CN104199451A - Traffic control system of unmanned vehicle for traffic light intersection and working method thereof - Google Patents

Abstract

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

Traffic control system and working method for unmanned vehicles at traffic light intersections

technical field

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.

Background technique

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.

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.

Contents of the invention

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.

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.

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.

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.

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.

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.

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.

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.

The present invention also provides a working method of the access control system, comprising the following steps:

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.

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.

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.

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.

The above technical solution of the present invention has the following advantages compared with the prior art:

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. 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. 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.

Description of drawings

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

Fig. 1 is the position relationship figure of vehicle, traffic light and signal transmitting unit of invention;

Fig. 2 is a block diagram of the composition of the signal transmitting unit;

Fig. 3 is a block diagram of the composition of the signal receiving unit;

Fig. 4 is a structural diagram of the driverless control device;

Fig. 5 shows the flow chart of the working method of the access control system;

Fig. 6 is a schematic diagram of the workflow of the present invention on an unmanned vehicle;

Fig. 7 is a schematic diagram of the working process of the present invention on a manned vehicle.

Among them, a vehicle 1, a traffic light 2, and a signal transmitting unit 3.

Detailed ways

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.

Example 1

Fig. 1 shows the position relationship diagram of the vehicle, the traffic light and the signal transmitting unit of the present invention.

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.

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.

FIG. 2 shows a block diagram of the signal transmitting unit 3 .

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).

Fig. 3 shows a block diagram of the signal receiving unit.

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.

Fig. 4 shows a structural diagram of the unmanned driving control device.

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 .

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.

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.

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.

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.

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.

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.

Optionally, the main control module can be realized by using but not limited to chips such as single-chip microcomputers and embedded chips.

Example 2

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.

FIG. 5 shows a flow chart of the method of operation of the access control system.

As shown in Figure 5, specifically, the working method is as follows:

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.

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.

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:

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.

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:

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.

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.

The working method of the traffic control system also includes:

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.

Two specific implementations based on Example 1 and Example 2.

The first embodiment

Fig. 6 shows a schematic diagram of the working process of the present invention on an unmanned vehicle.

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.

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).

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.

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.

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.

The second embodiment

Fig. 7 shows a schematic diagram of the working process of the present invention on a manned vehicle.

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.

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.

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).

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.

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.

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.

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.

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.

Claims (10)

1. a passing control system for automatic driving vehicle for traffic light intersection, is characterized in that, comprising:

Signal transmitter unit, for the bright order information of wireless transmission traffic lights;

Unmanned control device, for obtaining the operating range between current vehicle speed and this vehicle and the stop line at crossing, traffic lights place of vehicle, and according to the bright order information of described current vehicle speed, operating range and reception, judge whether vehicle can pass through described crossing under current vehicle speed, to make the braking instruction that the speed of a motor vehicle maintains instruction or the jogging of slowing down is stopped to crossing.

2. passing control system according to claim 1, is characterized in that, described signal transmitter unit comprises: the data coding module being connected with control module in traffic lights, this data coding module is connected with emitting antenna by radiofrequency emitting module.

3. passing control system according to claim 2, it is characterized in that, unmanned control device comprises: signal receiving unit, this signal receiving unit comprises: receiving antenna, the Receiver Module being connected with this receiving antenna, and the data decode module being connected with this Receiver Module.

4. passing control system according to claim 3, it is characterized in that, described unmanned control device also comprises: positioning unit, this positioning unit comprises: locating module, store the memory module of electronic chart, and the main control module being connected with described locating module, memory module, this main control module is connected with described data decode module;

Described main control module is suitable for the bright order information according to described current vehicle speed, operating range and reception, judge whether vehicle can pass through described crossing under current vehicle speed, to make the braking instruction that the speed of a motor vehicle maintains instruction or the jogging of slowing down is stopped to crossing, and the described speed of a motor vehicle is maintained to instruction export speed of a motor vehicle control module to, or export braking instruction to brake control module, to realize the corresponding steering order to vehicle.

5. passing control system according to claim 4, is characterized in that, described unmanned control device also comprises: display module, this display module is connected with described main control module, for showing the corresponding information of traffic lights and Vehicle Driving Cycle.

6. passing control system according to claim 5, is characterized in that, described unmanned control device also comprises: voice playing module, this voice playing module is connected with described main control module, for reporting the corresponding information of traffic lights and Vehicle Driving Cycle.

7. a method of work for passing control system according to claim 1, comprises the steps:

Described unmanned control device is suitable for by obtaining current vehicle speed, operating range, and the bright order information of traffic lights, judges whether vehicle can pass through described crossing under current vehicle speed, to make the braking instruction that the speed of a motor vehicle maintains instruction or the jogging of slowing down is stopped to crossing.

8. the method for work of passing control system according to claim 7, it is characterized in that, unmanned control device in the method for work of described passing control system is made the method for braking instruction that the speed of a motor vehicle maintains instruction or the jogging of slowing down is stopped to crossing, comprising:

Described unmanned control device maintains instruction by the described speed of a motor vehicle and exports speed of a motor vehicle control module to, or exports braking instruction to brake control module, to realize the corresponding steering order to vehicle; And by the corresponding information of traffic lights and Vehicle Driving Cycle, show and send to vehicle driver by voice broadcast and/or image.

9. the method for work of passing control system according to claim 8, is characterized in that, the method for work of described passing control system also comprises:

Unmanned control device enters dormancy and activates the method for work of waking up, and it comprises:

If when the emitting area of vehicle entering signal transmitter unit, this unmanned control device activates from dormant state;

If when vehicle sails out of the emitting area of signal transmitter unit, described in this, unmanned control device enters dormant state.

10. the method for work of passing control system according to claim 9, is characterized in that, the method for work of described passing control system also comprises:

After the speed of a motor vehicle changes, described unmanned control device is also suitable for rejudging under the speed of a motor vehicle of vehicle after change whether can pass through described crossing, to make the braking instruction that the speed of a motor vehicle maintains instruction or the jogging of slowing down is stopped to crossing.