CN104199451A - Traffic control system of unmanned vehicle for traffic light intersection and working method thereof - Google Patents
Traffic control system of unmanned vehicle for traffic light intersection and working method thereof Download PDFInfo
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Abstract
本发明涉及一种红绿灯路口用无人驾驶车辆的通行控制系统及其工作方法,本通行控制系统包括:信号发射单元,适于无线发送红绿灯的亮序信息;无人驾驶控制装置,用于获取车辆的当前车速和该车辆与红绿灯所在路口的停车线之间的行驶距离,并根据所述当前车速、行驶距离以及接收的亮序信息,判断车辆在当前车速下是否能通过所述路口,以做出车速维持指令或减速缓行至路口停车的制动指令;本发明不仅适用于无人自动驾驶车辆,对于有人驾驶车辆,也很有好处,它可以准确判断在当前位置和车速下,车辆能否通过前方的红绿灯交叉路口,及时给驾驶员语音、图像警示。
The invention relates to a traffic control system and working method of an unmanned vehicle at a traffic light intersection. The traffic control system includes: a signal transmitting unit, which is suitable for wirelessly sending the sequence information of traffic lights; an unmanned control device, which is used to obtain The current speed of the vehicle and the travel distance between the vehicle and the stop line at the intersection where the traffic light is located, and according to the current speed, travel distance and received bright sequence information, it is judged whether the vehicle can pass the intersection at the current speed, and Make a speed maintenance command or a braking command to slow down and stop at an intersection; the present invention is not only applicable to unmanned self-driving vehicles, but also very beneficial to manned vehicles. It can accurately judge whether the vehicle can Whether to pass through the traffic light intersection ahead, give the driver a voice and image warning in time.
Description
技术领域 technical field
本发明涉及交通领域,特别是涉及一种红绿灯路口用无人驾驶车辆的通行控制系统及其工作方法。 The present invention relates to the field of traffic, in particular to a traffic control system for unmanned vehicles at traffic light intersections and its working method.
背景技术 Background technique
当前无人驾驶技术已是汽车发展的重要方向。红绿灯交叉路口的交通情况最为复杂,尤其是雨雾天气,或是跟在大型车辆后面行驶,要准确判断前方的道路情况更加困难。如何让无人驾驶车辆安全、有效地通过红绿灯交叉路口,是无人驾驶技术的关键问题,也是该领域的技术难题。当前无人驾驶技术判断道路情况主要依靠摄像头图像识别技术、雷达探测技术以及激光、红外线等测距技术,还没有一种专门涉及适于无人驾驶车辆通过红绿灯交叉路口的通行控制系统。 Currently driverless technology is an important direction of automobile development. The traffic situation at the intersection of traffic lights is the most complicated, especially in rainy and foggy weather, or driving behind a large vehicle, it is more difficult to accurately judge the road situation ahead. How to make driverless vehicles safely and efficiently pass through traffic light intersections is a key issue in driverless technology and a technical problem in this field. Currently, unmanned driving technology mainly relies on camera image recognition technology, radar detection technology, and laser, infrared and other ranging technologies to judge road conditions. There is no traffic control system that is suitable for unmanned vehicles to pass through traffic light intersections.
因此,需要设计一种自动控制无人驾驶车辆安全通过红绿灯交叉路口的通行控制系统,以提高无人驾驶车辆通过红绿灯交叉路口的有效性和安全性。 Therefore, it is necessary to design a traffic control system that automatically controls unmanned vehicles to safely pass through traffic light intersections, so as to improve the effectiveness and safety of unmanned vehicles passing through traffic light intersections.
发明内容 Contents of the invention
本发明的目的是提供一种红绿灯路口用无人驾驶车辆的通行控制系统,本通行控制系统有效地解决了无人驾驶车辆在通过红绿灯交叉路口的安全问题,以实现无人自动驾驶车辆安全、有效地通过红绿灯交叉路口。 The purpose of the present invention is to provide a traffic control system for unmanned vehicles at traffic light intersections. This traffic control system effectively solves the safety problems of unmanned vehicles passing through traffic light intersections, so as to realize the safety and security of unmanned vehicles. Efficiently navigate traffic light intersections.
为了解决上述技术问题,本发明提供了一种红绿灯路口用无人驾驶车辆的通行控制系统,包括:信号发射单元,用于无线发送红绿灯的亮序信息;无人驾驶控制装置,用于获取车辆的当前车速和该车辆与红绿灯所在路口的停车线之间的行驶距离,并根据所述当前车速、行驶距离以及接收的亮序信息,判断车辆在当前车速下是否能通过所述路口,以做出车速维持指令或减速缓行至路口停车的制动指令。 In order to solve the above technical problems, the present invention provides a traffic control system for unmanned vehicles at traffic light intersections, including: a signal transmitting unit, used to wirelessly send the sequence information of traffic lights; an unmanned control device, used to obtain vehicle The current speed of the vehicle and the driving distance between the vehicle and the stop line at the intersection where the traffic light is located, and according to the current speed, driving distance and the received bright sequence information, it is judged whether the vehicle can pass the intersection at the current speed, so as to do Exit the vehicle speed maintenance command or slow down and slow down to the brake command to stop at the intersection.
