CN106696961B - Ramp control system and method above and below highway automatic Pilot - Google Patents
Ramp control system and method above and below highway automatic Pilot Download PDFInfo
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- CN106696961B CN106696961B CN201611125570.9A CN201611125570A CN106696961B CN 106696961 B CN106696961 B CN 106696961B CN 201611125570 A CN201611125570 A CN 201611125570A CN 106696961 B CN106696961 B CN 106696961B
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Classifications
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- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses ramp control system and methods above and below a kind of highway automatic Pilot, including camera, image processing module, navigation module, automatic Pilot decision-making module and executing agency；Camera is for obtaining image；Image processing module identifies ring road markings, lane line from image, when lane line is irregular from the solid line for identifying edge on the right of road in image, as right-lane line, while fitting left-lane line, provides the driving path for driving into or being driven out to highway；Navigation module is for providing the relative position information of range information and ring road and expressway of the vehicle away from ring road；Trigger signal of the automatic Pilot decision-making module based on delivering turning branch detection provided by navigation module is to camera；Automatic Pilot decision-making module is based on information provided by navigation module and controls executing agency, and vehicle is made to automatically adjust speed；Automatic Pilot decision-making module is driven into based on driving path control vehicle or End of motorway.The present invention can be realized vehicle and pass in and out ring road automatically.
Description
Technical field
The invention belongs to automatic Pilot technologies, and in particular to a kind of highway automatic Pilot up and down ramp control system and
Method.
Background technique
Highway automated driving system is the automated driving system for highway structured road, in highway
The relative position of vehicle and lane line is determined to the detection of lane line by forward sight camera on main road, to control steering wheel
Road is travelled or switched along lane line；Vehicle's surroundings traffic environment is detected by the radar sensor around vehicle body,
To certain safe condition.
Can adapting to ring road up and down for current highway automated driving system, there are mainly two types of schemes：
The first scheme increases laser radar and carries out three-dimensional modeling to ring road；Since laser radar data amount is big, existing electricity
Sub- electric appliance framework can not be compatible with, and laser radar is at high cost, also poor to the adaptability of environment.
Second scheme carries out local paths planning using high-precision navigation/map, such mode to map precision and
The requirement of positioning accuracy is very high, but existing positioning method cannot be met the requirements.
Therefore, it is necessary to develop the new highway automatic Pilot of one kind ramp control system and method up and down.
Summary of the invention
The object of the present invention is to provide ramp control system and methods above and below a kind of highway automatic Pilot, are able to achieve vehicle
Automatic disengaging ring road.
Highway automatic Pilot of the present invention up and down ramp control system, including camera, image processing module,
Navigation module, automatic Pilot decision-making module and executing agency, the automatic Pilot decision-making module respectively with camera, image procossing
Module, navigation module connection, the automatic Pilot decision-making module also pass through vehicle CAN network and connect with executing agency；
The camera is for obtaining image；
Described image processing module identifies ring road markings, lane line from acquired image, and lane line not
The solid line for identifying edge on the right of road when regular from acquired image, as right-lane line, while fitting left-lane line,
And provide the driving path for driving into or being driven out to highway；
The navigation module is used to provide the relative position letter of range information and ring road and expressway of the vehicle away from ring road
Breath；
The automatic Pilot decision-making module is given based on the trigger signal of delivering turning branch detection provided by navigation module
Identification region is adjusted to ring road direction by camera, camera；
The automatic Pilot decision-making module is also based on the control of information provided by navigation module executing agency, keeps vehicle automatic
Adjust speed；
The automatic Pilot decision-making module is also based on driving path control executing agency, makes vehicle according to the traveling road
Diameter drives into or End of motorway.
Further include the radar group for being detected to road edge or expressway guardrail, and provide road edge information to
Road edge information and image information are blended and are cooked up driving path by image processing module, described image processing module,
The automatic Pilot decision-making module is based on information provided by radar group and carries out Driving Decision-making processing and vehicle control；The radar group
It is connect respectively with image processing module, automatic Pilot decision-making module.
