CN101380951A - Automatic driving recognition system of maneuvering and electric vehicles - Google Patents
Automatic driving recognition system of maneuvering and electric vehicles Download PDFInfo
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- CN101380951A CN101380951A CNA2008101725455A CN200810172545A CN101380951A CN 101380951 A CN101380951 A CN 101380951A CN A2008101725455 A CNA2008101725455 A CN A2008101725455A CN 200810172545 A CN200810172545 A CN 200810172545A CN 101380951 A CN101380951 A CN 101380951A
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Abstract
The invention relates to an automobile driving recognizing system of a motor or electric vehicle which comprises seven systems that are mutually matched and induced. The seven systems comprise a road monochrome guiding marker and bar code instruction system, a road temporary condition radio instruction system, a vehicle guide scanner and bar code recognizing system, a vehicle radio instruction receiving and sending system, a vehicle marching direction barrier distance scanning system, a vehicle manual/automobile driving system and a vehicle central treatment system. The invention relates to a system which can assist the vehicle in conducting automatic driving. The driving state of the vehicle is indicated by monochrome guiding markers and bar codes which are coated and printed on the center of the road. And the road temporary condition radio instruction system and the vehicle marching direction barrier distance scanning system are used for ensuring the driving safety of the automobile driving state. The invention has the advantages of convenience, easy operation, high reliability, low cost, etc.
Description
Technical field
But the present invention relates to the system that a kind of service vehicle carries out automatic steering, specifically is a kind of motor-driven, elec. vehicle automatic driving recognition system.
Background technology
At present, along with people's living standard improves constantly, drive self-propelled vehicle and carry out work and study and life, become an indispensable part in people's life, but quickening along with people's rhythm of life, the increasing of work competitive pressure is easily because traffic accident takes place in fatigue driving, cause the loss that to retrieve for society and family, therefore, the power actuated vehicle automatic steering has been mentioned on people's the schedule, becomes most car owners' yearning.
Summary of the invention
The present invention provides a kind of motor-driven, elec. vehicle automatic driving recognition system in order to satisfy the yearning of people to the power actuated vehicle automatic steering; The present invention includes seven systems: 1, road black and white guiding graticule and bar code instruction repertoire; 2, the interim road conditions radio command system of road; 3, vehicle guidance scanning device and bar code identification system; 4, automobile wireless electricity instruction accepting and transmission system; 5, vehicle direct of travel obstacle distance scanning system; 6, the manual control loop of vehicle; 7, vehicle central disposal system.
The technical scheme of technical solution problem of the present invention is: road black and white guiding graticule and bar code instruction repertoire 1 are arranged on the motor road; The interim road conditions radio command system 2 of road is arranged on highway administration center and the road; Vehicle guidance scanning device and bar code identification system 3 are arranged on the anterior chassis of self-propelled vehicle; Automobile wireless electricity instruction accepting and transmission system 4 are arranged on the place ahead of motor-driven roof; Vehicle direct of travel obstacle distance scanning system 5 is arranged on the front portion of car; The manual control loop 6 of vehicle is arranged on the interior of motor vehicles front side; Vehicle central disposal system 7 is arranged on interior of motor vehicles, promptly forms a kind of motor-driven, elec. vehicle automatic driving recognition system of the present invention.
Described black and white guiding graticule and bar code instruction repertoire 1: track central authorities brushing overall width be 300mm white, black, white three guiding graticules (three-way near, each wide 100mm), vehicle is travelled along the guiding graticule, and personal vehicle system is defaulted as along the black line left driving; Install according to the road conditions needs on guiding graticule right side or the Inlaid strip font code (bar code is apart from black line back gauge 100mm, the highway section back gauge of travelling along the black line right side in part is 200mm), inswept bar code is accepted command information in the vehicle ' process, and instruction comprises the place ahead traffic information, the specified speed of a motor vehicle, destination and geography information etc.
