according to The data provide timely and accurate navigation for vehicles on the road.

The driving perception navigation system of the present invention will be described in detail below through specific embodiments.

Please refer to FIG. 1 , which shows a system architecture diagram of an embodiment of the driving perception navigation system of the present invention. As shown in Figure 1, the driving perception navigation system of the present invention includes a plurality of vehicles with the ability to form an ad hoc network, and the plurality of vehicles are formed into a vehicle ad hoc network (Vehicular Ad HocNetwork, VANET), in which each vehicle acts as a network node, each vehicle is both a host and a router, and information is transmitted wirelessly between various network nodes (that is, between vehicles).

In this embodiment, each vehicle as a network node is equipped with: a sensor for acquiring environmental perception information, the environmental perception information including temperature information and/or humidity information; a GPS positioning device for acquiring vehicle positioning information, The vehicle positioning information includes vehicle GPS information and/or vehicle speed information; an image capture device is used to obtain information on road conditions in front of and/or behind the vehicle, and the information includes audio information and/or video information; an information transceiving device, Used to send and receive information to be transmitted to the vehicle or relayed to other vehicles.

According to the type of data to be transmitted and its application, two communication modes for data transmission are adopted in the perception system: common communication mode and vehicle link communication mode. In the normal communication mode, single-hop data transmission is used, specifically, data transmission may be performed in a multicast manner, and the data involved is mainly some simple data, such as GPS information, temperature information, humidity information, etc. In the vehicle link communication mode, multi-hop data transmission is used, and the data involved is mainly complex data with large traffic and large bandwidth occupation, such as audio information and/or video information including road condition information. Through the above two communication modes, each vehicle located in the driving perception navigation system as a network node can obtain relevant real-time information, and by integrating, analyzing and processing these real-time information, making a response and performing dynamic navigation, it can provide Users provide a large number of important traffic information services or help users make decisions.

The driving perception navigation system of the present invention provides two communication modes for information transmission for forming a vehicle-mounted self-organizing network, and can use two different communication modes for data transmission for unused data types and their applications, and can transfer data quickly and Reliable transmission to all vehicles applying the driving perception navigation system, improving the efficiency of data transmission, and providing timely and accurate navigation for vehicles on the road.

Please also refer to Figure 2, which shows a hierarchical framework diagram of vehicle link-aware navigation based on vehicle ad hoc network. As shown in Figure 2, the car link perception navigation includes: car link data acquisition display layer 10, car link dynamic navigation barrier layer 12, car link data analysis and management layer 14, car link routing control layer 16. Vehicle identification and detection layer 18, where each layer is based on the service of the next layer.

The vehicle link data collection and display layer 10 defines interfaces for collecting various data. The data includes static data and dynamic data. The static data includes geographic information and environment perception information, the geographic information includes road information and/or map information; the environment perception information includes temperature information and/or humidity information. The dynamic data includes vehicle positioning information and road condition information, the vehicle positioning information includes vehicle GPS information and/or vehicle speed information, and the road condition information includes audio information and/or video information.

The vehicle link dynamic navigation barrier layer 12 defines the functions of vehicle navigation control and barrier control. In the navigation control, it includes: using the obtained vehicle positioning information of the own vehicle to locate the own vehicle; by obtaining the vehicle positioning information of other surrounding vehicles in the communication mode, judging the real-time data of other vehicles on the driving road; The obtained vehicle positioning information of the own vehicle, that is, the positioning information of other vehicles, is used to design and display an optimized guiding route for the own vehicle. In the barrier control, the image capture device loaded in the vehicle is used to assist the GPS positioning device to obtain the obstacle information in front of the vehicle and/or the vehicle distance of the vehicle in front, and obtain the distance outside the line of sight through the vehicle link communication mode. Obstacle information, so as to predict and respond in advance.

The vehicle link data analysis and management layer 14 uses a service-oriented method to reprocess the collected data. The reprocessing includes: for static data, using an index mechanism; for dynamic data, classifying the dynamic data according to service types, and performing heterogeneous management.

The vehicle link routing control layer 16 is configured to perform routing control on the transmission of data transmitted by the vehicle.

The vehicle identification and detection layer 18 is used to identify and detect the vehicles in the vehicle-link communication mode, so as to realize the safe transmission of data. The identification detection includes encrypting the transmitted data at the link layer, and adding an identity identification mechanism through the combination of IPv6 and the public key mechanism.

