CN111047871A - Man-machine driving hybrid traffic cooperative control system and method based on Internet of vehicles - Google Patents
Man-machine driving hybrid traffic cooperative control system and method based on Internet of vehicles Download PDFInfo
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- CN111047871A CN111047871A CN201911132245.9A CN201911132245A CN111047871A CN 111047871 A CN111047871 A CN 111047871A CN 201911132245 A CN201911132245 A CN 201911132245A CN 111047871 A CN111047871 A CN 111047871A
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- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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Abstract
The invention relates to a man-machine driving mixed traffic cooperative control system and a method based on an internet of vehicles, the system comprises a plurality of cooperative controllers corresponding to the number of crossing paths, each cooperative controller is arranged beside a signal lamp of the corresponding crossing, the crossing paths influenced by the signal lamp are cooperative control areas aimed at by the cooperative controllers, each cooperative controller comprises a collection unit, a processing unit and a control unit which are sequentially connected, the communication between the cooperative control system and a manned vehicle and an unmanned vehicle is realized by using the internet of vehicles and a V2I technology, an information collection unit obtains effective information from a communication network, a control signal for the unmanned vehicle is obtained after the effective information is analyzed and processed by a processing unit and is transmitted to the control unit, the control unit takes over the unmanned vehicle entering the cooperative control areas according to the control signal given by the processing unit, the unmanned vehicle is controlled to pass through the congested intersection, so that the problem that the existing unmanned vehicle passes through the congested intersection can be well solved.
Description
Technical Field
The invention relates to the technical field of unmanned vehicle control, in particular to a man-machine driving hybrid traffic cooperative control system and method based on an internet of vehicles.
Background
Along with continuous innovation of automatic driving technology, automatic driving vehicles on roads are increasing, and various problems and challenges are brought about, wherein one of the problems is that people and machines drive intersection traffic flow in a mixed mode, especially at congested intersections. The challenges in this environment are mainly: diversity in driving behavior, randomness in environmental impact, uncontrollable nature of a human driven vehicle, etc. Although the automatic driving vehicle has the sensing, planning and decision-making capabilities in a complex environment, when numerous random and uncertain factors exist in the environment, the unmanned vehicle can only reluctantly pass through an intersection without congestion at most by the current technology, and an unmanned driver is required to take over the intersection at any moment, so that the confidence of people on the automatic driving technology is influenced to a certain extent, and the automatic driving vehicle becomes a great problem for hindering the development of the unmanned driving technology.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides a man-machine driving hybrid traffic cooperative control system and a man-machine driving hybrid traffic cooperative control method based on an internet of vehicles, the internet of vehicles and a V2I technology are utilized to realize the communication between the cooperative control system and a manned vehicle and an unmanned vehicle respectively, an information acquisition unit acquires effective information from a communication network, a control signal for the unmanned vehicle is obtained after the effective information is analyzed and processed by a processing unit and is transmitted to the control unit, and the unmanned vehicle is controlled to pass through a congested intersection according to the control signal given by the processing unit after the unmanned vehicle entering a cooperative control area is taken over by the control unit.
In order to achieve the above purpose, the technical scheme adopted by the invention comprises the following steps:
a man-machine driving hybrid traffic cooperative control system based on an internet of vehicles is characterized by comprising a plurality of cooperative controllers corresponding to the number of crossing paths, wherein each cooperative controller is arranged beside a signal lamp of a corresponding crossing, the crossing paths influenced by the signal lamp are cooperative control areas aimed by the cooperative controllers, and each cooperative controller comprises a collection unit, a processing unit and a control unit which are sequentially connected;
the acquisition unit respectively acquires the signal lamp state, respectively communicates with the manned vehicle and the unmanned vehicle entering the cooperative control area by using a V2I technology, acquires the vehicle speed and the course information of the manned vehicle and the expected course information of the unmanned vehicle in real time, and sends the signal lamp state, the vehicle speed and the course information of the manned vehicle and the expected course information of the unmanned vehicle to the processing unit;
the processing unit calculates and processes to obtain unmanned vehicle control information according to the signal lamp state, the vehicle speed and the course information of the unmanned vehicle and the expected course information of the unmanned vehicle, and sends the unmanned vehicle control information to the control unit;
the control unit takes over the control right of the unmanned vehicle to pass at the road intersection, and controls the unmanned vehicle to pass through the intersection to the expected driving course according to the control information of the unmanned vehicle.
