CN112298195A - Automatic and manual mode switching system for automatic driving special lane of bidirectional 6-10 lane highway and using method - Google Patents

Automatic and manual mode switching system for automatic driving special lane of bidirectional 6-10 lane highway and using method Download PDF

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Publication number
CN112298195A
CN112298195A CN201910694665.XA CN201910694665A CN112298195A CN 112298195 A CN112298195 A CN 112298195A CN 201910694665 A CN201910694665 A CN 201910694665A CN 112298195 A CN112298195 A CN 112298195A
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lane
vehicle
automatic
mode
driving
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Inventor
冉斌
何蜀燕
程阳
杨柳
吴浩然
姚志洪
李振龙
卢佳
张园园
李彦瑾
金宁
郑元
何永明
王一飞
张雨泽
高婷婷
袁腾飞
林杨欣
凃强
赵佳昊
栾琨
许世燕
沈毅
黄海南
李林超
万红亮
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Shanghai Fengbao Business Consulting Co ltd
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Shanghai Fengbao Business Consulting Co ltd
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Priority to CN201910694665.XA priority Critical patent/CN112298195A/en
Priority to US16/839,852 priority patent/US20200327812A1/en
Publication of CN112298195A publication Critical patent/CN112298195A/en
Priority to US18/119,599 priority patent/US20230282115A1/en
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    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses an automatic and manual mode switching system of a bidirectional 6-10 lane highway automatic driving special lane and a using method thereof, wherein the vehicle comprises an automatic driving vehicle and a common vehicle, and the automatic driving vehicle has two driving modes, namely an automatic driving mode and a manual driving mode; the lanes comprise an automatic vehicle special lane and a common vehicle lane, and the automatic vehicle special lane sequentially comprises an inner lane, a middle lane and an outer lane; the buffer area is a vehicle acceleration and deceleration area, the area is covered with a vehicle road and is cooperated with an automatic driving CAVH system, and the mode switching area comprises an automatic manual switching area and a manual automatic switching area.

Description

Automatic and manual mode switching system for automatic driving special lane of bidirectional 6-10 lane highway and using method
Technical Field
The invention belongs to an automatic driving technology, and particularly relates to an automatic and manual mode switching system of an automatic driving special lane of a bidirectional 6-10 lane highway and a using method thereof.
Background
The development of the vehicle-road cooperative automatic driving has very important significance for improving the traffic transportation efficiency, enhancing the traffic trip safety, relieving traffic jam, reducing air pollution, improving the driving and riding comfort and the like. Although the research on automatic driving in various countries of the world is mature, the driving-permitted places of automatic driving are still limited, some countries already permit automatic driving vehicles to test on public roads, but driving on the public roads increases the testing burden, can cause certain influence on other vehicles and can cause a series of safety problems. Automatic driving is a necessary trend, and a great amount of automatic driving is put into use in the future and is applied to practice to solve various traffic problems. If it is not necessarily reasonable for the autonomous vehicle and the general vehicle to travel on the common road at the same time, it makes the development of the autonomous driving slow, and thus it is necessary to design an autonomous driving exclusive lane to solve this problem. And the bidirectional 6-10 lane highway is a common lane composition form and should be designed and researched as an application scene firstly.
How to reasonably manage the automatic driving vehicles entering and exiting the automatic driving special lane on the bidirectional 6-10 lane highway is particularly important for the management and operation of the automatic driving system. Therefore, it is urgently needed to design an automatic-manual mode switching design scheme for the automatic driving special lane of the bidirectional 6-10 lane highway, and reasonably manage automatic vehicles to enter and exit the automatic driving special lane.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the defects in the prior art and provides an automatic and manual mode switching system for an automatic driving special lane of a bidirectional 6-10 lane highway and a using method thereof.
The technical scheme is as follows: the invention relates to an automatic and manual mode switching system of a special lane for automatic driving of a bidirectional 6-10 lane highway, which comprises lanes, a buffer area, vehicles and a mode switching area, wherein the lanes are arranged on the buffer area; the vehicle comprises an automatic driving vehicle and a common vehicle, wherein the automatic driving vehicle has two driving modes, namely an automatic driving mode and a manual driving mode; the lanes comprise an automatic vehicle special lane and a common vehicle lane, and the automatic vehicle special lane sequentially comprises an inner lane, a middle lane and an outer lane; the buffer area is a vehicle acceleration and deceleration area, is respectively arranged on a special lane of an automatic vehicle and a lane of a common vehicle, is covered with a vehicle-road cooperative automatic driving CAVH system, comprises an automatic manual switching area and a manual automatic switching area, is respectively arranged at the intersection of the automatic lane and the manual lane, comprises two types of ramp position switching and main road switching, and comprises a flow of converting an automatic driving vehicle from a manual mode to an automatic mode and a flow of converting the automatic driving vehicle from the automatic mode to the manual mode;
the automatic driving vehicle in the automatic driving mode runs on a lane special for the automatic vehicle, and the common vehicle and the automatic driving vehicle in the manual driving mode both run on a lane of the common vehicle.
