CN106218640A - A kind of intersection information acquisition methods being applied to autonomous land vehicle and device - Google Patents
A kind of intersection information acquisition methods being applied to autonomous land vehicle and device Download PDFInfo
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- CN106218640A CN106218640A CN201610617342.7A CN201610617342A CN106218640A CN 106218640 A CN106218640 A CN 106218640A CN 201610617342 A CN201610617342 A CN 201610617342A CN 106218640 A CN106218640 A CN 106218640A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000004807 localization Effects 0.000 claims abstract description 6
- 238000009432 framing Methods 0.000 claims description 3
- 238000002372 labelling Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to a kind of intersection information acquisition methods being applied to autonomous land vehicle and device, the vehicle localization module being positioned on vehicle that this device includes being sequentially connected with, maincenter control unit, wireless receiving processing module.The method includes: 1) know current vehicle position information by vehicle localization module, in conjunction with vehicle heading and the cartographic information that is stored in advance on vehicle, it is thus achieved that the label information at current crossing；2) automobile wireless receiving processing module receives belisha beacon information, and described belisha beacon information includes signal lights state, signal lights state duration and crossing label information；3) label information at current crossing is compared with the crossing label information in belisha beacon information, finally determine the belisha beacon information that vehicle currently should use.The present invention can accurately and earlier predict belisha beacon information, provides guarantee for autonomous vehicle safety crossing, and simple, safe and reliable.
Description
Technical field
The invention belongs to automobile technical field, be specifically related to a kind of intersection information acquisition side being applied to autonomous land vehicle
Method and device.
Background technology
It is a basic ingredient of future transportation system that bus or train route is worked in coordination with, and it is by intelligent automobile and intelligent transportation
Between infrastructure, by some communication mode set up communication connection, thus help intelligent vehicle namely autonomous land vehicle with
Better way knows road information, and makes good decision-making and then the operation of command car according to these information.Currently,
Work in coordination with this field in bus or train route, there is many blank.An important component part in bus or train route is collaborative, belisha beacon
The bus or train route of information works in coordination with this field, there is no the most concrete application scheme.Therefore, one now it is badly in need of based on bus or train route collaborative party
Formula obtains the method and system of belisha beacon information, thus intelligent vehicle namely autonomous land vehicle can be violated the law according to this
And system utilizes signal information well and commands vehicle in the operation at crossing.
Summary of the invention
The invention provides a kind of intersection information acquisition methods being applied to autonomous land vehicle and device, to solve at car
Belisha beacon information how is obtained, so that autonomous land vehicle utilizes signal information commander's vehicle peace under the cooperative mode of road
Full by crossing.
For solving above-mentioned technical problem, a kind of intersection information acquisition methods bag being applied to autonomous land vehicle of the present invention
Include:
1) current vehicle position information is known by vehicle localization module, in conjunction with vehicle heading and be stored in advance in car
Cartographic information on, it is thus achieved that the label information at current crossing；
2) automobile wireless receiving processing module receives belisha beacon information, and described belisha beacon information includes signal lights
State, signal lights state duration and crossing label information；
3) label information at current crossing is compared, the most really with the crossing label information in belisha beacon information
Determine the belisha beacon information that vehicle currently should use.
The label information at current crossing and the comparison process of the crossing label information in signal information are at wireless receiving
Reason module in complete, after completing, by should vehicle use belisha beacon information send to maincenter control unit.
The label information at current crossing controls single with the comparison process of the crossing label information in signal information at maincenter
Unit completes.
When using GPS alignment system to carry out vehicle location, the cartographic information being stored in advance on vehicle is main on road
The latitude and longitude information of element.
Described essential element includes lane line and stop line.When using image location system to carry out vehicle location, deposit in advance
The storage image information that cartographic information is road on vehicle.
When using radar fix system to carry out vehicle location, the cartographic information being stored in advance on vehicle is the radar of road
Scanning information.
The intersection information acquisition device being applied to autonomous land vehicle of the present invention includes:
Locating module, for obtaining the current location information of vehicle；
Maincenter control unit, for according to current vehicle position information, in conjunction with vehicle heading and be stored in advance in car
Cartographic information on, it is thus achieved that the label information at current crossing；
Wireless receiving processing module, for receiving the signal information that the wireless transmitter module being positioned on signal lights sends；
An at least module in described maincenter control unit and wireless receiving processing module, is additionally operable to receive current crossing
Label information and signal information, and current crossing label information is compared with the crossing label information in signal information
Right, finally determine the intersection information that vehicle should use.
