CN107219846A - Control method, road commander and staging device, the vehicle termination of track direction - Google Patents
Control method, road commander and staging device, the vehicle termination of track direction Download PDFInfo
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- CN107219846A CN107219846A CN201610164858.0A CN201610164858A CN107219846A CN 107219846 A CN107219846 A CN 107219846A CN 201610164858 A CN201610164858 A CN 201610164858A CN 107219846 A CN107219846 A CN 107219846A
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- vehicle termination
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- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000012544 monitoring process Methods 0.000 claims abstract description 19
- 230000008859 change Effects 0.000 claims description 39
- 230000003993 interaction Effects 0.000 claims description 16
- 230000002452 interceptive effect Effects 0.000 claims description 9
- 230000006855 networking Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 15
- 230000009466 transformation Effects 0.000 description 13
- 238000005516 engineering process Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000011218 segmentation Effects 0.000 description 3
- 238000000844 transformation Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 206010057855 Hypotelorism of orbit Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000009933 burial Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000010721 machine oil Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000010705 motor oil Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of method for controlling track direction, road commander and staging device, vehicle termination, including：The state of each roadway segment equipment of road commander's monitoring of tools；When the state for monitoring the first road staging device meets first condition, first is sent to the second road staging device and indicates message, and the first instruction message is used to indicate that the direction in the track that the second road staging device is controlled switches to first direction by second direction；Wherein, the direction in the track that the first road staging device is controlled is the first direction.When vehicle termination is switched to by the first road staging device control to be controlled by the second road staging device, the second road staging device controls the vehicle termination to be travelled towards the first direction.
Description
Technical field
The present invention relates to car networking technology, more particularly to a kind of method for controlling track direction, road commander and
Staging device, vehicle termination.
Background technology
At present, the realization of automatic Pilot technology is to increase radar, laser on existing vehicle, image first-class biography
Sensor, collects the information of surrounding enviroment, by vehicle-mounted computer, replaces artificial assign to be driven with vehicle using algorithm
The steering instructions of correlation are sailed, so as to realize automatic Pilot.
Current automatic Pilot technology has the disadvantage that：Without progress information interchange between vehicle and road,
The driving behavior of each vehicle is the judgement based on itself, with uncertain and unstability, easily production
Raw collision, frequent lane change, going slowly etc. influences the behavior of road efficiency and passenger safety.In addition, existing
Road can not be according to the number of lanes of each direct of travel of vehicle flowrate flexible configuration.
The content of the invention
In order to solve the above technical problems, the embodiments of the invention provide a kind of method for controlling track direction, road
Command and staging device, vehicle termination on road.
The method of control track direction provided in an embodiment of the present invention, equipment, the road are commanded applied to road
Road commander's equipment can carry out data interaction with roadway segment equipment, and methods described includes：
Monitor the state of each roadway segment equipment；
When the state for monitoring the first road staging device meets first condition, to the second road staging device
Send first and indicate message, the first instruction message is used to indicate that the second road staging device is controlled
The direction in the track of system switches to first direction by second direction；Wherein, the first road staging device control
The direction in the track of system is the first direction.
In the embodiment of the present invention, when the state for monitoring the first road staging device meets first condition, institute
Stating method also includes：
The the second road staging device for meeting second condition is determined, the second road staging device control
The direction in track is the second direction.
In the embodiment of the present invention, methods described also includes：
Second is sent to the first road staging device and indicates message, and the second instruction message is used to indicate
The following information of first road staging device：The direction in the track of the second road staging device control by
Second direction switches to first direction.
The method that another embodiment of the present invention provides control track direction, applied to the second road staging device,
Methods described includes：
Receive the first instruction message that road commander's equipment is sent；
Message is indicated according to described first, the direction in the track that the second road staging device is controlled is by the
Two directions switch to first direction；Wherein, the direction in the track that the first road staging device is controlled is described the
One direction；
When vehicle termination is switched to by the second road staging device by the first road staging device control
During control, the second road staging device controls the vehicle termination to be travelled towards the first direction.
In the embodiment of the present invention, the direction in the track that the second road staging device is controlled is by second
Direction switches to first direction, including：
The multiple antenna for the track bottom that the second road staging device is controlled by it launches control letter
Number, the control signal carries the directional information in track；
The direction in the track for being controlled the second road staging device by the control signal is by second direction
Switch to first direction.
In the embodiment of the present invention, methods described also includes：
The second road staging device controls vehicle termination to drive into direction through lane change track for the second direction
Track.
In the embodiment of the present invention, methods described also includes：
Receive the 3rd instruction message that the first road staging device is sent；
When vehicle termination is switched to by the second road staging device by the first road staging device control
During control, the described 3rd instruction message is sent to the vehicle termination, the 3rd instruction message is used to refer to
Show that the vehicle termination is travelled according to target velocity in the road that the second road staging device is controlled.