Further, the mode switching comprises ramp entrance position switching and switching at the junction of the general vehicle lane and the special vehicle lane in the main road.
Furthermore, reminding marks with current areas of acceleration and deceleration buffer areas are arranged on the road side and the road surface of the buffer area, and the length L of the buffer areaSlowCalculated by the following formula:
Figure BDA0002148992580000021
wherein v isInto、vSeparation device、aAverageAnd τ85Respectively, maximum speed when entering the buffer, minimum speed when leaving the buffer, average vehicle acceleration, and driver 85% bit reaction time.
Furthermore, the roadside and the road surface of the mode switching area are both provided with a reminding sign that the current area is the mode switching area, and the length L of the mode switching area2By the maximum speed v of the vehicle when it is driven in and the response time t of the driver at 85% position85To calculate to obtain: l is2>vInto·τ85。
Further, the process of converting the automatic driving vehicle from the manual mode to the automatic mode sequentially comprises: the method comprises the following steps that a common vehicle passes through a mode switching area, sends a mode switching requirement to a CAVH system, and takes over by the CAVH system to complete a mode switching process after the mode switching is met; and accelerating to enter the automatic lane through a buffer area; and if the switching requirement is met, the vehicle can run out of the adjacent common lane.
Further, the process of changing the automatic driving vehicle from the automatic mode to the manual mode sequentially comprises: the automatic vehicle decelerates through the buffer area and sends a mode switching requirement to the CAVH system, and after the mode switching area is switched from an automatic driving mode to a manual driving mode, the automatic vehicle enters a common lane through manual control.
The invention also discloses a use method of the automatic and manual mode switching system of the automatic driving special lane of the bidirectional 6-10 lane highway, which sequentially comprises the following steps:
the method comprises the following steps: installing the automatic driving vehicle path and a detector in a CAVH system at the entrance of a lane;
step two: detecting whether the vehicle on the lane is an automatic driving vehicle or not through an automatic driving vehicle identification detector, if the vehicle is the automatic driving vehicle after detection, displaying a straight-going sign by a gate, and allowing the vehicle to run on a lane special for the automatic vehicle, and if the vehicle is detected to be a non-automatic driving vehicle, displaying a straight-going sign or a right-turning sign by the gate, wherein the vehicle leaves from a common lane;
step three: when the automatic driving vehicle passes the checkpoint, the vehicle road cooperates with the automatic driving system to take over the perception, path planning, behavior decision and management, vehicle control and the like of the vehicle, the driving mode of the automatic driving vehicle is changed from a manual mode to an automatic mode, and the automatic driving vehicle enters a special lane for driving; if the vehicle cannot be taken over by the vehicle-road cooperative automatic driving system, the vehicle is marked as a non-automatic driving vehicle, the vehicle-road cooperative automatic driving system gives an alarm, and the vehicle stops at the side;
step four: after the travel of the automatic vehicle on the special lane of the automatic vehicle is finished, optimizing the vehicle road in cooperation with an automatic driving CAVH system to obtain a nearest exit, and selecting an optimal exit;
step five: and the automatic driving vehicle passes through the buffer area and the mode switching area and then exits the special lane of the automatic vehicle to reach the common lane, so that the switching of the automatic mode of the automatic driving vehicle into the manual mode flow is completed.
Has the advantages that: according to the invention, the automatic driving vehicle enters and exits the automatic driving special lane through reasonable management, the operation safety of the automatic driving special lane is ensured, and the operation efficiency of the automatic driving special lane is further improved.