Based on the vehicle link communication mode provided by the present invention, the vehicle nodes are connected in the form of links, and the vehicles in the vehicle link are uniformly managed locally, which avoids the slow response time and occupation of the centralized management of the traditional traffic management system. The defect of high network bandwidth. The proposed vehicle link transmission method can provide efficient real-time video and audio transmission, and emergency data transmission. The vehicle node can respond to the data collected by itself and the data transmitted by other vehicle nodes, including real-time road condition analysis, shortest path analysis, speeding warning, vehicle distance prompt, etc., and dynamic navigation can provide users with a large number of important information. Traffic information services or help users make decisions.

Please refer to FIG. 3 again, which shows a schematic flow diagram of forming a vehicle-mounted ad hoc network based on the vehicle-link communication mode.

As shown in Figure 3, for the creator: first, a "vehicle creation message" will be sent; the "vehicle joining message" sent back after waiting for other vehicle nodes to respond, if after waiting for a period of time, it receives If the "vehicle joining message" is returned, the vehicle node corresponding to the "vehicle joining message" will be added to its own vehicle link as the joining party, and a "vehicle confirmation message" will be sent to the vehicle node ; If the wait times out, resend the "vehicle creation message"; and so on, until the number of retransmissions exceeds the preset upper limit, stop sending the "vehicle creation message" and count the number of vehicles that have joined the vehicle link. The link creation process is then completed. For each car link, there is a globally unique identification number (ID) to distinguish it from other car links. ) to obtain a 64-bit integer.

Correspondingly, for the joiner: first, it will wait for the "vehicle creation message" sent by the creator, and after receiving the "vehicle creation message", it will prompt the user to join the vehicle link request, when the user agrees and After the development operation is performed, a "vehicle joining message" will be sent; wait for the "vehicle confirmation joining message" sent by the creator, if the "vehicle confirmation joining message" sent by the creator is received after waiting for a period of time, It means that you have been confirmed to join the vehicle link corresponding to the creator, and change your own vehicle link ID number to the creator’s vehicle link ID number. Vehicles with the same road ID number can be regarded as being in the same vehicle link; if the waiting time is over, resend the "vehicle join message", and so on, until the number of retransmissions exceeds the preset upper limit, stop sending " Vehicle joining message", the plan to join the vehicle link failed.

In the above description, it involves "vehicle creation message", "vehicle join message" and "vehicle confirmation join message". When a vehicle that has not joined the vehicle link receives the message, it may respond to the message and apply to join the vehicle link. The vehicle joining message (QueueJoin) is sent by the vehicle applying for joining in response to the vehicle creation message sent by the vehicle that created the vehicle link. In response to the message, add the vehicle applying for joining to the created vehicle link. The vehicle confirmation message (QueueAccept) is sent by the vehicle creating the vehicle link in response to the vehicle joining message sent by the vehicle applying for joining. The vehicle applying for joining the vehicle chain indicates that it has succeeded after receiving the confirmation message Join the car link.

The structures of the above three types of messages are basically the same, and the format of the message is: [Lab: PkgType: UID: Lat: Lng: Dir: Spd: Dis: QID: Tsend]. The definition of each field parameter is shown in Table 1 below:

Table 1 message format

According to the process shown in Figure 3, multiple vehicles with the same direction and a certain distance can be formed into a vehicle-link-based vehicular ad hoc network, and each vehicle belonging to the vehicular ad hoc network can be a vehicle-chain unit Carry out data transmission.

In the following, specific embodiments will be used to describe in detail the use of the vehicle link-based vehicle ad hoc network for data transmission and traffic navigation.

Example 1. Neighborhood Dynamic Traffic Service Based on Vehicle Link

The vehicle node obtains the traffic flow status of the surrounding roads by obtaining the vehicle status information sent by the surrounding vehicles. The vehicle nodes in the vehicle chain will forward the received vehicle data in the vehicle chain to other vehicles, so as to achieve the role of sharing information.

Please refer to Figure 4, which shows a schematic diagram of the flow of data sending and receiving by vehicle nodes. The format of the data message is as follows: [Lab: PkgType: UID: Lat: Lng: Dir: Spd: Dis: QID: Tsend], The definition of each field parameter is shown in Table 1 above.

As shown in Figure 4, for the data sender: after the sending time arrives, the basic vehicle data will be regularly multicast to neighboring vehicles, such information includes the vehicle's GPS information (longitude and latitude), vehicle speed, driving directions etc.

