CN105405308B - A kind of automatic driving control system and method - Google Patents

A kind of automatic driving control system and method Download PDF

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Publication number
CN105405308B
CN105405308B CN201510990265.5A CN201510990265A CN105405308B CN 105405308 B CN105405308 B CN 105405308B CN 201510990265 A CN201510990265 A CN 201510990265A CN 105405308 B CN105405308 B CN 105405308B
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China
Prior art keywords
information
electronic tag
road
road information
subsystem
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CN105405308A (en
Inventor
周德宏
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Suzhou Bangyao Electronic Technology Co., Ltd.
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Suzhou Kanghong Intelligent Engineering Co Ltd
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Priority to CN201510990265.5A priority Critical patent/CN105405308B/en
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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708Systems 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
    • G08G1/096725Systems 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

Abstract

The invention discloses a kind of automatic driving control system and method, the electronic tag of road information is loaded with by being set in road roadside, when being loaded with the vehicle travels of electronic tag communication apparatus, electronic tag communication equipment can obtain the road information in electronic tag automatically, and change into corresponding running information, then running information is sent to navigation subsystem, man-machine interactive system and traveling control subsystem, can be in the place of dtr signal so as to realize, fast and accurately get the road information of current road segment, navigation subsystem is set to cook up more accurate route, and enable traveling control subsystem more precise control running car.