Drawings
FIG. 1 is a flow chart of an autonomous vehicle entering an autonomous-only lane manual-to-automatic mode;
FIG. 2 is a flow chart of an automatic-to-manual mode for an autonomous vehicle leaving an autonomous-purpose lane;
FIG. 3 is a diagram of an autonomous vehicle ramp entering an autonomous dedicated lane type one;
FIG. 4 is a diagram of an autonomous vehicle ramp entering an autonomous dedicated lane type two;
FIG. 5 is a third type of driveway entry for the autonomous vehicle ramp;
FIG. 6 is a first type of driveway for an autonomous vehicle on a ramp;
FIG. 7 is a second type of driveway for an autonomous vehicle on a ramp;
FIG. 8 is a third type of driveway for the autonomous vehicle on a ramp out of the driveway;
FIG. 9 is a schematic illustration of a two-way 6 lane autonomous vehicle main road entering an inboard autonomous exclusive lane type one;
FIG. 10 is a schematic illustration of a bi-directional 6 lane autonomous vehicle driving off of a first inboard autonomous lane type;
FIG. 11 is a two-way 6 lane autonomous vehicle main road entering an inboard autonomous dedicated lane type two;
FIG. 12 is a second lane type of bi-directional 6 lane autonomous vehicle for main drive out of the inboard autonomous driving;
FIG. 13 is a third embodiment of a bi-directional 6 lane autonomous vehicle main road into and out of an inboard autonomous dedicated lane type three;
FIG. 14 is a schematic illustration of a bi-directional 6 lane autonomous vehicle main road entering an intermediate autonomous exclusive lane type one;
FIG. 15 is a schematic illustration of a bi-directional 6 lane autonomous vehicle driving off a main road of an intermediate autonomous driving dedicated lane type one;
FIG. 16 is a schematic illustration of a two-way 6 lane autonomous vehicle main road entering an intermediate autonomous lane type two;
FIG. 17 is a second type of lane for a bi-directional 6 lane autonomous vehicle driving off the main road in an intermediate autonomous driving;
FIG. 18 is a third view of a bi-directional 6 lane autonomous vehicle main road entering and exiting an intermediate autonomous vehicle lane type III;
FIG. 19 is a schematic illustration of a two-way 6 lane autonomous vehicle main road entering an outboard autonomous exclusive lane type one;
FIG. 20 is a first lane type of bi-directional 6 lane autonomous vehicle for main drive out of the outboard autonomous vehicle;
FIG. 21 is a schematic view of a two-way 6 lane autonomous vehicle main road entering an outboard autonomous lane type two;
FIG. 22 is a second lane type of autonomous outside driveway for a two-way 6-lane autonomous vehicle;
FIG. 23 is a third view of a bi-directional 6 lane autonomous vehicle main road entering and exiting an outboard autonomous lane type;
FIG. 24 is a schematic view of a two-way 8-lane autonomous vehicle main road entering an inboard autonomous exclusive lane type one;
FIG. 25 is a schematic illustration of a two-way 8-lane autonomous vehicle driving off of a first inboard autonomous lane type;
FIG. 26 is a two-way 8 lane autonomous vehicle main road into an inboard autonomous lane type two;
FIG. 27 is a second embodiment of a lane type two for autonomous driving in a two-way 8-lane autonomous vehicle when the main road is driven out of the interior;
FIG. 28 is a third embodiment of a bi-directional 8 lane autonomous vehicle main road entering and exiting an inboard autonomous vehicle lane type three;
FIG. 29 is a schematic view of a two-way 10 lane autonomous vehicle main road entering an inboard autonomous exclusive lane type one;
FIG. 30 is a schematic illustration of a two-way 10 lane autonomous vehicle driving off of a first inboard autonomous lane type I;
FIG. 31 is a two-way 10 lane autonomous vehicle main road entering an inboard autonomous lane type two;
FIG. 32 is a two-way 10 lane autonomous vehicle main drive out inboard autonomous lane type two;
fig. 33 shows a third type of autonomous driving lane for a bidirectional 10-lane autonomous vehicle, which enters and exits the main road of the vehicle.
Detailed Description
The technical solution of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
The automatic and manual mode switching system for the bidirectional 6-to-10 lane highway automatic driving special lane comprises a lane, vehicles, a buffer area, a mode switching area and a mode switching process; the system has the following use method: (1) the automatic vehicle manual switching to automatic mode process is that when the automatic vehicle passes through the mode switching area, the mode switching requirement is sent to the CAVH system, and after the system receives the requirement, the automatic driving vehicle switches the manual mode to automatic mode and enters the automatic driving lane through the acceleration of the buffer area, thus completing the manual mode switching to automatic mode process; (2) the automatic vehicle automatic switching manual mode flow is that the automatic vehicle sends a switching demand to the CAVH system, the system receives the switching demand and controls the vehicle to decelerate, the vehicle enters a mode switching area, the automatic mode is switched into a manual mode, the vehicle enters a common lane, and the process of automatically switching the manual mode is completed.
