CN105892464A - Special car automatic driving system based on fixed routes and driving method for same - Google Patents
Special car automatic driving system based on fixed routes and driving method for same Download PDFInfo
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- CN105892464A CN105892464A CN201610288789.4A CN201610288789A CN105892464A CN 105892464 A CN105892464 A CN 105892464A CN 201610288789 A CN201610288789 A CN 201610288789A CN 105892464 A CN105892464 A CN 105892464A
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- 230000004888 barrier function Effects 0.000 claims abstract description 53
- 238000012545 processing Methods 0.000 claims abstract description 32
- 230000010365 information processing Effects 0.000 claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 238000012790 confirmation Methods 0.000 claims description 15
- 238000012937 correction Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 15
- 230000007613 environmental effect Effects 0.000 claims description 12
- 230000003068 static effect Effects 0.000 claims description 11
- 238000007689 inspection Methods 0.000 claims description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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Abstract
The invention provides a special car automatic driving system based on fixed routes and a driving method for the same. The system comprises a running state detection unit, a barrier information detection unit, a barrier information processing unit, a mode selection unit, an image collection unit, an image processing unit, a main control unit, a fixed route information storage unit and an execution unit, wherein the running state detection unit, the barrier information processing unit, the image processing unit, the mode selection unit and the fixed route information storage unit are connected to the main control unit; the barrier information processing unit is also connected to the barrier information detection unit; and the image processing unit is also connected to the image collection unit and the barrier information processing unit respectively. The system and the method provided by the invention have the advantages that fixed route information of a planned vehicle running route can be generated automatically according to collected information; transportability is high; a barrier misjudgment rate is low; vehicle lane judgment is accurate; the planned route is more rational; and automatic driving is safer, etc.
Description
Technical field
The invention belongs to Advanced Automotive Automatic Control field, a kind of based on route
Special-purpose vehicle automated driving system and drive manner.
Background technology
One of hot spot technology that automatic Pilot technology is always studied in the industry, with driver completely
Control mode is compared, and automatic Pilot has great advantage, is mainly reflected in reduction vehicle accident
Incidence rate, reduce the energy that user consumes on driving, the aspect such as threshold reducing driver.
Automatic Pilot technology is particularly suited for often travelling in one or more route
Vehicle, such as: regular bus, private car, school bus etc. often travel on the special-purpose vehicle in route, so
And, existing automated driving system there is problems in that
1, existing automated driving system has all been integrated on vehicle when vehicle release,
Cannot transplant；
2, in the map data base of existing automated driving system, the route information of storage all passes through
Manually measure acquisition specially, or obtain from existing cartographic information of increasing income, the former measurement
Journey need to expend substantial amounts of manpower financial capacity, can comprise a large amount of for automatically driving in the cartographic information of the latter
Sail useless information, committed memory space；
3, existing automated driving system is not accurate enough to the detection of barrier so that planning
Local path is unreasonable；
4, the location equipment positioning precision that existing automated driving system uses is the highest, detects
The position of vehicle not accurate enough, cause searching map data base according to the positional information detected
The lane information in the track, vehicle place obtained is with the lane information in track, vehicle actual place not
Unanimously, the path planning of vehicle is produced serious influence.
Summary of the invention
There is disadvantages mentioned above or deficiency for prior art, the invention provides a kind of based on solid
The special-purpose vehicle automated driving system of fixed line and drive manner thereof, can be raw according to the information collected
Become vehicle to treat the route information of travel route, there is portable strong, the barrier of vehicle periphery
The False Rate hindering thing is low, track, vehicle place accuracy of judgement, planning path more rationally, automatically
Drive the advantages such as safer.