Described vehicle guidance scanning device and bar code identification system 3: the guiding scanning device is installed in vehicle front chassis central authorities, be transferred to central processing system according to vehicle that scans and the guiding graticule deviation of travelling, assign instruction by central processing system to personal vehicle system and revise travel direction; Bar code identification system is installed in guiding scanning device right side, determines vehicle running state according to the instruction that scans by central processing system.
The interim road conditions radio command system 2 of described road: mainly be at a high speed and the road of high-grade highway and vehicle occur accepting sender network by the radio command of the hundreds of meters settings of whenever being separated by and forming when unexpected, the road administrative center of making a public possession administers; When transmitter (hereinafter to be referred as transmitter) affiliated area generation road and vehicle trouble are accepted in this radio command, by first vehicle failure message is sent front vehicle and this zone transmitter, this zone transmitter passes to information the rear transmitter in equidirectional track, send the instruction of " hundreds of meters faults in the place ahead, SN track, all car retardations also switch to manual drive " to the vehicle of all processes by the rear transmitter; (SN represents from south to north); When running into inclement weather cause influence driving safety, all commander senders of administrative center's uniform dispatching send the restricted speed instruction by road; The interim radio command system of road also can be used for traffic control or police's visiting, is sent the near order of " traffic controller ahead switches to automatic steering by force, speed per hour 5Km, all vehicle windows are opened " by the transmitter of designated area.
Described vehicle guidance scanning device and bar code identification system 3: the guiding scanning device is installed in vehicle front chassis central authorities, be transferred to central processing system according to vehicle that scans and the guiding graticule deviation of travelling, assign instruction by central processing system to personal vehicle system and revise travel direction; Bar code identification system is installed in guiding scanning device right side, determines vehicle running state according to the instruction that scans by central processing system.
Described automobile wireless electricity instruction accepting and transmission system 4: the radio that this system promptly is installed on the vehicle is accepted and transmission system, and it is transferred to central process unit with the radio command that receives and assigns the execution motoring condition.When radio command has when conflict with the bar code instruction, carry out radio command, that is to say that radio command is superior to the bar code instruction and carries out; When vehicle runs into roadnet fault or this car fault and accident, accept transmitter and front vehicle transmission relevant information to radio command immediately in addition.
Described vehicle direct of travel obstacle distance scanning system 5: i.e. range only radar, be installed in the place ahead of car, the detection direction of radar is consistent with the torsional direction of front-wheel all the time; Its effect is to keep the distance with front truck, and points out car retardation when the vehicle direct of travel is found obstacle at a distance, brake or parking when closely finding obstacle; The test radar constantly offers test data central processing system so that the best speed of a motor vehicle to be provided, this speed of a motor vehicle has precedence over the radio command speed of a motor vehicle again and carries out, also we can say when in all instructions the conflict of the specified speed of a motor vehicle being arranged, to be as the criterion maximized assurance traffic safety at a slow speed.
The manual control loop 6 of described vehicle: when vehicle detection when the road that is travelled has the automatic steering ancillary system, whether the prompting of vehicle central disposal system switches to the automatic steering state, is selected manually still automatically by chaufeur; After switching to the automatic steering state, chaufeur can be done rest slightly, and this moment, manual system lost efficacy, and needs to switch again when chaufeur is thought manual drive to turn round and stretch out the hand moving driving condition; When vehicle is carried out some instruction, manual can not freely the switching, when accident appearred in vehicle, the state when system lock is mis-use breakdown was convenient to traffic constable investigation accident causation.
Described central processing system 7: central processing system is a vehicle-mounted computer, and it integrates various instructions and information that each system receives, determines motoring condition.After navigating mate input destination and the approach ground information (also can select approach ground automatically according to the locus) by system, when running into the bar code information that the turnout track destination prompt is arranged under the automatic steering state, system selects a line left side or line right travel to carry out shunting (system default is sailed for the line left lateral) automatically.
Beneficial effect of the present invention: a kind of power actuated vehicle automatic driving recognition system of the present invention, but be the system that a kind of service vehicle carries out automatic steering, it mainly indicates vehicle running state by brushing at the black and white guiding graticule and the bar code of road central authorities, and, guarantee the driving safety under the automatic steering state with interim road conditions radio command of road and vehicle direct of travel obstacle distance scanning system; The present invention can realize fully with present state-of-art, and have simple and easy to do, reliability is high, characteristics such as with low cost.
