CN113781812B - Control method for driverless vehicle to exit road - Google Patents
Control method for driverless vehicle to exit road Download PDFInfo
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- CN113781812B CN113781812B CN202111144868.5A CN202111144868A CN113781812B CN 113781812 B CN113781812 B CN 113781812B CN 202111144868 A CN202111144868 A CN 202111144868A CN 113781812 B CN113781812 B CN 113781812B
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- 238000000926 separation method Methods 0.000 claims abstract description 62
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- 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
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—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
- G05D1/0027—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 involving a plurality of vehicles, e.g. fleet or convoy travelling
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
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- Automation & Control Theory (AREA)
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses a control method for an unmanned vehicle to exit a road, which comprises a road specially used for the unmanned vehicle to travel; the unmanned vehicle comprises a positioning module, a sensor group and a master control system; and a road management system. When the unmanned vehicle needs to exit from a road, after the exit intention is sent to a road management system, the system calculates the time required by the unmanned vehicle to operate to an expected separation point according to data measured by a positioning module, a speed sensor and an acceleration sensor; the road management system sends out instructions to vehicles in front of and behind the expected separation point, controls the vehicles behind the expected separation point to decelerate, and gives up the space position required by the vehicle to be separated from the formation vehicle in the running traffic stream to enable the vehicle to exit the system. The method controls the vehicles behind the expected separation point to decelerate through a road management system, so that the vehicles needing to run out of the road can safely leave the formation.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a control method for an unmanned vehicle to exit a road.
Background
The trip quality and the driving safety of a driver are determined by the physiological state and the psychological state, and the psychological state of the driver is influenced by factors such as time (such as illumination intensity and temperature) and space (such as road alignment and environment), so that the stable driving state is difficult to ensure, the driving is unsafe, the vehicle speed is difficult to improve, and the trip efficiency is low.
In recent years, the unmanned technology is rapidly developed, the technology is successfully applied to partial areas, and the unmanned technology is about to enter the daily life of people in the future. However, there is no effective way to control the vehicle to exit the road quickly and safely in the current unmanned vehicle. When the unmanned vehicle in the current stage runs out of the road, the influence on other vehicles is large, the phenomenon of vehicle rubbing or vehicle blocking is easy to occur, and the smooth running of road traffic is not facilitated. Aiming at the problems, the invention provides a method for enabling an unmanned vehicle to exit a road by adopting a road management system to lock space and time.
Disclosure of Invention
The invention provides a control method for an unmanned vehicle to exit a road, which improves the safety and the rapidity of the unmanned vehicle to exit the road.
The invention provides a control method for an unmanned vehicle to exit a road, which comprises the following steps:
when the unmanned vehicle sends the driving-out intention to a road management system, the system calculates the time required by the unmanned vehicle to operate to an expected separation point according to data measured by a positioning module, a speed sensor and an acceleration sensor;
the road management system sends out instructions to vehicles in front of and behind the expected separation point, controls the vehicles behind the expected separation point to decelerate, and gives up the space position required by the vehicle to be separated from the formation vehicle in the running traffic stream to enable the vehicle to exit the system.
Preferably, the unmanned vehicle is internally provided with a master control system, which comprises a positioning module, a driving module and a communication module, and is used for outputting data acquired by the sensor group and receiving instruction input from the road management system; the built-in vehicle-mounted sensor group comprises a position laser sensor, a speed sensor, a distance sensor and the like, and the sensor group is used for collecting and detecting real-time running data of the vehicle and sending the real-time running data to the master control system; when a plurality of sensor groups are connected, a plurality of groups of communication modules can be arranged in the master control system to receive data information; information exchange exists among unmanned vehicles comprising a main control system, mutual sensing and real-time communication can be realized, and information such as current road information, driving states of vehicles running before and after within 5min, driving intentions of vehicles running before and after within 2s (system data exchange period) and the like can be obtained; the delay time of each information exchange is not more than 0.5s; the spatio-temporal locking accuracy is 50ms.
Preferably, the road management system calculates a position in a future period and a lane range to be locked at any time according to the dynamic performance, the current position and the driving intention of the vehicle, and the main control system of the vehicle controls the vehicle in the locking range by controlling the running system of the vehicle. The road management system is preferentially matched with the driving intention of the exit system; when a certain running vehicle sends out an exit signal, the system can lock the expected separation point in time and space at the same time. The specific method comprises the following steps: when the road management system receives an outgoing signal sent by a vehicle, the system calculates the time when the vehicle is expected to reach the expected separation point according to data measured by the positioning module, the speed sensor and the acceleration sensor, and then locks the moment to ensure that no other vehicle passes through the expected separation point within the time.
