CN108508898A - Highway autonomous driving vehicle intelligent monitor system - Google Patents
Highway autonomous driving vehicle intelligent monitor system Download PDFInfo
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- CN108508898A CN108508898A CN201810400873.XA CN201810400873A CN108508898A CN 108508898 A CN108508898 A CN 108508898A CN 201810400873 A CN201810400873 A CN 201810400873A CN 108508898 A CN108508898 A CN 108508898A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 28
- 238000004891 communication Methods 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims abstract description 20
- 230000007613 environmental effect Effects 0.000 claims abstract description 12
- 238000012800 visualization Methods 0.000 claims abstract description 12
- 230000008447 perception Effects 0.000 claims abstract description 10
- 230000011218 segmentation Effects 0.000 claims abstract description 4
- 239000004973 liquid crystal related substance Substances 0.000 claims description 12
- 230000033228 biological regulation Effects 0.000 claims description 6
- 238000003745 diagnosis Methods 0.000 claims description 4
- 238000007405 data analysis Methods 0.000 claims description 3
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 3
- 230000005021 gait Effects 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 230000036541 health Effects 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 8
- 230000006399 behavior Effects 0.000 description 9
- 230000001133 acceleration Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 239000010410 layer Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
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- 230000035772 mutation Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to automatic Pilot technologies.Highway autonomous driving vehicle intelligent monitor system disclosed by the invention is made of monitoring center, automatic Pilot mobile unit and communication network three parts, is write to each other by communication network between the monitoring center and automatic Pilot mobile unit；The monitoring center includes information of vehicles Visualization Platform, freeway surveillance and control platform and radio block center；The information of vehicles Visualization Platform is used to carry out segmentation monitoring to highway, and the vehicle flowrate of corresponding each section of highway carries out real-time display；The freeway surveillance and control platform is made of control computer；The radio block center is made of key management, chain and centralized dispatching three parts；The automatic Pilot mobile unit is made of security control computer, vehicle interface, man-machine interface, recording unit, transmission module, environmental perception module, actuator information transmission modular and actuator.The present invention is to be realized with a low cost the automatic Pilot technology of higher level.
Description
Technical field
The present invention relates to automatic Pilot technical field, more particularly to vehicle on highway monitoring technology, in particular to
Highway autonomous driving vehicle intelligent monitor system.
Background technology
In recent years, China's highway develops rapidly.To in March, 2017, the highway total kilometrage that is open to traffic reaches 125373
Kilometer, the first in the world is occupy more than the U.S..It was predicted that China's automobile guarantee-quantity the year two thousand twenty is up to 2.5 hundred million, the year two thousand thirty reaches
3.2 hundred million, motorist quantity the year two thousand twenty is up to 4.2 hundred million people, and the year two thousand thirty reaches 7.6 hundred million people.With Expressway Development
Increase with vehicles number, freeway traffic demand increases sharply, and highway is no longer the code name of " highway, safety "
Word.Therefore, how China's highway traffic congestion alleviated using intelligent transport technology, ensures highway up train peace
Entirely, become major issue urgently to be resolved hurrily in China's freeway traffic regulation practice.
It is domestic, it is contemplated that Chinese first superhighway will be built up in the year two thousand twenty, while the support of this superhighway is unmanned.
The rivers in Zhejiang Province Hang Shao highway positioned at Hangzhou, Shaoxing, three ground of Ningbo will be forged into one " intelligence, quick, green, safety "
" freeway ", 161 kilometers of overall length will build the smart cloud control platform of big data driving, pass through intelligence system, vehicle pipe
Reason, can the effective Improving Expressway speed of service.Has speed after building up by the hardware condition more than 120 kilometers/hour, too
The functions such as sun can generate electricity, road surface photovoltaic generation, high fine positioning, bus or train route cooperate with can also be realized.The pavement structure of this superhighway
It is very special, three layers can be divided into, Surface layer's concrete, middle level photovoltaic panel, three-layer insulated layer.Wherein middle level can carry out photoelectricity turn
Change, absorbs generating by solar using road surface free time.Electromagnetic induction magnetosphere is also reserved under road surface simultaneously, to realize vapour in the future
Side charging reservation techniques space is run in vehicle radio charging, automobile side.But project is complicated, enforcement difficulty is big, and cost is higher, no
It is suitble to large-scale expansion application.On Shanghai, Chongqing, Wuhan, Zhejiang, Hebei, Jilin and other places, have intelligent network connection from
Dynamic test site, especially the Shanghai intelligent network joint-trial point demonstration area of driving has opened test segment, and predominantly experiment service,
Lack a wide range of, long range practical drive test.