Description

A kind of automatic driving control system and method
Technical field
The present invention relates to automatic driving technical field, more specifically, it relates to which a kind of automatic driving is controlled System and method.
Background technology
Automatic driving technology already becomes a future trend of current automotive industry development, automatic driving One of technical issues that need to address are the problem of traffic information are recognized and whether traffic information recognition speed is faster than automobile speed, The means of identification that prior art is used mainly has image recognition, infrared ray sensing identification, radar identification and laser three-dimensional scanning Identification.These technologies are in addition to laser three-dimensional scanning identification technology, by electronic map and GPS programme paths and installed in vehicle Upper camera and infrared sensor catch surrounding vehicles, pedestrian, traffic lights so as to controlling vehicle avoiding barrier, and pass through thunder Reach to calculate distance.However, when automobile enters the weaker place of the signal such as tunnel, underground parking, only by electronically Figure and GPS, it is difficult to which the corresponding information of acquisition promptly and accurately, puzzlement is caused to automatic driving.
The content of the invention
In view of the deficienciess of the prior art, being it is an object of the present invention to provide a kind of control of automatic driving System, to solve the problem of automobile promptly and accurately can not obtain information in the weaker place of the signal such as tunnel, underground parking.
To achieve the above object, the invention provides following technical scheme:
A kind of automatic driving control system, including acquisition subsystem, navigation subsystem, human-machine interaction subsystem and row Control subsystem, in addition to driving assistant subsystem are sailed, the driving assistant subsystem includes:
Electronic tag, is arranged in roadside, and record the road information of respective stretch;
Electronic tag communication apparatus, is arranged in automobile, when automobile sails the section through carrying out driving prompting the need for corresponding When, electronic tag communication apparatus reads the road information described in corresponding electronic tag, and is converted into corresponding running information;
Electronic tag more new equipment, is arranged in the section of road information real-time change, and the road in section where by obtaining Road information is with the road information in real-time update electronic tag;
The navigation subsystem obtains and plans corresponding planning driving path according to the running information;
The man-machine interactive system obtains the running information, and is converted into voice or image information;
The traveling control subsystem obtains and controls automobile change driving states according to the running information.
Further, the running information includes geography information, current status information and current specification information.
Further, the road information includes current road segment road information and next section road information;Electronic tag When communication apparatus reads the road information described in corresponding electronic tag, judge whether to read successfully;, ought if reading successfully Preceding road information is converted into running information, and stores next section road information;If read failure, will sail through it is upper all the way The next section road information got during section is converted into running information.
Further, it is characterized in that,
Electronic tag is provided with two, and with different ID, one of electronic tag prestores current road segment with The road information in one section, another electronic tag does not prestore any information;
Next section road that the electronic tag communication apparatus will be stored when reading failure when sailing through a upper section Information is written in another electronic tag.
Further, electronic tag communication apparatus also writes the damage information for representing and needing to change label.
It is another object of the present invention to provide a kind of automatic driving control method, including acquisition subsystem, navigation Subsystem, human-machine interaction subsystem and traveling control subsystem, in addition to:
In road roadside arranging electronic label, the electronic tag records the road information of respective stretch;
The arranging electronic label communication apparatus in automobile, when automobile sails the section through carrying out driving prompting the need for corresponding When, electronic tag communication apparatus reads the road information described in corresponding electronic tag, and is converted into corresponding running information;
In the section arranging electronic tag update equipment of road information real-time change, the electronic tag more new equipment passes through The road information in section is with the road information in real-time update electronic tag where obtaining;
The navigation subsystem obtains and plans corresponding planning driving path according to the running information;
The man-machine interactive system obtains the running information, and is converted into voice or image information;
The traveling control subsystem obtains and controls automobile change driving states according to the running information.
Further, the running information includes geography information, current status information and current specification information.
Further, the road information includes current road segment road information and next section road information;Electronic tag When communication apparatus reads the road information described in corresponding electronic tag, judge whether to read successfully;, ought if reading successfully Preceding road information is converted into running information, and stores next section road information;If read failure, will sail through it is upper all the way The next section road information got during section is converted into running information.
Further,
Electronic tag is provided with two, and with different ID, one of electronic tag prestores current road segment with The road information in one section, another electronic tag does not prestore any information;
Next section road that the electronic tag communication apparatus will be stored when reading failure when sailing through a upper section Information is written in another electronic tag.
Further, electronic tag communication apparatus also writes the damage information for representing and needing to change label.