The position of the expected separation point is selected in the intersection line range of the center line of the outer lane and the first four fifths of the transition section, when the lane management system receives an outgoing signal sent by a vehicle, the system calculates the time of the vehicle, which is expected to reach the expected separation point with the minimum pile number, according to data measured by the positioning module, the speed sensor and the acceleration sensor, tries to lock the space position occupied by the vehicle outgoing system at the time, and sends a locking instruction and a waiting instruction if the locking is successful; if the separation point is unsuccessful, moving the expected separation point backward by a parking space distance (including the distance between vehicles), and trying to lock the space and the time again until the expected separation point takes the maximum value; if the vehicle does not successfully exit the system, the expected insertion point is selected as the minimum value, an instruction is sent to enable the vehicle behind the expected separation point to decelerate when the vehicle reaches the expected separation point, and the vehicle is enabled to exit the system at a space position required by the vehicle exiting the system in the running traffic flow; if the vehicle still fails, the expected insertion point is moved backward by a parking space distance (including the inter-vehicle distance), and the vehicle after the expected separation point at the moment when the vehicle reaches the expected separation point is tried to be decelerated again to leave the driving-in space.
The control method for the unmanned vehicle to exit from the road has the advantages that the unmanned vehicle to exit from the road is uniformly controlled by the road management system, the probability of vehicle accidents is low, the average running speed is higher than that of the traditional method, and the traveling efficiency is greatly improved.
Drawings
Fig. 1 is a schematic diagram of a control method for an unmanned vehicle to exit a road provided by the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
The invention provides a method for controlling an unmanned vehicle to exit a road, which is different from the prior art. The unmanned vehicle can safely and quickly exit the exclusive road through the road management system, and the road management system is a process of real-time control and real-time decision according to the running condition of the vehicle. The method is scientific and reasonable, eliminates the influence of driver difference in the driving process, reduces the accident rate and has certain practicability.
Referring to fig. 1, a is an expected separation point, B is an unmanned vehicle to be driven out of the system, C is a transition section, the position of the expected separation point is selected from the intersection range of the center line of an outer lane and the first four fifths of the transition section, when a road management system receives a driving-out signal sent by the vehicle, the system calculates the time when the vehicle is expected to reach the expected separation point with the minimum stake number according to data measured by a positioning module, a speed sensor and an acceleration sensor, tries to lock the space position occupied by the vehicle driving-out system at the time, and sends a locking instruction and a waiting instruction if the locking is successful; if the separation point is unsuccessful, moving the expected separation point backward by a parking space distance (including the distance between vehicles), and trying to lock the space and the time again until the expected separation point takes the maximum value; if the vehicle does not successfully pass through the system, the expected insertion point is selected as the minimum value, an instruction is sent to enable the vehicle behind the expected separation point to decelerate when the vehicle reaches the expected separation point, the spatial position required by the B exit system is given out in the running traffic flow, and the vehicle exits the system; if the vehicle still fails, the expected insertion point is moved backward by a parking space distance (including the inter-vehicle distance), and the vehicle after the expected separation point at the moment when the vehicle reaches the expected separation point is tried to be decelerated again so as to leave the driving space.
The control method for the driverless vehicle to exit the road is realized based on three parts: respectively are exclusive roads; the unmanned vehicle comprises a sensor group, a master control system and a road management system. The unmanned vehicle is internally provided with a positioning module and a sensor group, wherein the sensor group comprises a position laser sensor, a speed sensor, a distance sensor and the like so as to acquire driving data of the unmanned vehicle with the master control system; the master control system comprises a driving module and a communication module, and is used for outputting data acquired by the sensor group and receiving instruction input from the road management system; the road management system comprises a data processing system and a communication module, receives data information of vehicle operation through a plurality of communication modules, processes the information in real time through the data processing system, converts the information into an operation instruction, sends the operation instruction to the communication module, and transmits the operation instruction to the unmanned vehicle comprising the main control system to enable the unmanned vehicle to run normally. Meanwhile, the system adopts a redundancy design to ensure reliability, the vehicle and the road system exchange information in real time, the whole system automatically operates under the control of a computer, the average operation speed is higher, and the vehicle runs more safely.
