CN109017783B - Automatic driving method and automatic driving system - Google Patents
Automatic driving method and automatic driving system Download PDFInfo
- Publication number
- CN109017783B CN109017783B CN201810801852.9A CN201810801852A CN109017783B CN 109017783 B CN109017783 B CN 109017783B CN 201810801852 A CN201810801852 A CN 201810801852A CN 109017783 B CN109017783 B CN 109017783B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- information
- automatically
- ground
- control signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 59
- 230000008569 process Effects 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 32
- 230000008859 change Effects 0.000 claims description 17
- 230000001133 acceleration Effects 0.000 claims description 13
- 238000012937 correction Methods 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000003287 optical effect Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 8
- 239000012141 concentrate Substances 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000011897 real-time detection Methods 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009056 active transport Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008707 rearrangement Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
-
- 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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses an automatic driving method and an automatic driving system. An automatic driving method comprising the steps of: identifying identity information and position information of the vehicle; the ground centralized control center processes the position information of the vehicle to obtain an initial control signal, and sends the initial control signal to the vehicle control system corresponding to the identity information; and controlling the automatic driving of the vehicle corresponding to the identity information according to the initial control signal. The automatic driving method has the advantage of low cost.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to an automatic driving method and an automatic driving system.
Background
Automatic driving technology is a current research focus. Automatic driving relies on artificial intelligence, and a computer can automatically and safely operate the motor vehicle under the condition that no one actively operates the motor vehicle. The automatic driving can not only liberate people from the troublesome driving operation, but also greatly improve the safety of the motor vehicle and reduce traffic accidents because the accuracy, response speed and repeatability of a computer far exceed those of the human beings.
The current automatic driving technology is mainly started by the vehicle, and the vehicle-mounted intelligent computing system simulates all behaviors of a human when driving a motor vehicle. The vehicle can sense the surrounding environment and road conditions like a person, plan a driving route, make relevant analysis judgment and decision, and complete a series of operations such as refueling, braking, steering and the like. The current automatic driving technology is to make the vehicle-mounted computing system completely simulate all driving behaviors and ideas of people, that is, to make the automatically driven vehicle have strong capabilities of intelligent perception, computation, real-time planning decision and the like, and the realization of the capabilities depends on a series of high-performance electronic devices. Current autopilot systems include various types of sensors, such as cameras, radars, etc., as well as GPS positioning systems, mobile communication systems, etc. The information collected by these sensors is the primary basis for the next action of the motor vehicle. The autopilot system ultimately controls the throttle, brakes, and steering of the vehicle.
Therefore, current autopilot systems rely on many high performance, high cost sensing devices, as well as powerful computing power. Integrating so many devices individually into each vehicle makes the vehicle's autopilot system expensive. Therefore, how to improve an automatic driving system with low cost becomes a demand in the technical field of automatic driving.
Disclosure of Invention
The invention provides an automatic driving method and an automatic driving system, which aim to solve the technical problem of high cost of the automatic driving system.
In a first aspect, an embodiment of the present invention provides an automatic driving method, including the following steps: identifying identity information and position information of the vehicle; the ground centralized control center processes the position information of the vehicle to obtain an initial control signal, and sends the initial control signal to the vehicle control system corresponding to the identity information; and controlling the automatic driving of the vehicle corresponding to the identity information according to the initial control signal.
Preferably, the position information of the vehicle is identified by identifying road surface environment information.
Preferably, the identification information, the position information and the road surface environment information for identifying the vehicle include: and dividing the road surface on which the vehicle runs into grids, and detecting the identity information, the position information and the road surface environment information of the vehicle in each grid.
Preferably, the detecting of the position information of the vehicle and the road environment information is real-time detection or detection at preset time intervals, the road environment information includes position information of obstacles in each grid, and the position change information of the vehicle, the position change information of the obstacles, and the speed information of the obstacles can be calculated according to the positions of the vehicle and the obstacles at different moments.
Preferably, at least one binary sensor is arranged on the ground or in the air corresponding to each grid.
Preferably, the initial control signal includes: controlling at least one of a speed, an acceleration, and a steering of the autonomous vehicle when the autonomous vehicle is one; and/or the two automatically-driven vehicles are arranged in front and back, when the rear automatically-driven vehicle needs overtaking, at least one of the speed, the acceleration and the steering of the two automatically-driven vehicles is controlled, the two automatically-driven vehicles are barriers for each other, and the front automatically-driven vehicle gives way for the rear automatically-driven vehicle or the rear automatically-driven vehicle changes lane to overtake; and/or when the plurality of automatically driven vehicles are provided, controlling at least one of the speed, the acceleration and the steering of the automatically driven vehicles, wherein the plurality of automatically driven vehicles are mutually obstacles.
Preferably, at least one vehicle control system generates a vehicle control adjustment instruction according to a preset rule and sends the vehicle control adjustment instruction to a ground centralized control center, and the ground centralized control center generates a correction control signal according to the vehicle control adjustment instruction and an initial control signal so as to adjust automatic driving of the corresponding at least one vehicle control system.