Described locating module is framing module, radar fix module or GPS locating module.
Beneficial effects of the present invention: the present invention is to know the information such as signal based on the mode that bus or train route is collaborative, i.e. by short
Belisha beacon information is sent to wireless receiving processing module by the mode of journey wireless telecommunications, and wireless receiving processing module is by this road
Mouth signal information sends to vehicle central control system, and then according to vehicle location information, obtains the letter that vehicle is currently needed for
Signal lamp information；Or wireless receiving processing module receives central control system and sends over to obtain crossing label information, in conjunction with self
The signal information that the belisha beacon acquisition of information vehicle received is currently needed for.Aforesaid way can accurately and earlier pre-
Know the signal information being presently in crossing, provide guarantee for autonomous vehicle safety crossing, and simple, safety
Reliably.
The method and system of the present invention can use multiple positioning modes, thus adds the motility of vehicle location.
Accompanying drawing explanation
Fig. 1 is to be obtained vehicle by wireless receiving processing module currently to use the system structure schematic diagram of signal information；
Fig. 2 is to be obtained vehicle by maincenter control unit currently to use the system structure schematic diagram of signal information.
Detailed description of the invention
Below in conjunction with the accompanying drawings, technical scheme is described in further detail.
It is applied to the intersection information acquisition methods embodiment of autonomous land vehicle
The method of the present embodiment includes: 1) know current vehicle position information by vehicle localization module, in conjunction with vehicle row
Sail direction and the cartographic information being stored in advance on vehicle, it is thus achieved that the label information at current crossing；
2) automobile wireless receiving processing module receives belisha beacon information, and described belisha beacon information includes signal lights
State, signal lights state duration and crossing label information；
3) label information at current crossing is compared, the most really with the crossing label information in belisha beacon information
Determine the belisha beacon information that vehicle currently should use.
Below above-mentioned steps is described in detail:
For step 1) when using GPS alignment system to know current vehicle position information, this cartographic information refers to certain
Plant and include the data base of the combination of the latitude and longitude information of essential element on certain limit road.These essential elements include but do not limit
In: the latitude and longitude information of lane line, the latitude and longitude information etc. of stop line.Positional information current for vehicle is main first with on road
The latitude and longitude information of element is compared, then on the road that the latitude and longitude information of the travel direction and essential element that combine vehicle is corresponding
Mouth label information, it is thus achieved that the label information at current crossing.
When using image location system to know current vehicle position information, this cartographic information refers to gather in advance and store
The image information of certain limit road and crossing label information corresponding to image information, by current vehicle position image information with
The road image information prestored is compared, and obtains the label information at current crossing.
When using radar fix system to know current vehicle position information, this cartographic information refers to gather in advance and store
The radar scanning information of certain limit road and crossing label information corresponding to radar scanning information, by current vehicle position thunder
The road radar scanning information reaching scanning information and prestore is compared, and obtains the label information at current crossing.
For step 2), the wireless sending module being distributed on each belisha beacon by the information of this signal lights with wireless
Mode sends the wireless receiving module on vehicle to.This signal information include current demand signal lamp state and persistent period thereof and
The label information at this crossing.
For step 3), after the label information obtaining current crossing and signal information, can be by the mark at current crossing
Note information is compared with the crossing label information in signal information, so that it is determined that the letter at crossing that vehicle currently will arrive
The signal information that signal lamp information, i.e. vehicle currently should use.
The label information at current crossing and the comparison process of the crossing label information in signal information are at wireless receiving
Complete in reason module, i.e. wireless receiving processing module receives the label information at current crossing, and by the label information at current crossing
Crossing label information in the signal information received with self is compared, and obtains the signal lights that vehicle currently should use
Information, then by should vehicle use belisha beacon information send to maincenter control unit, maincenter control unit is according to this
A little information control vehicle and pass through junction ahead with reasonable manner.