Meanwhile domestic and international automatic driving technology is also more and more ripe, companies such as Google, tesla at this stage nobody
Driving technology has evolved to the even higher levels of L3, allows driver to completely dispense with control under certain specific traffic environments
Automobile, and the variation of environment can be detected automatically to judge whether to return to driver's driving mode.Currently popular automobile is certainly
Dynamicization classification is defined by automotive engineer association of the U.S. (SAE), is that (nothing is automatic by L0 respectively including 6 grades
Change)：Automobile is operated by human driver's full powers, can be alerted and be protected in the process of moving the auxiliary of system；L1 (drives
It supports):Drive supporting is provided to an operation in draw drum and acceleration and deceleration by driving environment, to other driver behaviors
All operated by human driver；L2 (partial automation)：By driving environment to the multinomial behaviour in steering wheel and acceleration and deceleration
Make offer drive supporting, other driver behaviors are all operated by human driver；L3 (automation of having ready conditions):It is driven by nobody
The system of sailing completes all driver behaviors, and according to system request, human driver provides response appropriate；L4 is (highly automated
Change):All driver behaviors are completed by Unmanned Systems, according to system request, human driver is not necessarily required to all
System request make response, limit road and environmental condition etc.；L5 (full automation)：It is completed by Unmanned Systems all
Driver behavior, human driver takes in the conceived case.It is driven under all roads and environmental condition.Thus may be used
See, it is horizontal to reach automobile full automation, it is also necessary to which very long road will be walked.
Therefore, how under conditions of reducing cost, realize that Freeway Conditions are monitored in real time, to congestion in road system
Number carries out accurate real-time Reasonable Regulation And Control, enhances highway driving vehicle safety in operation, improve automotive automation level just at
In order to be badly in need of the realistic problem solved.
Invention content
The main purpose of the present invention is to provide highway autonomous driving vehicle intelligent monitor systems, to solve low cost
The problem of implementation of automatic Pilot technology.
To achieve the goals above, according to the one side of the specific embodiment of the invention, a kind of highway is provided
Autonomous driving vehicle intelligent monitor system, which is characterized in that by monitoring center, automatic Pilot mobile unit and communication network three
Be grouped as, write to each other by communication network between the monitoring center and automatic Pilot mobile unit, transmit information and
Data；
The monitoring center includes information of vehicles Visualization Platform, freeway surveillance and control platform and radio block center；
The information of vehicles Visualization Platform is used to carry out segmentation monitoring to highway, corresponding each section of highway
Vehicle flowrate carries out real-time display, and there is the overlapping region of certain distance in adjacent two sections of monitoring section；The information of vehicles visualization is flat
Platform is made of liquid crystal display, and each piece of display screen of the liquid crystal display is responsible for the vehicle on the highway in affiliated area
Flow indication and monitoring.
The freeway surveillance and control platform is made of control computer, for realizing to car speed, following distance, driving
Member's state, traffic information, Weather information, the monitoring of illegal behavior state (violating the regulations) and track is occupied, car speed, with vehicle
Distance, the control of automatic Pilot state, handling emergent situation；
The radio block center is made of key management, chain and centralized dispatching three parts, is provided according to monitoring center
Information and the information that is interacted with mobile unit generate the information for being sent to vehicle, and be transmitted in real time by communication network automatic
Drive mobile unit；
The automatic Pilot mobile unit is by security control computer, vehicle interface, man-machine interface, recording unit, transmission
Module, environmental perception module, actuator information transmission modular and actuator composition, are used for the automatic Pilot of vehicle.