Preferably, the preset rule is that vehicle adjustment instructions of different levels are preset according to the importance degree of the emergency, and the vehicle adjustment instructions of different levels correspond to different driving speeds, different overtaking levels or different destinations.
In a second aspect, the present invention also provides an automatic driving system for controlling automatic driving of a vehicle on a road surface, the automatic driving system comprising: the system comprises a ground centralized control center and a vehicle control system, wherein the vehicle control system is arranged on a vehicle, the ground centralized control center comprises a sensor arranged along a road, and the ground centralized control center identifies identity information and position information of the vehicle through the sensor; the ground centralized control center processes the position information of the vehicle to obtain an initial control signal, and sends the initial control signal to the vehicle control system corresponding to the identity information; and the vehicle control system controls the automatic driving of the vehicle corresponding to the identity information according to the initial control signal.
Preferably, the sensors include a binary sensor and an identification sensor, the road surface on which the vehicle travels is divided into grids, the binary sensor detects position information of the vehicle in each grid, the identification sensor detects identity information of the vehicle in each grid, at least one binary sensor is disposed on the ground or in the air corresponding to each grid, and the binary sensor also identifies road surface environment information.
Preferably, the ground centralized control center further comprises a main control module and a ground transmission module, wherein the main control module is used for processing the position information and the road surface environment information of the vehicle to obtain an initial control signal; and the ground transmission module is used for transmitting the initial control signal to a corresponding vehicle control system according to the identity information of the vehicle.
Preferably, the vehicle control system comprises a vehicle transmission module, a control unit, a braking system, a power system and a steering system, wherein the vehicle transmission module is used for receiving an initial control signal sent by the ground centralized control center, and the control unit is used for controlling the work of the braking system, the power system and the steering system according to the initial control signal; the brake system is used for controlling the braking of the vehicle; the power system is used for providing power for the running of the vehicle; the steering system is used for controlling the steering of the vehicle.
Preferably, the type of binary sensor comprises a pressure sensor, an optical sensor.
Compared with the prior art, the invention provides an automatic driving method, which comprises the following steps: identifying identity information and position information of the vehicle; the ground centralized control center processes the position information of the vehicle to obtain an initial control signal, and sends the initial control signal to the vehicle control system corresponding to the identity information; the automatic driving method has the advantage of low cost, the automatic driving method concentrates detected components on a ground centralized control center on the ground, the vehicle control system on the vehicle only needs to receive signals for automatic driving, the vehicle control system on the vehicle has a simple structure and low cost, and the ground centralized control center can control all vehicles on the road surface to advance, plan the routes of all vehicles, is safer to drive and reduces the social cost.
The invention also identifies the road surface environment information when identifying the position information of the vehicle, and the automatic driving is safer.
The identity information, the position information and the road surface environment information for identifying the vehicle comprise: the road surface on which the vehicle runs is divided into grids, the identity information, the position information and the road surface environment information of the vehicle in each grid are detected, and the identity information and the position information of the vehicle in each grid are detected more accurately.
The ground or the air corresponding to each grid is provided with at least one binary sensor, the binary sensors only need to detect the existence of an object, namely only need to represent by two states of 0 and 1, the required information quantity is very little, the requirements of the system on the communication, calculation and other capabilities can be greatly reduced, the requirements of a main control module are further reduced, the cost is reduced, the position arrangement of the binary sensors is more reasonable, and the quantity requirements of the binary sensors are reduced.
According to the method, at least one vehicle control system generates a vehicle control adjustment instruction according to a preset rule and sends the vehicle control adjustment instruction to a ground centralized control center, and the ground centralized control center generates a correction control signal according to the vehicle control adjustment instruction and an initial control signal so as to adjust automatic driving of the corresponding at least one vehicle control system.
The road surface on which the vehicle runs is divided into the shapes of grids, at least one binary sensor is arranged on the ground or in the air corresponding to each grid, the position arrangement of the binary sensors is more reasonable, and the quantity requirement of the binary sensors is reduced.
Compared with the prior art, the embodiment of the invention also provides an automatic driving system, which is used for controlling the automatic driving of the vehicle on the road surface, and the automatic driving system comprises: the system comprises a ground centralized control center and a vehicle control system, wherein the vehicle control system is arranged on a vehicle, the ground centralized control center comprises a sensor arranged along a road, and the ground centralized control center identifies identity information and position information of the vehicle through the sensor; the ground centralized control center processes the position information of the vehicle to obtain an initial control signal, and sends the initial control signal to the vehicle control system corresponding to the identity information; the automatic driving method has the advantage of low cost, the automatic driving method concentrates the detected components on the ground, the vehicle control system on the vehicle only needs to receive signals for automatic driving, and the vehicle control system on the vehicle has simple structure and low cost.
Drawings
Fig. 1 is a schematic flow chart of an automatic driving method according to embodiment a of the present invention.
Fig. 2 is a more specific flowchart of the automatic driving method according to embodiment a of the present invention.
