CN105405308A - Automobile automatic driving control system and method - Google Patents
Automobile automatic driving control system and method Download PDFInfo
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- CN105405308A CN105405308A CN201510990265.5A CN201510990265A CN105405308A CN 105405308 A CN105405308 A CN 105405308A CN 201510990265 A CN201510990265 A CN 201510990265A CN 105405308 A CN105405308 A CN 105405308A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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Abstract
The invention discloses an automobile automatic driving control system and a method. An E-tag carrying road information is arranged on the roadside. When a car with an E-tag communication device passes by, the E-tag communication device is capable of automatically obtaining and converting road information in the E-tag into corresponding running information, and then sending the running information to a navigation subsystem, a man-machine interactive system and a running control subsystem. Thus, it can be achieved that in a place with weak signals, road information of the current section can be quickly and precisely obtained; the navigation subsystem is enabled to plan a quite precise route; and the running control subsystem is enabled to control running of the automobile quite precisely.
Description
Technical field
The present invention relates to automatic driving technical field, more particularly, it relates to a kind of automatic driving control system and method.
Background technology
Automatic driving technology becomes a future trend of current automotive industry development already, one of automatic driving technical issues that need to address be traffic information identification and traffic information recognition speed whether faster than the problem of automobile speed, the means of identification that prior art uses mainly contains image recognition, infrared ray sensing identification, radar identification and laser three-dimensional scanning identification.These technology are except laser three-dimensional scanning recognition technology, by electronic chart and GPS programme path and be arranged on camera and infrared sensor on vehicle and catch surrounding vehicles, pedestrian, traffic lights thus control vehicle avoiding barrier, and calculate distance by radar.But, when automobile enters the place that such as signal such as tunnel, underground parking is more weak, by means of only electronic chart and GPS, be difficult to the corresponding information of acquisition promptly and accurately, cause puzzlement to automatic driving.
Summary of the invention
For the deficiency that prior art exists, one object of the present invention is to provide a kind of automatic driving control system, to solve automobile promptly and accurately cannot to obtain information problem in the place that the such as signal such as tunnel, underground parking is more weak.
For achieving the above object, the invention provides following technical scheme:
A kind of automatic driving control system, comprise acquisition subsystem, navigation subsystem, human-machine interaction subsystem and traveling control subsystem, also comprise driving assistant subsystem, described driving assistant subsystem comprises:
Electronic tag, is arranged in roadside, and records the road information of respective stretch;
Electronic tag communication apparatus, is arranged in automobile, and when automobile is sailed through needing to carry out driving a vehicle the section of pointing out accordingly, electronic tag communication apparatus reads the road information described in respective electronic label, and converts corresponding running information to;
Electronic tag is updated the equipment, and is arranged in the section of road information real-time change, and by obtaining the road information in section, place with the road information in real-time update electronic tag;
Described navigation subsystem obtains and plans according to described running information path of driving a vehicle accordingly;
Described man-machine interactive system obtains described running information, and is converted into voice or image information;
Described traveling control subsystem obtains and controls automobile according to described running information and changes driving states.
Further, described running information comprises geography information, current status information and current standardize information.
Further, described road information comprises current road segment road information and next section road information; When electronic tag communication apparatus reads the road information described in respective electronic label, judge whether to read successfully; If read successfully, then convert present road information to running information, and store next section road information; If read unsuccessfully, then by sail through on a section time next section road information of getting convert running information to.
Further, it is characterized in that,
Electronic tag is provided with two, and has different ID, and one of them electronic tag prestores the road information in current road segment and next section, and another electronic tag does not prestore any information;
Described electronic tag communication apparatus when reading unsuccessfully by sail through on a section time next section road information of storing be written in another electronic tag.
Further, electronic tag communication apparatus also writes the damage information representing and need to change label.