Description of drawings
Fig. 1 is a gross vehicle assembling structure scheme drawing of the present invention
Fig. 2 is a road ancillary system scheme drawing of the present invention
Fig. 3,4,5, the 6th, the road ancillary system scheme drawing of the embodiment of the invention 1
Among the figure, road black and white guiding graticule and bar code instruction repertoire 1, the interim road conditions radio command system 2 of road, vehicle guidance scanning device and bar code identification system 3, automobile wireless electricity instruction accepting and transmission system 4, vehicle direct of travel obstacle distance scanning system 5, the manual control loop 6 of vehicle, vehicle central disposal system 7.
Embodiment 1:
Shown in Fig. 3,4,5,6, the bar code instruction:
Detect present travel and have the automatic steering ancillary system, suggestion switches to automatic steering state (voice suggestion);
3000m straight line highway section, the place ahead, specified speed per hour 100Km/h travels, and sees Fig. 3;
The I degree turns left behind the 500m of the place ahead, slows down to 80Km/h travels, and sees Fig. 4;
The III degree is turned right behind the 1000m of the place ahead, slows down to travel for 20Km/h;
Converge the track behind the 1000m of the place ahead, switch to the manual drive state, no response in 10 seconds is ramp to stop (voice suggestion) then;
The place ahead uses Correct Lane, and the line left lateral of destination approach A is sailed, and destination approach B switches to the line right travel, sees Fig. 5;
Finish in the shunting, switches to the default line left lateral and sail state, sees Fig. 6.
Embodiment 2:
Radio command:
The place ahead, SN track 1000m road service system switches to the manual drive state immediately, and no response in 10 seconds is ramp to stop (voice suggestion) then;
Traffic controller ahead switches to automatic steering by force, and speed per hour 5Km passes through, and all vehicle windows are opened;
Misty rain weather, speed limit 20Km travels;
The manual drive vehicle rolls the automatic steering track immediately away from, otherwise note board (voice suggestion).
Embodiment 3:
Be used for the instruction of cross roads:
The prerequisite that the automatic steering ancillary system is used for cross roads is that automatic driving vehicle separates with the vehicle that pedestrian, bicycle etc. does not have the automatic steering function.
Embodiment 3-1:
The bar code instruction of cross roads:
Entered the ESL track (representative is by east orientation south left turn lane, and on behalf of east, S, E represent south, L to represent left-hand rotation) at this crossing, please kept 2 meters spacings, waited for a green light with front truck;
Entered the NS track at this crossing, please kept 2 meters spacings, waited for a green light with front truck;
This track stop line please wait for a green light.
Embodiment 3-2:
The radio command of cross roads:
The vehicle that stop line is not crossed in NS track and SN track is closed to traffic;
Letting pass in WNL track and ESL track, please keeps 2 meters spacings with front truck, and speed per hour 5Km passes through.
The specific embodiment
As shown in Figure 1, 2, road black and white guiding graticule and bar code instruction repertoire 1 are arranged on the motor road; The interim road conditions radio command system 2 of road is arranged on highway administration center and the road; Vehicle guidance scanning device and bar code identification system 3 are arranged on the anterior chassis of self-propelled vehicle; Automobile wireless electricity instruction accepting and transmission system 4 are arranged on the place ahead of motor-driven roof; Vehicle direct of travel obstacle distance scanning system 5 is arranged on the front portion of car; The manual control loop 6 of vehicle is arranged on the interior of motor vehicles front side; Vehicle central disposal system 7 is arranged on interior of motor vehicles, promptly forms a kind of motor-driven, elec. vehicle automatic driving recognition system of the present invention.