Further, the cooperative controller is fixedly and integrally arranged on a signal lamp of the intersection, or the cooperative controller is independently arranged on a mounting bracket of the intersection.
Further, the acquisition unit comprises a signal lamp state receiving device and a V2I vehicle information acquisition device; the V2I vehicle information acquisition device is respectively communicated with the manned vehicle and the unmanned vehicle by utilizing a V2I technology according to a preset communication protocol and obtains the speed and the heading information of the manned vehicle and the expected heading information of the unmanned vehicle.
Furthermore, the acquisition unit also comprises an image recognition device corresponding to the vehicle; the image recognition device of the corresponding vehicle acquires the speed and the heading information of the manned vehicle and the expected heading information of the unmanned vehicle through the dynamic image capturing recognition auxiliary V2I vehicle information acquisition device of the vehicle driving state.
Further, the signal lamp state receiving device is a signal receiver connected with the signal lamp and/or an image recognition device corresponding to the signal lamp.
Further, the signal lamp state comprises signal lamp color and duration of current signal lamp color, and the unmanned vehicle control information comprises vehicle speed, heading, waiting position and waiting time which need to be executed when the unmanned vehicle passes through the intersection.
Further, the desired heading information of the unmanned vehicle is generated by an unmanned vehicle trajectory planning process.
A man-machine driving mixed traffic cooperative control method based on the Internet of vehicles is characterized in that a corresponding cooperative controller is configured beside a signal lamp of a corresponding intersection, and an intersection passage influenced by the signal lamp is used as a cooperative control area aimed by the cooperative controller, and the method further comprises the following steps:
s1, enabling the vehicle with the driver to pass through the intersection according to the indication of the road signal lamp, and planning the vehicle without the driver to drive to the intersection according to the vehicle track;
s2, the cooperative controller respectively collects the signal lamp states through an internal collection unit and respectively communicates with the manned vehicle and the unmanned vehicle entering the cooperative control area by utilizing a V2I technology, the vehicle speed and the course information of the manned vehicle and the expected course information of the unmanned vehicle are obtained in real time, and the signal lamp states, the vehicle speed and the course information of the manned vehicle and the expected course information of the unmanned vehicle are sent to the cooperative controller through an internal processing unit;
s3, the cooperative controller calculates to obtain unmanned vehicle control information through an internal processing unit according to the signal lamp state, the vehicle speed and the heading information of the unmanned vehicle and the expected heading information of the unmanned vehicle, and sends the unmanned vehicle control information to the cooperative controller through an internal control unit;
and S4, the cooperative controller takes over the control right of the unmanned vehicle passing at the road intersection through the internal control unit, and controls the unmanned vehicle to pass through the intersection to the expected driving course according to the control information of the unmanned vehicle.
The invention has the beneficial effects that:
by means of the vehicle networking technology and the V2I technology, the man-machine driving mixed traffic cooperative control system takes the information of the manned vehicles and the unmanned vehicles as system input, carries out calculation processing to obtain control signals, and combs the man-machine driving mixed traffic flow, so that the problem becomes clear and easy to solve, and the problem that the existing unmanned vehicles pass through congested intersections can be well solved; meanwhile, on the basis of the existing car networking and V2I technology, a task can be completed only by arranging a cooperative controller beside a signal lamp, and the implementation method is simple and easy to implement.
Drawings
Fig. 1 is a schematic structural diagram of a man-machine driving hybrid traffic cooperative control system based on the internet of vehicles.
Fig. 2 is a schematic diagram of man-machine driving mixed traffic intersection traffic in the embodiment of the invention.
Detailed Description
For a clearer understanding of the contents of the present invention, reference will be made to the accompanying drawings and examples.
The car networking is that the all-round network connection in the car, car and road, car and people, car and service platform is realized with the help of new generation information and communication technology, promotes car intelligent level and automatic driving ability, constructs the new attitude of car and traffic service to improve traffic efficiency, improve car and ride and feel, provide intelligent, comfortable, safe, energy-conserving, efficient service for the user.