Another object of the present invention is, provides a kind of automatic driving control method, comprises acquisition subsystem, navigation subsystem, human-machine interaction subsystem and traveling control subsystem, also comprises:
At roadside, road arranging electronic label, described electronic tag records the road information of respective stretch;
Arranging electronic label communication apparatus in automobile, when automobile is sailed through needing to carry out driving a vehicle the section of pointing out accordingly, electronic tag communication apparatus reads the road information described in respective electronic label, and converts corresponding running information to;
At the section arranging electronic tag update equipment of road information real-time change, described electronic tag is updated the equipment by obtaining the road information in section, place with the road information in real-time update electronic tag;
Described navigation subsystem obtains and plans according to described geography information path of driving a vehicle accordingly;
Described man-machine interactive system obtains described running information, and is converted into voice or image information;
Described traveling control subsystem obtains and controls automobile according to described current status information and changes driving states.
Further, described running information comprises geography information, current status information and current standardize information.
Further, described road information comprises current road segment road information and next section road information; When electronic tag communication apparatus reads the road information described in respective electronic label, judge whether to read successfully; If read successfully, then convert present road information to running information, and store next section road information; If read unsuccessfully, then by sail through on a section time next section road information of getting convert running information to.
Further,
Electronic tag is provided with two, and has different ID, and one of them electronic tag prestores the road information in current road segment and next section, and another electronic tag does not prestore any information;
Described electronic tag communication apparatus when reading unsuccessfully by sail through on a section time next section road information of storing be written in another electronic tag.
Further, electronic tag communication apparatus also writes the damage information representing and need to change label.
Compared with prior art, advantage of the present invention is: by above technical scheme, the electronic tag being loaded with road information is set in roadside, road, when being loaded with the vehicle travels of electronic tag communication apparatus, electronic tag communication facilities can road information in automatic acquisition electronic tag, and change into corresponding running information, then running information be sent to navigation subsystem, man-machine interactive system and travel control subsystem.Therefore, by above road information obtain manner, in the place of dtr signal, the road information of current road segment can be got fast and accurately, enable navigation subsystem cook up more accurate route, and enable traveling control subsystem control running car more accurately.
Accompanying drawing explanation
Fig. 1 is the systematic schematic diagram of automatic driving control system in the present invention;
Fig. 2 is the fundamental diagram that in the present invention, electronic tag is updated the equipment
Fig. 3 is the process flow diagram of automatic driving control method in the present invention;
Fig. 4 be in the present invention electronic tag communication apparatus read and write successfully or failed time, to the read-write process flow diagram of two electronic tags.
Embodiment
With reference to Fig. 1, a kind of automatic driving control system, comprises acquisition subsystem, navigation subsystem, human-machine interaction subsystem and traveling control subsystem, also comprises driving assistant subsystem, for car assisted more precise and stable traveling.Driving assistant subsystem comprises electronic tag, electronic tag communication apparatus, electronic tag are updated the equipment.
Electronic tag is arranged in roadside, records the road information of respective stretch in it, when arranging, in roadside, the stake of corresponding road can be set every a segment distance, be installed on by electronic tag in the stake of road, electronic tag is passive electronic label, does not need independent power supply again.
Electronic tag communication apparatus is arranged in automobile, when automobile is sailed through needing to carry out driving a vehicle the section of pointing out accordingly, electronic tag communication apparatus reads the road information described in respective electronic label, and convert corresponding running information to, in the present embodiment, this running information comprises geography information, current status information and current standardize information, wherein, geography information can comprise longitude and latitude, section title, road section length etc., if on bridge, bridge can be comprised in title and length etc., navigation subsystem is by obtaining geography information, to plan path of driving a vehicle accordingly, and in conjunction with original electronic chart and gps system, cook up path of driving a vehicle more accurately, in addition, current status information can comprise road type, lane information, signal information etc., and man-machine interactive system obtains by obtaining current status information, and is converted into voice or image information, to point out passenger, in addition, communication specification information can comprise traveling vehicle, travel speed, prohibition information (load-carrying, prohibit distance light, horn-blowing control number, taboo is overtaken other vehicles, prohibit and stop), temporary control etc., travel control subsystem by obtaining communication standardize information and current status information, control automobile and change driving states, such as according to current road conditions, such as go up a slope, descending, turn, and the instruction start and stop of the signal lamp at crossing or deceleration, and travel etc. with the speed of a motor vehicle limited in the track of regulation, forbid accordingly or restricted information once recognize, travel control subsystem and will carry out management and control to the function of automobile, to stop the generation of accident.