优选的,所述信号发射单元包括:与红绿灯内控制模块相连的数据编码模块,该数据编码模块通过射频发射模块与发射天线相连。 Preferably, the signal transmitting unit includes: a data encoding module connected to the control module inside the traffic light, and the data encoding module is connected to the transmitting antenna through the radio frequency transmitting module.
优选的,无人驾驶控制装置包括:信号接收单元,该信号接收单元包括:接收天线,与该接收天线相连的射频接收模块,以及与该射频接收模块相连的数据解码模块。 Preferably, the unmanned driving control device includes: a signal receiving unit, and the signal receiving unit includes: a receiving antenna, a radio frequency receiving module connected to the receiving antenna, and a data decoding module connected to the radio frequency receiving module.
优选的,所述无人驾驶控制装置还包括:定位单元,该定位单元包括:定位模块、存储有电子地图的存储模块,以及与所述定位模块、存储模块相连的主控模块,该主控模块与所述数据解码模块相连;所述主控模块适于根据所述当前车速、行驶距离以及接收的亮序信息,判断车辆在当前车速下是否能通过所述路口,以做出车速维持指令或减速缓行至路口停车的制动指令,并将所述车速维持指令输出至车速控制模块,或将制动指令输出至制动控制模块,以实现对车辆的相应控制指令。 Preferably, the unmanned driving control device further includes: a positioning unit, the positioning unit includes: a positioning module, a storage module storing an electronic map, and a main control module connected to the positioning module and the storage module, the main control The module is connected to the data decoding module; the main control module is adapted to judge whether the vehicle can pass the intersection at the current speed according to the current speed, driving distance and received bright sequence information, so as to make a speed maintenance instruction Or slow down and slow down to a braking command to stop at an intersection, and output the vehicle speed maintaining command to the vehicle speed control module, or output the braking command to the braking control module, so as to realize the corresponding control command to the vehicle.
优选的,所述无人驾驶控制装置还包括:显示模块,该显示模块与所述主控模块相连,用于显示红绿灯及车辆行驶的相应信息。 Preferably, the unmanned driving control device further includes: a display module, which is connected to the main control module and used to display traffic lights and corresponding information about vehicle driving.
优选的,所述无人驾驶控制装置还包括:语音播放模块,该语音播放模块与所述主控模块相连,用于播报红绿灯及车辆行驶的相应信息。 Preferably, the unmanned driving control device further includes: a voice playback module, which is connected to the main control module and used to broadcast traffic lights and corresponding information about vehicle driving.
另一方面,本发明在所述的通行控制系统的技术方案的基础上还提供了一种通行控制系统的工作方法,以解决无人驾驶车辆在通过红绿灯交叉路口的安全问题,以实现无人自动驾驶车辆安全、有效地通过红绿灯交叉路口。 On the other hand, the present invention also provides a working method of the traffic control system on the basis of the technical solution of the traffic control system, so as to solve the safety problem of unmanned vehicles passing through traffic light intersections, so as to realize unmanned Autonomous vehicles safely and efficiently navigate traffic light intersections.
本发明还提供了一种所述的通行控制系统的工作方法,包括如下步骤: The present invention also provides a working method of the access control system, comprising the following steps:
所述无人驾驶控制装置适于通过获取当前车速、行驶距离,及红绿灯的亮序信息,判断车辆在当前车速下是否能通过所述路口,以做出车速维持指令或减速缓行至路口停车的制动指令。 The unmanned driving control device is suitable for judging whether the vehicle can pass through the intersection at the current speed by acquiring the current vehicle speed, driving distance, and the sequence information of the traffic lights, so as to make a speed maintenance instruction or slow down and slow down to the intersection to stop. brake command.
优选的,所述通行控制系统的工作方法中的无人驾驶控制装置做出车速维持指令或减速缓行至路口停车的制动指令的方法,包括:所述无人驾驶控制装置将所述车速维持指令输出至车速控制模块,或将制动指令输出至制动控制模块,以实现对车辆的相应控制指令;以及将红绿灯及车辆行驶的相应信息,通过语音播报和/或图像显示向车辆驾驶员发出。 Preferably, the method for the unmanned driving control device in the working method of the traffic control system to make a vehicle speed maintenance instruction or a braking instruction to slow down and slow down to an intersection to stop includes: the unmanned driving control device maintains the vehicle speed The command is output to the vehicle speed control module, or the brake command is output to the brake control module to realize the corresponding control command to the vehicle; and the traffic lights and the corresponding information of the vehicle are displayed to the driver of the vehicle through voice broadcast and/or image display issue.