V2I indicates that the vehicle-mounted device communicates with the road-side infrastructure (such as traffic lights, cameras, road-side units, etc.), and the road-side infrastructure can also acquire information of vehicles in the vicinity and distribute various real-time information. The Media Access Control sublayer (MAC) of wireless communication provides a Media Access Control function and plays a role in downward Control of a PHYsical layer (PHY), and a Media Access Control protocol determines whether channel resources can be efficiently scheduled, thereby ensuring Quality of Service (qos). The PHY layer and MAC layer of V2I communication are implemented using the ieee802.11p protocol. However, the IEEE802.11 family of protocols was designed primarily for indoor low mobility users, providing best effort communication services. The V2I communication is mainly used for real-time information services, vehicle monitoring management, electronic toll collection, and the like. V2I is an important component of the car networking.
Fig. 1 is a schematic structural diagram of a man-machine driving hybrid traffic cooperative control system based on internet of vehicles, which includes a plurality of cooperative controllers belonging to a control sub-layer and corresponding to the number of crossing paths, signal lamps belonging to a physical layer, a man-driven vehicle and an unmanned vehicle. Each cooperative controller is arranged beside a signal lamp of the corresponding intersection, and the intersection passage influenced by the signal lamp is a cooperative control area aimed by the cooperative controller. Preferably, the cooperative controller can be fixedly and integrally arranged on a signal lamp of the intersection, or the cooperative controller is separately arranged on a mounting bracket of the intersection. The cooperative controller comprises an acquisition unit, a processing unit and a control unit which are sequentially communicated with each other in data; the acquisition unit acquires the state of the signal lamp through a signal lamp state receiving device (a signal receiver and/or an image recognition device corresponding to the signal lamp), respectively communicates with a manned vehicle and an unmanned vehicle entering a cooperative control area through a V2I vehicle information acquisition device by utilizing a V2I technology, acquires manned vehicle information (the speed and the course of the manned vehicle) and unmanned vehicle expected information (the unmanned vehicle expected course information) generated in the unmanned vehicle track planning process in real time, and can also assist the V2I vehicle information acquisition device to acquire the manned vehicle information and the unmanned vehicle expected information by using the image recognition device corresponding to the vehicle, and sends the state of the signal lamp, the manned vehicle information and the unmanned vehicle expected information to the processing unit; the processing unit calculates, processes and analyzes the unmanned vehicle control information (the speed, the course, the waiting position and the waiting time which need to be executed when the unmanned vehicle passes through the intersection) according to the signal lamp state, the information of the unmanned vehicle and the expected information of the unmanned vehicle, and sends the unmanned vehicle control information to the control unit; the control unit takes over the control right of the unmanned vehicle to pass at the road intersection, and controls the unmanned vehicle to pass through the intersection to the expected driving course according to the control information of the unmanned vehicle.
Fig. 2 is a schematic diagram of a man-machine driven hybrid traffic intersection, which is a typical intersection, according to an embodiment of the present invention, and the present invention is further described in detail.
Firstly, the intersection is regarded as a congested intersection, and each intersection is provided with a manned vehicle and an unmanned vehicle. When the unmanned vehicle enters the intersection, the vehicle control right is taken over by the vehicle cooperative control system; the driver of a vehicle driven by a person should comply with the relevant traffic regulations.
The vehicle cooperative controller is arranged beside the signal lamp and consists of a collecting unit, a processing unit and a control unit, and four cooperative controllers are used as a group at one intersection to form a vehicle cooperative control system at the intersection. The acquisition unit needs to acquire real-time signal lamp states on one hand, and needs to communicate with the manned vehicle and the unmanned vehicle respectively by using a V2I technology on the other hand, so as to acquire the speed and the heading of the manned vehicle and the expected heading of the unmanned vehicle in real time, wherein the expected heading is generated by the unmanned vehicle trajectory planning process. The processing unit can acquire the information of the acquisition unit, analyze and give the actions that the unmanned vehicle should make, such as whether waiting, course, vehicle speed and the like are needed, and transmit the action signals to the control unit. And after the control unit receives the action signal, the unmanned vehicle is controlled to safely pass through the intersection.