The radar group includes at least the radar being separately mounted on four angles of vehicle and the Under The Grille in front.
The radar uses millimetre-wave radar.
The camera is mounted on the front windshield of right ahead.
Ramp metering rate method above and below highway automatic Pilot of the present invention, it is public using high speed as described in the present invention
Ramp control system, method include the following steps road automatic Pilot up and down：
Step 1: navigation module provides the relative position of range information and vehicle and ring road of the vehicle away from ring road in real time,
When vehicle reaches pre-determined distance away from the distance of ring road, ramp control system enters work to triggering highway automatic Pilot up and down
State；
Step 2: camera obtains the image of vehicle front in real time, image processing module is identified from acquired image
Lane line out, and vehicle is judged whether in rightmost side lane, if it is not, then automatic Pilot decision-making module controls vehicle according to lane line
Complete lane automatic switchover, so that vehicle is entered rightmost side lane, if so, automatic Pilot decision-making module control vehicle keep
It is travelled on the lane of the rightmost side；
It Step 3: automatic Pilot decision-making module issues the trigger signal of turning branch detection to camera, identify camera will
Region is adjusted to ring road direction；
Step 4: camera obtains the image in ring road direction in real time, image processing module is identified from acquired image
Ring road markings and lane line out, and the reality on edge on the right of road is identified when lane line is irregular from acquired image
Line as right-lane line, while fitting left-lane line, and provides driving path；
Step 5: the driving path control vehicle that automatic Pilot decision-making module is exported according to the step 4 drives into or sails
Expressway out；And when image processing module can recognize the left-lane line and right-lane line in lane, it is automatic to exit highway
Drive ramp control system up and down.
When vehicle enters ring road from expressway, in the step 1, when distance of the vehicle away from ring road is D1 meters, triggering
Ramp control system enters working condition to highway automatic Pilot up and down；
When vehicle enters expressway from ring road, in the step 1, when distance of the vehicle away from ring road is D2 meters, triggering
Ramp control system enters working condition to highway automatic Pilot up and down.
When vehicle enters ring road from expressway, the step 3 further includes：When distance of the vehicle away from ring road is D3 meters,
Automatic Pilot decision-making module controls vehicle according to the variation of distance and gradually decreases speed as defined in speed to ring road.
When vehicle enters expressway from ring road, further include in the step 5：Automatic Pilot decision-making module is according to
The driving path control vehicle that step 4 is exported drives into expressway and speed as defined in speed to expressway is continuously improved.
It further include being detected by radar to road edge or expressway guardrail, at described image in the step 4
It manages module and road edge information and image information is blended and cooked up driving path, specially：
Described image processing module utilizes the solid line on edge on the right of camera road detected, and combines radar to expressway
The detection result of guardrail calculates the boundary of road, then according to the position of the solid line on edge on the right of the road of detection, and utilizes vehicle
The width of road, reversely fits virtual left-lane line, and cooks up the driving path of vehicle ring road up and down.
The present invention has the following advantages that：The present invention identifies the characteristics of ring road by camera, and combines radar
The prompt of recognition result and common navigation realizes vehicle in the Function for Automatic Pilot of ring road mouth.
Detailed description of the invention
Fig. 1 is the principle of the present invention block diagram；
Fig. 2 is for vehicle from expressway automatically into the schematic diagram of ring road；
Fig. 3 is for vehicle from ring road automatically into the schematic diagram of expressway；
Fig. 4 is for vehicle from expressway automatically into the logical flow chart of ring road；
Fig. 5 is for vehicle from ring road automatically into the logical flow chart of expressway；
In figure：1, radar, 2, image processing module, 3, camera, 4, navigation module, 5, automatic Pilot decision-making module, 6,
Vehicle CAN network, 7, executing agency, 8, left-lane line, 9, central dotted line, 10, ring road markings, 11, on the right of road edge reality
Line, 12, driving path, 13, expressway guardrail.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
Ramp control system above and below highway automatic Pilot as shown in Figure 1, including at radar group, camera 3, image
Manage module 2, navigation module 4, automatic Pilot decision-making module 5 and executing agency 7.Automatic Pilot decision-making module 5 respectively with camera
3, image processing module 2, navigation module 4 connect, and automatic Pilot decision-making module 5 also passes through vehicle CAN network 6 and executing agency 7
Connection；Radar group is connect with image processing module 2, automatic Pilot decision-making module 5 respectively.