As another embodiment, the ratio of the label information at current crossing and the crossing label information in signal information
Process can directly be completed by maincenter control unit, particularly as follows: maincenter control unit knows vehicle by vehicle localization module
Current location information, in conjunction with vehicle heading and the cartographic information that is stored in advance on vehicle, it is thus achieved that the labelling at current crossing
Information, and the label information at current crossing is compared with the crossing label information in the signal information received, obtain
The signal information that vehicle currently should use, then controls vehicle with reasonable manner by front road according to these information
Mouthful.
A kind of intersection information acquisition device embodiment being applied to autonomous land vehicle
The device of the present embodiment includes: locating module, for obtaining the current location information of vehicle；
Maincenter control unit, for according to current vehicle position information, in conjunction with vehicle heading and be stored in advance in car
Cartographic information on, it is thus achieved that the label information at current crossing；
Wireless receiving processing module, for receiving the signal information that the wireless transmitter module being positioned on signal lights sends；
An at least module in maincenter control unit and wireless receiving processing module, is additionally operable to receive the mark at current crossing
Note information and reception signal information, and current crossing label information is compared with the crossing label information in signal information
Right, finally determine the intersection information that vehicle should use.
Below above-mentioned modules is described in detail:
Locating module: know that the locating module of current vehicle position includes but not limited to, utilizes image to carry out synchronizing location
With the framing module mapped, utilize radar to carry out the radar fix module synchronizing location with mapping, utilize GPS to position
GPS locating module, and on the basis of GPS, add the technology such as difference be further accurately positioned etc. all permissible
Vehicle is helped to carry out the module positioned.
Wireless receiving processing module: this module is arranged on vehicle, it is possible to receive the wireless transmission mould on belisha beacon
The information that block is sent, and possess the signal information that receives is sent to maincenter control unit.
This wireless receiving module is able to receive that the information controlling program from maincenter.Maincenter controls program and will be presently in
Intersection information sends wireless receiving processing module to, thus this module can know current intersection information.Current crossing letter
Breath is often referred to crossing labelling.When vehicle is in the case of road, wireless receiving processing module receives the several roads closed on simultaneously
Mouthful signal information time, the signal handler within wireless receiving processing module is by the road wirelessly received
Mouth signal information is compared with the crossing label information obtained from maincenter control program, and finally determining should at present period
The information such as the crossing signals used.
After determining the belisha beacon information that present period should use, wireless receiving processing module is by these information
Pass to maincenter control unit, carry out the foundation of decision-making and control as maincenter control unit.
Maincenter control unit: this unit must comprise a maincenter and control program, it operates in and can support what it ran
On host computer or lower computer hardware platform.Maincenter controls program can support that combination of hardware becomes a maincenter control individually with it
Unit processed or module, it is also possible to and needed for other, program together, becomes a unit or module with support combination of hardware.
This maincenter control unit has the function obtaining current crossing label information.First pass through on autonomous land vehicle
The information of the current location of the vehicle that alignment system is known.Maincenter control program by by this location information with store up the most in advance
The cartographic information existed in vehicle center control system is compared, so that it is determined that vehicle current desired it is to be understood that junction ahead
Code name the most current crossing label information.
When this maincenter control unit with only have the wireless receiving processing module that receives signal information function with the use of
Time, the maincenter control program in this maincenter control unit not only needs receive the crossing that wireless receiving processing module sends over
The information of traffic lights, additionally it is possible to according to crossing labelling in the crossing label information known, with the various signal informations received
Information is compared, so that it is determined that the signal information that vehicle currently should use.Signal information includes current demand signal lamp shape
State, state duration and crossing, signal lights place label information.
When this module with there is merit of being compared by crossing label information in crossing label information and various signal informations
Can wireless receiving processing module with the use of time, this module has and sends, to wireless receiving processing module, the crossing labelling known
The function of information, and it is able to receive that the function of signal information that the vehicle that wireless receiving processing module determines should use,
Thus, according to signal information, command vehicle safety crossing.
Claims (9)
1. the intersection information acquisition methods being applied to autonomous land vehicle, it is characterised in that the method includes:
1) current vehicle position information is known by vehicle localization module, in conjunction with vehicle heading and be stored in advance on vehicle
Cartographic information, it is thus achieved that the label information at current crossing；
2) automobile wireless receiving processing module receives belisha beacon information, and described belisha beacon information includes signal lights shape
State, signal lights state duration and crossing label information；
3) label information at current crossing is compared with the crossing label information in belisha beacon information, finally determine car
The belisha beacon information that currently should use.