The control system comprises the following specific working processes:
when the intersections 4 and 8 are red lights and the intersections 2 and 6 are green lights, the intersections are congested, vehicles are arranged on each lane, and the vehicles driven by people and the vehicles not driven by people are mixed. When the lane 1 only has the unmanned vehicles which go straight, under the condition, the vehicles which are driven by people can automatically pass through the traffic light, and the speed and the course are fed back to the acquisition unit. Meanwhile, the unmanned vehicle sends the expected heading to the acquisition unit of the cooperative controller A. The intersection paths influenced by the signal lamps beside the cooperative controller A are that the vehicle goes straight in the 1 lane, turns left in the 3 lanes and turns right in the 7 lanes, and if any intersection of the three lanes has the vehicle, the vehicle enters the cooperative control area aimed by the cooperative controller A. In the embodiment, the lane 1 is an unmanned vehicle only having straight running, so that the cooperative controller A only needs to collect the expected course information of the unmanned vehicle in the lane and perform subsequent processing and control in combination with the state of the signal lamp. That is, after the acquisition unit of a acquires the state of the signal lamp, the acquisition unit of a combines the acquired information, and the processing unit analyzes the information and gives a control signal to the control unit of a. The control unit controls the unmanned vehicle to safely pass through the intersection at a lower speed according to the obtained control signal. The cooperative control system should be able to obtain the duration of the red and green light and the processing unit should be able to take this information into account in order to complete the generation of the control signal.
When the lane 1 has the unmanned vehicles which can go straight, turn left and turn right, the straight-going vehicles are still controlled by the cooperative controller A, the vehicles which turn right are controlled by the cooperative controller B, and the vehicles which turn left are controlled by the cooperative controller D to pass through the intersection.
When the signal lamp state is switched, namely the intersections 4 and 8 become green lamps, and the intersections 2 and 6 become red lamps, the four controllers carry out a new round of cooperative control according to the method. When the vehicle enters the yellow light state, the unmanned vehicle which does not completely pass through the road junction continues to finish the passing action.
The invention also relates to a man-machine driving hybrid traffic cooperative control method based on the internet of vehicles, which corresponds to the man-machine driving hybrid traffic cooperative control system based on the internet of vehicles, can be understood as a method for realizing the man-machine driving hybrid traffic cooperative control system and can also be understood as a working method of the man-machine driving hybrid traffic cooperative control system.
The man-machine driving mixed traffic cooperative control method based on the internet of vehicles adopts the technology of the internet of vehicles and V2I, firstly, a corresponding cooperative controller is configured beside a signal lamp of a corresponding intersection, and an intersection passage influenced by the signal lamp is used as a cooperative control area aimed by the cooperative controller, so that the man-machine driving mixed traffic flow intersection intelligent cooperative control method based on the signal lamp is also provided. The method specifically comprises the following steps:
s1, enabling the vehicle with the driver to pass through the intersection according to the indication of the road signal lamp, and enabling the vehicle without the driver to drive to the intersection according to the vehicle track plan, namely enabling the vehicle to enter the cooperative control area;
s2, the cooperative controller respectively collects the signal lamp states through an internal collection unit and respectively communicates with the manned vehicle and the unmanned vehicle entering the cooperative control area by utilizing a V2I technology, the vehicle speed and the course information of the manned vehicle and the expected course information of the unmanned vehicle are obtained in real time, and the signal lamp states, the vehicle speed and the course information of the manned vehicle and the expected course information of the unmanned vehicle are sent to the cooperative controller through an internal processing unit;
s3, the cooperative controller calculates to obtain unmanned vehicle control information through an internal processing unit according to the signal lamp state, the vehicle speed and the heading information of the unmanned vehicle and the expected heading information of the unmanned vehicle, and sends the unmanned vehicle control information to the cooperative controller through an internal control unit;
and S4, the cooperative controller takes over the control right of the unmanned vehicle passing at the road intersection through the internal control unit, and controls the unmanned vehicle to pass through the intersection to the expected driving course according to the control information of the unmanned vehicle.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A man-machine driving hybrid traffic cooperative control system based on an internet of vehicles is characterized by comprising a plurality of cooperative controllers corresponding to the number of crossing paths, wherein each cooperative controller is arranged beside a signal lamp of a corresponding crossing, the crossing paths influenced by the signal lamp are cooperative control areas aimed by the cooperative controllers, and each cooperative controller comprises a collection unit, a processing unit and a control unit which are sequentially connected;
the acquisition unit respectively acquires the signal lamp state, respectively communicates with the manned vehicle and the unmanned vehicle entering the cooperative control area by using a V2I technology, acquires the vehicle speed and the course information of the manned vehicle and the expected course information of the unmanned vehicle in real time, and sends the signal lamp state, the vehicle speed and the course information of the manned vehicle and the expected course information of the unmanned vehicle to the processing unit;
the processing unit calculates and processes to obtain unmanned vehicle control information according to the signal lamp state, the vehicle speed and the course information of the unmanned vehicle and the expected course information of the unmanned vehicle, and sends the unmanned vehicle control information to the control unit;
the control unit takes over the control right of the unmanned vehicle to pass at the road intersection, and controls the unmanned vehicle to pass through the intersection to the expected driving course according to the control information of the unmanned vehicle.