For the data receiver: receiving data; after receiving the multicast data, it will first analyze the data to obtain the content of each field, and then check the validity of the message content. If it is new data, the data receiver will The content updates the neighborhood vehicle information table of the vehicle, otherwise, if there is old data, the data receiver will directly discard it. In addition, if the data receiver is a vehicle in the vehicle link, it will also check whether the data sender belongs to the same vehicle link as the vehicle, and if it does not belong to the same vehicle link, it will store the received data in the buffer area; if the same vehicle link and the message needs to be forwarded, the data receiver will multicast the message again to forward the data to other vehicles in the neighborhood, so that other vehicles belonging to the same vehicle link also get the message.

Specifically: for example, when passing a bridge or highway with heavy fog, the vehicles on the entire road can form a vehicle link, and each vehicle node sends its own GPS information, speed, and driving direction to surrounding vehicles at regular intervals and other information. In this way, the vehicles can locate their positions on the map by obtaining the position information sent by other vehicles in the neighborhood. Even if the user cannot see the position of the vehicle in front, he can also obtain the relative distance of the vehicles in the neighborhood through this system, and through this system The prompt can achieve the effect of early warning of vehicle collision or rear-end collision, and can open bridges and road sections that originally need to be blocked in heavy fog.

Example 2. Traffic event notification service based on vehicle link

The traffic event notification service is to notify the user in advance via the vehicle ad hoc network of information collected by vehicle sensors or information obtained from roadside infrastructure, such as event information such as vehicle breakdowns and traffic accidents.

The format of the data message transmitted by the event notification service is as follows: [Lab: Lat: Lng: Dis: Type: Description], where the field parameter Type is the type of event, which is divided into emergency events (such as breakdown, rear-end collision, bumping into people, etc.) and For non-emergency events (such as road congestion, road bans, etc.), Description is the specific content of the event, including the description information provided by the sender.

After each vehicle forms an on-vehicle ad hoc network based on vehicle link, the traffic event notification service can be divided into three types: active distribution, passive distribution and active response.

Active distribution refers to actively sending various traffic event information to other vehicles in the vehicle link. For example, after the user of one of the vehicles finds that the passing road is blocked, he can use his vehicle as the data sender to send it to other vehicles behind. Road congestion information, so that other vehicles behind can know the information of the circuit congestion and take corresponding measures, for example, they can avoid the congested road and turn to other roads at the intersection.

Passive distribution means that after the failure of the vehicle, the system automatically sends the failure information of the vehicle to other vehicles through the vehicle link. For example, after one of the vehicles breaks down, the system will send an emergency event of the breakdown to the surrounding vehicles. Through the transmission of the vehicle link, the vehicles behind can predict the breakdown accident ahead.

Active response means that the vehicle receiving the traffic event will actively remind the user of the event according to the type of the received event. For example, after one of the vehicles receives traffic congestion information sent by other vehicles from the vehicle link, it will draw the location of the broken down vehicle and the congested road section in red on the map interface configured by the vehicle to remind the user to avoid it; After receiving an emergency event of a vehicle breaking down in front, the system not only draws the location of the broken down vehicle and the congested road section on the map interface, but also promptly informs the user of the occurrence of the traffic event by means of alarms such as ringing or flashing lights. .

Example 3. Traffic environment video information distribution service based on vehicle link

In special traffic scenarios, vehicle users need to know the traffic environment in a certain area, and video information is the best way to express it. The video information service process is shown in Figure 5.

As shown in Figure 5, for the data sender: the system encodes and compresses each frame of video information before sending it.

For the data receiver: each time a frame of video information is received, it is first to check whether the frame data has been obtained, or a newer frame data has arrived, if it is directly discarded, otherwise it will be processed. Before processing, first judge whether the frame is the data of the vehicle chain. For the data of the vehicle chain, it must be forwarded first, so that the data in the fleet can reach all vehicles through multiple hops, and finally the data Stored in the cache.

In practical applications, the data sender can send the real-time road conditions ahead to other vehicles behind through the vehicle link, and the vehicle receiving the data can select a specific sender as the video transmission source, for example, after a road accident, select a vehicle that passes the accident point The vehicle is used as the video source, and the vehicle blocking the intersection is selected as the video source when the road is blocked, so that users can obtain real-time visualized road condition information.

In summary, the driving perception navigation system of the present invention has the following advantages:

1. The driving perception navigation system of the present invention provides two communication modes, and uses two different communication modes for data transmission for unused data types and their applications, so that data can be quickly and reliably transmitted to the application of the driving perception navigation All vehicles in the system can improve the efficiency of data transmission and provide timely and accurate navigation for vehicles on the road.