Compared with prior art, it is an advantage of the invention that:By above technical scheme, set in road roadside and be loaded with road letter The electronic tag of breath, when being loaded with the vehicle travels of electronic tag communication apparatus, electronic tag communication equipment can be obtained automatically Road information in electronic tag, and corresponding running information is changed into, then running information is sent to navigation subsystem, people Machine interactive system and traveling control subsystem.Therefore, the road information acquisition modes more than, can be in dtr signal Place, fast and accurately gets the road information of current road segment, navigation subsystem is cooked up more accurate route, with And enable traveling control subsystem more precise control running car.
Brief description of the drawings
Fig. 1 is the systematic schematic diagram of automatic driving control system in the present invention;
Fig. 2 is the fundamental diagram of electronic tag more new equipment in the present invention
Fig. 3 is the flow chart of automatic driving control method in the present invention;
Fig. 4 for the present invention in electronic tag communication apparatus read and write success or failure when, the read-write to two electronic tags Flow chart.
Embodiment
Reference picture 1, a kind of automatic driving control system, including acquisition subsystem, navigation subsystem, man-machine interaction System and traveling control subsystem, in addition to driving assistant subsystem, for car assisted more precise and stable traveling.Driving is auxiliary Subsystem is helped to include electronic tag, electronic tag communication apparatus, electronic tag more new equipment.
Electronic tag is arranged in roadside, and the road information of respective stretch is recorded in it, can be in roadside in arrangement Corresponding road stake is set every a segment distance, then electronic tag is installed in the stake of road, electronic tag is passive electronic label, no Need individually power supply.
Electronic tag communication apparatus is arranged in automobile, when automobile sails the section through carrying out driving prompting the need for corresponding When, electronic tag communication apparatus reads the road information described in corresponding electronic tag, and is converted into corresponding running information, this In embodiment, the running information includes geography information, current status information and current specification information, wherein, geography information can Including longitude and latitude, section title, road section length etc., if in bridge on bridge, can be included in title and length etc., to lead Subsystem navigate by obtaining geography information, to plan corresponding planning driving path, and with reference to original electronic map and gps system, Cook up more accurate planning driving path;In addition, current status information can include road type, lane information, signal information Obtained Deng, man-machine interactive system by obtaining current status information, and be converted into voice or image information, to point out passenger; In addition, communication specification information can include traveling vehicle, travel speed, forbid information(Load-carrying, taboo distance light, horn-blowing control number, taboo are super Car, taboo are stopped), temporary control etc., traveling control subsystem is by obtaining communication specification information and current status information, to control vapour Car changes driving states, such as according to current road conditions, the instruction start and stop of such as signal lamp at upward slope, descending, turning, and crossing Or slow down, and in defined track with limit speed traveling etc., be prevented or restricted from information accordingly once recognizing, OK Management and control will be carried out to the function of automobile by sailing control subsystem, to prevent the generation of accident.
Reference picture 2, electronic tag more new equipment is arranged in the section of road information real-time change, for example, have the road of signal lamp Mouthful, the control cabinet of electronic tag more new equipment and signal lamp, which is set up, to be communicated to connect, and can be wired or wireless, to obtain Current signal lamp state, and the road information in electronic tag that upgrades in time are taken, so as to facilitate the automobile of dealing to obtain accurate Information.In addition, electronic tag more new equipment can also be arranged on the section for often having traffic control, to facilitate traffic police timely Update the data.
In addition, in some longer fastlinks, if electronic tag is damaged(Or other reasons), not only result in The automobile None- identified of process, and safeguard also fairly cumbersome, if the position of electronic tag is in the centre of fastlink, So attendant needs that by long time damage position can be reached from high speed crossing, it is impossible to accomplish processing in time. Therefore, based on above mentioned problem, the system takes following measures, the road information of current road segment is stored in electronic tag and next The road information in section;When the road information described in the corresponding electronic tag of electronic tag communication apparatus reading, first judgement is No to read successfully, the mode of judgement can be the amount of capacity of analyze data or be carried out pair with the code in database Than such as there is a situation where missing, be then judged to reading failure;If reading successfully, present road information is converted into driving letter Breath, and store next section road information;If reading failure, the next section road that will be got when sailing through a upper section Road information is converted into running information, so that automobile can be made to continue to obtain accurate information.Therefore, by above scheme, realize Even if the electronic tag of current road segment is damaged, automobile can also refer to the road information obtained in a upper section and carry out specification row Bus or train route footpath and state.
In addition, if the electronic tag in some section is damaged, that pass by this position other people just can not use from The electronic label identification equipment that body is carried obtains corresponding road information, and is required to return to a section and goes identification, It is very inconvenient.Therefore, in the present embodiment, electronic tag is provided with two, and with different ID, one of electronics Label prestores the road information in current road segment and next section, and another electronic tag does not prestore any information, then electricity Subtab communication apparatus is when reading failure, as long as the next section road information stored when sailing through a upper section is written to In another electronic tag.Therefore, by above scheme, realize using the automobile of process to damage electronic tag Row information reparation is entered in bad section, very convenient, is gone operation without special attendant, is saved manpower and materials.Certainly, examine Consider long-term use, for the electronic tag of damage, it is desired nonetheless to change, therefore, attendant knows electronics mark for convenience Label are damaged, and on the basis of such scheme, electronic tag communication apparatus during the road information in a section, also writes generation in write-in Table needs to change the damage information of label, so, and attendant only needs to utilize electronic label identification equipment, it is possible to The damage information is read, is gone and found out what's going on.