As shown in Figure 2, black and white guiding graticule and bar code instruction repertoire 1: track central authorities brushing overall width be 300mm white, black, white three guiding graticules (three-way near, each wide 100mm), vehicle is travelled along the guiding graticule, personal vehicle system is defaulted as along the black line left driving; Install according to the road conditions needs on guiding graticule right side or the Inlaid strip font code (bar code is apart from black line back gauge 100mm, the highway section back gauge of travelling along the black line right side in part is 200mm), inswept bar code is accepted command information in the vehicle ' process, and instruction comprises the place ahead traffic information, the specified speed of a motor vehicle, destination and geography information etc.
As shown in Figure 2, the interim road conditions radio command system of road: the interim radio command system of road is mainly used at a high speed and the road and the vehicle accident of high-grade highway, accept sender network by the radio command of the hundreds of meters settings of whenever being separated by and form, the road administrative center administration of making a public possession; When transmitter (hereinafter to be referred as transmitter) affiliated area generation road and vehicle trouble are accepted in this radio command, by first vehicle failure message is sent front vehicle and this zone transmitter, this zone transmitter passes to information the rear transmitter in equidirectional track, send the instruction of " hundreds of meters faults in the place ahead, SN track, all car retardations also switch to manual drive " to the vehicle of all processes by the rear transmitter; (SN represents from south to north)
When running into inclement weather cause influence driving safety, all commander senders of administrative center's uniform dispatching send the restricted speed instruction by road; The interim radio command system of road also can be used for traffic control or police's visiting, is sent the near order of " traffic controller ahead switches to automatic steering by force, speed per hour 5Km, all vehicle windows are opened " by the transmitter of designated area.
As shown in Figure 1, vehicle guidance scanning device and bar code identification system 3: the guiding scanning device is installed in vehicle front chassis central authorities, be transferred to central processing system according to vehicle that scans and the guiding graticule deviation of travelling, assign instruction by central processing system to personal vehicle system and revise travel direction; Bar code identification system is installed in guiding scanning device right side, determines vehicle running state according to the instruction that scans by central processing system.
As shown in Figure 1, described automobile wireless electricity instruction accepting and transmission system 4: the radio that this system promptly is installed on the vehicle is accepted and transmission system, and it is transferred to central process unit with the radio command that receives and assigns the execution motoring condition.When radio command has when conflict with the bar code instruction, carry out radio command, that is to say that radio command is superior to the bar code instruction and carries out; When vehicle runs into roadnet fault or this car fault and accident, accept transmitter and front vehicle transmission relevant information to radio command immediately in addition.
As shown in Figure 1, described vehicle direct of travel obstacle distance scanning system 5: i.e. range only radar, be installed in the place ahead of car, the detection direction of radar is consistent with the torsional direction of front-wheel all the time; Its effect is to keep the distance with front truck, and points out car retardation when the vehicle direct of travel is found obstacle at a distance, brake or parking when closely finding obstacle; The test radar constantly offers test data central processing system so that the best speed of a motor vehicle to be provided, this speed of a motor vehicle has precedence over the radio command speed of a motor vehicle again and carries out, also we can say when in all instructions the conflict of the specified speed of a motor vehicle being arranged, to be as the criterion maximized assurance traffic safety at a slow speed.
As shown in Figure 1, the manual control loop 6 of described vehicle: when vehicle detection when the road that is travelled has the automatic steering ancillary system, whether the prompting of vehicle central disposal system switches to the automatic steering state, is selected manually still automatically by chaufeur; After switching to the automatic steering state, chaufeur can be done rest slightly, and this moment, manual system lost efficacy, and needs to switch again when chaufeur is thought manual drive to turn round and stretch out the hand moving driving condition; When vehicle is carried out some instruction, manual can not freely the switching, when accident appearred in vehicle, the state when system lock is mis-use breakdown was convenient to traffic constable investigation accident causation.
As shown in Figure 1, described central processing system 7: central processing system is a vehicle-mounted computer, and it integrates various instructions and information that each system receives, determines motoring condition.After navigating mate input destination and the approach ground information (also can select approach ground automatically according to the locus) by system, when running into the bar code information that the turnout track destination prompt is arranged under the automatic steering state, system selects a line left side or line right travel to carry out shunting (system default is sailed for the line left lateral) automatically.