For achieving the above object, the invention provides a kind of special-purpose vehicle based on route automatic
Control loop, including:
Travel condition detector unit, for detecting the position of vehicle, speed and attitude information, and
The information detected is sent to main control unit；
Obstacle information detector unit, for detecting the obstacle information of vehicle periphery, and will inspection
The obstacle information measured is sent to obstacle information processing unit；
Obstacle information processing unit, processes the obstacle information received, and at general
Obstacle information after reason is sent to graphics processing unit；This unit is additionally operable to what basis received
The barrier confirmation of graphics processing unit feedback generates and comprises all barriers being firmly established
Hinder the barrier grid map of thing, and described barrier grid map information is sent to main control unit；
Mode selecting unit, for receiving the mode selecting information in the external world, and selects described pattern
Information of selecting sends to main control unit, and wherein, selectable pattern includes route information gathering
Pattern and automatic driving mode；
Image acquisition units, the image information around collection vehicle, and described image is believed
Breath sends to graphics processing unit；
Graphics processing unit, according to the environmental information of the image information identification vehicle periphery received,
When system is in route information Collection Mode, quiet in graphics processing unit identification image
State environmental information, and the static context information that will identify that is sent to main control unit；At system
When automatic driving mode, the traffic mark information in graphics processing unit identification image is with dynamic
Environmental information, afterwards, the traffic mark information that will identify that sends to main control unit, will identify
The dynamic environment information gone out and obstacle information processing unit send the obstacle information come to be carried out
Merge, obtain barrier confirmation, and described barrier confirmation is sent to barrier
Information process unit；
Main control unit, receives mode selecting unit and sends the mode selecting information of coming, and according to connecing
The mode selecting information received performs corresponding task, wherein, when system is in route information
During drainage pattern, main control unit sends according to travel condition detector unit and graphics processing unit
Information generate vehicle and treat the route information of travel route, and by described route information
It is updated to route information memory cell, when system is in automatic driving mode, master control list
Unit determines track, vehicle place according to the traffic mark information received, and believes according to the position of vehicle
Breath searches route information memory cell to obtain track, vehicle place and the car in neighbouring track
Road information and speed-limiting messages according to position information correction vehicle corresponding to track, vehicle place
Positional information, according to the vehicle position after barrier grid map information, traffic mark information, correction
Confidence breath and route information, generate the sector planning path of vehicle, and according to the speed of vehicle
Spend and send the control corresponding with the sector planning path generated with attitude information to performance element
Instruction；
Route information memory cell, the route letter come for storing main control unit to send
Breath；
Performance element, for controlling speed and the steering angle of vehicle；
Described travel condition detector unit, obstacle information processing unit, graphics processing unit,
Mode selecting unit, route information memory cell are all connected with main control unit, described obstacle
Thing information process unit is also connected with obstacle information detector unit, and described graphics processing unit is also
It is connected with image acquisition units and obstacle information processing unit respectively.
Further, this system also includes and the RCU of main control unit wireless connections, is used for
Control instruction is sent, to adjust speed and the steering angle of vehicle to main control unit.
Further, the selectable pattern of described mode selecting unit also includes actively driving mould
Formula, when system has the initiative driving model, main control unit abandons the control to performance element,
The speed of vehicle and steering angle are completely by Artificial Control.
Further, this system also includes manpower intervention detector unit, automatically drives when system is in
When sailing pattern, if be detected that manpower intervention is driven, manpower intervention detector unit is to main control unit
Send signal, after main control unit receives this signal, abandon the control to performance element, vehicle
Speed and steering angle completely by Artificial Control.
Further, obstacle information detector unit, including laser radar, millimetre-wave radar
And ultrasonic radar, wherein, vehicle front is provided with laser radar unit and 77G millimetre-wave radar,
The both sides of vehicle front and the both sides of rear vehicle end are provided with 24G millimetre-wave radar, vehicle two
Side and rear vehicle end are provided with ultrasonic radar.