Camera 3 is for obtaining image.
Image processing module 2 identifies ring road markings 10, lane line from acquired image, and does not advise in lane line
The solid line 11 for identifying edge on the right of road when then from acquired image, as right-lane line, while fitting left-lane line
8, and provide the driving path 12 for driving into or being driven out to highway.
Navigation module 4 is for providing the relative position information of range information and ring road and expressway of the vehicle away from ring road
（Such as：Ring road mouth is located at the right side of expressway）.
Automatic Pilot decision-making module 5 is taken the photograph based on the trigger signal of delivering turning branch detection provided by navigation module 4
As head 3, identification region is adjusted to ring road direction by camera 3.Automatic Pilot decision-making module 5 is also provided based on navigation module 4
Information control executing agency 7, make vehicle automatically adjust speed.Automatic Pilot decision-making module 5 is also held based on driving path control
Row mechanism 7 drives into vehicle according to the driving path or End of motorway.
Radar group provides road edge information to image procossing for detecting to road edge or expressway guardrail
Road edge information and image information are blended and cook up driving path by module 2, described image processing module 2.Specially：
Using the solid line 11 on edge on the right of camera detection road, and combine radar to the detection result of expressway guardrail 13, with clear road
The boundary on road utilizes road vehicle width then according to the position of the solid line 11 on edge on the right of the road of detection（Road vehicle width
It is fixed, generally 3.75m）, another virtual left-lane line is reversely fitted, and cook up the row of vehicle or more ring road
Sail path.The present invention is mainly based on camera 3, supplemented by radar 1.
Automatic Pilot decision-making module 5 also carries out Driving Decision-making processing and vehicle control based on information provided by radar group；
The radar group is connect with image processing module 2, automatic Pilot decision-making module 5 respectively.
Vehicle CAN network 6 is used to provide whole vehicle information, such as：Speed signal, for obtaining current vehicle travel speed；
Direction angular signal, for obtaining current wheel steering angle；Yaw rate, for obtaining vehicle attitude；Vehicle
Current position signal, for obtaining vehicle in highway distance and position；Vehicle acceleration, the traveling for obtaining vehicle become
Gesture.
Heretofore described radar group includes five radars 1, is separately mounted under four angles and front of vehicle
Radar 1 on grid.Five radars 1 are all made of millimetre-wave radar.Camera 3 is one, is mounted on the front of right ahead
On wind glass.The quantity of radar 1 can increase according to actual needs.
Ramp metering rate method above and below highway automatic Pilot of the invention, certainly using highway as described in the present invention
Dynamic ramp control system, the method up and down of driving includes the following steps：
Step 1: navigation module 4 provides the opposite position of range information and vehicle and ring road of the vehicle away from ring road in real time
It sets, when vehicle reaches pre-determined distance away from the distance of ring road, ramp control system enters triggering highway automatic Pilot up and down
Working condition.
Step 2: camera 3 obtains the image of vehicle front in real time, image processing module 2 is known from acquired image
Not Chu lane line, and according to lane line judge vehicle whether in rightmost side lane, if it is not, then automatic Pilot decision-making module 5 control
Vehicle processed completes the automatic switchover in lane, and vehicle is made to enter rightmost side lane, if so, automatic Pilot decision-making module 5 controls vehicle
It is maintained on the lane of the rightmost side and to travel.