1. The present invention provides a data transmission mechanism based on vehicle links. The system uses the vehicle self-organizing network to connect the vehicle nodes in the form of links, and conducts unified local management of the vehicles in the vehicle link, avoiding the slow response time and high network bandwidth of the traditional traffic management system centralized management Defects. The proposed vehicle link transmission method can provide efficient real-time video and audio transmission, and emergency data transmission.

3. Provide multi-sensor collection and acquisition. This system provides the function of data interaction with various types of sensors, including GPS positioning information, temperature and humidity sensing information, real-time video information, audio and voice information and other perception data. Based on the traditional navigation system, rich data sources are added to make the navigation function more effective and visible.

4. Provide prediction and early warning based on sensory data. This system provides the function of responding to real-time data, including the collection of self-collected data and the response processing of data transmitted by other vehicle nodes. Specific applications include real-time road condition analysis, shortest path analysis, overspeed warning, vehicle distance reminder, etc. These response functions combined with the data interaction between the vehicle link nodes provide the driver with a guarantee of driving safety.

The above-mentioned embodiments only illustrate the principles and functions of the present invention, but are not intended to limit the present invention. Anyone skilled in the art can make modifications to the above-mentioned embodiments without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention should be listed in the claims.

Claims (6)

1. A driving-aware navigation system comprising a plurality of vehicles capable of forming an ad hoc network, wherein the plurality of vehicles establish a first communication mode and a second communication mode according to the type of data to be transmitted and the application thereof; in the first communication mode, using single-hop data transmission; in the second communication mode, using multi-hop data transmission; the first communication mode is a normal communication mode; the second communication mode is a vehicle link communication mode, and the vehicle link communication mode connects vehicle nodes in a link mode and performs uniform local management on the vehicles in the vehicle link; in the vehicle link communication mode, the directions of the vehicles are consistent, the distance between the vehicles is constant, and data transmission is carried out by taking a vehicle link as a unit;

the vehicle includes: the sensor is used for acquiring environment perception information; the GPS positioning device is used for acquiring vehicle positioning information; the image acquisition device is used for acquiring the information of the road condition in front of and/or behind the vehicle; information receiving and transmitting means for receiving and transmitting information; the vehicle link communication mode includes: the system comprises a vehicle link data acquisition and display layer, a vehicle link dynamic navigation barrier layer, a vehicle link data analysis and management layer, a vehicle link routing control layer and a vehicle identification and detection layer, wherein each layer is based on the service of the next layer; wherein,

the vehicle link data acquisition display layer defines an interface for acquiring each data; the data comprises static data and dynamic data; the static data comprises geographic information and environment perception information, and the geographic information comprises road information and/or map information; the environment perception information comprises temperature information and/or humidity information; the dynamic data comprises vehicle positioning information and road condition information; the vehicle positioning information comprises vehicle GPS information and/or vehicle speed information; the road condition information comprises audio information and/or video information;

the vehicle link dynamic navigation barrier layer defines the functions of navigation control and barrier control on the vehicle;

the vehicle link data analysis and management layer reprocesses the collected data by using a service-oriented method;

a vehicle link route control layer for performing route control on transmission of data transmitted by the vehicle;

and the vehicle identification detection layer is used for identifying and detecting vehicles in a communication mode forming the vehicle link, so that the safe transmission of data is realized.

2. The system according to claim 1, wherein in the normal communication mode, data transmission is performed in a multicast manner.

3. The vehicle-aware navigation system according to claim 1, wherein the navigation control includes: positioning the vehicle by using the obtained vehicle positioning information of the vehicle; judging real-time data of other vehicles in the driving road by acquiring vehicle positioning information of other vehicles around in the vehicle link communication mode; and designing and displaying an optimized guide route for the vehicle according to the obtained vehicle positioning information of the vehicle and the positioning information of other vehicles.

4. The system of claim 1, wherein in the obstacle-crossing control, the image capturing device mounted in the vehicle is used to assist the GPS positioning device to obtain the obstacle information in front of the vehicle and/or the distance between the vehicles in front, and the obstacle information outside the distance of sight is obtained through the vehicle link communication mode, so as to perform pre-determination and early response.

5. The vehicle-aware navigation system of claim 1, wherein the reprocessing of the data by the vehicle link data analysis and management layer comprises: for static data, an index mechanism is adopted; and classifying the dynamic data according to service types and carrying out heterogeneous management on the dynamic data.

6. The system of claim 1, wherein the vehicle recognition detection layer comprises link layer encryption of the transmitted data, and an identity recognition mechanism is added through combination of IPv6 and a public key mechanism.