FIG. 3 is a schematic block diagram of an autopilot system according to embodiment B of the present invention;
fig. 4 is a schematic structural diagram of specific modules of the ground centralized control center according to embodiment B of the present invention;
FIG. 5 is a schematic diagram of a position structure of a binary sensor in embodiment B of the present invention;
fig. 6 is a schematic structural diagram of specific modules of a vehicle control system in the embodiment B of the invention;
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example A
Referring to fig. 1, fig. 1 is a schematic flow chart of an automatic driving method according to an embodiment a of the present invention, where the automatic driving method is used to control a vehicle to automatically drive on a road surface, and the automatic driving method includes the following steps:
step S1: identity information and location information of the vehicle is identified.
Step S2: the ground centralized control center processes the position information of the vehicle to obtain an initial control signal, and sends the initial control signal to the vehicle control system corresponding to the identity information;
step S3: and controlling the automatic driving of the vehicle corresponding to the identity information according to the initial control signal.
In step S1, the identification information and the location information for identifying the vehicle include: and dividing the road surface on which the vehicle runs into grids, and detecting the identity information and the position information of the vehicle in each grid. Preferably, the road surface environment information is also recognized when the position information of the vehicle is recognized. When the identity information, the position information and the road surface environment information of the vehicle are identified, the road surface on which the vehicle runs is divided into grids, and the identity information, the position information and the road surface environment information of the vehicle in each grid are detected. And detecting the position information of the vehicle and the road surface environment information in real time or at preset time intervals, wherein the road surface environment information comprises the position information of the obstacles in each grid. Preferably, the detection of the position information and the road surface environment information of the vehicle is real-time detection. At least one binary sensor is arranged on the ground or in the air corresponding to each grid, and the binary sensors are used for identifying the position information of vehicles and the position information of obstacles in each grid. And an identity recognition sensor is arranged on the road edge, or an identity recognition sensor is arranged on the ground or in the air corresponding to each grid and is used for recognizing the identity information of the vehicle. It will be appreciated that the obstacle may be an object other than an autonomous vehicle on a road, such as a pedestrian, a non-autonomous vehicle, a vehicle parked at the roadside. When there are two or more autonomous vehicles, the autonomous vehicles also form obstacles with each other.
In step S2, the central ground control center processes the position information of the vehicle to obtain the position change information of the vehicle, and calculates the speed information of the vehicle from the position change information of the vehicle at different times. The ground centralized control center processes the position information of the obstacle to obtain the position change information of the obstacle, and can calculate the speed information, the acceleration information and the moving direction information of the obstacle according to the position change information of the obstacle at different moments. The ground centralized control center constructs a complete map of the road condition according to the accurate positions and dynamic change conditions of the automatically driven vehicles and the obstacles on the road, and can predict the movement of the vehicles and the pedestrians moving on the road.
In step S3, the initial control signal includes: controlling at least one of a speed, an acceleration, and a steering of the autonomous vehicle when the autonomous vehicle is one; and/or the two automatically-driven vehicles are arranged in front and back, when the rear automatically-driven vehicle needs overtaking, at least one of the speed, the acceleration and the steering of the two automatically-driven vehicles is controlled, the two automatically-driven vehicles are barriers for each other, and the front automatically-driven vehicle gives way for the rear automatically-driven vehicle or the rear automatically-driven vehicle changes lane to overtake; and/or when the plurality of automatically driven vehicles are provided, controlling at least one of the speed, the acceleration and the steering of the automatically driven vehicles, wherein the plurality of automatically driven vehicles are mutually obstacles.
Referring to fig. 2, fig. 2 is a more specific flowchart of the automatic driving method according to embodiment a of the present invention, and the automatic driving method further includes the following steps:
step S4: at least one vehicle control system generates a vehicle control adjustment instruction according to a preset rule and sends the vehicle control adjustment instruction to a ground centralized control center,
step S5: and the ground centralized control center generates a correction control signal according to the vehicle control adjustment instruction and the initial control signal so as to adjust the automatic driving of at least one corresponding vehicle control system.
In step S4, the preset rule is to preset different levels of vehicle adjustment commands according to the importance degree of the emergency event, where the different levels of vehicle adjustment commands correspond to different driving speeds, different overtaking levels, or different destinations. Emergencies include, but are not limited to, vehicle failure, sudden illness of a person in the vehicle, special vehicle. Special vehicles, such as police cars, ambulances, fire trucks. Specifically, for example, when the vehicle fails, the corresponding preset rule may be parking; when a person on the vehicle is ill, the corresponding preset rule can be to change the destination, such as going to a hospital; when the special vehicle is a police vehicle, the corresponding rule can be that the automatic driving vehicle gives way to the police vehicle, the police vehicle runs at a high speed, the overtaking level is highest, the automatic driving vehicle which is taken by evacuees needing to be arrested by the police vehicle automatically stops, when the special vehicle is an ambulance or a fire truck, the corresponding rule can be that the automatic driving vehicle gives way to the ambulance or the fire truck, the ambulance or the fire truck runs at a high speed, and the overtaking level is highest. It is understood that the illustrated embodiments of the preset rules are only some of the embodiments, and the rules without departing from the spirit of the present invention are within the scope of the present invention. It will be appreciated that sensors may also be added to the vehicle to detect the actual occurrence of an emergency event in the vehicle and transmit the event to a ground control center, such as a camera mounted to view the conditions in the vehicle.