优选的,所述通行控制系统的工作方法还包括:无人驾驶控制装置进入休眠和激活唤醒的工作方法,其包括:若车辆进入信号发射单元的发射区域时,该无人驾驶控制装置从休眠状态激活;若车辆驶离信号发射单元的发射区域时,该所述无人驾驶控制装置进入休眠状态。 Preferably, the working method of the traffic control system further includes: the unmanned driving control device enters the dormancy and activates the working method for waking up, which includes: if the vehicle enters the transmission area of the signal transmitting unit, the unmanned driving control device from dormancy The state is active; if the vehicle leaves the transmitting area of the signal transmitting unit, the said unmanned driving control device enters the dormant state.
优选的,所述通行控制系统的工作方法还包括: 当车速改变后,所述无人驾驶控制装置还适于重新判断车辆在改变后的车速下是否能通过所述路口,以做出车速维持指令或减速缓行至路口停车的制动指令。 Preferably, the working method of the traffic control system further includes: when the vehicle speed changes, the unmanned driving control device is also adapted to re-judge whether the vehicle can pass through the intersection at the changed vehicle speed, so as to maintain the vehicle speed command or slow down and slow down to the brake command to stop at the intersection.
本发明的上述技术方案相比现有技术具有以下优点: The above technical solution of the present invention has the following advantages compared with the prior art:
1、本发明不仅适用于无人自动驾驶车辆,对于有人驾驶车辆,也很有好处,它可以准确判断在当前位置和车速下,车辆能否通过前方的红绿灯交叉路口,及时给驾驶员语音、图像警示。 1. The present invention is not only applicable to unmanned and self-driving vehicles, but also beneficial to manned vehicles. It can accurately judge whether the vehicle can pass through the traffic light intersection in front at the current position and speed, and give the driver voice, Image alert.
2、本发明中交通信号灯信息发射装置采用无线射频技术,功率小,可靠性好,可用频段范围广,与其它无线电信号相互干扰的可能性小,并且不受雨、雾天气影响,也不受前方大型车辆的遮挡,可靠性高;车载的交通信号灯信息接收装置、主控单元、车内红绿灯状态显示器等系统在远离路口时处于休眠状态,节能性好,不会对自动驾驶系统产生干扰。 2. The traffic signal light information transmitting device in the present invention adopts wireless radio frequency technology, which has low power, good reliability, wide range of available frequency bands, little possibility of mutual interference with other radio signals, and is not affected by rain, fog, or The occlusion of large vehicles in front has high reliability; the vehicle-mounted traffic signal light information receiving device, main control unit, and vehicle traffic light status display are in a dormant state when they are far away from the intersection, which has good energy saving and will not interfere with the automatic driving system.
3、本发明本质上是一种自动控制系统,可以作为一种子系统与车辆的自动驾驶系统有效融合。 3. The present invention is essentially an automatic control system, which can be effectively integrated with the automatic driving system of the vehicle as a subsystem.
附图说明 Description of drawings
为了使本发明的内容更容易被清楚的理解,下面根据的具体实施例并结合附图,对本发明作进一步详细的说明,其中 In order to make the content of the present invention more easily understood, the present invention will be described in further detail below in conjunction with the specific embodiments according to the accompanying drawings, wherein
图1是发明的车辆、红绿灯以及信号发射单元的位置关系图; Fig. 1 is the position relationship figure of vehicle, traffic light and signal transmitting unit of invention;
图2是所述信号发射单元的组成框图; Fig. 2 is a block diagram of the composition of the signal transmitting unit;
图3是所述信号接收单元的组成框图; Fig. 3 is a block diagram of the composition of the signal receiving unit;
图4是所述无人驾驶控制装置的结构图; Fig. 4 is a structural diagram of the driverless control device;
图5示是通行控制系统的工作方法的流程图; Fig. 5 shows the flow chart of the working method of the access control system;
图6是本发明在无人驾驶车辆上的工作流程示意图; Fig. 6 is a schematic diagram of the workflow of the present invention on an unmanned vehicle;
图7是本发明在有人驾驶车辆上的工作流程示意图。 Fig. 7 is a schematic diagram of the working process of the present invention on a manned vehicle.
其中,车辆1、红绿灯2、信号发射单元3。 Among them, a vehicle 1, a traffic light 2, and a signal transmitting unit 3.
具体实施方式 Detailed ways
为使本发明的目的、技术方案和优点更加清楚明了,下面结合具体实施方式并参照附图,对本发明进一步详细说明。应该理解,这些描述只是示例性的,而并非要限制本发明的范围。此外,在以下说明中,省略了对公知结构和技术的描述,以避免不必要地混淆本发明的概念。 In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are exemplary only, and are not intended to limit the scope of the present invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present invention.
实施例1 Example 1
图1示出了本发明的车辆、红绿灯以及信号发射单元的位置关系图。 Fig. 1 shows the position relationship diagram of the vehicle, the traffic light and the signal transmitting unit of the present invention.