Present invention also offers a kind of special-purpose vehicle automatic Pilot method based on route, including
Following steps:
S1: according to the vehicle travel condition information detected and the image letter collecting vehicle periphery
Breath generates vehicle and treats the route information of travel route and store, wherein, and described travel condition
Information includes the position of vehicle, speed and attitude information；
S2: the travel condition information of detection vehicle and the obstacle information of vehicle periphery, collecting vehicle
Image information around, and travel condition information, obstacle information and image information are carried out
Process, generate the sector planning path of vehicle,
Wherein, described process includes:
According to the environmental information of image information identification vehicle periphery, described environmental information includes traffic
Identification information and dynamic environment information；
The dynamic environment information that will identify that merges with the obstacle information detected, to vehicle
Barrier around carries out secondary-confirmation, and dyspoiesis thing nformation grid figure；
Track, vehicle place is determined according to the traffic mark information identified；
Positional information according to the vehicle detected searches the route information of storage, it is thus achieved that car
Track, place and the lane information in neighbouring track and speed-limiting messages, meanwhile, according to vehicle place
The positional information of the position information correction vehicle that track is corresponding；
According to the vehicle position information after barrier grid map information, traffic mark information, correction
With route information, generate the sector planning path of vehicle；
S3: send the control instruction corresponding with the sector planning path generated to performance element,
To control speed and the steering angle of vehicle.
Further, the method also includes receiving telecommand, and adjusts car according to described instruction
Speed and the step of steering angle.
Further, the method also includes being adjusted to vehicle by automatic driving mode actively driving
Pattern or be adjusted to the step of automatic driving mode by active driving model, when vehicle has the initiative
During driving model, main control unit abandons the control to performance element, the speed of vehicle and steering angle
Completely by Artificial Control.
Further, the method also includes that vehicle is during automatic Pilot, it may be judged whether have people
Work gets involved the step driven, and when having detected that manpower intervention is driven, vehicle is by automatic driving mode
Be converted to actively driving model.
Further, the obstacle information of vehicle periphery passes through detections of radar, wherein, vehicle
Front end is provided with laser radar and 77G millimetre-wave radar, the both sides of vehicle front and rear vehicle end
Both sides be provided with 24G millimetre-wave radar, vehicle both sides and rear vehicle end are provided with ultrasonic
Ripple radar.
Due to the fact that the above technical scheme of employing, it is possible to obtain following technique effect: this base
Special-purpose vehicle automated driving system in route is particularly suited for often travelling on route
Vehicle, can after be loaded on vehicle, portable strong；This automated driving system can be at vehicle
Generate vehicle according to the travel condition information collected and image information during traveling to wait to go
Sailing the route information of route, the acquisition method of this route information is simple and convenient, subtracts
Lack the consumption of manpower and cost；During automatic Pilot, the barrier of vehicle periphery obtains
Arrive dyspoiesis thing grid map letter after the dual confirmation of image and obstacle information detector unit
Breath, reduces the False Rate of barrier；By the traffic mark information identified from image
Can accurately determine track, vehicle place, it is also possible to thereby determine that the feelings of automotive run-off-road line
Condition, can obtain this track and the car in neighbouring track by searching route information memory cell
Road information and speed-limiting messages, meanwhile, according to the car obtained from route information memory cell
The positional information that track, place is corresponding may also correct for the positional information of vehicle, main control unit root
According to above-mentioned barrier grid map information, traffic mark information, correction after vehicle position information and
Route information, can make rational planning for vehicle running path according to default rule, and raising is driven
The safety sailed.
Accompanying drawing explanation
The present invention has accompanying drawing 2 width:
Fig. 1 is the structured flowchart of special-purpose vehicle automated driving system based on route；
Fig. 2 is the flow chart of special-purpose vehicle automatic Pilot method based on route.
Detailed description of the invention
Below by embodiment, and combine accompanying drawing, technical scheme is made further
Illustrate.