Example B
Referring to fig. 3 and 4 together, fig. 3 is a schematic block diagram of an automatic driving system 10 according to embodiment B of the present invention, and fig. 4 is a schematic block diagram of a ground centralized control center 11 according to embodiment B of the present invention, where the automatic driving system 10 is used for controlling a vehicle to automatically drive on a road surface. The automatic driving system 10 includes a ground-based central control center 11 and a vehicle control system 12, the vehicle control system 12 being provided on a vehicle, the ground-based central control center including sensors (not numbered) provided along a road.
The ground centralized control center 11 identifies the identity information and the position information of the vehicle through a sensor;
the ground centralized control center 11 processes the position information of the vehicle to obtain an initial control signal, and sends the initial control signal to the vehicle control system 12 corresponding to the identity information;
and the vehicle control system 12 controls the automatic driving of the vehicle corresponding to the identity information according to the initial control signal.
Referring to fig. 4, the ground centralized control center 11 further includes a main control module 111 and a ground transmission module 114, wherein the sensors include a binary sensor 113 and an identification sensor 112. The binary sensor 113, the ground transmission module 114, and the identification sensor 112 are all electrically connected to the main control module 111, wherein,
the identification sensor 112 is used for identifying the identification information of the vehicle. The identification sensor 112 may be placed on the road side, the road surface, or in the air corresponding to the road surface. Alternatively, the identification sensor 112 may be a two-dimensional code recognition module, and a two-dimensional code for binding the identity is set on the vehicle, and the identification sensor 112 recognizes the identity information of the vehicle by recognizing the two-dimensional code of the vehicle, so as to recognize the identity of the vehicle control system 12 correspondingly installed on the vehicle and bind the current position of the vehicle. Alternatively, the identification sensor 112 may be a signal receiving module, a signal transmitting module is installed on the vehicle, the signal transmitting module on the vehicle transmits vehicle information to the identification sensor 112, and the identification sensor 112 identifies the identity information of the vehicle, thereby identifying the identity of the vehicle control system 12 correspondingly installed on the vehicle and binding the current vehicle position. It is understood that the identification sensor 112 may identify the identity of all autonomous vehicles on the roadway surface. It will be appreciated that the identification sensor 112 is not limited in type and can identify vehicle information to identify the identity of the vehicle control system 12 correspondingly installed on the vehicle.
Referring to fig. 5, fig. 5 is a schematic diagram illustrating a position structure of the binary sensor 113 according to embodiment B of the present invention. The second mentionedThe binary sensor 113 includes a plurality of binary sensors 113, and the binary sensors 113 are distributed on the ground 20 corresponding to the road surface on which the vehicle travels or in the air corresponding to the road surface, and are configured to detect the position information of the vehicle and the road surface environment information and send the position information and the road surface environment information to the main control module 111. Only a few binary sensors 113 are depicted in fig. 5 as a schematic and do not represent a specific number of binary sensors 113. The binary sensor 113 detects the position information of the vehicle and the road surface environment information as real-time detection or interval event detection. The binary sensor 113 may be level with the ground 20 or below the ground 20 when located on the ground 20. When the binary sensor 113 is below the ground 20, the distance of the binary sensor 113 below the ground 20 is 1-10mm, preferably 1-5 mm. When the binary sensor 113 is disposed in the air, the binary sensor 113 is suspended in the air, for example, a rack is erected above the road surface, and the binary sensor 113 is suspended or fixed on the rack. Types of binary sensors 113 include, but are not limited to, pressure sensors, optical sensors. Such as in particular thermal infrared sensors. Preferably, the road surface on which the vehicle travels is divided into the shape of meshes, each of which corresponds to the ground or the air on which at least one binary sensor 113 is disposed. The shape of each mesh includes, but is not limited to, triangle, rectangle, square, and regular hexagon. Preferably, the grid shape is square. Preferably, each square has an area of 16cm2-100cm2. The binary sensor 113 can sense whether there is an obstacle, a pedestrian, a vehicle, or the like on the road surface at the position corresponding to the binary sensor 113, and the binary sensor 113 can also detect the size of the obstacle, the pedestrian, the vehicle, or the like, and the more sensors are used to detect the same object, the larger the object is, and the smaller the object is otherwise. After an obstacle, a pedestrian, a vehicle, etc. on the road surface moves, the binary sensor 113 corresponding to the position after the movement senses the signal, and the binary sensor 113 corresponding to the position before the movement cannot sense the signal. The binary sensor 113 can detect the position information of the vehicle, the position change information of the vehicle, the position information of the obstacle, the position change information of the obstacle, and the like. Preferably, the road surface on which the vehicle is driven also comprises a peripheral sidewalk, i.e. a peripheral sidewalk is also provided with a two-way inletThe sensor 113 is manufactured. Because the binary sensor 113 only needs to detect whether an object exists or not when sensing each grid, namely only needs to be represented by two states of '0' and '1', the required information amount is extremely small, and the requirements of the system on the capacities of communication, calculation and the like can be greatly reduced. It is to be understood that the binary sensor 113 is not limited to being normally open or normally closed. If there is a person or an object on the road surface, the binary sensor 113 at the corresponding position can sense the signal, and if there is no person or object on the road surface, the binary sensor 113 at the corresponding position cannot sense the signal, which may be the opposite of the above type.