Step 3: automatic Pilot decision-making module 5 issues the trigger signal of turning branch detection to camera 3, notify camera 3 will
Identification region is adjusted to ring road direction.
Step 4: camera 3 obtains the image in ring road direction in real time, image processing module 2 is known from acquired image
Not Chu ring road markings and lane line, and it is irregular in lane line（The lane line of ring road mouth is all irregular under normal circumstances）Shi Cong
The solid line that edge on the right of road is identified in acquired image, as right-lane line, while fitting left-lane line, and to trip
Sail path.
Step 5: the driving path control vehicle that automatic Pilot decision-making module 5 is exported according to step 4 drives into or is driven out to
Expressway；And when image processing module 2 can recognize the left-lane line and right-lane line in lane, exits highway and drive automatically
Reach lower ramp control system.
In the step 4, in order to ensure the safety of driving, also by radar group to road edge or expressway guardrail
13 are detected, and road edge information and image information are blended and cooks up driving path 12 by image processing module 2.
With example, the present invention will be described in detail below：
It as shown in Figure 2 and Figure 4, include left-lane line 8, central dotted line 9, ring road markings 10, edge on the right of road in Fig. 2
Solid line 11, driving path 12, expressway guardrail 13.When vehicle needs to enter ring road from expressway, specific control process is as follows：
A1, navigation module 4 provide the relative position of range information and vehicle and ring road of the vehicle away from ring road in real time（Than
Such as：Right side or left side of the ring road in expressway）, and be D1 meters in distance of the vehicle away from ring road（Such as：2km）When, triggering high speed
Ramp control system enters working condition to highway automatic Pilot up and down.
A2, camera 3 obtain the image of vehicle front in real time, and image processing module 2 is identified from acquired image
Lane line, image processing module 2 judge vehicle whether in rightmost side lane, if it is not, then automatic Pilot decision according to lane line
Module 5 controls the automatic switchover that executing agency 7 completes lane, so that vehicle is entered rightmost side lane, entire lane change process need to be in vehicle
The distance away from ring road is completed in the range of 1km~2km.It is maintained at most if so, automatic Pilot decision-making module 5 controls vehicle
It is travelled in right-hand lane.During automatic Pilot, automatic Pilot decision-making module 5 can be according to the road edge detected of radar 1
Information carries out driving aid decision processing and vehicle control.
A3, distance of the vehicle away from ring road be D3 meters（Such as：1km）When, automatic Pilot decision-making module 5 is according to the change of distance
Change gradually decreases speed as defined in speed to ring road, and at the same time issuing the trigger signal of turning branch detection to camera 3 and radar
1, make camera 3 that identification region is adjusted to ring road direction.
A4, camera 3 obtain the image in ring road direction in real time, and image processing module 2 is identified from acquired image
Ring road markings and lane line, and when lane line is irregular, using the solid line 11 on edge on the right of camera detection road, as the right side
Lane line, and combine radar to the detection result of expressway guardrail 13, with the boundary of clear road, then according to the road of detection
The position of the solid line 11 on the right edge reversely fits another virtual left-lane line, and cook up using road vehicle width
Vehicle is driven out to the driving path of highway.
The driving path control vehicle that a5, automatic Pilot decision-making module 5 are exported according to step a4 sails out of expressway, enters
Ring road；And normal two lane lines can be recognized in image processing module 2（That is the left-lane line in lane where vehicle and right vehicle
Road township line）When, exit highway automatic Pilot ramp control system up and down.At this point, vehicle enters normal automatic Pilot state.
It include left-lane line 8, central dotted line 9, ring road markings 10, the reality on road the right edge in Fig. 3 referring to Fig. 3 and Fig. 5
Line 11, driving path 12, expressway guardrail 13.When vehicle enters high speed from ring road, specific control process is as follows：
B1, navigation module 4 provide the relative position of range information and vehicle and ring road of the vehicle away from ring road in real time, and
It is D2 meters in distance of the vehicle away from ring road（Such as：500 meters）When, triggering highway automatic Pilot up and down ramp control system into
Enter working condition.