如图1所示,一种适于无人驾驶车辆通过红绿灯2交叉路口的通行控制系统,包括:信号发射单元3,适于向车辆1发送红绿灯2的亮序信息;以及安装于车辆1内的无人驾驶控制装置,该装置用于获取车辆1的当前车速和该车辆1与红绿灯2所在路口的停车线之间的行驶距离,并根据所述当前车速、行驶距离以及接收的亮序信息,判断车辆1在当前车速下是否能通过所述路口,以做出车速维持指令或减速缓行至路口停车的制动指令。其中,所述亮序信息包括但不限于,红绿灯2(也称交通信号灯)的工作时序、当前红绿灯2的亮灯模式、变灯的间隔时间等关于红绿灯2的亮灯信息。 As shown in Figure 1, a traffic control system suitable for unmanned vehicles passing through traffic lights 2 intersections includes: a signal transmitting unit 3, which is suitable for sending information on the sequence of traffic lights 2 to the vehicle 1; and installed in the vehicle 1 An unmanned driving control device, which is used to obtain the current speed of the vehicle 1 and the travel distance between the vehicle 1 and the stop line at the intersection where the traffic light 2 is located, and according to the current speed, travel distance and received bright sequence information , to determine whether the vehicle 1 can pass the intersection at the current speed, so as to make a speed maintenance instruction or a braking instruction to slow down and stop at the intersection. Wherein, the lighting sequence information includes, but is not limited to, lighting information about the traffic lights 2 such as the working sequence of the traffic lights 2 (also called traffic lights), the current lighting mode of the traffic lights 2 , and the interval time between lights.
具体的,所述信号发射单元3的安装方式例如但不限于,将所述信号发射单元3安装在红绿灯2上方或灯柱上,也可以安装在位于路口的路灯、监控安装杆或岗亭上等易于发送无线信号处。所述无人驾驶控制装置的安装方式,例如:将所述无人驾驶控制装置单独安装在车辆1内部,并与车内控制线路(车载电脑)相连,以实现对汽车车速的控制,以及利用车载中控显示或仪表显示,以及利用车载音响进行语音播报和图像显示红绿灯2及车辆1行驶的相应信息;也可以将本无人驾驶控制装置中判断车辆1在当前车速下是否能通过所述路口,以做出车速维持指令或减速缓行至路口停车的制动指令的相应功能利用行车电脑实现。所述路口停车具体的为在路口停车线附件停车。 Specifically, the installation method of the signal transmitting unit 3 is, for example but not limited to, installing the signal transmitting unit 3 on the top of the traffic light 2 or on a lamp post, or on a street lamp at an intersection, a monitoring installation pole or a sentry box, etc. Easy to send wireless signal at. The installation method of the unmanned driving control device, for example: the said unmanned driving control device is separately installed inside the vehicle 1 and connected with the control circuit (on-board computer) in the vehicle to realize the control of the vehicle speed, and use Vehicle-mounted central control display or instrument display, and the use of vehicle-mounted audio for voice broadcast and image display of traffic lights 2 and corresponding information about vehicle 1 driving; it is also possible to use this unmanned driving control device to determine whether vehicle 1 can pass through the vehicle at the current speed. At the crossing, the corresponding function of making a vehicle speed maintenance command or slowing down and slowing down to a braking command to stop at the crossing is realized by the trip computer. The intersection parking is specifically parking near the intersection parking line.
图2示出了所述信号发射单元3的组成框图。 FIG. 2 shows a block diagram of the signal transmitting unit 3 .
如图2所示,所述信号发射单元3包括:与红绿灯2内控制模块相连的数据编码模块,该数据编码模块通过射频发射模块与发射天线相连。具体的,所述数据编码模块将发自红绿灯2信号控制模块的红绿灯2的亮序信息编制成统一格式的代码,先后通过射频发射模块和发射天线将代码信息以无线电波形式发射到交叉路口周围空间内(通常是以交叉路口中心为圆点的一个圆形区域)。 As shown in FIG. 2 , the signal transmitting unit 3 includes: a data encoding module connected to the control module in the traffic light 2 , and the data encoding module is connected to the transmitting antenna through the radio frequency transmitting module. Specifically, the data encoding module compiles the bright sequence information of the traffic lights 2 sent from the traffic lights 2 signal control module into codes in a uniform format, and transmits the code information in the form of radio waves to around the intersection through the radio frequency transmitting module and the transmitting antenna within the space (usually a circular area with the center of the intersection as the dot).
图3示出了所述信号接收单元的组成框图。 Fig. 3 shows a block diagram of the signal receiving unit.
如图3所示,所述无人驾驶控制装置包括:信号接收单元, 所述信号接收单元包括:接收天线,与该接收天线相连的射频接收模块,以及与该射频接收模块相连的数据解码模块。具体的,所述信号接收单元利用接收天线与射频接收模块接收来自信号发射单元3的红绿灯2亮序信息,利用数据解码模块对接收的信息进行解码,以获得当前红绿灯2的亮序信息,该亮序信息传送至主控模块。 As shown in Figure 3, the unmanned driving control device includes: a signal receiving unit, and the signal receiving unit includes: a receiving antenna, a radio frequency receiving module connected to the receiving antenna, and a data decoding module connected to the radio frequency receiving module . Specifically, the signal receiving unit uses the receiving antenna and the radio frequency receiving module to receive the information on the sequence of the traffic lights 2 from the signal transmitting unit 3, and uses the data decoding module to decode the received information to obtain the information on the sequence of the current traffic lights 2. The bright sequence information is sent to the main control module.