As it is shown in figure 1, the invention provides a kind of special-purpose vehicle automatic Pilot based on route
System, including: travel condition detector unit, obstacle information detector unit, obstacle information
Processing unit, mode selecting unit, image acquisition units, graphics processing unit, main control unit,
Route information memory cell and performance element, described travel condition detector unit, obstacle
Thing information process unit, graphics processing unit, mode selecting unit, route information store
Unit is all connected with main control unit, and described obstacle information processing unit is also examined with obstacle information
Survey unit be connected, described graphics processing unit the most respectively with image acquisition units and obstacle information
Processing unit is connected.
Travel condition detector unit, for detecting the position of vehicle, speed and attitude information, and
The information detected is sent to main control unit, and wherein, described travel condition detector unit includes
Location equipment, gyroscope, accelerometer and compass, described location equipment can be GPS；
Obstacle information detector unit, for detecting the obstacle information of vehicle periphery, and will inspection
The obstacle information measured is sent to obstacle information processing unit, and wherein, described barrier is believed
Breath includes the position of barrier relative vehicle, speed and barrier characteristic etc., described obstacle
Thing information detecting unit can be radar, it is preferable that vehicle front is provided with laser radar and 77G
Millimetre-wave radar, the both sides of vehicle front and the both sides of rear vehicle end are provided with 24G millimeter wave
Radar, both sides and the rear vehicle end of vehicle are provided with ultrasonic radar；
Obstacle information processing unit, sends, for receiving obstacle information detector unit, the barrier of coming
Hinder thing information and described obstacle information is processed, afterwards, the barrier letter after processing
Breath is sent to graphics processing unit, and described obstacle information processing unit is additionally operable to according to receiving
The barrier confirmation of graphics processing unit feedback generate and comprise all being firmly established
The barrier grid map of barrier, and described barrier grid map information is sent to master control list
Unit；
Mode selecting unit, for receiving the mode selecting information in the external world, and selects described pattern
Information of selecting sends to main control unit, and wherein, selectable pattern includes route information gathering
Pattern and automatic driving mode；
Image acquisition units, the image information around collection vehicle, and described image is believed
Breath sends to graphics processing unit, and wherein, image acquisition units can be photographic head；
Graphics processing unit, believes according to the environment of the image information identification vehicle periphery received
Breath, when system is in route information Collection Mode, in graphics processing unit identification image
Static context information, and the static context information that will identify that sends to main control unit, wherein,
Described static context information at least includes lane line information, track oriented identification information and speed limitation board
Information, wherein, lane line information includes deficiency and excess and the HUANGBAI(sic) information of lane line, speed limitation board information
Including the speed-limiting messages of mark on speed limitation board, static context information can also include that stop line is believed
Breath, zebra crossing information, traffic lights information；When system is in automatic driving mode, at image
Traffic mark information in reason unit identification image and dynamic environment information, wherein, described traffic
Identification information includes that lane line information, stop line information, zebra crossing information, lights state are believed
Breath, dynamic environment information includes front vehicles information, pedestrian information etc., afterwards, image procossing
The traffic mark information that unit will identify that sends to main control unit, the dynamic environment that will identify that
Information and obstacle information processing unit send the obstacle information come and merge, and obtain obstacle
Thing confirmation, and described barrier confirmation is sent to obstacle information processing unit；
Main control unit, receives mode selecting unit and sends the mode selecting information of coming, and according to connecing
The mode selecting information received performs corresponding task, wherein, when system is in route information
During drainage pattern, main control unit sends according to travel condition detector unit and graphics processing unit
Information generate vehicle and treat the route information of travel route, and by described route information