The main control module 111 is configured to process the position information and the road surface environment information of the vehicle to obtain an initial control signal; the main control module 111 processes the position information of the vehicle to obtain the position change information of the vehicle, and can calculate the speed information of the vehicle according to the position change information of the vehicle at different times. The main control module 111 processes the position information of the obstacle to obtain the position change information of the obstacle, and can calculate the speed information of the obstacle according to the position change information of the obstacle at different moments. The main control module 111 constructs a complete map of the road condition according to the accurate positions and dynamic change conditions of the automatically driven vehicles and obstacles on the road, and can predict the movement of the vehicles and pedestrians moving on the road. The control module is capable of controlling the operation of at least one vehicle control system 12. Preferably, when there are many vehicles on the road surface, the main control module 111 can control the operation of the vehicle control systems 12 of all the vehicles on the road surface at the same time. Because the main control module 111 constructs a complete map of the road conditions, the ground centralized control center 11 has overall grasp on the whole traffic conditions and can predict the movement of vehicles, pedestrians and the like moving on the road, so that the main control module 111 can plan the moving routes of all vehicles on the road to control the automatic driving of the vehicles, and the traffic flow can be flexibly adjusted in real time according to the actual conditions, which has great significance for improving the road co-operation capability and relieving traffic congestion.
The ground transmission module 114 is configured to transmit the initial control signal to the corresponding vehicle control system 12 according to the identity information of the vehicle, and the ground transmission module 114 can also receive the signal sent by the vehicle control system 12. The ground transmission module 114 is preferably a wireless transmission module that wirelessly transmits the initial control signal to the vehicle control system 12 of the corresponding vehicle. Preferably, the surface transmission module 114 is disposed at the roadside for better signal transmission. When the road surface on which the vehicle runs is long, a plurality of ground transmission modules 114 can be arranged, and one ground transmission module 114 is arranged on the road surface with a proper length, that is, one ground transmission module 114 is arranged on each section of road surface, so as to ensure the stability of signal transmission.
Referring to fig. 6, fig. 6 is a schematic block diagram of a vehicle control system 12 according to embodiment B of the present invention, where the vehicle control system 12 includes a vehicle transmission module 122, a control unit 121, a brake system 123, a power system 124, a steering system 125, and a rule triggering module 126, and the vehicle transmission module 122, the brake system 123, the power system 124, the steering system 125, and the rule triggering module 126 are all electrically connected to the control unit 121.
The brake system 123 for controlling braking of the vehicle;
the power system 124, which is used for providing power for the running of the vehicle;
the steering system 125 for controlling steering of the vehicle.
The braking system 123, the power system 124 and the steering system 125 can be selected from existing corresponding systems for automatic driving, or newly developed systems, and are not further limited in the present invention.
The vehicle transmission module 122 is configured to receive the initial control signal sent by the ground transmission module 114 of the ground centralized control center 11, and the vehicle transmission module 122 is also configured to send a signal to the ground transmission module 114. The vehicle transmission module 122 is a wireless transmission module, and the vehicle transmission module 122 receives the initial control signal sent by the ground transmission module 114. Therefore, the ground centralized control center 11 adopts a wireless transmission mode when sending the initial control signal to the vehicle control system 12.
The control unit 121 is used for controlling the operation of the braking system 123, the power system 124 and the steering system 125 according to an initial control signal; the control Unit 121 may be a CPU (Central Processing Unit), a control chip, or the like. The control unit 121 is further configured to generate a vehicle control adjustment instruction according to a preset rule, and send the vehicle control adjustment instruction to the ground centralized control center through the vehicle transmission module 122, and the ground centralized control center 11 generates a correction control signal according to the vehicle control adjustment instruction and the initial control signal to adjust the automatic driving performed by the corresponding at least one vehicle control system 12. The preset rule is that vehicle adjusting instructions of different levels are preset according to the importance degree of the emergency, and the vehicle adjusting instructions of different levels correspond to different running speeds, different overtaking levels or different destinations.
The rule triggering module 126 is configured to receive an instruction to trigger the control unit 121 to generate a vehicle control adjustment instruction according to a preset rule. Specifically, the trigger rule module 126 may be a button, a touch screen, or the like to receive a user instruction.