Further, the communication network is 5G communication networks.
Further, the security control computer of the mobile unit receives the instruction of monitoring center by communication network,
After getting control command, control message is sent by CAN bus and realizes the control to vehicle, last feedback operation result
To monitoring center, to realize the safe operation of autonomous driving vehicle according to monitoring center interactive information.
Further, the vehicle interface is for providing security control computer and autonomous driving vehicle steering wheel and throttle
Between connection.
Further, the man-machine interface realizes the information exchange between driver and security control computer, including defeated
Enter equipment, display equipment and auditory tone cues equipment.
Further, the recording unit is used to record vehicle speed related with autonomous driving vehicle operational safety, with vehicle
Distance, system health, engine or driving motor running parameter data, and it is downloaded into row data analysis when needed.
Further, the transmission module is for passing car status information and vehicle diagnosis information by 5G communication networks
It is defeated to arrive monitoring center end.
Further, the environmental perception module include ultrasonic sensor on autonomous driving vehicle, in-vehicle camera and
Radar；It is transmitted to security control computer by the information that environmental perception module perceives, it is flat to be finally transferred to freeway surveillance and control
Platform realizes display, the Detection ＆ Controling to autonomous driving vehicle.
Further, the actuator information transmission modular is used for transmission the order behaviour of security control computer requirement execution
Make, the speed and steering of autonomous driving vehicle are controlled, it is ensured that monitoring center is to each traveling on this highway
Automobile carry out vehicle gait of march and course changing control automatically in the case where nobody intervenes.
Further, the positioning system is realized track grade positioning and is led using GPS or big-dipper satellite alignment system
Boat completes the structure of high accuracy number map in combination with vehicle environment sensing module.
The invention has the advantages that the monitoring system successful application experience of Chinese high ferro has been used for reference, by existing highway
Platform, freeway surveillance and control scrap build are supervised into a set of highway intelligent monitoring system, is a kind of higher high speed of cost performance
Road unmanned driving operation mode.Technical scheme of the present invention can utilize automobile+express highway intelligent of L2/L3 grades to monitor
Platform realizes the unmanned pattern of highway using high-cost L4/L5 grades, reach safety, green, it is comfortable, convenient,
Shared target.
The present invention is described further with reference to the accompanying drawings and detailed description.The additional aspect of the present invention and excellent
Point will be set forth in part in the description, and partly will become apparent from the description below, or practice through the invention
It solves.
Description of the drawings
The attached drawing constituted part of this application is used to provide further understanding of the present invention, specific implementation of the invention
Mode, illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the structural schematic diagram according to the specific embodiment of the invention.
Specific implementation mode
It should be noted that in the absence of conflict, specific implementation mode, embodiment in the application and therein
Feature can be combined with each other.It lets us now refer to the figures and combines the following contents the present invention will be described in detail.
In order to make those skilled in the art be better understood from the present invention program, below in conjunction with specific embodiment party of the present invention
Attached drawing in formula, embodiment carries out clear, complete description to the technical solution in the specific embodiment of the invention, embodiment,
Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based in the present invention
Specific implementation mode, embodiment, the institute that those of ordinary skill in the art are obtained without making creative work
There are other embodiment, embodiment, should all belong to the scope of protection of the invention.
As shown in Figure 1, the highway autonomous driving vehicle intelligent monitor system of the present invention is by monitoring center, automatic Pilot
Automobile mounted equipment and 5G communication network three parts composition.Wherein monitoring center includes information of vehicles Visualization Platform, high speed public affairs
Road monitor supervision platform and radio block center composition.Mobile unit by fail-safe computer, vehicle interface, man-machine interface, recording unit,
Transmission module, environmental perception module, actuator information transmission modular and actuator form, and pass through 5G communication networks between two complete equipments
Network transmit information, ensure information it is timely with it is accurate.