It is updated to route information memory cell, specifically, controls vehicle along described route row
Sail, in the process of moving, according to practical situation according in default distance calibration route
Point, and send, according to graphics processing unit, the static context information of coming, generate vehicle road to be travelled
The route information of line, wherein it is possible to repeatedly travel to and fro between described fixing road by controlling vehicle
Line gathers road information to improve the accuracy of route information；Automatically drive when system is in
When sailing pattern, main control unit determines according to the lane line information in the traffic mark information received
Which bar track vehicle is positioned at, and sends the positional information come according to travel condition detector unit and searches
Route information memory cell, to obtain the lane information near this position and speed-limiting messages, is combined
Close image information and route information, it is thus achieved that the track letter in track, vehicle place and neighbouring track
Breath, wherein, described lane information includes deficiency and excess HUANGBAI(sic) information and the track oriented identification of lane line
Information, meanwhile, according to the positional information of position information correction vehicle corresponding to track, vehicle place,
To improve the accuracy of the location to vehicle, it addition, when route information memory cell is deposited
When the route information of storage includes the positional information of stop line, zebra crossing, traffic lights, will be from
The stop line that identifies in image, zebra crossing, traffic lights positional information with according to traveling shape
State detector unit send come positional information search route memory element obtain stop line,
Zebra crossing, the positional information of traffic lights contrast, and can correct the position letter of vehicle further
Breath, improve the accuracy to vehicle location, main control unit according to barrier grid map information,
Vehicle position information after traffic mark information, correction and route information, according to setting in advance
Fixed rule, generates the sector planning path of vehicle, and according to the real-time speed of vehicle and attitude
Information sends the control instruction corresponding with the sector planning path generated to performance element；
Route information memory cell, the route letter come for storing main control unit to send
Breath；
Performance element, including throttle control, brake monitor, gear controller with turn to control
Device processed, for controlling speed and the steering angle of vehicle.
This system can during vehicle is advanced according to the travel condition information that collects and
Image information generates vehicle and treats the route information of travel route, this route information
Acquisition method is simple and convenient, decreases the consumption of manpower and cost；The barrier of vehicle periphery obtains
Arrive dyspoiesis thing grid map letter after the dual confirmation of image and obstacle information detector unit
Breath, reduces the False Rate of barrier；The lane line information identified from image can be accurate
Determine track, vehicle place, it is also possible to thus obtain the offset information of vehicle and lane line, logical
Cross lookup route information memory cell and can obtain the track letter in this track and neighbouring track
Breath and speed-limiting messages, meanwhile, according to the vehicle institute obtained from route information memory cell
The positional information corresponding in track may also correct for the positional information of vehicle, to improve vehicle
Location accuracy, main control unit according to above-mentioned barrier grid map information, traffic mark information,
Vehicle position information after correction and route information, can rationally advise according to default rule
Draw vehicle running path, improve the safety driven.
In order to realize the long-range control to vehicle, as the improvement of technical scheme, this system is also wrapped
Include and the RCU of main control unit wireless connections, for sending control instruction to main control unit,
To adjust speed and the steering angle of vehicle.
As the improvement of technical scheme, the selectable pattern of described mode selecting unit also includes main
Dynamic driving model, when system has the initiative driving model, main control unit is abandoned performance element
Control, the speed of vehicle and steering angle are completely by Artificial Control.
As the improvement of technical scheme, this system also includes manpower intervention detector unit, works as system
When being in automatic driving mode, if be detected that manpower intervention is driven, manpower intervention detector unit
Send signal to main control unit, after main control unit receives this signal, abandon performance element
Controlling, the speed of vehicle and steering angle by Artificial Control, are as good as with normal pilot steering completely.