The CAVH system in the embodiment is the existing vehicle-road cooperative automatic driving system.
Example (b):
as shown in fig. 1, the flow of the automated driving vehicle entering the automated driving dedicated lane from the manual to the automatic mode according to the present embodiment is as follows:
the first step is as follows: sending a demand
First, the vehicle is in a normal lane, and when the vehicle passes through the mode switching zone, a mode switching request is sent to the system. If the switching requirement is met, entering a system takeover process; and if the requirement is not met, the vehicle drives into the common lane nearby.
The second step is that: system connection pipe
The system takes over the vehicle, controls the vehicle to pass through the buffer zone to complete the acceleration process, and completes the process that the vehicle is converged into the automatic driving lane by optimizing the vehicle speed of the automatic vehicle.
As shown in fig. 2, in the present embodiment, the flow of the automatic module to the manual mode when the autonomous vehicle leaves the lane dedicated for autonomous driving is as follows:
the first step is as follows: sending a demand
First, the vehicle is in an automatic lane, when the vehicle sends a mode switch request to the system. If the switching requirement is met, the system controls the vehicle to decelerate through the buffer zone.
The second step is that: manual pipe connection
When the speed is reduced to a certain value, the driver is reminded to finish the automatic mode switching to the manual mode, the driver takes over the fact that the vehicle exits from the automatic lane, and the process that the vehicle exits from the automatic driving lane is finished.
As shown in fig. 3, a ramp for an autonomous vehicle enters an autonomous exclusive lane type one; the diagram is a mode switching process of an automatic driving lane in which an automatic driving vehicle is converged into a main road from a secondary main road through a ramp. And the outermost lane of the secondary main road is connected with the automatic lane at the inner side of the main road, and the automatic vehicle completes the manual-to-automatic mode switching process on the ramp. The vehicle passes through the mode switching area, and if the requirement is met, the vehicle enters into a mode switching completion mode and is accelerated to merge into an automatic lane through the buffer area; if not, the right turn is driven out through a common ramp.
As shown in fig. 4, the driveway for the autonomous vehicle enters the driveway type two; the diagram is a mode switching process of an automatic driving lane in which an automatic driving vehicle is converged into a main road from a secondary main road through a ramp. And the outermost lane of the secondary main road is connected with the automatic lane at the inner side of the main road, and the automatic vehicle completes the manual-to-automatic mode switching process on the ramp. The vehicle passes through the mode switching area, and if the requirement is met, the vehicle enters into a mode switching completion mode and is accelerated to merge into an automatic lane through the buffer area; if not, the left turn is driven out through the common ramp.
As shown in fig. 5, a ramp for an autonomous vehicle enters an autonomous vehicle lane type three; the diagram is a mode switching process of an automatic driving lane in which an automatic driving vehicle is converged into a main road from a secondary main road through a ramp. And the outermost lane of the secondary main road is connected with the automatic lane at the inner side of the main road, and the automatic vehicle completes the manual-to-automatic mode switching process on the ramp. The vehicle passes through the mode switching area, and if the requirement is met, the vehicle enters into a mode switching completion mode and is accelerated to merge into an automatic lane through the buffer area; if not, the left turn or the right turn is driven out through the common ramp.
As shown in fig. 6, a ramp for an autonomous vehicle exits an autonomous exclusive lane type one; the diagram shows the mode switching process of an automatic driving vehicle from an automatic driving lane at the inner side of a main road to a common lane of a secondary main road through a ramp. The automatic lane on the inner side of the main road is connected with the outermost lane of the secondary main road, and the automatic vehicle completes the automatic-to-manual mode switching process on the ramp. The vehicle is decelerated through the buffer zone and enters the mode switching zone. And switching the automatic mode into the manual mode in the mode switching area, and merging the automatic mode and the manual mode into a lane outside the secondary trunk together with the vehicles on the right ramp.
As shown in fig. 7, the driveway for the autonomous vehicle is driven out of the driveway type two; the diagram shows the mode switching process of an automatic driving vehicle from an automatic driving lane at the inner side of a main road to a common lane of a secondary main road through a ramp. The automatic lane on the inner side of the main road is connected with the outermost lane of the secondary main road, and the automatic vehicle completes the automatic-to-manual mode switching process on the ramp. The vehicle is decelerated through the buffer zone and enters the mode switching zone. And switching the automatic mode into the manual mode in the mode switching area, and merging the automatic mode and the left ramp vehicle into a lane outside the secondary main road.