图4示出了所述无人驾驶控制装置的结构图。 Fig. 4 shows a structural diagram of the unmanned driving control device.
所述无人驾驶控制装置还包括:定位单元,该定位单元包括:定位模块、存储有电子地图的存储模块,以及与所述定位模块、存储模块相连的主控模块,该主控模块与所述数据解码模块相连;所述主控模块适于根据所述当前车速、行驶距离以及接收的亮序信息,判断车辆1在当前车速下是否能通过所述路口,以做出车速维持指令或减速缓行至路口停车的制动指令,并将所述车速维持指令输出至车速控制模块,或将制动指令输出至制动控制模块,以实现对车辆1的相应控制指令。 The unmanned driving control device also includes: a positioning unit, the positioning unit includes: a positioning module, a storage module storing an electronic map, and a main control module connected to the positioning module and the storage module, the main control module is connected to the The above data decoding module is connected; the main control module is suitable for judging whether the vehicle 1 can pass the intersection at the current speed according to the current speed, driving distance and received sequence information, so as to make a speed maintenance instruction or decelerate slowing down to a braking command to stop at an intersection, and output the vehicle speed maintaining command to the vehicle speed control module, or output the braking command to the braking control module, so as to realize the corresponding control command to the vehicle 1 .
其中,所述车速控制模块以及制动控制模块为车内常见的控制模块,属于现有技术。相应控制指令包括但不限于车速维持指令、减速缓行至路口停车的制动指令。所述定位模块例如但不限于采用GPS模块、北斗卫星定位模块、GPRS定位模块以及WIFI定位模块,即可以采用一种或多种定位方式融合实现车辆定位。 Wherein, the vehicle speed control module and the brake control module are common control modules in the vehicle, which belong to the prior art. The corresponding control commands include but not limited to a vehicle speed maintenance command, and a braking command to slow down and stop at an intersection. The positioning module, for example but not limited to, adopts GPS module, Beidou satellite positioning module, GPRS positioning module and WIFI positioning module, that is, one or more positioning methods can be integrated to realize vehicle positioning.
具体的,所述定位单元根据获取的车辆1的当前车速和车辆1与所述红绿灯2所在路口的行驶距离,以及接收单元接收的红绿灯2的亮序信息,判断车辆1能否通过所述路口,并对车辆1发出相应指令。 Specifically, the positioning unit judges whether the vehicle 1 can pass through the intersection according to the obtained current speed of the vehicle 1 and the traveling distance between the vehicle 1 and the intersection where the traffic light 2 is located, and the sequence information of the traffic light 2 received by the receiving unit , and issue corresponding commands to vehicle 1.
所述无人驾驶控制装置还包括:显示模块,该显示模块与所述主控模块相连,用于显示红绿灯2及车辆1行驶的相应信息。可选的,所述显示模块采用单独的液晶屏,或通过数据线与中控显示屏相连。 The unmanned driving control device further includes: a display module, which is connected to the main control module and used to display traffic lights 2 and corresponding information about the vehicle 1 traveling. Optionally, the display module adopts a separate liquid crystal screen, or is connected to the central control display screen through a data cable.
所述无人驾驶控制装置还包括:语音播放模块,该语音播放模块与所述主控模块相连,用于播报红绿灯2及车辆1行驶的相应信息。可选的,所述语音播放模块采用单独的扬声器,或采用车载音响来实现。 The unmanned driving control device also includes: a voice playback module, which is connected to the main control module and used to broadcast traffic lights 2 and corresponding information about the vehicle 1 running. Optionally, the voice playback module is realized by using a separate loudspeaker, or using a car audio system.
具体的,所述主控模块控制所述显示模块和语音播放模块发出相应的图像信息和语音信息,所述图像和语音信息包括但不限于,车辆1的当前时速,是否能通过路口的判断结果,当前红绿灯2的亮灯,红绿灯2的时序信息,以及当路面安全时,提示车速提升至何值可顺利通过路口的建议等信息。 Specifically, the main control module controls the display module and the voice playback module to send corresponding image information and voice information, the image and voice information includes but not limited to, the current speed of the vehicle 1, and the judgment result of whether it can pass the intersection , the current lighting of the traffic light 2, the timing information of the traffic light 2, and when the road surface is safe, the information such as the suggestion to increase the speed of the vehicle to pass the intersection smoothly.
可选的,所述无人驾驶控制装置还可以包括蓝牙、WIFI等通讯手段与手机、PDA、IPAD或含有蓝牙或具有WIFI功能的车载电脑相连,以实现多种方式的红绿灯2及车辆1行驶的相应信息推送。其中,相应信息为所述图像和语音信息内的各种信息。 Optionally, the unmanned driving control device may also include Bluetooth, WIFI and other communication means to connect with mobile phones, PDAs, IPADs, or vehicle-mounted computers with Bluetooth or WIFI functions, so as to realize traffic lights 2 and vehicle 1 driving in various ways. The corresponding information is pushed. Wherein, the corresponding information is various information in the image and voice information.
可选的,所述主控模块可以但不限于采用单片机、嵌入式等芯片来实现。 Optionally, the main control module can be realized by using but not limited to chips such as single-chip microcomputers and embedded chips.
实施例2 Example 2
在实施例1基础上的通行控制系统的工作方法,包括:所述无人驾驶控制装置适于通过获取当前车速、行驶距离,及红绿灯2的亮序信息,判断车辆1在当前车速下是否能通过所述路口,以做出车速维持指令或减速缓行至路口停车的制动指令。 The working method of the traffic control system on the basis of Embodiment 1 includes: the unmanned driving control device is adapted to determine whether the vehicle 1 can operate at the current speed by acquiring the current vehicle speed, driving distance, and information on the sequence of traffic lights 2 Pass through the intersection to give a vehicle speed maintenance instruction or a braking instruction to slow down and slow down to the intersection to stop.
图5示出了通行控制系统的工作方法的流程图。 FIG. 5 shows a flow chart of the method of operation of the access control system.
如图5所示,具体的,所述工作方法如下步骤: As shown in Figure 5, specifically, the working method is as follows:
步骤S100,获得车辆1在当前车速下是否能通过所述路口的推算用数据,即所述无人驾驶控制装置获取的车辆1的当前车速和车辆1与所述红绿灯2所在路口的行驶距离,以及接收的红绿灯2的亮序信息。 Step S100, obtaining data for estimating whether the vehicle 1 can pass the intersection at the current speed, that is, the current speed of the vehicle 1 obtained by the unmanned driving control device and the travel distance between the vehicle 1 and the intersection where the traffic light 2 is located, And the received sequence information of the traffic light 2.
步骤S200,根据推算对车辆1实现相应控制,即所述无人驾驶控制装置根据上述信息推算出车辆1在当前车速下是否能通过所述路口,对车辆1做出车速维持指令或减速缓行至路口停车的制动指令。 Step S200, implement corresponding control on the vehicle 1 according to the estimation, that is, the unmanned driving control device calculates whether the vehicle 1 can pass through the intersection at the current speed according to the above information, and gives the vehicle 1 an instruction to maintain the speed or slow down to Braking command for stopping at an intersection.
所述通行控制系统的工作方法中的无人驾驶控制装置做出车速维持指令或减速缓行至路口停车的制动指令的方法,包括: The method for the unmanned driving control device in the working method of the traffic control system to make a vehicle speed maintenance command or a braking command to slow down and stop at an intersection includes:
所述无人驾驶控制装置将所述车速维持指令输出至车速控制模块,或将制动指令输出至制动控制模块,以实现对车辆1的相应控制指令;以及将红绿灯2及车辆1行驶的相应信息,通过语音播报和/或图像显示向车辆1驾驶员发出。其中,相应控制指令的含义在实施例1中已经进行了解释。所述相应信息指的是所述图像和语音信息。 The unmanned driving control device outputs the vehicle speed maintenance instruction to the vehicle speed control module, or outputs the braking instruction to the braking control module, so as to realize the corresponding control instruction to the vehicle 1; The corresponding information is sent to the driver of the vehicle 1 through voice broadcast and/or image display. Wherein, the meaning of the corresponding control instruction has been explained in Embodiment 1. The corresponding information refers to the image and voice information.
优选的,为了实现节能功能,所述通行控制系统的工作方法还包括:无人驾驶控制装置进入休眠和激活唤醒的工作方法,其包括: Preferably, in order to realize the energy-saving function, the working method of the traffic control system further includes: the working method of the unmanned driving control device entering sleep and activating and waking up, which includes:
若车辆1进入信号发射单元3的发射区域时,该无人驾驶控制装置从休眠状态激活。 If the vehicle 1 enters the transmitting area of the signal transmitting unit 3, the unmanned driving control device is activated from the dormant state.
若车辆1驶离信号发射单元3的发射区域时,该所述无人驾驶控制装置进入休眠状态。 If the vehicle 1 leaves the transmission area of the signal transmission unit 3, the said unmanned driving control device enters into a dormant state.
所述通行控制系统的工作方法还包括: The working method of the traffic control system also includes:
当车速改变后,所述无人驾驶控制装置还适于重新判断车辆1在改变后的车速下是否能通过所述路口,以做出车速维持指令或减速缓行至路口停车的制动指令,以及将红绿灯2及车辆1行驶的相应信息,通过语音播报和/或图像显示向车辆1驾驶员发出。 When the vehicle speed is changed, the driverless control device is also adapted to re-judgment whether the vehicle 1 can pass through the intersection at the changed vehicle speed, so as to make a vehicle speed maintenance instruction or a braking instruction to slow down and slow down to the intersection to stop, and The traffic light 2 and the corresponding information of the vehicle 1 running are sent to the driver of the vehicle 1 through voice broadcast and/or image display.
在实施例1和实施例2的基础上的两种具体的实施方式。 Two specific implementations based on Example 1 and Example 2.
所述实施方式一 The first embodiment
图6示出了本发明在无人驾驶车辆上的工作流程示意图。 Fig. 6 shows a schematic diagram of the working process of the present invention on an unmanned vehicle.
如图1和图6所示,信号发射单元3(也称为信号发射装置)安装在红绿灯2的灯柱上,向接近路口的所有安装有本无人驾驶控制装置的车辆1发送红绿灯2信息,车载的信号接收单元接收到发自信号发射单元3的红绿灯2信息,并把无线信号中包含的亮序信息(当前红绿灯2的亮灯模式及工作时序)传输给主控模块,得到该信息后,主控模块从休眠状态被激活,立即从GPS模块(定位模块)中索取到当前车辆1的方位信息和实时车速,并结合电子地图,确定当前己方车道的红绿灯2的状态(包括但不限于当前是红灯、黄灯还是绿灯,以及每次变灯的等候时间),同时推算当前车辆1与路口的距离,并判断当前车速下车辆1能否顺利通过路口。 As shown in Figure 1 and Figure 6, the signal transmitting unit 3 (also referred to as the signal transmitting device) is installed on the lamp post of the traffic light 2, and sends the information of the traffic light 2 to all vehicles 1 equipped with the driverless control device approaching the intersection , the vehicle-mounted signal receiving unit receives the traffic light 2 information sent from the signal transmitting unit 3, and transmits the lighting sequence information (current lighting mode and working sequence of the traffic light 2) contained in the wireless signal to the main control module to obtain the information Finally, the main control module is activated from the dormant state, and immediately obtains the orientation information and real-time vehicle speed of the current vehicle 1 from the GPS module (positioning module), and combines the electronic map to determine the status of the traffic lights 2 of the current own lane (including but not Limited to the current red light, yellow light or green light, and the waiting time for each light change), at the same time calculate the distance between the current vehicle 1 and the intersection, and judge whether the vehicle 1 can pass the intersection smoothly under the current speed.
若当前绿灯持续时间能够让车辆1在当前车速下通过路口,或者车辆1在当前车速下到达路口时正好在绿灯时序内,无人驾驶控制装置发出维持原状态(保持车速)的信号。 If the current duration of the green light allows vehicle 1 to pass the intersection at the current speed, or vehicle 1 arrives at the intersection at the current speed just within the time sequence of the green light, the unmanned driving control device sends a signal to maintain the original state (keep the vehicle speed).
若因前方车辆1阻挡等其他原因车速下降,则主控模块需要再次判断是否能通过上述路口。 If the speed of the vehicle drops due to other reasons such as the obstruction of the vehicle 1 in front, the main control module needs to judge whether the above-mentioned intersection can be passed again.
当车辆1背离红绿灯2一段距离后,车辆1超出了信号发射单元3的发送范围,则主控单元及其它相关部件进入休眠状态。 When the vehicle 1 deviates from the traffic light 2 for a certain distance, and the vehicle 1 exceeds the transmission range of the signal transmitting unit 3, the main control unit and other related components enter into a dormant state.
若推算出以当前车速到达路口时,正好处于红灯或黄灯时序,则认为车辆1无法顺利通过路口,需要等候下一个绿灯时序,无人驾驶控制装置发出减速缓行至路口停车线位置停车的制动指令,等到下一个绿灯时序开始后,车辆1通过红绿灯2交叉路口。当车辆1背离红绿灯2一段距离后,车辆1超出了信号发射单元3的发送范围,则主控单元及其它相关部件进入休眠状态。 If it is calculated that when the vehicle arrives at the intersection at the current speed, it happens to be in the sequence of red or yellow lights, then it is considered that vehicle 1 cannot pass the intersection smoothly and needs to wait for the next sequence of green lights, and the unmanned driving control device issues a signal to slow down and stop at the stop line at the intersection Braking command, after the next green light sequence starts, vehicle 1 passes through the traffic light 2 intersection. When the vehicle 1 deviates from the traffic light 2 for a certain distance, and the vehicle 1 exceeds the transmission range of the signal transmitting unit 3, the main control unit and other related components enter into a dormant state.
所述实施方式二 The second embodiment
图7示出了本发明在有人驾驶车辆上的工作流程示意图。 Fig. 7 shows a schematic diagram of the working process of the present invention on a manned vehicle.