Parameter information of the unmanned vehicle, such as parameters of the highest speed per hour, the maximum output power, the vehicle weight and the like, is output in a tuple form in a set mode; information exchange exists among unmanned vehicles comprising a main control system, mutual sensing and real-time communication can be realized, and information such as current road information, driving states of vehicles running before and after within 5min, driving intentions of vehicles running before and after within 2s (system data exchange period) and the like can be obtained; the delay time of each information exchange is not more than 0.5s; the space-time locking precision is 50ms, and unmanned vehicles are uniformly controlled through a road management system without manual driving.
The specific content is as follows:
when the main control system of the unmanned vehicle sends out an exit request, the road management system sends out an operation instruction according to the following steps:
(1) And calculating the time required by the vehicle to reach the minimum expected separation point of the stake marks. The road management system is preferentially matched with the driving intention of the exit system; when the vehicle drives into the ramp and simultaneously sends out a driving-out signal to the system, the system calculates the time of the vehicle reaching the expected separation point according to the distance between the current position of the vehicle and the expected separation point, the current driving speed and the acceleration, and the formula is as follows:
where t is the time required for the vehicle to reach the expected separation point from the outgoing signal issuing position, L is the distance between the outgoing signal issuing position of the vehicle and the expected separation point, V is the current running speed of the vehicle, and a is the vehicle acceleration.
(2) And locking space and time. The system locks the time at which the vehicle reaches the intended separation point, the spatial range around the intended separation point, i.e. ensures that no other vehicle passes the intended separation point when the vehicle reaches the intended separation point. The locking range at any moment comprises the geometric shape of the vehicles, safety margin and the value of the position calculated according to the running speed, the safety distance is calculated outwards from the head and the tail of the vehicle and added, and the safety distance is calculated according to the relative speed between the vehicles and the maneuvering performance of the vehicles; the road management system calculates the position in a future period of time and the lane range needing to be locked at any time according to the dynamic performance, the current position and the driving intention of the vehicle, and the main control system of the vehicle controls the vehicle in the locking range by controlling the running system of the vehicle.
When performing space locking, with D i Indicating the locking distance of the vehicle in the direction of travel, D j Indicating a lateral locking distance; when the speed difference deltav exists between the front and rear vehicles, the front and rear locking spacing of the vehicles should be changed correspondingly. The specific lock-in range is calculated according to the following formula:
D i ＝0.5v+0.3Δv
D j ＝0.7+|0.1v|
Δv＝v 2 -v 1
wherein v is 2 Is the real-time running speed of the rear vehicle; v. of 1 Is the real-time running speed of the front vehicle. Δ v is positive, the front-rear locking pitch of the vehicle is increased by 0.3 Δ v for safety, and vice versa.
When time locking is performed, the locking duration T n And (4) carrying out space-time locking on the vehicle, releasing the space-time locking after the vehicle request is finished, and recovering the normal operation. T is n Including a wait duration T w Duration of separation T m And the time difference delta T are added,namely:
T n ＝T w +T m +ΔT
(3) If the step (2) is unsuccessful, the expected separation point is moved backward by a space distance (including the distance between vehicles), and the space-time locking is tried again until the expected separation point takes the maximum value.
(4) If the step (3) is not successful, selecting the expected insertion point as the minimum value, sending an instruction to enable the vehicle to decelerate after the vehicle reaches the expected separation point at the moment of the expected separation point, and enabling the vehicle to exit the system at the required spatial position in the running traffic flow;
(5) If the step (4) is still unsuccessful, the expected insertion point is moved backwards by a parking space distance (including the inter-vehicle distance), and the vehicle after the expected separation point at the moment when the vehicle reaches the expected separation point is tried to be decelerated again to leave a driving space until the expected separation point is maximum.