Reference picture 3, a kind of automatic driving control method corresponding with said system, including acquisition subsystem, navigation Subsystem, human-machine interaction subsystem and traveling control subsystem, and following steps:
S01:In road roadside arranging electronic label, running information electronic tag records the road information of respective stretch;
S02:The arranging electronic label communication apparatus in automobile, when automobile sails the road through carrying out driving prompting the need for corresponding Duan Shi, electronic tag communication apparatus reads the road information described in corresponding electronic tag, and is converted into corresponding running information;
S03:In the section arranging electronic tag update equipment of road information real-time change, running information electronic tag updates The road information in equipment section where by obtaining is with the road information in real-time update electronic tag;
This step is the energy in order to which automobile is when by the position of road information real-time change such as the crossing for having signal lamp Information in enough real-time update electronic tags, for example, the control cabinet of electronic tag more new equipment and signal lamp is set up into communication link Connect, can be wired or wireless, to obtain current signal lamp state, and the road in electronic tag that upgrades in time Information, so as to facilitate the automobile of dealing to obtain accurate information.In addition, electronic tag more new equipment can also be arranged on often There is the section of traffic control, to facilitate traffic police to upgrade in time data.
:Navigation subsystem obtains and plans corresponding planning driving path according to running information geography information;
This step can realize that navigation subsystem, by obtaining geography information, to plan corresponding planning driving path, and is combined Original electronic map and gps system, cook up more accurate planning driving path
S042:Man-machine interactive system obtains running information, and is converted into voice or image information;
This step realizes that man-machine interactive system is obtained by obtaining current status information, and is converted into voice or image information, To point out passenger.
:Control subsystem is travelled to obtain and according to the current status information control automobile change driving states of running information;
This step realizes traveling control subsystem by obtaining communication specification information and current status information, to control automobile Change driving states, such as according to current road conditions, the instruction start and stop of such as signal lamp at upward slope, descending, turning, and crossing or Slow down, and in defined track with limit speed traveling etc., be prevented or restricted from information accordingly once recognizing, traveling Control subsystem will carry out management and control to the function of automobile, to prevent the generation of accident.
Therefore, by above method, automobile can be realized by recognizing that electronic tag obtains road condition data, so as to more Plus accurately, stably, safely travel.
In addition, in some longer fastlinks, if electronic tag is damaged(Or other reasons), not only result in The automobile None- identified of process, and safeguard also fairly cumbersome, if the position of electronic tag is in the centre of fastlink, So attendant needs that by long time damage position can be reached from high speed crossing, it is impossible to accomplish processing in time. Therefore, based on above mentioned problem, the method that the present invention is provided, in addition to herein below, it is specifically:
In step S01, running information road information further includes current road segment road information and next section road Road information;
In step S02, when electronic tag communication apparatus reads the road information described in corresponding electronic tag, judgement is It is no to read successfully;If reading successfully, present road information is converted into running information, and store next section road letter; If reading failure, the next section road information got when sailing through a upper section is converted into running information.Therefore, lead to Above method is crossed, even if the electronic tag for realizing current road segment is damaged, automobile can also be referred to and obtained in a upper section Road information come specification planning driving path and state.
In addition, if the electronic tag in some section is damaged, that pass by this position other people just can not use from The electronic label identification equipment that body is carried obtains corresponding road information, and is required to return to a section and goes identification, It is very inconvenient.Therefore, the method that the present invention is provided, provides following convenience, specifically refer to Fig. 4, electronic tag is provided with Two, and with different ID, i.e., No. 1 electronic tag and No. 2 electronic tags.No. 1 electronic tag prestores current road segment with The road information in one section, No. 2 electronic tags do not prestore any information;Electronic tag communication apparatus will be when reading failure The next section road information stored during through a upper section is sailed to be written in No. 2 electronic tags.The benefit so set is:Can The people or automobile for conveniently passing by current road segment directly read electronics mark using the terminal with RFID identification functions carried with Label, go to obtain the road information of current road segment without going to a upper section.
In addition, on the basis of the scheme shown in Fig. 4, electronic tag communication apparatus also writes to another electronic tag Represent the damage information for needing to change label.After the damage information is write, patrol officer can be facilitated to overhaul, be specifically, When attendant drives the vehicle for being loaded with electronic tag communication apparatus by the section, another electronics mark can be recognized Information in label, including the damage information, then attendant can just judge that the electronic tag of current location has damage immediately, And carry out repair and replacement.
It the above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment, All technical schemes belonged under thinking of the present invention belong to protection scope of the present invention.It should be pointed out that for the art For those of ordinary skill, some improvements and modifications without departing from the principles of the present invention, these improvements and modifications also should It is considered as protection scope of the present invention.