当驾驶员驾驶的车辆1在雨雾天气,或是红绿灯2被前方车辆1遮挡时,驾驶员无法有效得到红绿灯2信息,会出现无意闯红灯现象。有些驾驶员因速度感差,也无法有效控制车辆1通过红绿灯2交叉路口的时机,也常常导致路口急刹车或者是闯红灯违章。本通行控制系统可以有效避免此类情况的发生。 When the vehicle 1 driven by the driver is in rainy and foggy weather, or when the traffic light 2 is blocked by the vehicle 1 ahead, the driver cannot effectively obtain the traffic light 2 information, and the phenomenon of unintentional red light running will occur. Some drivers also cannot effectively control the timing of vehicles 1 passing through traffic lights 2 intersections due to their poor sense of speed, which often leads to sudden braking at intersections or violation of regulations by running red lights. This access control system can effectively avoid the occurrence of such situations.
具体的,如图7所示,信号发射单元3(也称为信号发射装置)向接近路口的所有安装有本无人驾驶控制装置的车辆1发送红绿灯2信息,车载的信号接收单元接收到发自信号发射单元3的红绿灯2信息,并把无线信号中包含的亮序信息(当前红绿灯2的亮灯模式及工作时序)传输给主控模块,得到该信息后,主控模块从休眠状态被激活,立即从GPS模块(定位模块)中索取到当前车辆1的方位信息和实时车速,并结合电子地图,确定当前己方车道的红绿灯2的状态(包括但不限于当前是红灯、黄灯还是绿灯,以及每次变灯的等候时间),上述信息被输送到车内显示模块上显示。同时主控模块推算当前车辆1与路口的距离,并判断当前状况下车辆1能否顺利通过路口。 Specifically, as shown in Figure 7, the signal transmitting unit 3 (also referred to as a signal transmitting device) sends traffic light 2 information to all vehicles 1 that are equipped with the unmanned driving control device near the intersection, and the vehicle-mounted signal receiving unit receives the signal The traffic light 2 information from the signal transmitting unit 3, and the lighting sequence information contained in the wireless signal (current lighting mode and working sequence of the traffic light 2) are transmitted to the main control module. After obtaining this information, the main control module is activated from the sleep state. Activate, immediately obtain the orientation information and real-time vehicle speed of the current vehicle 1 from the GPS module (positioning module), and combine the electronic map to determine the status of the traffic light 2 of the current own lane (including but not limited to whether it is currently red light, yellow light or Green light, and the waiting time for each light change), the above information is sent to the display module in the car for display. At the same time, the main control module calculates the distance between the current vehicle 1 and the intersection, and judges whether the vehicle 1 can pass the intersection smoothly under the current situation.
若当前绿灯持续时间能够让车辆1在当前车速下通过路口,或者车辆1在当前车速下到达路口时正好在绿灯时序内,系统利用语音和图像提示的方法向驾驶员发出维持原状态信号(保持车速)。 If the current duration of the green light allows vehicle 1 to pass the intersection at the current speed, or when vehicle 1 arrives at the intersection at the current speed just within the time sequence of the green light, the system uses voice and image prompts to send a signal to the driver to maintain the original state (keep speed).
若因前方车辆1阻挡等其他原因车速下降,则主控模块需要再次判断。 If the vehicle speed drops due to other reasons such as the obstruction of the vehicle 1 in front, the main control module needs to judge again.
当车辆1背离红绿灯2一段距离后,车辆1超出了信号发射单元3的发送范围,则主控单元及其它相关部件进入休眠状态。 When the vehicle 1 deviates from the traffic light 2 for a certain distance, and the vehicle 1 exceeds the transmission range of the signal transmitting unit 3, the main control unit and other related components enter into a dormant state.
若推算出以当前车速到达路口时,正好处于红灯或黄灯时序,则认为车辆1无法顺利通过路口,需要等候下一个绿灯时序,系统向驾驶员发出制动、停车的语音、图像警示信息,等到下一个绿灯时序开始后,车辆1通过红绿灯2交叉路口。 If it is calculated that when the vehicle arrives at the intersection at the current speed, it happens to be in the sequence of red or yellow lights, then it is considered that vehicle 1 cannot pass the intersection smoothly and needs to wait for the next sequence of green lights, and the system sends a voice and image warning message of braking and parking to the driver , after the next green light sequence starts, vehicle 1 passes through the traffic light 2 intersection.
当车辆1背离红绿灯2一段距离后,车辆1超出了信号发射单元3的发送范围,则主控模块、车内显示模块及其它相关部件进入休眠状态。 When the vehicle 1 deviates from the traffic light 2 for a certain distance, and the vehicle 1 exceeds the transmission range of the signal transmitting unit 3, the main control module, the display module in the vehicle and other related components enter into a dormant state.
应当理解的是,本发明的上述具体实施方式仅仅用于示例性说明或解释本发明的原理,而不构成对本发明的限制。因此,在不偏离本发明的精神和范围的情况下所做的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。此外,本发明所附权利要求旨在涵盖落入所附权利要求范围和边界、或者这种范围和边界的等同形式内的全部变化和修改例。 It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principle of the present invention, and not to limit the present invention. Therefore, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present invention shall fall within the protection scope of the present invention. Furthermore, it is intended that the appended claims of the present invention embrace all changes and modifications that come within the scope and metesques of the appended claims, or equivalents of such scope and metes and bounds.
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