Claims (5)
1. A method of controlling an unmanned vehicle to exit a roadway, comprising:
the position of the expected separation point is selected in the intersection line range of the center line of the outer lane and the front four fifths of the transition section, when a road management system receives an outgoing signal sent by a vehicle, the system calculates the time of the vehicle, which is expected to reach the expected separation point with the minimum stake number, according to data measured by a positioning module, a speed sensor and an acceleration sensor, tries to lock the space position required by the vehicle outgoing system at the time, locks space and time, namely the road management system locks the time when the vehicle reaches the expected insertion point and the space range around the expected insertion point, namely ensures that no other vehicle passes through the expected insertion point when the vehicle reaches the expected insertion point, the locking range at any time comprises the geometric shape and safety margin of the vehicle and the value of the position calculated according to the running speed, calculates outwards from the head and the tail of the vehicle and adds a safety distance, and sends a locking instruction and a waiting instruction if the locking is successful; if the separation point is unsuccessful, moving the expected separation point backward by a parking space distance, including the space between vehicles, and trying to lock the space and the time again until the expected separation point takes the maximum value; if the vehicle does not successfully exit the system, the expected insertion point is selected as the minimum value, an instruction is sent to enable the vehicle to decelerate after the vehicle reaches the expected separation point at the moment of the expected separation point, and the vehicle is enabled to exit the system by enabling the vehicle to exit the spatial position required by the system in the running traffic flow; if the vehicle still fails, the expected insertion point is moved backwards by a parking space distance, the distance between the vehicles is included, and the vehicle after the expected separation point at the moment when the vehicle reaches the expected separation point is tried to be decelerated again so as to leave the driving space.
2. The method of claim 1, wherein the step of controlling the driverless vehicle to exit the roadway comprises,
when the unmanned vehicle sends the driving-out intention to the road management system, the system calculates the time required by the unmanned vehicle to operate to an expected separation point according to the data measured by the positioning module, the speed sensor and the acceleration sensor, and the formula is as follows:
where t is the time required for the vehicle to reach the expected separation point from the outgoing signal issuing position, L is the distance between the outgoing signal issuing position of the vehicle and the expected separation point, V is the current running speed of the vehicle, and a is the vehicle acceleration.
3. The method according to claim 1, wherein the road management system issues commands to vehicles before and after the expected separation point to control deceleration of vehicles after the expected separation point, and the spatial position required for departing from the formation vehicles is set in the traffic stream to enable the vehicles to exit the system.
4. The method according to claim 1, wherein the unmanned vehicle is provided with a built-in main control system, which comprises a positioning module, a driving module and a communication module, and is used for outputting data acquired by the sensor group and receiving instruction input from the road management system; the built-in vehicle-mounted sensor group comprises a position laser sensor, a speed sensor and a distance sensor, and the sensor group is used for collecting and detecting real-time running data of a vehicle and sending the real-time running data to the master control system; when a plurality of sensor groups are connected, a plurality of groups of communication modules are arranged in the main control system to receive data information; information exchange exists among unmanned vehicles comprising a main control system, mutual sensing and real-time communication are realized, current road information, driving states of vehicles running before and after within 5min and driving intention information of vehicles running before and after within 2s are obtained, and 2s is a system data exchange period; the delay time of each information exchange is not more than 0.5s; the spatio-temporal locking accuracy is 50ms.
5. The method for controlling the driverless vehicle to exit the road according to claim 1, wherein the method includes: when the road management system receives an outgoing signal sent by the vehicle, the system calculates the time when the vehicle is expected to reach the expected separation point according to the data measured by the positioning module, the speed sensor and the acceleration sensor, and then locks the moment to ensure that no other vehicle passes through the expected separation point within the time.
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| CN105631793B (en) * | 2015-12-18 | 2020-01-14 | 华南理工大学 | Intelligent dredging method for autonomous cooperative scheduling of vehicle group in traffic jam |
| KR101973627B1 (en) * | 2017-07-11 | 2019-04-29 | 엘지전자 주식회사 | Vehicle control device mounted on vehicle and method for controlling the vehicle |
| CN108011947B (en) * | 2017-11-30 | 2020-11-24 | 湖北汽车工业学院 | Vehicle cooperative formation driving system |
| CN107798861B (en) * | 2017-11-30 | 2021-03-02 | 湖北汽车工业学院 | Vehicle cooperative formation driving method and system |
| DE102018119151A1 (en) * | 2018-08-07 | 2020-02-13 | Bombardier Transportation Gmbh | RAIL VEHICLE SYSTEM AND METHOD FOR IMPROVING THE SAFETY OF A RAIL VEHICLE |
| CN109693668B (en) * | 2018-12-27 | 2020-12-18 | 驭势科技（北京）有限公司 | System and method for controlling speed of automatic driving vehicle |
| CN110021185B (en) * | 2019-04-04 | 2021-03-02 | 邵沈齐 | Intelligent traffic management system |
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