Alternatively, the automatic driving system 10 further includes a remote control device (not shown) including a mobile phone, a computer, and other terminals, and the remote control device can transmit the vehicle control adjustment command generated according to the preset rule to the ground transmission module 114 of the ground centralized control center 11 to apply for adjusting the driving parameters of the automatic driving of the vehicle, such as speed, direction, and route. The ground centralized control center 11 can also control the vehicle to realize left and right steering, forward and backward movement, sudden stop, accelerator control, main clutch control, accelerator control, gear control and the like according to the remote control signal. It can be understood that the remote control device can also generate a vehicle control adjustment command according to a preset rule, and send the vehicle control adjustment command to the ground centralized control center through the vehicle transmission module 122.
In operation of the autopilot system 10, the road on which the vehicle travels corresponds to a large active transport system and the vehicle corresponds to the cargo being transported, and the ground based central control center 11 on the road controls the automatic operation of the vehicle. In the process of the vehicle from the departure place to the destination, the main driving judgment and decision are completed by the ground centralized control center 11, and the vehicle control system 12 on the vehicle only needs to execute instructions, so that the driving function of the vehicle is greatly simplified, and the implementation cost of the motor vehicle can be greatly reduced.
It is understood that the contents of embodiment a and embodiment B may be supplemented and described.
Compared with the prior art, the invention provides an automatic driving method, which comprises the following steps: identifying identity information and position information of the vehicle; the ground centralized control center processes the position information of the vehicle to obtain an initial control signal, and sends the initial control signal to the vehicle control system corresponding to the identity information; the automatic driving method has the advantage of low cost, the automatic driving method concentrates detected components on a ground centralized control center on the ground, the vehicle control system on the vehicle only needs to receive signals for automatic driving, the vehicle control system on the vehicle has a simple structure and low cost, and the ground centralized control center can control all vehicles on the road surface to advance, plan the routes of all vehicles, is safer to drive and reduces the social cost.
The invention also identifies the road surface environment information when identifying the position information of the vehicle, and the automatic driving is safer.
The identity information, the position information and the road surface environment information for identifying the vehicle comprise: the road surface on which the vehicle runs is divided into grids, the identity information, the position information and the road surface environment information of the vehicle in each grid are detected, and the identity information and the position information of the vehicle in each grid are detected more accurately.
The ground or the air corresponding to each grid is provided with at least one binary sensor, the binary sensors only need to detect the existence of an object, namely only need to represent by two states of 0 and 1, the required information quantity is very little, the requirements of the system on the communication, calculation and other capabilities can be greatly reduced, the requirements of a main control module are further reduced, the cost is reduced, the position arrangement of the binary sensors is more reasonable, and the quantity requirements of the binary sensors are reduced.
According to the method, at least one vehicle control system generates a vehicle control adjustment instruction according to a preset rule and sends the vehicle control adjustment instruction to a ground centralized control center, and the ground centralized control center generates a correction control signal according to the vehicle control adjustment instruction and an initial control signal so as to adjust automatic driving of the corresponding at least one vehicle control system.
The road surface on which the vehicle runs is divided into the shapes of grids, at least one binary sensor is arranged on the ground or in the air corresponding to each grid, the position arrangement of the binary sensors is more reasonable, and the quantity requirement of the binary sensors is reduced.
Compared with the prior art, the embodiment of the invention also provides an automatic driving system, which is used for controlling the automatic driving of the vehicle on the road surface, and the automatic driving system comprises: the system comprises a ground centralized control center and a vehicle control system, wherein the vehicle control system is arranged on a vehicle, the ground centralized control center comprises a sensor arranged along a road, and the ground centralized control center identifies identity information and position information of the vehicle through the sensor; the ground centralized control center processes the position information of the vehicle to obtain an initial control signal, and sends the initial control signal to the vehicle control system corresponding to the identity information; the automatic driving method has the advantage of low cost, the automatic driving method concentrates the detected components on the ground, the vehicle control system on the vehicle only needs to receive signals for automatic driving, and the vehicle control system on the vehicle has simple structure and low cost.
It should be noted that, in all the above embodiments, the included units and modules are only divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (11)
1. An automatic driving method, characterized by comprising the steps of:
identifying the identity information and the position information of the vehicle through a ground centralized control center;
the ground centralized control center processes the position information of the vehicle to obtain an initial control signal, and sends the initial control signal to a vehicle control system corresponding to the identity information;
controlling the automatic driving of the vehicle corresponding to the identity information according to the initial control signal through the vehicle control system;
the ground centralized control center is arranged on the ground, and the vehicle control system is arranged on a vehicle;
the initial control signal includes:
controlling at least one of a speed, an acceleration, and a steering of the autonomous vehicle when the autonomous vehicle is one;
and/or the two automatically-driven vehicles are arranged in front and back, when the rear automatically-driven vehicle needs to overtake, at least one of the speed, the acceleration and the steering of the two automatically-driven vehicles is controlled, the two automatically-driven vehicles are barriers for each other, and the front automatically-driven vehicle gives way for the rear automatically-driven vehicle or the rear automatically-driven vehicle changes lane to overtake;
and/or when the number of the automatically driven vehicles is multiple, controlling at least one of the speed, the acceleration and the steering of the automatically driven vehicles, wherein the automatically driven vehicles are barriers;
the method comprises the steps that at least one vehicle control system generates a vehicle control adjusting instruction according to a preset rule and sends the vehicle control adjusting instruction to a ground centralized control center, and the ground centralized control center generates a correction control signal according to the vehicle control adjusting instruction and an initial control signal so as to adjust automatic driving of the corresponding at least one vehicle control system.