The highway autonomous driving vehicle intelligent monitor system of the present invention, information of vehicles Visualization Platform are used for high speed
Highway carries out segmentation monitoring, and the vehicle flowrate of corresponding each section of highway carries out real-time display, and adjacent two sections of monitoring section has one
The overlapping region of set a distance.
Information of vehicles Visualization Platform is made of liquid crystal display, and each piece of display screen of liquid crystal display is responsible for affiliated area
The vehicle flowrate on highway in domain shows and monitors, the point that can be shown as the vehicle in corresponding region on liquid crystal display.
The shown in green point of the vehicle of normally travel, when vehicle breaks down, green point becomes red, is simultaneously emitted by drop drop sound
Prompt monitoring personnel is handled, and provides the suggestion accordingly solved the problems, such as, is referred to for monitoring personnel.
Highway is divided into one section one by the present invention according to the physical size and resolution ratio of car speed and liquid crystal display
There is the overlapping region of certain distance in the monitoring section of section, adjacent two sections of monitoring section.Generally for the high speed of speed limit 80-120km
Highway, monitoring siding-to-siding block length are divided into 100km, and overlapping region length is 5km.In this way, vehicle is on some liquid crystal display
Just there is about 1hr in the existing time, in the 100km distances of vehicle traveling, has 90km by the display monitoring, front and back 5km is by this
Display and adjacent displays monitor jointly.This segment monitoring method, can substantially take into account liquid crystal display configuration quantity,
The comprehensive benefit of precision and cost is monitored, and can be ensured to the continuous continual video monitoring of each car.
Freeway surveillance and control platform is made of control computer, for realizing to car speed, following distance, driver's shape
State, traffic information, Weather information, illegal, act of violating regulations state monitoring and track is occupied, car speed, following distance,
Automatic Pilot state, handling emergent situation control.
Radio block center (Raid Block Center RBC) is by key management, chain and centralized dispatching three parts structure
At.Its main function is, according to the information that monitoring center provides, and information interact with mobile unit is given birth to, at being sent to vehicle
Information, and be transmitted to automatic Pilot mobile unit in real time by communication network.
Automatic Pilot mobile unit by security control computer, vehicle interface, man-machine interface, recording unit, transmission module,
Environmental perception module, actuator information transmission modular and actuator composition, are used for the automatic Pilot of vehicle.
The highway autonomous driving vehicle intelligent monitor system of the present invention, using the current material of high speed, such as 5G communication networks
It the data transmission of the realizations such as network accurately and timely and writes to each other.
The security control computer of mobile unit of the present invention receives the instruction of monitoring center by communication network, is getting
After control command, control message is sent by CAN bus and realizes the control to vehicle, in last feedback operation result to monitoring
The heart, to realize the safe operation of autonomous driving vehicle according to monitoring center interactive information.
The vehicle interface of the present invention is for providing between security control computer and autonomous driving vehicle steering wheel and throttle
Connection.
In Fig. 1, man-machine interface is to realize the interface of the information exchange between driver and security control computer, including defeated
Enter equipment, display equipment and auditory tone cues equipment.
Recording unit is for recording car speed related with autonomous driving vehicle operational safety, following distance, system work
Make situation and engine (or driving motor) running parameter data, and is downloaded into row data analysis when needed.
Transmission module is used to car status information and vehicle diagnosis information being transferred to monitoring center by 5G communication networks
End.
The environmental perception module of the present invention includes ultrasonic sensor, in-vehicle camera and radar on autonomous driving vehicle.
It is transmitted to security control computer by the information that environmental perception module perceives, is finally transferred to the realization of freeway surveillance and control platform
Display, Detection ＆ Controling to autonomous driving vehicle.
In Fig. 1, actuator information transmission modular is used for transmission the command operation of security control computer requirement execution, to certainly
The speed of dynamic driving and steering are controlled, it is ensured that monitoring center exists to automobile of each traveling on this highway
Nobody carries out vehicle gait of march and course changing control automatically in the case of intervening.