Claims (9)
1, a kind of motor-driven, elec. vehicle automatic driving recognition system is characterized in that: road black and white guiding graticule and bar code instruction repertoire (1); The interim road conditions radio command system of road (2); Vehicle guidance scanning device and bar code identification system (3); Automobile wireless electricity instruction accepting and transmission system (4); Vehicle direct of travel obstacle distance scanning system (5); The manual control loop of vehicle (6); Vehicle central disposal system (7); Specifically: road black and white guiding graticule and bar code instruction repertoire (1) are arranged on the motor road; The interim road conditions radio command system of road (2) is arranged on highway administration center and the road; Vehicle guidance scanning device and bar code identification system (3) are arranged on the anterior chassis of self-propelled vehicle; Automobile wireless electricity instruction accepting and transmission system (4) are arranged on the place ahead of motor-driven roof; Vehicle direct of travel obstacle distance scanning system (5) is arranged on the car front portion; The manual control loop of vehicle (6) is arranged on the interior of motor vehicles front side; Vehicle central disposal system (7) is arranged on interior of motor vehicles, promptly forms a kind of power actuated vehicle automatic driving recognition system of the present invention.
2, a kind of motor-driven, elec. vehicle automatic driving recognition system according to claim 1, it is characterized in that: described black and white guiding graticule and bar code instruction repertoire (1): brushing is deceived in track central authorities, graticule in vain leads, vehicle is travelled along the guiding graticule, and personal vehicle system (6) is defaulted as along black line one skidding and sails; Install or the Inlaid strip font code according to the road conditions needs at guiding graticule opposite side, inswept bar code is accepted command information in the vehicle ' process, and instruction comprises the place ahead traffic information, the specified speed of a motor vehicle, destination and geography information etc.
3, a kind of motor-driven, elec. vehicle automatic driving recognition system according to claim 1, it is characterized in that: described vehicle guidance scanning device and bar code identification system (3): the guiding scanning device is installed in vehicle front chassis central authorities, be transferred to central processing system (7) according to vehicle that scans and the guiding graticule deviation of travelling, assign instruction for personal vehicle system (6) by central processing system (7) and revise travel direction; Bar code identification system (3) is installed in guiding scanning device one side, determines vehicle running state according to the instruction that scans by central processing system (7).
4, a kind of motor-driven, elec. vehicle automatic driving recognition system according to claim 1, it is characterized in that: the interim road conditions radio command system of described road (2): mainly be at a high speed and the road of high-grade highway and vehicle occur when unexpected, accept sender network by the radio command of the hundreds of meters settings of whenever being separated by and form, the road administrative center administration of making a public possession; When transmitter affiliated area generation road and vehicle trouble are accepted in this radio command, by first vehicle failure message is sent to front vehicle and this zone transmitter, this zone transmitter passes to information the rear transmitter in equidirectional track, send the instruction of " hundreds of meters faults in the place ahead, SN track, all car retardations also switch to manual drive " to the vehicle of all processes by the rear transmitter; Described SN representative from south to north; When running into inclement weather cause influence driving safety, all commander senders of administrative center's uniform dispatching send the restricted speed instruction by road; The interim radio command system of road (2) also can be used for traffic control or police's visiting, is sent the near order of " traffic controller ahead switches to automatic steering by force, speed per hour 5Km, all vehicle windows are opened " by the transmitter of designated area.
5, a kind of motor-driven, elec. vehicle automatic driving recognition system according to claim 1, it is characterized in that: described vehicle guidance scanning device and bar code identification system (3): the guiding scanning device is installed in vehicle front chassis central authorities, be transferred to central processing system (7) according to vehicle that scans and the guiding graticule deviation of travelling, assign instruction for personal vehicle system (6) by central processing system (7) and revise travel direction; Bar code identification system (3) is installed in guiding scanning device one side, determines vehicle running state according to the instruction that scans by central processing system (7).