Claims (6)

1. a kind of automatic driving control system, including acquisition subsystem, navigation subsystem, human-machine interaction subsystem and traveling Control subsystem, it is characterized in that, in addition to driving assistant subsystem, the driving assistant subsystem includes:
Electronic tag, is arranged in roadside, and record the road information of respective stretch;
Electronic tag communication apparatus, is arranged in automobile, when automobile is sailed through carrying out the section of driving prompting the need for corresponding, electricity Subtab communication apparatus reads the road information described in corresponding electronic tag, and is converted into corresponding running information;
Electronic tag more new equipment, is arranged in the section of road information real-time change, and the road in section is believed where by obtaining Breath is with the road information in real-time update electronic tag;
The navigation subsystem obtains and plans corresponding planning driving path according to the running information;
The man-machine interactive system obtains the running information, and is converted into voice or image information;
The traveling control subsystem obtains and controls automobile change driving states according to the running information;
The running information includes geography information, current status information and current specification information;
The road information includes current road segment road information and next section road information;Electronic tag communication apparatus reads phase When answering the road information described in electronic tag, judge whether to read successfully;If reading successfully, present road information is changed Into running information, and store next section road information;If failure is read, under being got when sailing through a upper section One section road information is converted into running information.
2. automatic driving control system according to claim 1, it is characterized in that,
Electronic tag is provided with two, and with different ID, one of electronic tag prestore current road segment and under all the way The road information of section, another electronic tag does not prestore any information;
Next section road information that the electronic tag communication apparatus will be stored when reading failure when sailing through a upper section It is written in another electronic tag.
3. automatic driving control system according to claim 2, it is characterized in that, electronic tag communication apparatus also writes Represent the damage information for needing to change label.
4. a kind of automatic driving control method, including acquisition subsystem, navigation subsystem, human-machine interaction subsystem and traveling Control subsystem, it is characterized in that:
In road roadside arranging electronic label, the electronic tag records the road information of respective stretch;
The arranging electronic label communication apparatus in automobile, when automobile is sailed through carrying out the section of driving prompting the need for corresponding, electricity Subtab communication apparatus reads the road information described in corresponding electronic tag, and is converted into corresponding running information;
In the section arranging electronic tag update equipment of road information real-time change, the electronic tag more new equipment is by obtaining The road information in place section is with the road information in real-time update electronic tag;
The navigation subsystem obtains and plans corresponding planning driving path according to the running information;
The man-machine interactive system obtains the running information, and is converted into voice or image information;
The traveling control subsystem obtains and controls automobile change driving states according to the running information;
The running information includes geography information, current status information and current specification information;
The road information includes current road segment road information and next section road information;Electronic tag communication apparatus reads phase When answering the road information described in electronic tag, judge whether to read successfully;If reading successfully, present road information is changed Into running information, and store next section road information;If failure is read, under being got when sailing through a upper section One section road information is converted into running information.
5. automatic driving control method according to claim 4, it is characterized in that,
Electronic tag is provided with two, and with different ID, one of electronic tag prestore current road segment and under all the way The road information of section, another electronic tag does not prestore any information;
Next section road information that the electronic tag communication apparatus will be stored when reading failure when sailing through a upper section It is written in another electronic tag.
6. automatic driving control method according to claim 5, it is characterized in that, electronic tag communication apparatus also writes Represent the damage information for needing to change label.
CN201510990265.5A 2015-12-25 2015-12-25 A kind of automatic driving control system and method Active CN105405308B (en)

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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
CN106327897B (en) * 2016-09-07 2019-02-19 招商局重庆交通科研设计院有限公司 A kind of signal lamp state displaying method of terminal and system based on bus or train route coordination technique
CN107092253B (en) * 2017-04-24 2020-06-30 百度在线网络技术(北京)有限公司 Method and device for controlling unmanned vehicle and server
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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
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
CN111137294A (en) * 2019-12-30 2020-05-12 潍柴动力股份有限公司 Intelligent automobile and control method thereof

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Effective date of registration: 20190523

Address after: 215000 No. 118 Nanyuan North Road, Gusu District, Suzhou City, Jiangsu Province

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Address before: 215002 No. 18 East Second Road, Gusu District, Suzhou City, Jiangsu Province

Patentee before: SUZHOU KANGHONG INTELLIGENT ENGINEERING CO., LTD.