The positioning system of the present invention realizes track grade positioning and navigation using GPS or big-dipper satellite alignment system, it is desirable that
Positioning accuracy reaches Centimeter Level, and the structure of high accuracy number map is completed in combination with vehicle environment sensing module.
When specific operation, first when entering highway, need to carry out information of vehicles confirmation and right of way handing-over, and
And provide specific electronic mark to automobile, it is therefore an objective to ensure that this vehicle is L2 or more autonomous driving vehicles, may then pass through
Actuator in Fig. 1, controls this vehicle speed and steering, thus can add L2/ by freeway surveillance and control platform
L3 rank vehicle low cost solutions make up vehicle to realize the fully automated driving function of high-cost L4/L5 ranks with this
The deficiency of sensory perceptual system under high cost sensor.
When vehicle travels on a highway, administrative staff can be by the LCD type liquid crystal display of polylith, to vehicle
It is monitored, these liquid crystal display platforms, each piece of vehicle that can be shown on certain area (such as 100 kilometers) highway
Flow has the monitoring overlapping region of certain area (such as 5 kilometers) between adjacent visual platform.When vehicle on a highway
The point for showing green when normal operation on LCD screen, when (such as speed is excessively high or speed when something goes wrong for wherein a certain vehicle
Mutation etc.), green point becomes red, is simultaneously emitted by drop drop sound prompt monitoring personnel and is handled, while providing and solving the problems, such as
It is recommended that being referred to for monitoring personnel.
Automobile just positions it into runway grade by GPS/ triones navigation systems when entering highway, then
By 5G communication networks by the status information of this vehicle and vehicle diagnosis information (such as speed, relative distance, relative velocity, acceleration
With onboard diagnostic system information etc.) it is transmitted to information of vehicles Visualization Platform, for monitoring personnel to car speed, with spacing
From, driver status, traffic information, Weather information, illegal behavior (violating the regulations), link up etc. and supervise with driver；Ensure vehicle
Road is occupied, car speed, following distance, automatic Pilot state, handling emergent situation etc. are controlled.Highway simultaneously
Vehicle trouble, management and control category information and failure emergency disposal scheme can be transmitted to vehicle by 5G communication networks and executed by monitor supervision platform
Device, last vehicle-mounted actuator carry out speed and course changing control to vehicle, it is ensured that highway normal operation.
Claims (10)
1. highway autonomous driving vehicle intelligent monitor system, which is characterized in that including monitoring center, automatic Pilot is vehicle-mounted sets
Standby and communication network is write to each other between the monitoring center and automatic Pilot mobile unit by communication network, is transmitted
Information and data；
The monitoring center includes information of vehicles Visualization Platform, freeway surveillance and control platform and radio block center；
The information of vehicles Visualization Platform is used to carry out segmentation monitoring, the wagon flow of corresponding each section of highway to highway
Amount carries out real-time display, and there is the overlapping region of certain distance in adjacent two sections of monitoring section；The information of vehicles Visualization Platform by
Liquid crystal display forms, and each piece of display screen of the liquid crystal display is responsible for the vehicle flowrate on the highway in affiliated area
Display and monitoring；
The freeway surveillance and control platform is made of control computer, for realizing to car speed, following distance, driver's shape
State, traffic information, Weather information, illegal, act of violating regulations state monitoring and track is occupied, car speed, following distance,
Automatic Pilot state, handling emergent situation control；
The radio block center is made of key management, chain and centralized dispatching three parts, the letter provided according to monitoring center
Breath and the information interacted with mobile unit generate the information for being sent to vehicle, and are transmitted to automatic Pilot in real time by communication network
Mobile unit；
The automatic Pilot mobile unit by security control computer, vehicle interface, man-machine interface, recording unit, transmission module,
Environmental perception module, actuator information transmission modular and actuator composition, are used for the automatic Pilot of vehicle.