With reference to Fig. 2, electronic tag is updated the equipment and is arranged in the section of road information real-time change, such as there is the crossing of signal lamp, electronic tag is updated the equipment and to be established a communications link with the control box of signal lamp, can be wired, also can be wireless, to obtain current signal lamp state, and the road information upgraded in time in electronic tag, thus the automobile of dealing is facilitated to obtain information accurately.In addition, electronic tag is updated the equipment the section that can also be arranged on and often have traffic control, to upgrade in time data to facilitate traffic police.
In addition, at the fastlink that some are longer, if electronic tag occurs damaging (or other reason), not only can cause through automobile None-identified, and safeguard to get up also quite to bother, if the position of electronic tag is in the centre of fastlink, so maintainer needs to reach from high speed crossing through long time to damage position, can not accomplish timely process.Therefore, based on the problems referred to above, native system takes following measures, stored in the road information of current road segment and the road information in next section in electronic tag; When electronic tag communication apparatus reads the road information described in respective electronic label, first judge whether to read successfully, the mode of judgement can be analyze the amount of capacity of data, also can be contrast with the code in database, as there is the situation of disappearance, be then judged to read unsuccessfully; If read successfully, then convert present road information to running information, and store next section road information; If read unsuccessfully, then by sail through on a section time next section road information of getting convert running information to, continue to obtain information accurately so that automobile can be made.Therefore, by above scheme, even if damaging appears in the electronic tag achieving current road segment, automobile also can come specification driving path and state with reference to the road information obtained in a upper section.
In addition, if damaging appears in the electronic tag in certain section, that pass by this position other people just cannot obtain corresponding road information with self-contained electronic label identification equipment, and a section must be got back to go to identify, inconvenience very.Therefore, in the present embodiment, electronic tag is provided with two, and there is different ID, one of them electronic tag prestores the road information in current road segment and next section, another electronic tag does not prestore any information, and so electronic tag communication apparatus is when reading unsuccessfully, if by sail through on a section time next section road information of storing be written in another electronic tag.Therefore, by above scheme, achieve and utilize the automobile of process to occur that information reparation is carried out in the section damaged to electronic tag, very convenient, go operation without the need to special maintainer, save manpower and materials.Certainly, consider Long-Time Service, for the electronic tag damaged, still need to change, therefore, conveniently maintainer knows that electronic tag damages, on the basis of such scheme, electronic tag communication apparatus is on writing during the road information in a section, also write represents the damage information needing to change label, and so, maintainer only needs to utilize electronic label identification equipment, just can read this damage information, go and find out what's going on.
With reference to Fig. 3, a kind of automatic driving control method corresponding with said system, comprises acquisition subsystem, navigation subsystem, human-machine interaction subsystem and traveling control subsystem, and following steps:
S01: at roadside, road arranging electronic label, running information electronic tag records the road information of respective stretch;
S02: arranging electronic label communication apparatus in automobile, when automobile is sailed through needing to carry out driving a vehicle the section of pointing out accordingly, electronic tag communication apparatus reads the road information described in respective electronic label, and converts corresponding running information to;
S03: at the section arranging electronic tag update equipment of road information real-time change, running information electronic tag is updated the equipment by obtaining the road information in section, place with the road information in real-time update electronic tag;
This step is in order to automobile is in the position of the road information real-time change such as the crossing through such as there being signal lamp, can information in real-time update electronic tag, such as, electronic tag is updated the equipment and to establish a communications link with the control box of signal lamp, can be wired, also can be wireless, to obtain current signal lamp state, and the road information upgraded in time in electronic tag, thus the automobile of dealing is facilitated to obtain information accurately.In addition, electronic tag is updated the equipment the section that can also be arranged on and often have traffic control, to upgrade in time data to facilitate traffic police.