2. The system of claim 1, wherein the cooperative controller is fixedly integrated on a signal light of the intersection, or the cooperative controller is separately arranged on a mounting bracket of the intersection.
3. The system of claim 1, wherein said acquisition unit comprises a signal light status acceptance device, a V2I vehicle information acquisition device; the V2I vehicle information acquisition device is respectively communicated with the manned vehicle and the unmanned vehicle by utilizing a V2I technology according to a preset communication protocol and obtains the speed and the heading information of the manned vehicle and the expected heading information of the unmanned vehicle.
4. The system of claim 3, wherein the acquisition unit further comprises an image recognition device corresponding to the vehicle; the image recognition device of the corresponding vehicle acquires the speed and the heading information of the manned vehicle and the expected heading information of the unmanned vehicle through the dynamic image capturing recognition auxiliary V2I vehicle information acquisition device of the vehicle driving state.
5. The system according to claim 3 or 4, wherein the signal lamp status acceptance means is a signal receiver connected to a signal lamp and/or an image recognition means of the corresponding signal lamp.
6. The system of claim 1, wherein the signal light status includes a signal light color and a duration of a current signal light color, and the unmanned vehicle control information includes a vehicle speed, a heading, and a waiting location and a waiting time that the unmanned vehicle is required to perform when passing through the intersection.
7. The system of claim 1 or 6, wherein the unmanned vehicle desired heading information is generated by an unmanned vehicle trajectory planning process.
8. A man-machine driving mixed traffic cooperative control method based on the Internet of vehicles is characterized in that a corresponding cooperative controller is configured beside a signal lamp of a corresponding intersection, and an intersection passage influenced by the signal lamp is used as a cooperative control area aimed by the cooperative controller, and the method further comprises the following steps:
s1, enabling the vehicle with the driver to pass through the intersection according to the indication of the road signal lamp, and planning the vehicle without the driver to drive to the intersection according to the vehicle track;
s2, the cooperative controller respectively collects the signal lamp states through an internal collection unit and respectively communicates with the manned vehicle and the unmanned vehicle entering the cooperative control area by utilizing a V2I technology, the vehicle speed and the course information of the manned vehicle and the expected course information of the unmanned vehicle are obtained in real time, and the signal lamp states, the vehicle speed and the course information of the manned vehicle and the expected course information of the unmanned vehicle are sent to the cooperative controller through an internal processing unit;
s3, the cooperative controller calculates to obtain unmanned vehicle control information through an internal processing unit according to the signal lamp state, the vehicle speed and the heading information of the unmanned vehicle and the expected heading information of the unmanned vehicle, and sends the unmanned vehicle control information to the cooperative controller through an internal control unit;
and S4, the cooperative controller takes over the control right of the unmanned vehicle passing at the road intersection through the internal control unit, and controls the unmanned vehicle to pass through the intersection to the expected driving course according to the control information of the unmanned vehicle.
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| CN113489793A (en) * | 2021-07-07 | 2021-10-08 | 重庆大学 | Expressway double-lane cooperative control method in mixed traffic scene |
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