Automatically drive as in figure 2 it is shown, present invention also offers a kind of special-purpose vehicle based on route
Sail method, can realize in said system, comprise the steps:
S1: according to the image of the vehicle travel condition information detected with the vehicle periphery collected
Information generates vehicle and treats the route information of travel route and store, wherein, and described traveling shape
State information includes the position of vehicle, speed and attitude information；
Special-purpose vehicle often travels in one or more route, at system start-up automatic Pilot
Before pattern, first starting route information Collection Mode, Artificial Control vehicle is along route
Travel, in the process of moving, according to practical situation according to default distance along route at it
Upper fixed point, detects the travel condition information of vehicle, and collecting vehicle respectively at each fixed point
Image information around, afterwards, the static context information in identification image information, wherein,
Described static context information at least includes lane line information, track oriented identification information and speed limitation board
Information, wherein, lane line information includes deficiency and excess and the HUANGBAI(sic) information of lane line, speed limitation board information
Including the speed-limiting messages of mark on speed limitation board, static context information can also include that stop line is believed
Breath, zebra crossing information, traffic lights information, comprehensive travel condition information and the static ring identified
Environment information, generates the route information of this route, furthermore it is possible to by controlling vehicle
Repeatedly travel to and fro between described route to gather information to improve the accuracy of route information；
S2: the travel condition information of detection vehicle and the obstacle information of vehicle periphery, collecting vehicle
Image information around, and travel condition information, obstacle information and image information are carried out
Process, generate the sector planning path of vehicle,
Wherein, travel condition information includes vehicle location, speed and attitude information, vehicle periphery
Obstacle information include the position of barrier relative vehicle, speed and barrier characteristic etc.,
Preferably, obstacle information pass through detections of radar, wherein, vehicle front be provided with laser radar and
77G millimetre-wave radar, the both sides of vehicle front and the both sides of rear vehicle end are provided with 24G milli
Metre wave radar, vehicle both sides and rear vehicle end be provided with ultrasonic radar, the figure of vehicle periphery
As information is by camera collection, the image information of vehicle periphery passes through camera collection；
Wherein, travel condition information, obstacle information and image information are processed concrete bag
Include following steps:
According to the environmental information of image information identification vehicle periphery, described environmental information includes traffic
Identification information and dynamic environment information, wherein, traffic mark information includes lane line information, stops
Only line information, zebra crossing information, traffic light status information, dynamic environment information includes front car
Information, pedestrian information etc.；
The dynamic environment information that will identify that merges with the obstacle information detected, to vehicle
Barrier around carries out secondary-confirmation, and dyspoiesis thing nformation grid figure；
Track, vehicle place is determined according to the traffic mark information identified, specifically, according to
The lane line information identified determines track, vehicle place；
Route information memory cell is searched, it is thus achieved that car according to the vehicle position information detected
Track, place and the lane information in neighbouring track and speed-limiting messages, meanwhile, according to vehicle place
The positional information of the position information correction vehicle that track is corresponding, described lane information includes: track
The deficiency and excess HUANGBAI(sic) information of line and track navigation information；
According to the vehicle position information after barrier grid map information, traffic mark information, correction
With route information, generate the sector planning path of vehicle；
S3: send the control instruction corresponding with the sector planning path generated to performance element,
To control speed and the steering angle of vehicle.
The method can during vehicle is advanced according to the travel condition information that collects and
Image information generates vehicle and treats the route information of travel route, this route information
Acquisition method is simple and convenient, decreases the consumption of manpower and cost；In Vehicular automatic driving process
In, the barrier of vehicle periphery has obtained the dual confirmation of image and obstacle information detector unit
Rear dyspoiesis thing grid map information, reduces the False Rate of barrier；The method is from image
The lane line information identified can accurately determine track, vehicle place, it is also possible to thereby determines that
Vehicle and the runout information of lane line, can obtain by searching route information memory cell
This track and the lane information in neighbouring track and speed-limiting messages, believe according to from route meanwhile
The positional information that in breath memory element, the track, vehicle place of acquisition is corresponding may also correct for vehicle
Positional information, to improve accuracy to vehicle location, believe according to above-mentioned barrier grid map
Vehicle position information after breath, traffic mark information, correction and route information, according in advance
If rule can make rational planning for vehicle running path, improve the safety driven.
In order to realize the long-range control to vehicle, as the improvement of technical scheme, the method is also wrapped
Include reception telecommand, and by performance element adjustment car speed and turn to according to described instruction
The step at angle.