As shown in fig. 8, a third driveway type is driven out of the driveway for the autonomous vehicle; the diagram shows the mode switching process of an automatic driving vehicle from an automatic driving lane at the inner side of a main road to a common lane of a secondary main road through a ramp. The automatic lane on the inner side of the main road is connected with the outermost lane of the secondary main road, and the automatic vehicle completes the automatic-to-manual mode switching process on the ramp. The vehicle is decelerated through the buffer zone and enters the mode switching zone. And switching the automatic mode into the manual mode in the mode switching area, and merging the automatic mode and the manual mode into a lane outside the secondary trunk together with the left-side ramp vehicle and the right-side ramp vehicle.
As shown in fig. 9, the main road for the bi-directional 6 lane autonomous vehicle enters the inboard autonomous lane type one; the road section is a bidirectional 6 lane, the innermost side is an automatic lane, and the middle lane is provided with a mode switching area and a buffer area. Firstly, the vehicle passes through the mode switching area to complete manual switching to the automatic mode. And accelerated to converge into the inner automatic lane through the buffer area.
As shown in fig. 10, lane type one, which is a type of a main-lane exit-interior autonomous driving exclusive lane of the bidirectional 6-lane autonomous vehicle; the road section is a bidirectional 6 lane, the innermost side is an automatic lane, and the middle lane is provided with a mode switching area and a buffer area. Firstly, the vehicle buffer area decelerates, and then the automatic switching to the manual mode is completed through the mode switching area.
As shown in fig. 11, the main road for the bi-directional 6-lane autonomous vehicle enters the second type of inboard autonomous lane; the road section is 6 bidirectional lanes, and the mode switching area is widened by one lane for mode switching. Firstly, an automatic vehicle needing to be converged into an automatic lane enters a mode switching area, and if the switching requirement is met, the automatic vehicle is accelerated to be converged into the automatic lane through a buffer area, so that the manual-to-automatic mode switching process is completed. And if the switching requirement is not met, the driver turns right to exit the mode switching area.
As shown in fig. 12, lane type two, which is a type of the inside autonomous driving lane for the two-way 6-lane autonomous vehicle, which is driven out of the main road; the road section is 6 bidirectional lanes, and the mode switching area is widened by one lane for mode switching. First, a vehicle that is required to exit the autonomous lane enters the buffer zone to decelerate. And then entering a mode switching area, switching the automatic mode into a manual mode, and finally turning right to drive into the common vehicle. And completing the switching process from the automatic mode to the manual mode.
As shown in fig. 13, a third type of autonomous driveway lane for a bidirectional 6-lane autonomous vehicle, which enters and exits the main road of the inboard autonomous driveway; the road section is a bidirectional 6 lane, the innermost side is a partial automatic lane, and the inner lane is provided with a mode switching area and a buffer area. Manual and automatic switching: firstly, the vehicle passes through a mode switching area, if the requirement is met, the switching from a manual mode to an automatic mode is completed, and the vehicle can go straight to enter an automatic lane. Otherwise, the vehicle turns right to drive into the common lane. Automatic and manual switching: firstly, the vehicle enters a mode switching area after being decelerated by a buffer area, the automatic mode is switched into a manual mode, and the vehicle goes straight into a common lane, so that the switching process from the automatic mode to the manual mode is completed.
As shown in fig. 14, the main road for the bi-directional 6-lane autonomous vehicle enters an intermediate autonomous lane type one; the road section is a bidirectional 6 lane, the middle is an automatic lane, and the innermost lane and the outermost lane are respectively provided with a mode switching area and a buffer area. Firstly, the vehicle passes through the mode switching area to complete manual switching to the automatic mode, and is accelerated to merge into the inner automatic lane through the buffer area. The positions of the mode switching zone and the buffer zone provided for the innermost lane and the outermost lane may be different.
As shown in fig. 15, lane type one dedicated to intermediate autonomous driving for the main road of the bidirectional 6-lane autonomous vehicle; the road section is a bidirectional 6 lane, the middle is an automatic lane, and the innermost lane and the outermost lane are respectively provided with a mode switching area and a buffer area. Firstly, the vehicle buffer area decelerates, and then the automatic switching to the manual mode is completed through the mode switching area. The positions of the mode switching zone and the buffer zone provided for the innermost lane and the outermost lane may be different.