2. highway autonomous driving vehicle intelligent monitor system according to claim 1, which is characterized in that the communication network
For 5G communication networks.
3. highway autonomous driving vehicle intelligent monitor system according to claim 1, which is characterized in that the mobile unit
Security control computer by communication network receive monitoring center instruction pass through CAN bus after getting control command
It sends control message and realizes the control to vehicle, last feedback operation result to monitoring center, to basis and monitoring center
Interactive information realizes the safe operation of autonomous driving vehicle.
4. highway autonomous driving vehicle intelligent monitor system according to claim 1, which is characterized in that the vehicle interface
For providing the connection between security control computer and autonomous driving vehicle steering wheel and throttle.
5. highway autonomous driving vehicle intelligent monitor system according to claim 1, which is characterized in that the man-machine interface
The information exchange between driver and security control computer is realized, including input equipment, display equipment and auditory tone cues equipment.
6. highway autonomous driving vehicle intelligent monitor system according to claim 1, which is characterized in that the recording unit
For recording vehicle speed related with autonomous driving vehicle operational safety, following distance, system health, engine or driving
Motor running parameter data, and it is downloaded into row data analysis when needed.
7. highway autonomous driving vehicle intelligent monitor system according to claim 1, which is characterized in that the transmission module
For car status information and vehicle diagnosis information to be transferred to monitoring center end by 5G communication networks.
8. highway autonomous driving vehicle intelligent monitor system according to claim 1, which is characterized in that the environment sensing
Module includes ultrasonic sensor, in-vehicle camera and radar on autonomous driving vehicle；It is perceived by environmental perception module
Information is transmitted to security control computer, is finally transferred to display, inspection of the freeway surveillance and control platform realization to autonomous driving vehicle
It surveys and controls.
9. highway autonomous driving vehicle intelligent monitor system according to claim 1, which is characterized in that the actuator letter
Breath transmission module is used for transmission the command operation of security control computer requirement execution, the speed to autonomous driving vehicle and steering
It is controlled, it is ensured that monitoring center is automatic in the case where nobody intervenes in the automobile on this highway to each traveling
Carry out vehicle gait of march and course changing control.
10. highway autonomous driving vehicle intelligent monitor system according to claim 1, which is characterized in that the positioning
System realizes track grade positioning and navigation using GPS or big-dipper satellite alignment system, in combination with vehicle environment sensing module
Complete the structure of high accuracy number map.
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| CN201810400873.XA CN108508898A (en) | 2018-04-28 | 2018-04-28 | Highway autonomous driving vehicle intelligent monitor system |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109213176A (en) * | 2018-11-06 | 2019-01-15 | 甘肃农业大学 | A kind of intelligent universal safety control system for farming and animal husbandry mechanically |
| CN109343413A (en) * | 2018-11-08 | 2019-02-15 | 甘肃农业大学 | A kind of intelligent universal safety control system for cropper |
| CN109345829A (en) * | 2018-10-29 | 2019-02-15 | 百度在线网络技术（北京）有限公司 | Monitoring method, device, equipment and the storage medium of unmanned vehicle |
| CN109581924A (en) * | 2018-12-05 | 2019-04-05 | 甘肃省机械科学研究院有限责任公司 | A kind of universal safety control system that intelligent agricultural machinery is equipped |
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| CN111586373A (en) * | 2020-06-16 | 2020-08-25 | 广东振声科技股份有限公司 | Visual comprehensive supervision big data platform for local-level traffic bureau |
| CN117994985A (en) * | 2024-04-03 | 2024-05-07 | 华东交通大学 | Intelligent automobile driving planning system based on mixed driving environment |
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| CN109345829A (en) * | 2018-10-29 | 2019-02-15 | 百度在线网络技术（北京）有限公司 | Monitoring method, device, equipment and the storage medium of unmanned vehicle |
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| CN109343413A (en) * | 2018-11-08 | 2019-02-15 | 甘肃农业大学 | A kind of intelligent universal safety control system for cropper |
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Application publication date: 20180907 |