WO2017124584A1

WO2017124584A1 - Informatization and networking implementation method for road pavement supporting unmanned automatic driving of an automobile

Info

Publication number: WO2017124584A1
Application number: PCT/CN2016/072803
Authority: WO
Inventors: 李万鸿
Original assignee: 李万鸿
Priority date: 2016-01-20
Filing date: 2016-01-29
Publication date: 2017-07-27
Also published as: CN105717939A; CN105717939B

Abstract

An informatization and networking implementation method for a road pavement supporting unmanned automatic driving of an automobile. The method comprises: dividing a current road pavement and a public region into several rectangular units according to a certain length and width required for the safe driving and parking of a vehicle, and calling the rectangular units driving lots and parking lots based on the purpose thereof, wherein a vehicle detection and positioning sensor is installed in each of the driving lots or parking lots; then, by connecting the sensor to a network, achieving the informatization and networking of the road pavement and the public region; and transmitting dynamic information about the road pavement and the public region to an unmanned automatically driven automobile so as to carry out accurate positioning and precise navigation, and thus providing an infrastructure of informatization and networking for future unmanned automatic driving of automobiles. In the solution, by carrying out informatization and networking processing on a road, dynamic road condition data of the road can be provided and output to an unmanned automatically driven automobile, and thus an accurate position and precise navigation are provided for an unmanned automatically driven automobile.

Description

Informationization and network implementation method for road pavement supporting automobile unmanned automatic driving

Technical field

The invention relates to a method for traffic information, in particular to an informationization and network implementation method for road pavement supporting automobile unmanned automatic driving, belonging to the field of traffic information methods.

Background technique

Domestic road pavement has not begun to be informatized and networked. The identification and location of the road on the road is not based on the signal provided by the road-mounted vehicle detection and location sensor but is identified and located by GPS and map. The road itself does not join the network communication. The road and road public area resources on the map are basically only the length and width of the general, and the precision is very low. It can not be used for high-precision navigation, precise positioning and road traffic required by unmanned auto driving. The real-time dynamic software management, that is, the road surface does not input data into the unmanned self-driving car through the network in the form of information, and is used for intelligent unmanned auto-driving vehicle calculation programming.

The information network of road pavement is the fundamental technical requirement for unmanned auto driving, allocation of road resources and management monitoring on the driving route. The current vehicle navigation system cannot meet this requirement.

The technology of unmanned self-driving cars has become more and more mature, but there are still many technical problems away from the road. One of the problems is that the central control computer of the unmanned self-driving car needs a lot of data input to determine the driving route, turning, Brake, accelerate, avoid pedestrians, obey traffic rules and other actions.

At present, the navigation and positioning on the market are based on GPS and network maps. The road information cannot be uploaded to the network map, and the pedestrian information and road information detected by the unmanned self-driving car are not accurate. The road information is detected by the road surface. As a reference, the difference is very large and cannot be provided to the vehicle for lane selection. In addition, the current navigation maps on the market are only based on GPS mapping on the map, the route can only be accurate to a certain road, can not be accurate to a specific lane on the road and the parking space, the accuracy is low, and the road surface is occupied. It is not possible to share information to unmanned vehicles.

Summary of the invention

In order to solve the above problems, the present invention designs an informatization and network implementation method for road pavement that supports unmanned automatic driving of a vehicle, and can provide road dynamic road condition data and output it to the road through informationization and network processing of the road. Automated driverless car provides precise position and precise navigation for unmanned self-driving cars.

The technical solution of the present invention is:

An informationization and network implementation method for road pavement supporting automobile unmanned automatic driving, comprising the following steps:

(1) First, the road surface is gridded and subdivided into a driving position;

(2) Then, an informatized networked device with a unique ID address, that is, a vehicle detection and positioning sensor, is implanted in these parking spaces; that is, a vehicle detection and positioning sensor is installed in each of the driving spaces or parking spaces;

(3) By connecting the above-mentioned sensor to the network, the dynamic precise position of the vehicle, whether the occupied parking space in the road is occupied, whether it is booked, the predetermined time node and the time period information are displayed on the map for precise navigation, Precise positioning and road resource service pre-preparation The fee is paid for use.