As shown in fig. 16, the main road for the bi-directional 6-lane autonomous vehicle enters the intermediate autonomous lane type two; the road section is a bidirectional 6-lane, and the mode switching areas of the outermost lane and the innermost lane are respectively widened by one lane for mode switching. Firstly, an automatic vehicle needing to be converged into an automatic lane enters a mode switching area, and if the switching requirement is met, the automatic vehicle is accelerated to be converged into the automatic lane through a buffer area, so that the manual-to-automatic mode switching process is completed. If the switching requirement is not met, the vehicle needs to exit the mode switching area and return to the common lane. The position of one lane where the mode switching regions provided for the innermost lane and the outermost lane are widened may be different.
As shown in fig. 17, lane type two for the two-way 6-lane autonomous vehicle to drive out of the main lane of the intermediate autonomous vehicle; the road section is a bidirectional 6-lane, and the mode switching areas of the outermost lane and the innermost lane are respectively widened by one lane for mode switching. First, a vehicle that is required to exit the autonomous lane enters the buffer zone to decelerate. And then entering a mode switching area, switching the automatic mode into a manual mode, and finally entering a common lane. And completing the switching process from the automatic mode to the manual mode. The position of one lane where the mode switching regions provided for the innermost lane and the outermost lane are widened may be different.
As shown in fig. 18, a third intermediate autonomous driveway type for a two-way 6-lane autonomous vehicle main road entering and exiting; the road section is a bidirectional 6 lane, the middle part is a partial automatic lane, and the middle lane is provided with a mode switching area and a buffer area. Manual and automatic switching: firstly, the vehicle passes through a mode switching area, if the requirement is met, the switching from a manual mode to an automatic mode is completed, and the vehicle can go straight to enter an automatic lane. Otherwise, the vehicle enters the common lane. Automatic and manual switching: firstly, the vehicle enters a mode switching area after being decelerated by a buffer area, the automatic mode is switched into a manual mode, and the vehicle goes straight into a common lane, so that the switching process from the automatic mode to the manual mode is completed.
As shown in fig. 19, the main road for the bi-directional 6-lane autonomous vehicle enters the outside autonomous lane type one; the road section is a bidirectional 6-lane, the outermost side is an automatic lane, and the middle lane is provided with a mode switching area and a buffer area. Firstly, the vehicle passes through the mode switching area to complete manual switching to the automatic mode. And accelerated to merge into the outer automatic lane through the buffer area.
As shown in fig. 20, lane type one exclusive for outside autonomous driving for the main road exit of the bidirectional 6-lane autonomous vehicle; the road section is a bidirectional 6-lane, the outermost side is an automatic lane, and the middle lane is provided with a buffer area and a mode switching area. Firstly, the vehicle buffer area decelerates, and then the automatic switching to the manual mode is completed through the mode switching area.
As shown in fig. 21, the main road for the bi-directional 6-lane autonomous vehicle enters the outside autonomous lane type two; the road section is 6 bidirectional lanes, and the mode switching area is widened by one lane for mode switching. Firstly, an automatic vehicle needing to be converged into an automatic lane enters a mode switching area, and if the switching requirement is met, the automatic vehicle is accelerated to be converged into the automatic lane through a buffer area, so that the manual-to-automatic mode switching process is completed. And if the switching requirement is not met, turning left out of the mode switching area.
As shown in fig. 22, lane type two dedicated for outside autonomous driving for the main road of the bidirectional 6-lane autonomous vehicle; the road section is 6 bidirectional lanes, and the mode switching area is widened by one lane for mode switching. First, a vehicle that is required to exit the autonomous lane enters the buffer zone to decelerate. And then entering a mode switching area, switching the automatic mode into a manual mode, and finally turning left to drive into a common lane. And completing the switching process from the automatic mode to the manual mode.
As shown in fig. 23, lane type three, which is an outside autonomous driving exclusive lane for the main road entrance and exit of the bidirectional 6-lane autonomous vehicle; the road section is a bidirectional 6-lane, the outermost side is a partial automatic lane, and the outer lane is provided with a mode switching area and a buffer area. Manual and automatic switching: firstly, the vehicle passes through a mode switching area, if the requirement is met, the switching from a manual mode to an automatic mode is completed, and the vehicle can go straight to enter an automatic lane. Otherwise, the vehicle turns left and enters the common lane. Automatic and manual switching: firstly, the vehicle enters a mode switching area after being decelerated by a buffer area, the automatic mode is switched into a manual mode, and the vehicle goes straight into a common lane, so that the switching process from the automatic mode to the manual mode is completed.