6, a kind of motor-driven, elec. vehicle automatic driving recognition system according to claim 1, it is characterized in that: described automobile wireless electricity instruction accepting and transmission system (4): the radio that this system promptly is installed on the vehicle is accepted and transmission system (4), and it is transferred to central process unit with the radio command that receives and assigns the execution motoring condition.When radio command has when conflict with the bar code instruction, carry out radio command, that is to say that radio command is superior to the bar code instruction and carries out; When vehicle runs into roadnet fault or this car fault and accident, accept transmitter and front vehicle transmission relevant information to radio command immediately in addition.
7, a kind of motor-driven, elec. vehicle automatic driving recognition system according to claim 1, it is characterized in that: described vehicle direct of travel obstacle distance scanning system (5): i.e. range only radar, be installed in the place ahead of car, the detection direction of radar is consistent with the torsional direction of front-wheel all the time; Its effect is to keep the distance with front truck, and points out car retardation when the vehicle direct of travel is found obstacle at a distance, brake or parking when closely finding obstacle; The test radar constantly offers test data central processing system (7) so that the best speed of a motor vehicle to be provided, this speed of a motor vehicle has precedence over the radio command speed of a motor vehicle again and carries out, also we can say when in all instructions the conflict of the specified speed of a motor vehicle being arranged, to be as the criterion maximized assurance traffic safety at a slow speed.
8, a kind of motor-driven, elec. vehicle automatic driving recognition system according to claim 1, it is characterized in that: the manual control loop of described vehicle (6): when vehicle detection when the road that is travelled has the automatic steering ancillary system, whether vehicle central disposal system (7) prompting switches to the automatic steering state, is selected manual or automatic by chaufeur; After switching to the automatic steering state, chaufeur can be done rest slightly, and this moment, manual system lost efficacy, and needs to switch again when chaufeur is thought manual drive to turn round and stretch out the hand moving driving condition; When vehicle is carried out some instruction, manual can not freely the switching, when accident appearred in vehicle, the state when system lock is mis-use breakdown was convenient to traffic constable investigation accident causation.
9, a kind of motor-driven, elec. vehicle automatic driving recognition system according to claim 1, it is characterized in that: described central processing system (7): central processing system (7) is a vehicle-mounted computer, it integrates various instructions and information that each system receives, determines motoring condition.After navigating mate input destination and the approach ground information (also can select approach ground automatically according to the locus) by system, when running into the bar code information that the turnout track destination prompt is arranged under the automatic steering state, system selects a line left side or line right travel to carry out shunting (system default is sailed for the line left lateral) automatically.
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| CN102145694A (en) * | 2010-02-04 | 2011-08-10 | 罗伯特·博世有限公司 | Driver assistance system and method of assisting driver for automatic driving |
| CN102903258A (en) * | 2012-07-09 | 2013-01-30 | 孙华英 | Automatic vehicle navigation method, navigational pattern information compiling method and vehicle navigation equipment |
| CN103366589A (en) * | 2013-07-12 | 2013-10-23 | 胡达广 | Road code and road condition drive-assisting system |
| CN103625367A (en) * | 2013-12-11 | 2014-03-12 | 魏子安 | Road obstacle recognition device and recognition method thereof |
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| CN104924920A (en) * | 2015-05-18 | 2015-09-23 | 北京联合大学 | Electric car speed control system with two modes switched freely and electric car speed control method |
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| CN105835874A (en) * | 2015-01-29 | 2016-08-10 | 丰田自动车工程及制造北美公司 | Autonomous vehicle operation in view-obstructed environments |
| CN106232444A (en) * | 2014-03-03 | 2016-12-14 | 谷歌公司 | Remote assistance to the autonomous vehicle in predetermined case |
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| CN102903258B (en) * | 2012-07-09 | 2017-10-27 | 汤斌淞 | A kind of vehicle automatic navigation method, navigation pattern information preparation method and its apparatus for vehicle navigation |
| CN104937512B (en) * | 2012-09-21 | 2017-10-24 | 罗伯特·博世有限公司 | Method and apparatus for making motor vehicle be run in automatic running |
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| CN104924920B (en) * | 2015-05-18 | 2017-03-29 | 北京联合大学 | Can double mode free switching electric motor car speed control system and method |
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