B2, camera 3 obtain the image of vehicle front in real time, and image processing module 2 is identified from acquired image
Lane line, and vehicle is judged whether in rightmost side lane, if it is not, then the control of automatic Pilot decision-making module 5 is held according to lane line
Row mechanism 7 completes the automatic switchover in lane, and vehicle is made to enter rightmost side lane, if so, automatic Pilot decision-making module 5 controls vehicle
It is maintained on the lane of the rightmost side and to travel.
The trigger signal that b3, automatic Pilot decision-making module 5 issue turning branch detection makes camera 3 to camera 3 and radar 1
Identification region is adjusted to ring road direction.
B4, camera 3 obtain the image in ring road direction in real time, and image processing module 2 is identified from acquired image
Ring road markings and lane line, and when lane line is irregular, the solid line 11 on edge on the right of road is detected using camera 3, as
Right-lane line, and combine radar 1 to the detection result of expressway guardrail 13, with the boundary of clear road, then according to detection
The position of the solid line 11 on edge reversely fits another virtual left-lane line, and advise using road vehicle width on the right of road
Mark the driving path that vehicle drives into highway.
The driving path control vehicle that b5, automatic Pilot decision-making module 5 are exported according to step b4 drives into expressway not
It is disconnected to improve speed as defined in speed to expressway；And normal two lane lines can be recognized in image processing module 2（That is vehicle
The left-lane line and right-lane line in place lane）When, exit highway automatic Pilot ramp control system up and down.At this point, vehicle
Enter normal automatic Pilot state.
Claims (10)
1. ramp control system above and below a kind of highway automatic Pilot, it is characterised in that：Including camera（3）, image procossing
Module（2）, navigation module（4）, automatic Pilot decision-making module（5）And executing agency（7）, the automatic Pilot decision-making module（5）
Respectively with camera（3）, image processing module（2）, navigation module（4）Connection, the automatic Pilot decision-making module（5）Also by whole
Vehicle CAN network（6）With executing agency（7）Connection；
The camera（3）For obtaining image；
Described image processing module（2）Ring road markings are identified from acquired image（10）, lane line, and in lane line
The solid line on edge on the right of road is identified when irregular from acquired image（11）, as right-lane line, while fitting a left side
Lane line（8）, and provide the driving path for driving into or being driven out to highway（12）；
The navigation module（4）Believe relative position for providing range information and ring road and expressway of the vehicle away from ring road
Breath；
The automatic Pilot decision-making module（5）Based on navigation module（4）The trigger signal of provided delivering turning branch detection
To camera（3）, camera（3）Identification region is adjusted to ring road direction；
The automatic Pilot decision-making module（5）Also it is based on navigation module（4）Provided information controls executing agency（7）, make vehicle
Automatic adjustment speed；
The automatic Pilot decision-making module（5）Also it is based on the driving path（12）Control executing agency（7）, make vehicle according to this
Driving path（12）It drives into or End of motorway.
2. ramp control system above and below highway automatic Pilot according to claim 1, it is characterised in that：It further include using
In to road edge or expressway guardrail（13）The radar group detected, and road edge information is provided to image processing module
（2）, described image processing module（2）Road edge information and image information are blended and cook up driving path（12）, institute
State automatic Pilot decision-making module（5）Driving Decision-making processing and vehicle control are carried out based on information provided by radar group；The radar
Group respectively with image processing module（2）, automatic Pilot decision-making module（5）Connection.
3. ramp control system above and below highway automatic Pilot according to claim 2, it is characterised in that：The radar
Group includes at least the radar being separately mounted on four angles of vehicle and the Under The Grille in front（1）.
4. ramp control system above and below highway automatic Pilot according to claim 3, it is characterised in that：The radar
（1）Using millimetre-wave radar.