As the improvement of technical scheme, the method also includes being adjusted vehicle by automatic driving mode
For active driving model or the step that is adjusted to automatic driving mode by active driving model, work as car
Have the initiative driving model time, main control unit abandons the control to performance element, the speed of vehicle
Degree and steering angle, completely by Artificial Control, are as good as with normal pilot steering.
As the improvement of technical scheme, the method also includes that vehicle, during automatic Pilot, is sentenced
The disconnected step whether having manpower intervention to drive, when having detected that manpower intervention is driven, vehicle is by certainly
Dynamic driving model is converted to actively driving model.
The above, the only present invention preferably detailed description of the invention, but the protection model of the present invention
Enclosing and be not limited thereto, any those familiar with the art is in the skill of present disclosure
In the range of art, according to technical scheme and inventive concept equivalent in addition thereof or change
Become, all should contain within protection scope of the present invention.
Claims (10)
1. special-purpose vehicle automated driving system based on route, it is characterised in that including:
Travel condition detector unit, for detecting the position of vehicle, speed and attitude information, and
The information detected is sent to main control unit；
Obstacle information detector unit, for detecting the obstacle information of vehicle periphery, and will inspection
The obstacle information measured is sent to obstacle information processing unit；
Obstacle information processing unit, processes the obstacle information received, and at general
Obstacle information after reason is sent to graphics processing unit；This unit is additionally operable to what basis received
The barrier confirmation of graphics processing unit feedback generates and comprises all barriers being firmly established
Hinder the barrier grid map of thing, and described barrier grid map information is sent to main control unit；
Mode selecting unit, for receiving the mode selecting information in the external world, and selects described pattern
Information of selecting sends to main control unit, and wherein, selectable pattern includes route information gathering
Pattern and automatic driving mode；
Image acquisition units, the image information around collection vehicle, and described image is believed
Breath sends to graphics processing unit；
Graphics processing unit, according to the environmental information of the image information identification vehicle periphery received,
When system is in route information Collection Mode, quiet in graphics processing unit identification image
State environmental information, and the static context information that will identify that is sent to main control unit；At system
When automatic driving mode, the traffic mark information in graphics processing unit identification image is with dynamic
Environmental information, afterwards, the traffic mark information that will identify that sends to main control unit, will identify
The dynamic environment information gone out and obstacle information processing unit send the obstacle information come to be carried out
Merge, obtain barrier confirmation, and described barrier confirmation is sent to barrier
Information process unit；
Main control unit, receives mode selecting unit and sends the mode selecting information of coming, and according to connecing
The mode selecting information received performs corresponding task, wherein, when system is in route information
During drainage pattern, main control unit sends according to travel condition detector unit and graphics processing unit
Information generate vehicle and treat the route information of travel route, and by described route information
It is updated to route information memory cell, when system is in automatic driving mode, master control list
Unit determines track, vehicle place according to the traffic mark information received, and believes according to the position of vehicle
Breath searches route information memory cell to obtain track, vehicle place and the car in neighbouring track
Road information and speed-limiting messages according to position information correction vehicle corresponding to track, vehicle place
Positional information, according to the vehicle position after barrier grid map information, traffic mark information, correction
Confidence breath and route information, generate the sector planning path of vehicle, and according to the speed of vehicle
Spend and send the control corresponding with the sector planning path generated with attitude information to performance element
Instruction；
Route information memory cell, the route letter come for storing main control unit to send
Breath；
Performance element, for controlling speed and the steering angle of vehicle；
Described travel condition detector unit, obstacle information processing unit, graphics processing unit,
Mode selecting unit, route information memory cell are all connected with main control unit, described obstacle
Thing information process unit is also connected with obstacle information detector unit, and described graphics processing unit is also
It is connected with image acquisition units and obstacle information processing unit respectively.
Special-purpose vehicle automated driving system based on route the most according to claim 1, its
Being characterised by, this system also includes and the RCU of main control unit wireless connections, for master
Control unit sends control instruction, to adjust speed and the steering angle of vehicle.