S041: navigation subsystem obtains and plans according to running information geography information path of driving a vehicle accordingly;
This step can realize navigation subsystem by obtaining geography information, to plan path of driving a vehicle accordingly, and in conjunction with original electronic chart and gps system, cooks up path of driving a vehicle more accurately
S042: man-machine interactive system obtains running information, and is converted into voice or image information;
This step realizes man-machine interactive system and obtains by obtaining current status information, and is converted into voice or image information, to point out passenger.
S043: travel control subsystem obtain and according to running information pass through status information control automobile change driving states;
This step realizes travelling control subsystem by obtaining communication standardize information and current status information; control automobile and change driving states; such as according to current road conditions; such as upward slope, descending, turning; and the instruction start and stop of the signal lamp at crossing or deceleration, and travel etc. with the speed of a motor vehicle limited in the track of regulation, forbid accordingly or restricted information once recognize; travel control subsystem and will carry out management and control to the function of automobile, to stop the generation of accident.
Therefore, by above method, automobile can be realized by identifying that electronic tag obtains road condition data, thus can more accurately, stable, travel safely.
In addition, at the fastlink that some are longer, if electronic tag occurs damaging (or other reason), not only can cause through automobile None-identified, and safeguard to get up also quite to bother, if the position of electronic tag is in the centre of fastlink, so maintainer needs to reach from high speed crossing through long time to damage position, can not accomplish timely process.Therefore, based on the problems referred to above, method provided by the invention, also comprises following content, specifically:
In step S01, running information road information further comprises current road segment road information and next section road information;
In step S02, when electronic tag communication apparatus reads the road information described in respective electronic label, judge whether to read successfully; If read successfully, then convert present road information to running information, and store next section road letter; If read unsuccessfully, then by sail through on a section time next section road information of getting convert running information to.Therefore, by above method, even if damaging appears in the electronic tag achieving current road segment, automobile also can come specification driving path and state with reference to the road information obtained in a upper section.
In addition, if damaging appears in the electronic tag in certain section, that pass by this position other people just cannot obtain corresponding road information with self-contained electronic label identification equipment, and a section must be got back to go to identify, inconvenience very.Therefore, method provided by the invention, provides following convenience, specifically please refer to Fig. 4, and electronic tag is provided with two, and has different ID, i.e. No. 1 electronic tag and No. 2 electronic tags.No. 1 electronic tag prestores the road information in current road segment and next section, and No. 2 electronic tags do not prestore any information; Electronic tag communication apparatus when reading unsuccessfully by sail through on a section time next section road information of storing be written in No. 2 electronic tags.The benefit of such setting is: people or the automobile that conveniently can pass by current road segment directly utilize the terminal reading electronic labels with RFID recognition function carried with, and need not go to the road information that current road segment is removed to obtain in a section.
In addition, on the basis of the scheme shown in Fig. 4, electronic tag communication apparatus is also writing the damage information representing and need to change label to another electronic tag.After this damage information of write, patrol officer can be facilitated to overhaul, specifically, when maintainer drives the vehicle being loaded with electronic tag communication apparatus through this section, the information in this another electronic tag can be recognized, comprise this damage information, so maintainer just can judge that the electronic tag of current location has damage immediately, and carries out repair and replacement.