5. ramp control system above and below highway automatic Pilot according to any one of claims 1 to 3, it is characterised in that：
The camera（3）It is mounted on the front windshield of right ahead.
6. a kind of ramp metering rate method above and below highway automatic Pilot, it is characterised in that：It is any using such as claim 1 to 5
Ramp control system, method include the following steps the highway automatic Pilot up and down：
Step 1: navigation module（4）The relative position of range information and vehicle and ring road of the vehicle away from ring road is provided in real time,
When vehicle reaches pre-determined distance away from the distance of ring road, ramp control system enters work to triggering highway automatic Pilot up and down
State；
Step 2: camera（3）The image of vehicle front, image processing module are obtained in real time（2）Know from acquired image
Not Chu lane line, and vehicle is judged whether in rightmost side lane, if it is not, then automatic Pilot decision-making module according to lane line（5）
The automatic switchover that vehicle completes lane is controlled, so that vehicle is entered rightmost side lane, if so, automatic Pilot decision-making module（5）Control
Vehicle processed is maintained on the lane of the rightmost side and travels；
Step 3: automatic Pilot decision-making module（5）The trigger signal of turning branch detection is issued to camera（3）, make camera（3）It will
Identification region is adjusted to ring road direction；
Step 4: camera（3）The image in ring road direction, image processing module are obtained in real time（2）Know from acquired image
It Chu not ring road markings（10）And lane line, and edge on the right of road is identified from acquired image when lane line is irregular
Solid line（11）, as right-lane line, while fitting left-lane line（8）, and provide driving path（12）；
Step 5: automatic Pilot decision-making module（5）The driving path exported according to the step 4（12）Control vehicle drives into
Or End of motorway；And in image processing module（2）The left-lane line in lane can be recognized（8）When with right-lane line, height is exited
Ramp control system above and below fast highway automatic Pilot.
7. ramp metering rate method above and below highway automatic Pilot according to claim 6, it is characterised in that：Vehicle from
When expressway enters ring road, in the step 1, when distance of the vehicle away from ring road is D1 meters, highway automatic Pilot is triggered
Upper and lower ramp control system enters working condition；
When vehicle enters expressway from ring road, in the step 1, when distance of the vehicle away from ring road is D2 meters, triggering high speed
Ramp control system enters working condition to highway automatic Pilot up and down.
8. ramp metering rate method above and below highway automatic Pilot according to claim 6 or 7, it is characterised in that：In vehicle
When entering ring road from expressway, the step 3 further includes：When distance of the vehicle away from ring road is D3 meters, automatic Pilot decision
Module（5）Vehicle, which is controlled, according to the variation of distance gradually decreases speed as defined in speed to ring road.
9. ramp metering rate method above and below highway automatic Pilot according to claim 6 or 7, it is characterised in that：In vehicle
When entering expressway from ring road, further include in the step 5：Automatic Pilot decision-making module（5）It is defeated according to the step 4 institute
Driving path out（12）Control vehicle drives into expressway and speed as defined in speed to expressway is continuously improved.
10. ramp metering rate method above and below highway automatic Pilot according to claim 6 or 7, it is characterised in that：It is described
It further include by radar to road edge or expressway guardrail in step 4（13）It is detected, described image processing module（2）
Road edge information and image information are blended and cook up driving path（12）, specially：
Described image processing module（2）Utilize camera（3）The solid line on edge on the right of road detected（11）, and combine radar
（1）To expressway guardrail（13）Detection result, the boundary of road is calculated, then according to the solid line on edge on the right of the road of detection
（11）Position, and using road vehicle width, reversely fit virtual left-lane line（8）, and cook up vehicle or more
The driving path of ring road（12）.
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| CN108045378A (en) * | 2017-12-17 | 2018-05-18 | 成都育芽科技有限公司 | A kind of display system for Vehicular automatic driving |
| CN108470459B (en) * | 2018-03-28 | 2020-07-07 | 吉利汽车研究院（宁波）有限公司 | Ramp speed limit prompting device and method |
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