Special-purpose vehicle automated driving system based on route the most according to claim 1, its
Being characterised by, the selectable pattern of described mode selecting unit also includes actively driving model, when
System have the initiative driving model time, main control unit abandons the control to performance element, vehicle
Speed and steering angle are completely by Artificial Control.
Special-purpose vehicle automated driving system based on route the most according to claim 1, its
Being characterised by, this system also includes manpower intervention detector unit, when system is in automatic Pilot mould
During formula, if be detected that manpower intervention is driven, manpower intervention detector unit sends to main control unit
Signal, after main control unit receives this signal, abandons the control to performance element, the speed of vehicle
Degree and steering angle are completely by Artificial Control.
Special-purpose vehicle automated driving system based on route the most according to claim 1, its
It is characterised by, obstacle information detector unit, including laser radar, millimetre-wave radar and ultrasonic
Ripple radar, wherein, vehicle front is provided with laser radar and 77G millimetre-wave radar, before vehicle
The both sides of end and the both sides of rear vehicle end are provided with 24G millimetre-wave radar, vehicle both sides and car
Rear end is provided with ultrasonic radar.
6. special-purpose vehicle automatic Pilot method based on route, it is characterised in that include walking as follows
Rapid:
S1: according to the image of the vehicle travel condition information detected with the vehicle periphery collected
Information generates vehicle and treats the route information of travel route and store, wherein, and described traveling shape
State information includes the position of vehicle, speed and attitude information；
S2: the travel condition information of detection vehicle and the obstacle information of vehicle periphery, collecting vehicle
Image information around, and travel condition information, obstacle information and image information are carried out
Process, generate the sector planning path of vehicle,
Wherein, described process includes:
According to the environmental information of image information identification vehicle periphery, described environmental information includes traffic
Identification information and dynamic environment information；
The dynamic environment information that will identify that merges with the obstacle information detected, to vehicle
Barrier around carries out secondary-confirmation, and dyspoiesis thing nformation grid figure；
Track, vehicle place is determined according to the traffic mark information identified；
Positional information according to the vehicle detected searches the route information of storage, it is thus achieved that car
Track, place and the lane information in neighbouring track and speed-limiting messages, meanwhile, according to vehicle place
The positional information of the position information correction vehicle that track is corresponding；
According to the vehicle position information after barrier grid map information, traffic mark information, correction
With route information, generate the sector planning path of vehicle；
S3: send the control instruction corresponding with the sector planning path generated to performance element,
To control speed and the steering angle of vehicle.
Special-purpose vehicle automatic Pilot method based on route the most according to claim 6, its
It is characterised by, also includes receiving telecommand, and adjust car speed according to described instruction and turn
To the step at angle.
Special-purpose vehicle automatic Pilot method based on route the most according to claim 6, its
It is characterised by, also includes vehicle is adjusted to active driving model or by leading by automatic driving mode
Dynamic driving model is adjusted to the step of automatic driving mode, when vehicle has the initiative driving model
Time, main control unit abandons the control to performance element, and the speed of vehicle and steering angle are completely by people
Industry control system.
Special-purpose vehicle automatic Pilot method based on route the most according to claim 6, its
It is characterised by, also includes that vehicle is during automatic Pilot, it may be judged whether have manpower intervention to drive
Step, when having detected that manpower intervention is driven, vehicle is converted to actively by automatic driving mode
Driving model.
Special-purpose vehicle automatic Pilot method based on route the most according to claim 6, its
Being characterised by, the obstacle information of described vehicle periphery passes through detections of radar, wherein, before vehicle
End is provided with laser radar and 77G millimetre-wave radar, the both sides of vehicle front and rear vehicle end
Both sides are provided with 24G millimetre-wave radar, and vehicle both sides and rear vehicle end are provided with ultrasound wave
Radar.
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