Below be only the preferred embodiment of the present invention, protection scope of the present invention be not only confined to above-described embodiment, all technical schemes belonged under thinking of the present invention all belong to protection scope of the present invention.It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. an automatic driving control system, comprises acquisition subsystem, navigation subsystem, human-machine interaction subsystem and traveling control subsystem, it is characterized in that, also comprise driving assistant subsystem, and described driving assistant subsystem comprises:
Electronic tag, is arranged in roadside, and records the road information of respective stretch;
Electronic tag communication apparatus, is arranged in automobile, and when automobile is sailed through needing to carry out driving a vehicle the section of pointing out accordingly, electronic tag communication apparatus reads the road information described in respective electronic label, and converts corresponding running information to;
Electronic tag is updated the equipment, and is arranged in the section of road information real-time change, and by obtaining the road information in section, place with the road information in real-time update electronic tag;
Described navigation subsystem obtains and plans according to described running information path of driving a vehicle accordingly;
Described man-machine interactive system obtains described running information, and is converted into voice or image information;
Described traveling control subsystem obtains and controls automobile according to described running information and changes driving states.
2. automatic driving control system according to claim 1, is characterized in that, described running information comprises geography information, current status information and current standardize information.
3. automatic driving control system according to claim 1, is characterized in that, described road information comprises current road segment road information and next section road information; When electronic tag communication apparatus reads the road information described in respective electronic label, judge whether to read successfully; If read successfully, then convert present road information to running information, and store next section road information; If read unsuccessfully, then by sail through on a section time next section road information of getting convert running information to.
4. automatic driving control system according to claim 3, is characterized in that,
Electronic tag is provided with two, and has different ID, and one of them electronic tag prestores the road information in current road segment and next section, and another electronic tag does not prestore any information;
Described electronic tag communication apparatus when reading unsuccessfully by sail through on a section time next section road information of storing be written in another electronic tag.
5. a kind of road information indicating means according to claim 4, is characterized in that, electronic tag communication apparatus also writes the damage information representing and need to change label.
6. an automatic driving control method, comprises acquisition subsystem, navigation subsystem, human-machine interaction subsystem and traveling control subsystem, it is characterized in that:
At roadside, road arranging electronic label, described electronic tag records the road information of respective stretch;
Arranging electronic label communication apparatus in automobile, when automobile is sailed through needing to carry out driving a vehicle the section of pointing out accordingly, electronic tag communication apparatus reads the road information described in respective electronic label, and converts corresponding running information to;
At the section arranging electronic tag update equipment of road information real-time change, described electronic tag is updated the equipment by obtaining the road information in section, place with the road information in real-time update electronic tag;
Described navigation subsystem obtains and plans according to described geography information path of driving a vehicle accordingly;
Described man-machine interactive system obtains described running information, and is converted into voice or image information;
Described traveling control subsystem obtains and controls automobile according to described current status information and changes driving states.
7. automatic driving control method according to claim 6, is characterized in that, described running information comprises geography information, current status information and current standardize information.
8. automatic driving control method according to claim 7, is characterized in that, described road information comprises current road segment road information and next section road information; When electronic tag communication apparatus reads the road information described in respective electronic label, judge whether to read successfully; If read successfully, then convert present road information to running information, and store next section road information; If read unsuccessfully, then by sail through on a section time next section road information of getting convert running information to.
9. automatic driving control method according to claim 8, is characterized in that,
Electronic tag is provided with two, and has different ID, and one of them electronic tag prestores the road information in current road segment and next section, and another electronic tag does not prestore any information;
Described electronic tag communication apparatus when reading unsuccessfully by sail through on a section time next section road information of storing be written in another electronic tag.
10. automatic driving control method according to claim 9, is characterized in that, electronic tag communication apparatus also writes the damage information representing and need to change label.