2. The automated driving method of claim 1, wherein: the road surface environment information is also identified when identifying the position information of the vehicle.
3. The automated driving method of claim 2, wherein: the identification information, the position information and the road surface environment information for identifying the vehicle comprise:
and dividing the road surface on which the vehicle runs into grids, and detecting the identity information, the position information and the road surface environment information of the vehicle in each grid.
4. The automated driving method of claim 3, wherein: and detecting the position information of the vehicle and the road environment information in real time or at preset time intervals, wherein the road environment information comprises the position information of the obstacles in each grid, and the position change information of the vehicle, the position change information of the obstacles and the speed information of the obstacles can be calculated according to the positions of the vehicle and the obstacles at different moments.
5. The automated driving method of claim 3, wherein: at least one binary sensor is arranged on the ground or in the air corresponding to each grid.
6. The automated driving method of claim 1, wherein: the preset rule is that vehicle adjusting instructions of different levels are preset according to the importance degree of the emergency, and the vehicle adjusting instructions of different levels correspond to different running speeds, different overtaking levels or different destinations.
7. An autopilot system for controlling the autopilot of a vehicle on a roadway, the autopilot system comprising: a ground centralized control center and a vehicle control system, the vehicle control system being disposed on a vehicle, the ground centralized control center including sensors disposed along a road, wherein,
the ground centralized control center identifies the identity information and the position information of the vehicle through a sensor;
the ground centralized control center processes the position information of the vehicle to obtain an initial control signal, and sends the initial control signal to the vehicle control system corresponding to the identity information;
the vehicle control system controls the automatic driving of the vehicle corresponding to the identity information according to the initial control signal;
the initial control signal includes:
controlling at least one of a speed, an acceleration, and a steering of the autonomous vehicle when the autonomous vehicle is one;
and/or the two automatically-driven vehicles are arranged in front and back, when the rear automatically-driven vehicle needs overtaking, at least one of the speed, the acceleration and the steering of the two automatically-driven vehicles is controlled, the two automatically-driven vehicles are barriers for each other, and the front automatically-driven vehicle gives way for the rear automatically-driven vehicle or the rear automatically-driven vehicle changes lane to overtake;
and/or when the number of the automatically driven vehicles is multiple, controlling at least one of the speed, the acceleration and the steering of the automatically driven vehicles, wherein the automatically driven vehicles are barriers;
the method comprises the steps that at least one vehicle control system generates a vehicle control adjusting instruction according to a preset rule and sends the vehicle control adjusting instruction to a ground centralized control center, and the ground centralized control center generates a correction control signal according to the vehicle control adjusting instruction and an initial control signal so as to adjust automatic driving of the corresponding at least one vehicle control system.
8. The autopilot system of claim 7 wherein: the sensors comprise binary sensors and identity recognition sensors, the road surface on which the vehicles run is divided into grids, the binary sensors detect the position information of the vehicles in each grid, the identity recognition sensors detect the identity information of the vehicles in each grid, at least one binary sensor is arranged on the ground or in the air corresponding to each grid, and the binary sensors also recognize the road surface environment information.
9. The autopilot system of claim 8 wherein: the ground centralized control center also comprises a main control module and a ground transmission module,
the main control module is used for processing the position information and the road surface environment information of the vehicle to obtain an initial control signal;
and the ground transmission module is used for transmitting the initial control signal to a corresponding vehicle control system according to the identity information of the vehicle.
10. The autopilot system of claim 7 wherein: the vehicle control system comprises a vehicle transmission module, a control unit, a braking system, a power system and a steering system,
the vehicle transmission module is used for receiving an initial control signal sent by the ground centralized control center,
the control unit is used for controlling the work of the braking system, the power system and the steering system according to the initial control signal;
the brake system is used for controlling the braking of the vehicle;
the power system is used for providing power for the running of the vehicle;
the steering system is used for controlling the steering of the vehicle.