As shown in fig. 24, the main road for the bi-directional 8-lane autonomous vehicle enters the inboard autonomous lane type one; the road section is a bidirectional 8-lane, the 1 st lane and the 2 nd lane at the innermost sides are automatic lanes, the 3 rd lane is provided with a mode switching area and a buffer area, and the mode switching process is the same as that in the figure 9.
As shown in fig. 25, lane type one, which is a type of main drive-out inboard driveway exclusive for the two-way 8-lane autonomous vehicle; the road section is a bidirectional 8-lane, the 1 st lane and the 2 nd lane at the innermost sides are automatic lanes, the 3 rd lane is provided with a mode switching area and a buffer area, and the mode switching process is the same as that in the figure 10.
As shown in fig. 26, the main road for the bi-directional 8-lane autonomous vehicle enters the second type of inboard autonomous lane; the road section is a bidirectional 8-lane, the mode switching area is widened by one lane for mode switching, and the mode switching process is the same as that in fig. 11.
As shown in fig. 27, lane type two, which is a type of the inside autonomous driving exclusive lane for the main road of the bidirectional 8-lane autonomous vehicle; the road section is a bidirectional 8-lane, the mode switching area is widened by one lane for mode switching, and the mode switching process is the same as that in FIG. 12.
As shown in fig. 28, a third type of autonomous driveway for a bidirectional 8-lane autonomous vehicle, which enters and exits the main road of the inboard autonomous driveway; the road section is a bidirectional 8-lane, the 1 st lane and the 2 nd lane at the innermost sides are partial automatic lanes, the 1 st lane and the 2 nd lane are both provided with a mode switching area and a buffer area, and the mode switching process is the same as that in the figure 13.
As shown in fig. 29, the main road for the two-way 10-lane autonomous vehicle enters the inside autonomous lane type one; the road section is a bidirectional 10 lane, the innermost side is an automatic lane, a 2 nd lane is provided with a mode switching area and a buffer area, and the mode switching process is the same as that of the mode switching process shown in the figure 9.
As shown in fig. 30, lane type one, which is a type of inside-autonomous-driving exclusive lane for the main road of the bidirectional 10-lane autonomous vehicle; the road section is a bidirectional 10 lane, the innermost side is an automatic lane, a 2 nd lane is provided with a mode switching area and a buffer area, and the mode switching process is the same as that in the figure 10.
As shown in fig. 31, the main road for the two-way 10-lane autonomous vehicle enters the inside autonomous lane type two; the road section is bidirectional 10 lanes, the mode switching area is widened to one lane for mode switching, and the mode switching process is the same as that of fig. 11.
As shown in fig. 32, lane type two for the inside-autonomous driving for a two-way 10-lane autonomous vehicle main road; the road section is bidirectional 10 lanes, the mode switching area is widened by one lane for mode switching, and the mode switching process is the same as that of FIG. 12.
As shown in fig. 33, the inside-autonomous-drive-only lane type three for the main road entrance and exit of the bidirectional 10-lane autonomous vehicle; the road section is a bidirectional 10 lane, the innermost side is a partial automatic lane, the inner lane is provided with a mode switching area and a buffer area, and the mode switching process is the same as that of the mode switching area shown in the figure 13.

Claims (7)

1. An automatic and manual mode switching system for a bidirectional 6-to-10 lane highway automatic driving special lane is characterized in that: the system comprises a lane, a buffer area, a vehicle and a mode switching area; the vehicle comprises an automatic driving vehicle and a common vehicle, wherein the automatic driving vehicle has two driving modes, namely an automatic driving mode and a manual driving mode; the lanes comprise an automatic vehicle special lane and a common vehicle lane, and the automatic vehicle special lane sequentially comprises an inner lane, a middle lane and an outer lane; the buffer area is a vehicle acceleration and deceleration area, is respectively arranged on a special lane of an automatic vehicle and a lane of a common vehicle, is covered with a vehicle-road cooperative automatic driving CAVH system, comprises an automatic manual switching area and a manual automatic switching area, is respectively arranged at the intersection of the automatic lane and the manual lane, comprises two types of ramp position switching and main road switching, and comprises a flow of converting an automatic driving vehicle from a manual mode to an automatic mode and a flow of converting the automatic driving vehicle from the automatic mode to the manual mode;
the automatic driving vehicle in the automatic driving mode runs on a lane special for the automatic vehicle, and the common vehicle and the automatic driving vehicle in the manual driving mode both run on a lane of the common vehicle.