Further, the specific method of the step (1) is: using the principle of digital earth, according to the latitude and longitude of the earth, setting coordinate values on the road on the ground and solidifying on the map, according to the vehicle safety on the existing road pavement and the public area. The certain length and width required for driving and parking are divided into rectangular units and named as parking spaces and parking spaces according to the purpose;

Further, the specific method of the step (2) is: connecting the sensor to the network to realize the informationization and networking of the road and the public area, and transmitting the dynamic information of the road surface and the public area to the unmanned self-driving car. Accurate positioning and precision navigation provide information and network infrastructure for future car unmanned vehicles.

Further, the specific method of the step (3) is: establishing a plurality of devices that accurately reference and check coordinate positions on the road surface, that is, sensors, which, after detecting the vehicle, follow the curing standard of the coordinates of the vehicle. The coordinate values are corrected, and the precise position of each vehicle is uploaded to the network map at any time, for the unmanned self-driving car to select the driving route and the lane, or the location information is sent to the road management and traffic police department, and the roads are carried out by these departments. Network management such as road closures, fees, and bans.

Wherein, the vehicle detection and positioning sensor may be an integrated laser detector for detecting vehicles, pedestrians and other obstacles, and converting the detection signal into a network signal through the communication conversion module for the input value calculated by the central control computer of the unmanned self-driving vehicle. transfer.

The vehicle detection and positioning sensor (hereinafter referred to as a detector) has the following functions:

(1) The sensor itself is digitally encoded and has a unique network ID address. Once installed in a certain location, it will be adjusted to check with the physical location (such as the Earth's latitude and longitude). Degree coordinate value) consistent position, and displayed on the accurate navigation map, effectively avoiding the problem of poor GPS positioning accuracy;

(2) In the event of a fault in the sensor, the road management department and the traffic police department can find out which of the lanes on which lane the sensor on the parking space is damaged and quickly replaced; because the road is equipped with multiple sensors, some A damage has little effect on the overall position accuracy of the vehicle;

(3) The sensor is connected to the network and communicates in both directions, and the road signal is fed back to the network and information such as road repair and road closure is transmitted to the sensor; for example, if one or several driving spaces of a certain lane of a certain road need Closed, the information will be transmitted to the navigation map and the sensor through the road management department and the traffic police department. The sensor will execute relevant instructions to notify the upcoming vehicle, or change the lane or force a brake stop command to the vehicle;

(4) The sensor detects that the vehicle is coming, and emits a yellow strobe; when the vehicle passes or stays on the sensor (down), it emits a red strobe; the vehicle leaves the parking space where the sensor is located to emit green light;

(5) When the sensor senses the vehicle, it sends the precise position of the vehicle to the network for the vehicle to accurately navigate and adjust the position of the vehicle to ensure driving in the lane;

(6) The vehicle sets the destination at the start, determines the driving route through the network and selects the driving lane, and decides which driving position to drive through, and the driving route will be queued through the network, passing through each of the allocated parking spaces; The device will transmit dynamic information to the vehicle before the vehicle arrives to inform the vehicle whether it is driving normally or needs to change lanes;

(7) The sensor can also accept information that pedestrians need to cross the road and send the information Parking the vehicle that will need to pass the upper (lower) side of the sensor;

(8) The sensor can detect the vehicle or pedestrian traveling on the upper (lower) side and transmit the information to the vehicle that is going to pass the upper (lower) side;

(9) The sensor can transmit the vehicle to the network through the time node between two adjacent sensors, and the network calculates the traveling speed of the vehicle according to the time difference, and dynamically transmits it back to the vehicle, and the vehicle inputs according to the speed value, and the vehicle dynamically inputs The braking distance and braking force are adjusted, and the time node passing through the front parking space is dynamically calculated, thereby dynamically adjusting the driving route.

The basic working principle of the vehicle detection and positioning sensor is described as follows:

The vehicle detecting and positioning sensor integrates a geomagnetic sensor, a color changing strobe light, an ultrasonic detecting head and a communication conversion module; the geomagnetic sensor detects that the magnetic field of the earth magnetic field is cut when the vehicle passes, and the magnetic field is disturbed when the magnetic field is disturbed. Transmitting to the communication conversion module, and then the communication module transmits the signal passed by the vehicle to the network; the strobe light is a network command to send different electrical signals to the strobe light through the communication conversion module, driving the LED light in different situations. Flashing according to the set color and frequency; the ultrasonic probe will detect objects within a distance of 3 to 5 meters (such as pedestrians crossing the road, vehicles or obstacles that are not detected by the geomagnetic sensor). The signal is passed to the communication conversion module, which then passes the signal to the network. After detecting the vehicle, pedestrians and obstacles, the vehicle detection and location sensor will transmit the signal to the network, and the network will notify the vehicle and the road management and traffic police department. After receiving the information, the vehicle will correct the driving route and change the lane and decelerate. Parking rules avoid pedestrians or obstacles.

The invention has the advantages that the road dynamic road condition data can be provided and output to the automatic driverless car through the informationization and network processing of the road, and the automatic driving is unmanned. The car provides precise positioning and precise navigation.

The invention will now be further described with reference to the accompanying drawings and embodiments.

DRAWINGS

FIG. 1 is a schematic structural view of an embodiment of the present invention:

In the figure: 1-road outline; 2-lane dividing line; 3-traveling parking space; 4-vehicle detection and positioning sensor.

detailed description

The preferred embodiments of the present invention are described in the following, and the preferred embodiments described herein are intended to illustrate and explain the invention.

Example 1

An informationization and network implementation method for road pavement supporting automobile unmanned automatic driving, according to road contour 1 and lane dividing line 2 in each lane, according to the length and width of the vehicle, according to a certain length and The width is divided into consecutive driving spaces 3; at the four corners or the center position of each driving position, the vehicle detecting and positioning sensor 4, that is, the sensor is nailed into the ground or installed on the road surface, as shown in FIG.

Specifically, the following steps are included:

(1) First, the road surface is gridded and subdivided into a driving position;

(3) By connecting the above-mentioned sensor to the network, the dynamic precise position of the vehicle, whether the parking space in the road is occupied, whether it is reserved, the scheduled time node and time The segment information is displayed on the map for precise navigation, precise positioning, and road resource service reservation and fee payment.

Wherein, the road vehicle detection and positioning sensor may be an integrated laser detector for detecting vehicles, pedestrians and other obstacles, and converting the detection signal into a network signal through a communication conversion module for input of a central computer calculation of an unmanned self-driving vehicle. The value is called.

The specific method of the step (1) is: using the principle of digital earth, according to the latitude and longitude of the earth, setting coordinate values on the road on the ground and solidifying on the map, and driving and parking safely according to the vehicle on the existing road surface and the public area. The required length and width are divided into rectangular units and named as parking spaces and parking spaces according to the purpose;

The specific method of the step (2) is: connecting the sensor to the network to realize the informationization and networking of the road and the public area, and transmitting the dynamic information of the road surface and the public area to the unmanned self-driving car for accurate positioning. And precision navigation, providing information and network infrastructure for future car unmanned vehicles.

The specific method of the step (3) is: establishing a plurality of devices for accurately referencing and checking coordinate positions on the road surface, that is, sensors, which, after detecting the vehicle, perform the coordinates of the vehicle according to the standard coordinate values of the curing. Correct, and upload the exact location of each vehicle to the network map at any time, for the unmanned self-driving car to use the driving route and lane, or send the location information to the road management and traffic police department, which will network the road management Such as road closures, fees, bans, etc.

Among them, the vehicle detection and positioning sensor (hereinafter referred to as detector) installed in the parking space has the following functions:

(1) The sensor itself is digitally encoded and has a unique network ID address. Once installed in a certain location, it will be adjusted to the position corresponding to the physical location (such as the coordinates of the Earth's latitude and longitude), and displayed on the precise navigation map, effectively avoiding the problem of poor GPS positioning accuracy;

(6) The vehicle starts to set the destination, determines the driving route through the network and selects the driving lane, and decides which driving position to travel through when the vehicle is scheduled to travel through the network, passing through each of the allocated parking spaces; The dynamic information will be transmitted to the vehicle before the arrival of the vehicle, to inform the vehicle whether it is driving normally or to change the lane;

(7) The sensor can also accept the information that the pedestrian needs to cross the road and send the information to the vehicle that will need to pass the upper (lower) side of the sensor;

It can be seen that the road surface informationization network is to install a vehicle detection and location sensor in the parking space, and connect the network through the sensor to realize the informationization and networking of the road surface.

The vehicle detection and positioning sensor integrates a geomagnetic sensor, a color changing strobe lamp, an ultrasonic detecting head and a communication conversion module; the geomagnetic sensor detects that the magnetic field of the earth magnetic field is cut when the vehicle passes, and the disturbance signal is transmitted to the magnetic field when the magnetic field is disturbed. The communication conversion module further transmits the signal passed by the vehicle to the network by the communication module; the strobe light is a network command that sends different electrical signals to the strobe light through the communication conversion module, and drives the LED light to be set according to different conditions. The fixed color and frequency are flickering; the ultrasonic probe will detect signals generated by objects within a distance of 3 to 5 meters (such as pedestrians crossing the road, vehicles or obstacles that are not detected by the geomagnetic sensor). Passed to the communication conversion module, which then passes the signal to the network. After detecting the vehicle, pedestrians, and obstacles, the vehicle detection and location sensor will transmit signals to the network, and the network will notify the vehicle and In the road management and traffic police department, after receiving this information, the vehicle will correct the driving route to change lanes, decelerate parking to avoid pedestrians or obstacles.

In order to realize unmanned auto driving on the road, people (road managers, traffic police, etc.), cars, and roads must be closely and quickly connected through the network. The technology of unmanned self-driving cars has become more and more mature, and technologies such as adaptive cruise, laser detection and detection, lane departure detection and correction have become more mature and preliminarily popularized; road managers and traffic police also have more intervention and guidance for vehicle driving through the network. And provide network search or on-site instant service such as address search, road navigation, crowded road tips, traffic guidance and release. However, the road itself as a key link has not participated in the information network, that is to say, the road has not yet realized online communication with vehicles and people. For example, a two-lane road, when one of the lanes is occupied due to road damage or rear-end collision or vehicle damage, the other lane cannot inform the vehicle on the road to switch to another lane, the current unmanned automatic The technical solution for driving is to determine whether or not to replace the lane by detecting whether there is an obstacle in front of the vehicle. When the obstacle is not detected, such as a road break, the vehicle will continue to drive in the original lane, resulting in an accident. Another technical obstacle is that the current road can only display a road that is subdivided into the front on the map of the car navigation. For each lane in the road, the front and rear positions in the lane cannot be accurately positioned. Under the guidance of the navigation map, the self-driving vehicle can only rely on the laser to detect the vehicle or pedestrian in front of the road to slow down the parking, but can not know in advance that the lanes in the road dynamically reserve other idle lanes early.

If the road itself can be informatized and participate in the network, immediately share information such as road vehicle occupancy, road surface status, traffic police or road management department control of the road. Vehicles that are driving or are about to drive on the road, let the vehicle choose the driving route, select and timely change the driving lane, avoid obstacles or peak roads, avoid road maintenance roads or control after obtaining the information input. This is the driving force behind the development of road information network technology.

The fundamental essence of road pavement informationization and networking is to subdivide the road into lanes and subdivide the lanes into safe driving positions of vehicles. By installing vehicle detection and positioning sensors on the parking spaces (as shown in Figure 1), The position information of the parking space, the instantaneous dynamic occupancy information, and the predicted future occupancy information are dynamically displayed on the precise navigation map for decision-making route selection, lane change selection, deceleration or acceleration selection of the unmanned vehicle.

Claims

An informationization and network implementation method for road pavement supporting automobile unmanned automatic driving, characterized in that it comprises the following steps:

(1) First, the road surface is gridded and subdivided into a driving position;

(2) Then, an informatized networked device with a unique ID address, that is, a vehicle detection and positioning sensor, is implanted in these parking spaces; that is, a vehicle detection and positioning sensor is installed in each of the driving spaces or parking spaces;

(3) By connecting the above-mentioned sensor to the network, the dynamic precise position of the vehicle, whether the occupied parking space in the road is occupied, whether it is booked, the predetermined time node and the time period information are displayed on the map for precise navigation, Precise positioning and road resource service booking and fee payment.
The invention relates to an informationization and network implementation method for supporting road surface of an unmanned automatic driving vehicle according to claim 1, wherein the vehicle detecting and positioning sensor integrates a magnetic sensor, a color changing strobe light, and an ultrasonic detecting a head and a communication conversion module; the geomagnetic sensor detects that the magnetic field line of the earth is cut when the vehicle passes, and the disturbance signal is transmitted to the communication conversion module when the magnetic field is disturbed, and then the communication module transmits the signal of the vehicle to the network; The strobe light is a network command that sends different electrical signals to the strobe light through the communication conversion module, and drives the LED light to blink according to the set color and frequency under different conditions; the ultrasonic probe will detect the surrounding 3 The signal generated by the object within a distance of ~5 meters is transmitted to the communication conversion module, and the signal is transmitted to the network by the communication conversion module.
The method for implementing informationization and networking of a road surface supporting an unmanned automatic driving of a vehicle according to claim 1, wherein the step (1) is specific The method is: using the principle of digital earth, according to the latitude and longitude of the earth, setting coordinate values on the road on the ground and solidifying on the map, and the existing road pavement and the public area, according to the certain length and width required for safe driving and parking of the vehicle. , divided into rectangular units and named as parking spaces and parking spaces according to the purpose.
The method for implementing informationization and networking of a road surface for supporting an unmanned automatic driving of a vehicle according to claim 1, wherein the specific method of the step (2) is: connecting the sensor to the network to realize Informatization and networking of roads and public areas, transmitting dynamic information of roads and public areas to unmanned self-driving cars, accurately positioning and precision navigation, providing information and network infrastructure for future unmanned auto-driving cars facility.
The method for implementing informationization and networking of a road surface supporting an unmanned automatic driving of a vehicle according to claim 1, wherein the specific method of the step (3) is: establishing a certain precise reference on the road surface The devices that check the coordinate position are sensors. After detecting the vehicle, these devices correct the coordinates of the vehicle according to the solidified coordinate values, and upload the precise position of each vehicle to the network map for automatic unmanned operation. Driving a car is used to select driving routes and lanes, or to send location information to the road management and traffic police department, which manages the roads in a network.
The method for implementing informationization and networking of a road surface supporting an unmanned automatic driving of a vehicle according to claim 1, wherein the sensor itself is digitally encoded and has a unique network ID address once installed. At a certain location, it will be adjusted to the location that is consistent with the physical location and displayed on the precise navigation map.
A road for supporting unmanned self-driving of a car according to claim 1. The informatization and network implementation method is characterized in that: the sensor is connected to the network and communicates in two directions, and the road signal is fed back to the network and the network command information is transmitted to the sensor.
The information technology and network implementation method for supporting road surface of an unmanned automatic driving vehicle according to claim 1, wherein the sensor detects that the vehicle is coming, and emits a yellow strobe; the vehicle passes or stays. A red strobe flashes on or under the sensor; the vehicle leaves the location where the sensor is located and emits a green light.
The informationization and network implementation method for supporting road surface of an unattended auto driving method according to claim 1, wherein the sensor transmits the precise position of the vehicle to the network when sensing the vehicle, and The vehicle uses precise navigation and adjusts the position of the vehicle to ensure driving in the lane; the vehicle sets the destination when starting, determines the driving route through the network and selects the driving lane, and schedules when to travel through which parking space, and the driving route will pass through the network. Queued, passing through each of the assigned parking spaces; the sensor will transmit dynamic information to the vehicle before the vehicle arrives to inform the vehicle whether it is driving normally or needs to change lanes.
The informationization and network implementation method for supporting road surface of an unmanned automatic driving vehicle according to claim 1, wherein the sensor can receive information that a pedestrian needs to cross the road and send the information to the It is about to be stopped by the vehicle above or below the emotional device; the sensor can detect the vehicle or pedestrian traveling above it and transmit information to the vehicle that is going to pass above or below it; the sensor can pass the vehicle through the phase The time node between the two adjacent sensors is transmitted to the network, and the network calculates the traveling speed of the vehicle according to the time difference, and dynamically transmits it back to the vehicle. The vehicle automatically inputs its braking distance and braking force according to the speed value input, and dynamically Calculate the time it takes to travel through the front of the parking space Nodes to dynamically adjust their driving directions.