11. The autopilot system of claim 8 wherein: the types of binary sensors include pressure sensors, optical sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810801852.9A CN109017783B (en) | 2018-07-20 | 2018-07-20 | Automatic driving method and automatic driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810801852.9A CN109017783B (en) | 2018-07-20 | 2018-07-20 | Automatic driving method and automatic driving system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109017783A CN109017783A (en) | 2018-12-18 |
| CN109017783B true CN109017783B (en) | 2021-06-22 |
Family
ID=64642136
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810801852.9A Active CN109017783B (en) | 2018-07-20 | 2018-07-20 | Automatic driving method and automatic driving system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109017783B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL2022800B1 (en) * | 2019-03-25 | 2020-10-02 | Vanderlande Ind Bv | System and method for the intralogistics transport of products. |
| CN109895770B (en) * | 2019-04-03 | 2020-10-13 | 武汉理工大学 | Vehicle cloud self-adaptive cruise control system and method based on identity recognition |
| CN111311948B (en) * | 2020-02-19 | 2021-07-13 | 广州小马智行科技有限公司 | Control method and device for automatic driving vehicle, storage medium and vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105280023A (en) * | 2015-10-27 | 2016-01-27 | 重庆智韬信息技术中心 | Safe and intelligent driving method based on RFID technology |
| CN105590481A (en) * | 2014-11-10 | 2016-05-18 | 现代摩比斯株式会社 | Autonomous driving vehicle, autonomous driving management apparatus, and method of controlling the same |
| CN105717939A (en) * | 2016-01-20 | 2016-06-29 | 李万鸿 | Informatization and networking implementation method of road pavement supporting automobile unmanned automatic driving |
| CN106355928A (en) * | 2016-08-31 | 2017-01-25 | 北京万集科技股份有限公司 | Vehicle-road cooperating and assisting driving system based on wireless positioning and method |
| CN106571046A (en) * | 2016-11-11 | 2017-04-19 | 上海市政工程设计研究总院（集团）有限公司 | Vehicle-road cooperation auxiliary driving method based on road surface grid system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7266477B2 (en) * | 2005-06-22 | 2007-09-04 | Deere & Company | Method and system for sensor signal fusion |
| JP6406894B2 (en) * | 2014-06-23 | 2018-10-17 | 株式会社Ｉｈｉエアロスペース | ENVIRONMENTAL MAP GENERATION CONTROL DEVICE, MOBILE BODY, AND ENVIRONMENTAL MAP GENERATION METHOD |
-
2018
- 2018-07-20 CN CN201810801852.9A patent/CN109017783B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105590481A (en) * | 2014-11-10 | 2016-05-18 | 现代摩比斯株式会社 | Autonomous driving vehicle, autonomous driving management apparatus, and method of controlling the same |
| CN105280023A (en) * | 2015-10-27 | 2016-01-27 | 重庆智韬信息技术中心 | Safe and intelligent driving method based on RFID technology |
| CN105717939A (en) * | 2016-01-20 | 2016-06-29 | 李万鸿 | Informatization and networking implementation method of road pavement supporting automobile unmanned automatic driving |
| CN106355928A (en) * | 2016-08-31 | 2017-01-25 | 北京万集科技股份有限公司 | Vehicle-road cooperating and assisting driving system based on wireless positioning and method |
| CN106571046A (en) * | 2016-11-11 | 2017-04-19 | 上海市政工程设计研究总院（集团）有限公司 | Vehicle-road cooperation auxiliary driving method based on road surface grid system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109017783A (en) | 2018-12-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110603181B (en) | Intelligent driving vehicle yielding method and device and vehicle-mounted equipment | |
| CN112689588B (en) | Control method and device for automatically driving vehicle | |
| KR20210008836A (en) | System and method for allocation of driving intelligence between vehicles and highways | |
| CN110895877A (en) | Intelligent distribution system and method for vehicle road driving tasks | |
| CN110568852A (en) | Automatic driving system and control method thereof | |
| US11634134B2 (en) | Using discomfort for speed planning in responding to tailgating vehicles for autonomous vehicles | |
| CN109017783B (en) | Automatic driving method and automatic driving system | |
| US20210078598A1 (en) | Autonomous vehicle and pedestrian guidance system and method using the same | |
| GB2578230A (en) | Control of an autonomous vehicle | |
| CN115291596A (en) | Road travelable area reasoning method and device | |
| KR20130132790A (en) | Zone driving | |
| CA3064166A1 (en) | Driving assistance device and driving assistance method | |
| CN112602107B (en) | Information providing method for vehicle dispatching system, vehicle dispatching system and information providing device | |
| CN111986505B (en) | Control device, boarding/alighting facility, control method, and storage medium | |
| CN114945493A (en) | Cooperative vehicle headlamp guidance | |
| CN114945492A (en) | Cooperative vehicle headlamp guidance | |
| CN108153315B (en) | Control method and control device for unmanned automobile | |
| CN110562269A (en) | Method for processing fault of intelligent driving vehicle, vehicle-mounted equipment and storage medium | |
| WO2020258276A1 (en) | Yielding method and apparatus for intelligent driving vehicle, and vehicle-mounted device | |
| CN114929517A (en) | Cooperative vehicle headlamp guidance | |
| CN114945958A (en) | Collaborative vehicle headlamp guidance | |
| CA3094795C (en) | Using discomfort for speed planning for autonomous vehicles | |
| WO2021217447A1 (en) | Method and apparatus for vehicle to pass through boom barrier | |
| JP7075789B2 (en) | Vehicle control devices, vehicle control methods, and programs | |
| CN116135654A (en) | Vehicle running speed generation method and related equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |