CN104199451A - Unmanned vehicle passing control system for traffic light intersections and operating method thereof - Google Patents
Unmanned vehicle passing control system for traffic light intersections and operating method thereof Download PDFInfo
- Publication number
- CN104199451A CN104199451A CN201410485235.4A CN201410485235A CN104199451A CN 104199451 A CN104199451 A CN 104199451A CN 201410485235 A CN201410485235 A CN 201410485235A CN 104199451 A CN104199451 A CN 104199451A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- speed
- module
- control
- crossing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000011017 operating method Methods 0.000 title abstract 2
- 230000001702 transmitter Effects 0.000 claims description 28
- 230000000875 corresponding Effects 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000005059 dormancy Effects 0.000 claims description 3
- 230000002618 waking Effects 0.000 claims description 3
- 230000003044 adaptive Effects 0.000 abstract 2
- 230000003247 decreasing Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 7
- 229920002892 amber Polymers 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 239000000203 mixture Substances 0.000 description 4
- DMBHHRLKUKUOEG-UHFFFAOYSA-N Diphenylamine Chemical compound data:image/svg+xml;base64,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 data:image/svg+xml;base64,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 C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 230000000903 blocking Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
- 229920001690 polydopamine Polymers 0.000 description 1
Abstract
The invention relates to an unmanned vehicle passing control system for traffic light intersections and an operating method thereof. The system comprises a signal emitting unit and an unmanned driving control device. The signal emitting unit is adaptive to transmitting lighting sequence information of traffic lights in a wireless manner; the unmanned driving control device is used for acquiring the current speed of the vehicle and the driving distance between the vehicle and a parking line of the intersection where the traffic light located and judging whether the vehicle can pass the intersection or not in the current speed according to the current speed, the driving distance and the received light sequence information so as to transmit a command of remaining the vehicle speed or braking command of decreasing the speed to brake at the intersection. The system is not only adaptive to unmanned vehicles but also benefits driven vehicles, whether a vehicle at the current position and speed can pass the front intersection with the traffic light can be judged accurately, and audio and image alarms are provided to a driver timely.
Description
Technical field
The present invention relates to field of traffic, particularly relate to passing control system and the method for work thereof of a kind of traffic light intersection automatic driving vehicle.
Background technology
Current unmanned technology has been the important directions of development of automobile.The traffic conditions of traffic light crossing is the most complicated, especially misty rain weather, or follow after oversize vehicle and travel, accurately judge that the road conditions in front is more difficult.How allowing automatic driving vehicle safely, effectively pass through traffic light crossing, is the key issue of unmanned technology, is also the technical barrier in this field.Current unmanned technology judges that road conditions mainly relies on the ranging technologies such as camera image recognition technology, the radar exploration technique and laser, infrared ray, does not also have a kind of relating to be specially suitable for automatic driving vehicle by the passing control system of traffic light crossing.
Therefore, need to design a kind of passing control system of automatic control automatic driving vehicle safety traffic light crossing, to improve automatic driving vehicle by validity and the security of traffic light crossing.
Summary of the invention
The object of this invention is to provide the passing control system of a kind of traffic light intersection automatic driving vehicle, this passing control system has solved automatic driving vehicle effectively by the safety problem of traffic light crossing, to realize unmanned automatic driving vehicle safety, effectively to pass through traffic light crossing.
In order to solve the problems of the technologies described above, the invention provides the passing control system of a kind of traffic light intersection automatic driving vehicle, 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.
Preferably, 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.
Preferably, 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.
Preferably, 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.
Preferably, 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.
Preferably, 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.
On the other hand, the present invention also provides a kind of method of work of passing control system on the basis of the technical scheme of described passing control system, to solve automatic driving vehicle by the safety problem of traffic light crossing, to realize unmanned automatic driving vehicle safety, effectively to pass through traffic light crossing.
The present invention also provides a kind of method of work of described passing control system, 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.
Preferably, unmanned control device in the method for work of described passing control system is made the speed of a motor vehicle and is maintained instruction or slow down the method for jogging to the braking instruction of crossing parking, comprise: 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 export 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.
Preferably, the method of work of described passing control system also comprises: unmanned control device enters dormancy and activates the method for work of waking up, 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.
Preferably, the method of 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.
Technique scheme of the present invention has the following advantages compared to existing technology:
1, the present invention is not only applicable to unmanned automatic driving vehicle, for there being people's steering vehicle, very beneficial yet, and it can accurately judge under current location and the speed of a motor vehicle, and can vehicle by the traffic light crossing in front, gives in time driver's voice, image warning.
2, in the present invention, traffic lights information launcher adopts wireless radio-frequency, and power is little, good reliability, available frequency band scope is wide, little with the possibility of other radio signal phase mutual interference, and is not subject to rain, mist weather effect, also be not subject to blocking of front oversize vehicle, reliability is high; In vehicle-mounted traffic lights information receiver, main control unit, car, the system such as lights state display is in dormant state when away from crossing, and good energy saving property, can not produce and disturb automated driving system.
3, the present invention is a kind of automatic control system in essence, can be used as the automated driving system effective integration of a kind of subsystem and vehicle.
Brief description of the drawings
For content of the present invention is more likely to be clearly understood, below the specific embodiment by reference to the accompanying drawings of basis, the present invention is further detailed explanation, wherein
Fig. 1 is the location diagram of vehicle, traffic lights and the signal transmitter unit of invention;
Fig. 2 is the composition frame chart of described signal transmitter unit;
Fig. 3 is the composition frame chart of described signal receiving unit;
Fig. 4 is the structural drawing of described unmanned control device;
Fig. 5 shows the process flow diagram of the method for work that is passing control system;
Fig. 6 is the workflow schematic diagram of the present invention on automatic driving vehicle;
Fig. 7 is that the present invention is at the workflow schematic diagram having on people's steering vehicle.
Wherein, vehicle 1, traffic lights 2, signal transmitter unit 3.
Embodiment
For making the object, technical solutions and advantages of the present invention more cheer and bright, below in conjunction with embodiment and with reference to accompanying drawing, the present invention is described in more detail.Should be appreciated that, these descriptions are exemplary, and do not really want to limit the scope of the invention.In addition, in the following description, omitted the description to known features and technology, to avoid unnecessarily obscuring concept of the present invention.
Embodiment 1
Fig. 1 shows the location diagram of vehicle of the present invention, traffic lights and signal transmitter unit.
As shown in Figure 1, a kind of automatic driving vehicle that is suitable for by the passing control system of traffic lights 2 intersections, comprising: signal transmitter unit 3, is suitable for sending to vehicle 1 the bright order information of traffic lights 2; And be installed on the unmanned control device in vehicle 1, this device is for obtaining the operating range between current vehicle speed and this vehicle 1 and the stop line at traffic lights 2 crossings, place of vehicle 1, and according to the bright order information of described current vehicle speed, operating range and reception, judge whether vehicle 1 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.Wherein, described bright order information includes but not limited to, traffic lights 2(also claims traffic lights) work schedule, current traffic lights 2 bright light pattern, become interval time etc. of lamp about the bright light information of traffic lights 2.
Concrete, the mounting means of described signal transmitter unit 3 such as but not limited to, described signal transmitter unit 3 is arranged on traffic lights 2 tops or lamppost, also can be arranged on and be positioned at street lamp, the monitoring mounting rod at crossing or sentry box is first-class is easy to send wireless signal place.The mounting means of described unmanned control device, for example: described unmanned control device is arranged separately in to vehicle 1 inside, and be connected with operation circuit in car (vehicle-mounted computer), to realize the control to automobile speed, and utilize vehicle-mounted middle control demonstration or instrument to show, and utilize vehicle audio to carry out the corresponding information that voice broadcast and image demonstration traffic lights 2 and vehicle 1 travel; Also can will in this unmanned control device, judge whether vehicle 1 can pass through described crossing under current vehicle speed, to make, the speed of a motor vehicle maintains instruction or the corresponding function of the braking instruction that the jogging of slowing down is stopped to crossing utilizes car running computer to realize.What the parking of described crossing was concrete is to stop at crossing stop line annex.
Fig. 2 shows the composition frame chart of described signal transmitter unit 3.
As shown in Figure 2, described signal transmitter unit 3 comprises: with the data coding module that the interior control module of traffic lights 2 is connected, this data coding module is connected with emitting antenna by radiofrequency emitting module.Concrete, described data coding module becomes the bright order information preparation of the traffic lights 2 from traffic lights 2 signal controlling modules the code of consolidation form, successively by radiofrequency emitting module and emitting antenna, code information is transmitted into (a normally border circular areas taking center, intersection as round dot) in the surrounding space of intersection with radiowave form.
Fig. 3 shows the composition frame chart of described signal receiving unit.
As shown in Figure 3, described unmanned control device comprises: signal receiving unit, described 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.Concrete, described signal receiving unit utilizes receiving antenna and Receiver Module to receive the bright order information of traffic lights 2 from signal transmitter unit 3, utilize data decode module to decode to the information receiving, to obtain the bright order information of current traffic lights 2, this bright order information is sent to main control module.
Fig. 4 shows the structural drawing of described unmanned control device.
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 1 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 1.
Wherein, described speed of a motor vehicle control module and brake control module are common control module in car, belong to prior art.Corresponding steering order includes but not limited to the braking instruction that the speed of a motor vehicle maintains instruction, the jogging of slowing down is stopped to crossing.Described locating module, such as but not limited to adopting GPS module, big-dipper satellite locating module, GPRS locating module and WIFI locating module, can adopt one or more locator meamss to merge and realize vehicle location.
Concrete, described positioning unit is according to the operating range at the current vehicle speed of the vehicle 1 obtaining and vehicle 1 and described traffic lights 2 crossings, place, and the bright order information of the traffic lights 2 of receiving element reception, judge that can vehicle 1 pass through described crossing, and vehicle 1 is sent to command adapted thereto.
Described unmanned control device also comprises: display module, this display module is connected with described main control module, for the corresponding information that shows that traffic lights 2 and vehicle 1 travel.Optionally, described display module adopts independent liquid crystal display, or is connected with middle control display screen by data line.
Described unmanned control device also comprises: voice playing module, this voice playing module is connected with described main control module, the corresponding information travelling for reporting traffic lights 2 and vehicle 1.Optionally, described voice playing module adopts independent loudspeaker, or adopts vehicle audio to realize.
Concrete, described in described master control module controls, display module and voice playing module send corresponding image information and voice messaging, described image and voice messaging include but not limited to, the current speed per hour of vehicle 1, whether can be by the judged result at crossing, the bright light of current traffic lights 2, the time sequence information of traffic lights 2, and in the time that road surface is safe, what value is the prompting speed of a motor vehicle be promoted to can pass through the information such as suggestion at crossing smoothly.
Optionally, described unmanned control device can also comprise the means of communication such as bluetooth, WIFI and mobile phone, PDA, IPAD or the vehicle-mounted computer that contains bluetooth or have a WIFI function is connected, and pushes to realize the traffic lights 2 of various ways and corresponding information that vehicle 1 travels.Wherein, corresponding information is the various information in described image and voice messaging.
Optionally, described main control module can be, but not limited to adopt single-chip microcomputer, the chip such as embedded to realize.
Embodiment 2
The method of work of the passing control system on embodiment 1 basis, comprise: described unmanned control device is suitable for by obtaining current vehicle speed, operating range, and the bright order information of traffic lights 2, judge whether vehicle 1 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.
Fig. 5 shows the process flow diagram of the method for work of passing control system.
As shown in Figure 5, concrete, described method of work following steps:
Step S100, whether obtain vehicle 1 can be by the reckoning data at described crossing under current vehicle speed, be the current vehicle speed of vehicle 1 and the operating range at vehicle 1 and described traffic lights 2 crossings, place that described unmanned control device obtains, and the bright order information of the traffic lights 2 that receive.
Step S200, according to calculating, vehicle 1 is realized to corresponding control, be that described unmanned control device is extrapolated vehicle 1 according to above-mentioned information whether can pass through described crossing under current vehicle speed, vehicle 1 is made to the braking instruction that the speed of a motor vehicle maintains instruction or the jogging of slowing down is stopped to crossing.
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 1; And the corresponding information that traffic lights 2 and vehicle 1 are travelled, show and send to vehicle 1 driver by voice broadcast and/or image.Wherein, the implication of corresponding steering order is explained in embodiment 1.Described corresponding information refers to described image and voice messaging.
Preferably, in order to realize power saving function, 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 1 entering signal transmitter unit 3, this unmanned control device activates from dormant state.
If when vehicle 1 sails out of the emitting area of signal transmitter unit 3, described in this, unmanned control device enters dormant state.
The method of 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 1 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, and the corresponding information that traffic lights 2 and vehicle 1 are travelled, show and send to vehicle 1 driver by voice broadcast and/or image.
Two kinds of concrete embodiments on the basis of embodiment 1 and embodiment 2.
Described embodiment one
Fig. 6 shows the workflow schematic diagram of the present invention on automatic driving vehicle.
As shown in Fig. 1 and Fig. 6, signal transmitter unit 3(is also referred to as sender unit) be arranged on the lamppost of traffic lights 2, send traffic lights 2 information to all vehicles 1 that this unmanned control device is installed that approach crossing, vehicle-mounted signal receiving unit receives traffic lights 2 information from signal transmitter unit 3, and the bright order information comprising in wireless signal (bright light pattern and the work schedules of current traffic lights 2) is transferred to main control module, obtain after this information, main control module is activated from dormant state, from GPS module (locating module), ask for immediately azimuth information and the real-time speed of a motor vehicle when vehicle in front 1, and in conjunction with electronic chart, the state of determining the traffic lights 2 in current one's own side track (includes but not limited to that current is red light, amber light or green light, and become waiting time of lamp) at every turn, calculate when vehicle in front 1 and the distance at crossing simultaneously, and judge that under current vehicle speed, can vehicle 1 pass through crossing smoothly.
If the current green light duration can allow vehicle 1 under current vehicle speed by crossing, or vehicle 1 arrive crossing under current vehicle speed time just in time in green light sequential, unmanned control device sends the signal of the state of remaining stationary (the maintenance speed of a motor vehicle).
If because the other reasons speed of a motor vehicle such as front vehicles 1 stops decline, main control module need to judge whether to pass through above-mentioned crossing again.
When vehicle 1 deviates from after traffic lights 2 one segment distances, vehicle 1 has exceeded the range of transmission of signal transmitter unit 3, and main control unit and other associated components enter dormant state.
If extrapolate while arriving crossing with current vehicle speed, just in time in red light or amber light sequential, think that vehicle 1 cannot pass through crossing smoothly, need to wait next green light sequential, unmanned control device sends the braking instruction that the jogging of slowing down is stopped to stop line position, crossing, by the time, after next green light sequential starts, vehicle 1 is by traffic lights 2 intersections.When vehicle 1 deviates from after traffic lights 2 one segment distances, vehicle 1 has exceeded the range of transmission of signal transmitter unit 3, and main control unit and other associated components enter dormant state.
Described embodiment two
Fig. 7 shows the present invention at the workflow schematic diagram having on people's steering vehicle.
When driver-operated vehicle 1 is at misty rain weather, or traffic lights 2 are while being blocked by front vehicles 1, and driver cannot effectively obtain traffic lights 2 information, there will be and is not intended to the phenomenon of making a dash across the red light.Some driver is poor because of speed sense, also cannot effectively control vehicle 1 by the opportunity of traffic lights 2 intersections, also usually causes crossing to be brought to a halt or red light violation.This passing control system can effectively avoid this type of circumstances from happening.
Concrete, as shown in Figure 7, signal transmitter unit 3(is also referred to as sender unit) send traffic lights 2 information to all vehicles 1 that this unmanned control device is installed that approach crossing, vehicle-mounted signal receiving unit receives traffic lights 2 information from signal transmitter unit 3, and the bright order information comprising in wireless signal (bright light pattern and the work schedules of current traffic lights 2) is transferred to main control module, obtain after this information, main control module is activated from dormant state, from GPS module (locating module), ask for immediately azimuth information and the real-time speed of a motor vehicle when vehicle in front 1, and in conjunction with electronic chart, the state of determining the traffic lights 2 in current one's own side track (includes but not limited to that current is red light, amber light or green light, and become waiting time of lamp) at every turn, above-mentioned information is transported in car and shows on display module.Main control module is calculated when vehicle in front 1 and the distance at crossing simultaneously, and judges that under the present situation, can vehicle 1 pass through crossing smoothly.
If the current green light duration can allow vehicle 1 pass through crossing under current vehicle speed, or when vehicle 1 arrives crossing under current vehicle speed, just in time in green light sequential, system utilizes the method for voice and picture cues to send the state signal of remaining stationary (the maintenance speed of a motor vehicle) to driver.
If because the other reasons speed of a motor vehicle such as front vehicles 1 stops decline, main control module need to judge again.
When vehicle 1 deviates from after traffic lights 2 one segment distances, vehicle 1 has exceeded the range of transmission of signal transmitter unit 3, and main control unit and other associated components enter dormant state.
If extrapolate while arriving crossing with current vehicle speed, just in time in red light or amber light sequential, think that vehicle 1 cannot pass through crossing smoothly, need to wait next green light sequential, voice, image information warning that system is sent braking, stopped to driver, by the time, after next green light sequential starts, vehicle 1 is by traffic lights 2 intersections.
When vehicle 1 deviates from after traffic lights 2 one segment distances, vehicle 1 has exceeded the range of transmission of signal transmitter unit 3, and in main control module, car, display module and other associated components enter dormant state.
Should be understood that, above-mentioned embodiment of the present invention is only for exemplary illustration or explain principle of the present invention, and is not construed as limiting the invention.Therefore any amendment of, making, be equal to replacement, improvement etc., within protection scope of the present invention all should be included in without departing from the spirit and scope of the present invention in the situation that.In addition, claims of the present invention are intended to contain whole variations and the modification in the equivalents that falls into claims scope and border or this scope and border.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410485235.4A CN104199451A (en) | 2014-09-22 | 2014-09-22 | Unmanned vehicle passing control system for traffic light intersections and operating method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410485235.4A CN104199451A (en) | 2014-09-22 | 2014-09-22 | Unmanned vehicle passing control system for traffic light intersections and operating method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104199451A true CN104199451A (en) | 2014-12-10 |
Family
ID=52084752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410485235.4A Pending CN104199451A (en) | 2014-09-22 | 2014-09-22 | Unmanned vehicle passing control system for traffic light intersections and operating method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104199451A (en) |
Cited By (35)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104575060A (en) * | 2014-12-12 | 2015-04-29 | 北京兴科迪科技有限公司 | Crossing wireless alarm device |
| CN104680814A (en) * | 2015-02-12 | 2015-06-03 | 华南理工大学 | Safety driving control method through yellow light signal on intersection based on wireless technology |
| CN104916150A (en) * | 2015-05-12 | 2015-09-16 | 三星电子（中国）研发中心 | Traffic safety presentation method applied to electronic device and electronic device |
| CN105489032A (en) * | 2016-02-15 | 2016-04-13 | 中兴通讯股份有限公司 | Method and system for displaying red light and green light information in real time |
| CN105513390A (en) * | 2016-01-04 | 2016-04-20 | 北京联合大学 | Traffic sign identification method and system for unmanned driving and traditional driving |
| CN105599608A (en) * | 2016-01-27 | 2016-05-25 | 苏州寅初信息科技有限公司 | Electric vehicle speed-limiting system based on traffic light distinguishment |
| CN106020205A (en) * | 2016-07-22 | 2016-10-12 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle system energy-saving control method and device |
| CN106157649A (en) * | 2015-04-28 | 2016-11-23 | 黄健 | Traffic signal devices and system with wireless signal |
| CN106205162A (en) * | 2016-07-18 | 2016-12-07 | 北京京东尚科信息技术有限公司 | Promote the vehicle method and device by traffic intersection anticipation accuracy |
| CN106205170A (en) * | 2016-08-30 | 2016-12-07 | 上海交通大学 | The accurate lugs in a kind of crossing for automatic Pilot and method |
| CN106297342A (en) * | 2016-10-19 | 2017-01-04 | 胡爱彬 | A kind of in advance, the alarm set of real-time prompting traffic light information and method |
| CN106355918A (en) * | 2016-09-06 | 2017-01-25 | 北京汽车集团有限公司 | Control method, device and system of unmanned vehicle |
| CN106652507A (en) * | 2017-02-04 | 2017-05-10 | 中国科学院自动化研究所 | Method and device for detecting and recognizing traffic lights based on RFID |
| CN106898147A (en) * | 2015-12-18 | 2017-06-27 | 英业达集团（北京）电子技术有限公司 | Vehicle and intersection information is collected to control the system and method for car speed |
| WO2017124966A1 (en) * | 2016-01-20 | 2017-07-27 | 深圳前海达闼云端智能科技有限公司 | Vehicle control method and apparatus |
| CN107146440A (en) * | 2017-06-26 | 2017-09-08 | 奇瑞汽车股份有限公司 | Start-up and shut-down control method and apparatus for automatic driving vehicle |
| CN107211516A (en) * | 2015-02-05 | 2017-09-26 | 飞利浦灯具控股公司 | Road lighting |
| CN107487325A (en) * | 2016-08-26 | 2017-12-19 | 宝沃汽车（中国）有限公司 | Control system, method and the vehicle of vehicle |
| CN107622683A (en) * | 2016-07-15 | 2018-01-23 | 郑州宇通客车股份有限公司 | The crossing passing method and system of autonomous land vehicle |
| CN107798896A (en) * | 2017-11-15 | 2018-03-13 | 宁波麦度智联科技股份有限公司 | A kind of mobile terminal traffic light prompting system |
| CN107851395A (en) * | 2015-07-31 | 2018-03-27 | 松下知识产权经营株式会社 | Drive assistance device, drive assist system, driving assistance method and automatic driving vehicle |
| CN108615383A (en) * | 2018-05-14 | 2018-10-02 | 吉林大学 | A kind of mechanical transport crossing auxiliary traffic system and its control method based on inter-vehicle communication |
| CN108831175A (en) * | 2018-04-19 | 2018-11-16 | 北京汽车股份有限公司 | Automobile navigation control method, device and vehicle |
| CN109035832A (en) * | 2018-09-12 | 2018-12-18 | 清华大学苏州汽车研究院（吴江） | Signal lamp intersection intelligence traffic system based on V2X communication |
| CN109147352A (en) * | 2018-11-02 | 2019-01-04 | 安徽安凯汽车股份有限公司 | A kind of control system and method that automobile traffic light zebra stripes safe and intelligent drives |
| CN109147369A (en) * | 2018-08-27 | 2019-01-04 | 惠州Tcl移动通信有限公司 | A kind of Vehicular automatic driving bootstrap technique, automatic driving vehicle and storage medium |
| CN109360438A (en) * | 2018-11-29 | 2019-02-19 | 驭势科技（北京）有限公司 | A kind of car speed decision system and method based on traffic lights |
| CN109448415A (en) * | 2018-11-13 | 2019-03-08 | 郑州云海信息技术有限公司 | A kind of choosing lane method, system, device and readable storage medium storing program for executing |
| CN109544955A (en) * | 2018-12-26 | 2019-03-29 | 广州小鹏汽车科技有限公司 | A kind of state acquiring method and system of traffic lights |
| CN109697853A (en) * | 2019-01-24 | 2019-04-30 | 黑河学院 | A kind of artificial intelligence system for assisting driving |
| CN109903574A (en) * | 2017-12-08 | 2019-06-18 | 华为技术有限公司 | The acquisition methods and device of crossing traffic information |
| CN110447057A (en) * | 2017-03-22 | 2019-11-12 | 本田技研工业株式会社 | Controller of vehicle |
| CN111002924A (en) * | 2019-11-25 | 2020-04-14 | 长城汽车股份有限公司 | Energy-saving control method and device of automatic driving system and automatic driving system |
| CN111199640A (en) * | 2019-12-31 | 2020-05-26 | 新石器慧通（北京）科技有限公司 | Cooperative control method and device for vehicle formation |
| CN111583673A (en) * | 2020-04-28 | 2020-08-25 | 华东师范大学 | Intelligent intersection management method based on unmanned vehicle |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1162585A1 (en) * | 2000-06-08 | 2001-12-12 | Hyundai Motor Company | System for assisting drivers to negotiate intersections |
| EP1628276A2 (en) * | 2004-08-17 | 2006-02-22 | Siemens Aktiengesellschaft | Driver assistance system |
| CN1815520A (en) * | 2005-02-03 | 2006-08-09 | 现代奥途纳特株式会社 | System and method for preventing traffic signal violation using infrared communication |
| JP2008299666A (en) * | 2007-05-31 | 2008-12-11 | Sumitomo Electric Ind Ltd | Vehicle driving support system, driving support device, vehicle and vehicle driving support method |
| CN101734242A (en) * | 2008-11-11 | 2010-06-16 | 上海迪哈大计算机科技有限公司 | Control device and method for automatic braking in vehicle |
| CN102556043A (en) * | 2011-12-12 | 2012-07-11 | 浙江吉利汽车研究院有限公司 | Automobile control system and automobile control method based on traffic light recognition |
| CN102774383A (en) * | 2012-07-27 | 2012-11-14 | 浙江吉利汽车研究院有限公司杭州分公司 | Traffic light prompting method and prompting device |
| CN103050015A (en) * | 2012-12-15 | 2013-04-17 | 浙江交通职业技术学院 | Traffic guidance system of city level crossing |
| CN103337186A (en) * | 2013-06-08 | 2013-10-02 | 华中科技大学 | Road junction driving auxiliary device for motor vehicle |
| CN103514748A (en) * | 2012-06-21 | 2014-01-15 | 株式会社万都 | Apparatus of guiding safe driving at intersections and method of guiding safe driving using the same |
| CN203535809U (en) * | 2013-09-23 | 2014-04-09 | 西安航空学院 | Driving assistant system capable of automatic traffic light identification |
| CN103956070A (en) * | 2014-04-28 | 2014-07-30 | 东华大学 | Signal light information obtaining system based on vehicle-mounted ad-hoc network |
| CN103996304A (en) * | 2014-04-18 | 2014-08-20 | 武汉理工大学 | City level crossing vehicle signal indication system based on vehicle-road cooperation |
-
2014
- 2014-09-22 CN CN201410485235.4A patent/CN104199451A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1162585A1 (en) * | 2000-06-08 | 2001-12-12 | Hyundai Motor Company | System for assisting drivers to negotiate intersections |
| EP1628276A2 (en) * | 2004-08-17 | 2006-02-22 | Siemens Aktiengesellschaft | Driver assistance system |
| CN1815520A (en) * | 2005-02-03 | 2006-08-09 | 现代奥途纳特株式会社 | System and method for preventing traffic signal violation using infrared communication |
| JP2008299666A (en) * | 2007-05-31 | 2008-12-11 | Sumitomo Electric Ind Ltd | Vehicle driving support system, driving support device, vehicle and vehicle driving support method |
| CN101734242A (en) * | 2008-11-11 | 2010-06-16 | 上海迪哈大计算机科技有限公司 | Control device and method for automatic braking in vehicle |
| CN102556043A (en) * | 2011-12-12 | 2012-07-11 | 浙江吉利汽车研究院有限公司 | Automobile control system and automobile control method based on traffic light recognition |
| CN103514748A (en) * | 2012-06-21 | 2014-01-15 | 株式会社万都 | Apparatus of guiding safe driving at intersections and method of guiding safe driving using the same |
| CN102774383A (en) * | 2012-07-27 | 2012-11-14 | 浙江吉利汽车研究院有限公司杭州分公司 | Traffic light prompting method and prompting device |
| CN103050015A (en) * | 2012-12-15 | 2013-04-17 | 浙江交通职业技术学院 | Traffic guidance system of city level crossing |
| CN103337186A (en) * | 2013-06-08 | 2013-10-02 | 华中科技大学 | Road junction driving auxiliary device for motor vehicle |
| CN203535809U (en) * | 2013-09-23 | 2014-04-09 | 西安航空学院 | Driving assistant system capable of automatic traffic light identification |
| CN103996304A (en) * | 2014-04-18 | 2014-08-20 | 武汉理工大学 | City level crossing vehicle signal indication system based on vehicle-road cooperation |
| CN103956070A (en) * | 2014-04-28 | 2014-07-30 | 东华大学 | Signal light information obtaining system based on vehicle-mounted ad-hoc network |
Non-Patent Citations (2)
| Title |
|---|
| 王建强 等: "基于车路一体化的交叉口车辆驾驶辅助系统", 《中国公路学报》 * |
| 董慧: "基于GPS的汽车节能畅行红绿灯提示系统研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (42)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104575060A (en) * | 2014-12-12 | 2015-04-29 | 北京兴科迪科技有限公司 | Crossing wireless alarm device |
| CN107211516A (en) * | 2015-02-05 | 2017-09-26 | 飞利浦灯具控股公司 | Road lighting |
| CN104680814A (en) * | 2015-02-12 | 2015-06-03 | 华南理工大学 | Safety driving control method through yellow light signal on intersection based on wireless technology |
| CN106157649A (en) * | 2015-04-28 | 2016-11-23 | 黄健 | Traffic signal devices and system with wireless signal |
| CN104916150A (en) * | 2015-05-12 | 2015-09-16 | 三星电子（中国）研发中心 | Traffic safety presentation method applied to electronic device and electronic device |
| CN107851395A (en) * | 2015-07-31 | 2018-03-27 | 松下知识产权经营株式会社 | Drive assistance device, drive assist system, driving assistance method and automatic driving vehicle |
| CN106898147A (en) * | 2015-12-18 | 2017-06-27 | 英业达集团（北京）电子技术有限公司 | Vehicle and intersection information is collected to control the system and method for car speed |
| CN105513390A (en) * | 2016-01-04 | 2016-04-20 | 北京联合大学 | Traffic sign identification method and system for unmanned driving and traditional driving |
| WO2017124966A1 (en) * | 2016-01-20 | 2017-07-27 | 深圳前海达闼云端智能科技有限公司 | Vehicle control method and apparatus |
| CN105599608A (en) * | 2016-01-27 | 2016-05-25 | 苏州寅初信息科技有限公司 | Electric vehicle speed-limiting system based on traffic light distinguishment |
| CN105489032A (en) * | 2016-02-15 | 2016-04-13 | 中兴通讯股份有限公司 | Method and system for displaying red light and green light information in real time |
| WO2017140104A1 (en) * | 2016-02-15 | 2017-08-24 | 中兴通讯股份有限公司 | Method and system for displaying red light and green light information in real time |
| CN107622683A (en) * | 2016-07-15 | 2018-01-23 | 郑州宇通客车股份有限公司 | The crossing passing method and system of autonomous land vehicle |
| CN106205162A (en) * | 2016-07-18 | 2016-12-07 | 北京京东尚科信息技术有限公司 | Promote the vehicle method and device by traffic intersection anticipation accuracy |
| CN106205162B (en) * | 2016-07-18 | 2019-06-04 | 北京京东尚科信息技术有限公司 | Promote the method and device that vehicle prejudges accuracy by traffic intersection |
| CN106020205A (en) * | 2016-07-22 | 2016-10-12 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle system energy-saving control method and device |
| CN106020205B (en) * | 2016-07-22 | 2018-11-02 | 百度在线网络技术（北京）有限公司 | A kind of unmanned vehicle energy saving of system control method and device |
| CN107487325A (en) * | 2016-08-26 | 2017-12-19 | 宝沃汽车（中国）有限公司 | Control system, method and the vehicle of vehicle |
| CN106205170A (en) * | 2016-08-30 | 2016-12-07 | 上海交通大学 | The accurate lugs in a kind of crossing for automatic Pilot and method |
| CN106205170B (en) * | 2016-08-30 | 2020-06-12 | 上海交通大学 | Intersection accurate parking device and method for automatic driving |
| CN106355918A (en) * | 2016-09-06 | 2017-01-25 | 北京汽车集团有限公司 | Control method, device and system of unmanned vehicle |
| CN106355918B (en) * | 2016-09-06 | 2019-05-17 | 北京汽车集团有限公司 | Control method, the device and system of automatic driving vehicle |
| CN106297342A (en) * | 2016-10-19 | 2017-01-04 | 胡爱彬 | A kind of in advance, the alarm set of real-time prompting traffic light information and method |
| CN106652507A (en) * | 2017-02-04 | 2017-05-10 | 中国科学院自动化研究所 | Method and device for detecting and recognizing traffic lights based on RFID |
| CN106652507B (en) * | 2017-02-04 | 2020-01-21 | 中国科学院自动化研究所 | Method and device for detecting and identifying traffic signal lamp based on RFID |
| CN110447057A (en) * | 2017-03-22 | 2019-11-12 | 本田技研工业株式会社 | Controller of vehicle |
| CN107146440A (en) * | 2017-06-26 | 2017-09-08 | 奇瑞汽车股份有限公司 | Start-up and shut-down control method and apparatus for automatic driving vehicle |
| CN107798896A (en) * | 2017-11-15 | 2018-03-13 | 宁波麦度智联科技股份有限公司 | A kind of mobile terminal traffic light prompting system |
| CN109903574A (en) * | 2017-12-08 | 2019-06-18 | 华为技术有限公司 | The acquisition methods and device of crossing traffic information |
| CN108831175A (en) * | 2018-04-19 | 2018-11-16 | 北京汽车股份有限公司 | Automobile navigation control method, device and vehicle |