2. The automatic and manual mode switching system for an automated driving exclusive lane for a bidirectional 6 to 10 lane highway according to claim 1, wherein: the mode switching comprises ramp entrance position switching and switching at the junction of a general vehicle lane and an automatic vehicle special lane in a main road.
3. The automatic and manual mode switching system for an automated driving exclusive lane for a bidirectional 6 to 10 lane highway according to claim 1, wherein: reminding marks with current areas of acceleration and deceleration buffer areas are arranged on the road side and the road surface of the buffer area, and the length L of the buffer areaSlowCalculated by the following formula:
Figure FDA0002148992570000011
wherein v isInto、vSeparation device、aAverageAnd τ85Respectively, maximum speed when entering the buffer, minimum speed when leaving the buffer, average vehicle acceleration, and driver 85% bit reaction time.
4. The automatic and manual mode switching system for an automated driving exclusive lane for a bidirectional 6 to 10 lane highway according to claim 1, wherein: the roadside and the road surface of the mode switching area are both provided with a reminding sign that the current area is the mode switching area, and the length L of the mode switching area2By maximum speed v and driving of the vehicle when drivingDriver 85% bit reaction time tau85To calculate to obtain: l is2>vInto·τ85。
5. The automatic and manual mode switching system for an automated driving exclusive lane for a bidirectional 6 to 10 lane highway according to claim 1, wherein: the process of converting the manual mode into the automatic mode of the automatic driving vehicle sequentially comprises the following steps:
the method comprises the following steps that a common vehicle passes through a mode switching area, sends a mode switching requirement to a vehicle-road cooperative automatic driving CAVH system, and takes over by the vehicle-road cooperative automatic driving CAVH system to complete a mode switching process after meeting mode switching; and accelerating to enter the automatic lane through a buffer area; and if the switching requirement is met, the vehicle can run out of the adjacent common lane.
6. The automatic and manual mode switching system for an automated driving exclusive lane for a bidirectional 6 to 10 lane highway according to claim 1, wherein: the process of converting the automatic driving vehicle from the automatic mode to the manual mode sequentially comprises the following steps:
the automatic vehicle decelerates through the buffer area and sends a mode switching requirement to the vehicle road in cooperation with the automatic driving CAVH system, and after the mode switching area is switched from the automatic driving mode to the manual driving mode, the automatic vehicle enters a common lane through manual control.
7. Use of the automatic and manual mode switching system for the automatic driving exclusive lane of the bidirectional 6 to 10 lane highway according to any one of claims 1 to 6, characterized in that: the method sequentially comprises the following steps:
the method comprises the following steps: installing the automatic driving vehicle path and a detector in a CAVH system at the entrance of a lane;
step two: detecting whether the vehicle on the lane is an automatic driving vehicle or not through a detector, if the vehicle is the automatic driving vehicle after detection, displaying a straight-going sign through a gate, and allowing the vehicle to run on a lane special for the automatic vehicle, and if the vehicle is detected to be a non-automatic driving vehicle, displaying a straight-going-incapable sign or a right-turning sign through the gate, wherein the vehicle leaves from a common lane;
step three: when the automatic driving vehicle passes the checkpoint, the vehicle road cooperates with the automatic driving CAVH system to take over the perception, path planning, behavior decision and management and vehicle control of the vehicle, and the driving mode is changed from the manual mode of the automatic driving vehicle to the automatic mode, and the automatic driving vehicle enters the special lane for driving; if the vehicle cannot be taken over by the vehicle-road cooperative automatic driving system, the vehicle is marked as a non-automatic driving vehicle, the vehicle-road cooperative automatic driving system gives an alarm, and the vehicle stops at the side;
step four: after the travel of the automatic vehicle on the special lane of the automatic vehicle is finished, optimizing by the vehicle road in cooperation with an automatic driving CAVH system to obtain a nearest exit, and selecting an optimal exit;
step five: and the automatic driving vehicle passes through the buffer area and the mode switching area and then exits the special lane of the automatic vehicle to reach the common lane, so that the switching of the automatic mode of the automatic driving vehicle into the manual mode flow is completed.
CN201910694665.XA 2019-04-09 2019-07-30 Automatic and manual mode switching system for automatic driving special lane of bidirectional 6-10 lane highway and using method Pending CN112298195A (en)

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US16/839,852 US20200327812A1 (en) 2019-04-09 2020-04-03 Systems and methods for connected and automated vehicle highway systems dedicated lane management and control
US18/119,599 US20230282115A1 (en) 2019-04-09 2023-03-09 Systems and methods for connected and automated vehicle highway systems dedicated lane management and control

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