It is applied to the intersection information acquisition methods of autonomous land vehicle the most according to claim 1, it is characterised in that current road
The label information of mouth completes in wireless receiving processing module with the comparison process of the crossing label information in signal information, complete
Cheng Hou, by should vehicle use belisha beacon information send to maincenter control unit.
It is applied to the intersection information acquisition methods of autonomous land vehicle the most according to claim 1, it is characterised in that current road
The label information of mouth completes in maincenter control unit with the comparison process of the crossing label information in signal information.
It is applied to the intersection information acquisition methods of autonomous land vehicle the most according to claim 2, it is characterised in that use
When GPS alignment system carries out vehicle location, the cartographic information being stored in advance on vehicle is the longitude and latitude of essential element on road
Information.
It is applied to the intersection information acquisition methods of autonomous land vehicle the most according to claim 3, it is characterised in that described master
Element is wanted to include lane line and stop line.
It is applied to the intersection information acquisition methods of autonomous land vehicle the most according to claim 1, it is characterised in that use figure
When carrying out vehicle location as alignment system, the cartographic information being stored in advance on vehicle is the image information of road.
It is applied to the intersection information acquisition methods of autonomous land vehicle the most according to claim 1, it is characterised in that use thunder
Reaching alignment system when carrying out vehicle location, the cartographic information being stored in advance on vehicle is the radar scanning information of road.
8. the intersection information acquisition device being applied to autonomous land vehicle, it is characterised in that this device includes:
Locating module, for obtaining the current location information of vehicle；
Maincenter control unit, for according to current vehicle position information, in conjunction with vehicle heading and be stored in advance on vehicle
Cartographic information, it is thus achieved that the label information at current crossing；
Wireless receiving processing module, for receiving the signal information that the wireless transmitter module being positioned on signal lights sends；
An at least module in described maincenter control unit and wireless receiving processing module, is additionally operable to receive the mark at current crossing
Note information and signal information, and current crossing label information is compared with the crossing label information in signal information,
Finally determine the intersection information that vehicle should use.
It is applied to the intersection information acquisition device of autonomous land vehicle the most according to claim 8, it is characterised in that described fixed
Position module is framing module, radar fix module or GPS locating module.
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| CN201610617342.7A CN106218640A (en) | 2016-07-28 | 2016-07-28 | A kind of intersection information acquisition methods being applied to autonomous land vehicle and device |
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| CN201610617342.7A CN106218640A (en) | 2016-07-28 | 2016-07-28 | A kind of intersection information acquisition methods being applied to autonomous land vehicle and device |
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Cited By (8)
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| CN107831789A (en) * | 2017-12-12 | 2018-03-23 | 成都育芽科技有限公司 | A kind of unmanned automatic driving mechanical transport signal lamp synchronisation control means |
| CN108447292A (en) * | 2018-04-10 | 2018-08-24 | 江苏微科云信息技术有限公司 | A kind of wireless intelligent traffic signal guidance system |
| CN109927728A (en) * | 2017-12-18 | 2019-06-25 | 现代自动车株式会社 | Utilize the method for the traveling of traveling ahead environmental information control Cleaning Equipment |
| CN112071066A (en) * | 2020-09-17 | 2020-12-11 | 北京智能车联产业创新中心有限公司 | Automatic driving vehicle testing method, judging method and device |
| CN112489435A (en) * | 2019-09-12 | 2021-03-12 | 千寻位置网络有限公司 | Red light running violation monitoring method and roadside device, vehicle-mounted device and vehicle thereof |
| GB202105672D0 (en) | 2021-04-21 | 2021-06-02 | Zeta Specialist Lighting Ltd | Traffic control at an intersection |
| CN113470381A (en) * | 2021-08-09 | 2021-10-01 | 深圳市科瑞克光电科技有限公司 | Signal lamp automatic control method and system based on GPS |
| CN113492858A (en) * | 2020-04-03 | 2021-10-12 | 深圳市超捷通讯有限公司 | Driving assistance method based on high-precision map and vehicle-mounted device |
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