| CN108615383A (en) * | 2018-05-14 | 2018-10-02 | 吉林大学 | A kind of mechanical transport crossing auxiliary traffic system and its control method based on inter-vehicle communication |
| CN108615383B (en) * | 2018-05-14 | 2020-10-20 | 吉林大学 | Automobile traffic intersection auxiliary passing system based on workshop communication and control method thereof |
| CN109147369A (en) * | 2018-08-27 | 2019-01-04 | 惠州Tcl移动通信有限公司 | A kind of Vehicular automatic driving bootstrap technique, automatic driving vehicle and storage medium |
| CN109035832A (en) * | 2018-09-12 | 2018-12-18 | 清华大学苏州汽车研究院（吴江） | Signal lamp intersection intelligence traffic system based on V2X communication |
| CN109147352A (en) * | 2018-11-02 | 2019-01-04 | 安徽安凯汽车股份有限公司 | A kind of control system and method that automobile traffic light zebra stripes safe and intelligent drives |
| CN109448415A (en) * | 2018-11-13 | 2019-03-08 | 郑州云海信息技术有限公司 | A kind of choosing lane method, system, device and readable storage medium storing program for executing |
| CN109360438A (en) * | 2018-11-29 | 2019-02-19 | 驭势科技（北京）有限公司 | A kind of car speed decision system and method based on traffic lights |
| CN109544955A (en) * | 2018-12-26 | 2019-03-29 | 广州小鹏汽车科技有限公司 | A kind of state acquiring method and system of traffic lights |
| CN109697853A (en) * | 2019-01-24 | 2019-04-30 | 黑河学院 | A kind of artificial intelligence system for assisting driving |
| CN111002924A (en) * | 2019-11-25 | 2020-04-14 | 长城汽车股份有限公司 | Energy-saving control method and device of automatic driving system and automatic driving system |
| CN111199640A (en) * | 2019-12-31 | 2020-05-26 | 新石器慧通（北京）科技有限公司 | Cooperative control method and device for vehicle formation |
| CN111583673A (en) * | 2020-04-28 | 2020-08-25 | 华东师范大学 | Intelligent intersection management method based on unmanned vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104199451A (en) | Unmanned vehicle passing control system for traffic light intersections and operating method thereof | |
| CN106128137B (en) | A kind of urban highway traffic crossing car traffic information lamp method for early warning and system based on car networking | |
| CN103465907B (en) | A kind of automotive correlation prevention device and method | |
| CN101799977B (en) | Intelligent traffic system | |
| US9193367B2 (en) | Crossing proximity and train-on-approach notification system | |
| CN104408970A (en) | Vehicle alarm method and device | |
| CN201266439Y (en) | System for early-warning curve barrier | |
| CN103318086A (en) | Automobile tailgating prevention and safe driving information exchange caution control system | |
| US8054202B1 (en) | Traffic preemption system and related methods | |
| CN103117007A (en) | Vehicle positioning and anti-collision pre-warning system based on ZigBee and GPS (global positioning system) | |
| US20170316691A1 (en) | System and method for detecting and communicating slipping of non-connected vehicles | |
| WO2017043133A1 (en) | Information processing device, communication device, information processing method, and program | |
| CN105438224A (en) | Train running control method and device | |
| CN105160897A (en) | Electronic denoter and road information interaction system | |
| CN203070551U (en) | Active collision warning system bases on Internet of Things communication | |
| CN201607829U (en) | Device facilitating quick passage of emergency vehicle through crossroad | |
| CN106023649A (en) | Pedestrian red light running caution system based on WAVE communication and method | |
| CN109887306A (en) | Traffic intersection control early warning system and control method based on RFID technique | |
| CN105006163A (en) | Vehicular traffic signal lamp display system | |
| CN106023627A (en) | Active safety early warning device and method based on cooperative vehicle infrastructure and 4G network | |
| CN102737516B (en) | Bus signal priority control system possessing prompt function and method thereof | |
| CN102509464B (en) | Bus signal priority control system with information display board and bus signal priority control method | |
| CN205959424U (en) | Transport information lamp reminder system in car of urban road traffic crossing based on car networking | |
| CN104537861A (en) | Internet-of-Things traffic signal indicating system | |
| CN203780522U (en) | Rear-end prevention and safe driving information exchange alarm control system for vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| C06 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| C10 | Entry into substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20141210 |
|
| RJ01 | Rejection of invention patent application after publication |