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| CN106327897A (en) * | 2016-09-07 | 2017-01-11 | 重庆云途交通科技有限公司 | Signal lamp state terminal display method and system based on cooperative vehicle infrastructure technology |
| CN107025795A (en) * | 2016-11-15 | 2017-08-08 | 山东科技大学 | A kind of vehicle guidance method based on RFID road signs |
| CN107092253A (en) * | 2017-04-24 | 2017-08-25 | 百度在线网络技术（北京）有限公司 | Method, device and server for controlling unmanned vehicle |
| CN107146408A (en) * | 2017-05-29 | 2017-09-08 | 胡笳 | A kind of control method of the environmentally friendly control loop of the road based on car networking |
| CN107230372A (en) * | 2017-07-21 | 2017-10-03 | 北京新能源汽车股份有限公司 | A kind of automatic Pilot method, device, entire car controller and automobile |
| CN108762229A (en) * | 2018-05-28 | 2018-11-06 | 湖南汽车工程职业学院 | A kind of detection adjustment method of autonomous driving vehicle throttle control system |
| CN108766005A (en) * | 2018-06-08 | 2018-11-06 | 北京洪泰同创信息技术有限公司 | The control method of the vehicles, apparatus and system |
| CN109890677A (en) * | 2016-10-14 | 2019-06-14 | 伟摩有限责任公司 | Plan the stop position of automatic driving vehicle |
| CN111137294A (en) * | 2019-12-30 | 2020-05-12 | 潍柴动力股份有限公司 | Intelligent automobile and control method thereof |
| CN114200825A (en) * | 2021-10-29 | 2022-03-18 | 东风商用车有限公司 | Self-adaptive control system for whole vehicle |
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| CN116972870A (en) * | 2023-09-21 | 2023-10-31 | 南京遇简信息科技有限公司 | Road navigation enhancement method, system and medium based on computer image recognition |
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| CN106080592A (en) * | 2016-06-27 | 2016-11-09 | 重庆交通大学 | A kind of safe driving system based on electronic license plate and travelling-crane method |
| CN106327897A (en) * | 2016-09-07 | 2017-01-11 | 重庆云途交通科技有限公司 | Signal lamp state terminal display method and system based on cooperative vehicle infrastructure technology |
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| CN107146408A (en) * | 2017-05-29 | 2017-09-08 | 胡笳 | A kind of control method of the environmentally friendly control loop of the road based on car networking |
| CN107146408B (en) * | 2017-05-29 | 2018-05-04 | 胡笳 | A kind of control method of the road environmental protection control loop based on car networking |
| CN107230372A (en) * | 2017-07-21 | 2017-10-03 | 北京新能源汽车股份有限公司 | A kind of automatic Pilot method, device, entire car controller and automobile |
| CN108762229B (en) * | 2018-05-28 | 2020-10-30 | 湖南汽车工程职业学院 | Detection and debugging method for accelerator control system of automatic driving automobile |
| CN108762229A (en) * | 2018-05-28 | 2018-11-06 | 湖南汽车工程职业学院 | A kind of detection adjustment method of autonomous driving vehicle throttle control system |
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| CN111137294A (en) * | 2019-12-30 | 2020-05-12 | 潍柴动力股份有限公司 | Intelligent automobile and control method thereof |
| CN111137294B (en) * | 2019-12-30 | 2022-04-05 | 潍柴动力股份有限公司 | Intelligent automobile and control method thereof |
| CN114200825A (en) * | 2021-10-29 | 2022-03-18 | 东风商用车有限公司 | Self-adaptive control system for whole vehicle |
| CN114200825B (en) * | 2021-10-29 | 2024-01-19 | 东风商用车有限公司 | Whole car self-adaptation control system |
| CN116663592A (en) * | 2023-06-12 | 2023-08-29 | 广东车卫士信息科技有限公司 | Vehicle driving route intelligent recognition system based on electronic license plate |
| CN116663592B (en) * | 2023-06-12 | 2024-02-02 | 广东车卫士信息科技有限公司 | Vehicle driving route intelligent recognition system based on electronic license plate |
| CN116972870A (en) * | 2023-09-21 | 2023-10-31 | 南京遇简信息科技有限公司 | Road navigation enhancement method, system and medium based on computer image recognition |
| CN116972870B (en) * | 2023-09-21 | 2023-12-15 | 南京遇简信息科技有限公司 | Road navigation enhancement method, system and medium based on computer image recognition |
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