The method that the vehicle that another embodiment of the present invention is provided accesses car networking, it is described applied to vehicle termination
Vehicle termination can carry out data interaction with roadway segment equipment, and methods described includes：
Receive the roadway segment equipment the 3rd indicates message；
Message is indicated according to the described 3rd, target velocity is determined；
The track expert for controlling the vehicle termination to be controlled according to the target velocity in the roadway segment equipment
Sail.
In the embodiment of the present invention, methods described also includes：When vehicle termination is controlled by the first road staging device
Switch to when being controlled by the second road staging device, according to the instruction message control of the second road staging device
The vehicle termination is made to travel towards first direction；Wherein, the track that the second road staging device is controlled
Direction switches to the first direction by second direction；The side in the track of the first road staging device control
To for the first direction.
Road provided in an embodiment of the present invention commands equipment, and the road commander equipment can be set with roadway segment
Standby to carry out data interaction, the road commander equipment includes：
Monitoring unit, the state for monitoring each roadway segment equipment；
Indicating member, for when the state for monitoring the first road staging device meets first condition, to
Two roadway segment equipment send first and indicate message, and the first instruction message is used to indicate second road
The direction in the track that staging device is controlled switches to first direction by second direction；Wherein, described first
The direction in the track that roadway segment equipment is controlled is the first direction.
In the embodiment of the present invention, the indicating member is additionally operable to send the to the first road staging device
Two indicate message, and the second instruction message is used to indicate the following information of the first road staging device：Institute
The direction for stating the track of the second road staging device control switches to first direction by second direction.
Roadway segment equipment provided in an embodiment of the present invention, the roadway segment equipment includes：
Interactive unit, message is indicated for receiving road commander's equipment is sent first；
Control unit, for indicating message according to described first, the second road staging device is controlled
The direction in track switches to first direction by second direction；Wherein, the track of the first road staging device control
Direction be the first direction；When vehicle termination is switched to by institute by the first road staging device control
When stating the control of the second road staging device, the second road staging device controls the vehicle termination towards described
First direction is travelled.
In the embodiment of the present invention, described control unit is additionally operable to control vehicle termination through the lane change track side of driving into
To the track for the second direction.
In the embodiment of the present invention, the interactive unit is additionally operable to receive the first road staging device transmission
The 3rd indicate message；When vehicle termination is switched to by described second by the first road staging device control
When roadway segment equipment is controlled, the described 3rd instruction message is sent to the vehicle termination, the described 3rd refers to
Show that message is used to indicate the road that the vehicle termination is controlled according to target velocity in the second road staging device
Travelled in road.
Vehicle termination provided in an embodiment of the present invention, including：
Interactive unit, for receiving the roadway segment equipment the 3rd indicates message；
Determining unit, for indicating message according to the described 3rd, determines target velocity；
Control unit, for controlling the vehicle termination according to the target velocity in the roadway segment equipment
Travelled in the track of control.
In the technical scheme of the embodiment of the present invention, the state of each roadway segment equipment of road commander's monitoring of tools；
When the state for monitoring the first road staging device meets first condition, sent to the second road staging device
First indicates message, and the first instruction message is used to indicate what the second road staging device was controlled
The direction in track switches to first direction by second direction；Wherein, the first road staging device is controlled
The direction in track is the first direction.When vehicle termination is switched to by the first road staging device control
When being controlled by the second road staging device, the second road staging device controls the vehicle termination court
The first direction traveling.
It can be seen that, sailed from the angle of roadnet commander's vehicle terminal row, by vehicle termination and road furniture (i.e.
Roadway segment equipment, road commander equipment) between interaction, complete switching of the vehicle termination in car networking,
Automatic Pilot is carried out according only to the factor of itself relative to current vehicle termination, can significantly improve and drive automatically
The safe coefficient sailed.
Also, road direct of travel can be according to the flexible change of road command centre instruction, can be with flexible configuration two
The track quantity of individual direction of traffic, so as to improve the commuting efficiency in city.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the method for the control track direction of the embodiment of the present invention one；
Fig. 2 is the schematic flow sheet of the method for the control track direction of the embodiment of the present invention two；
Fig. 3 is the schematic flow sheet of the method for the control track direction of the embodiment of the present invention three；
Fig. 4 commands the structure composition schematic diagram of equipment for the road of the embodiment of the present invention four；
Fig. 5 is the structure composition schematic diagram of the roadway segment equipment of the embodiment of the present invention five；
Fig. 6 is the structure composition schematic diagram of the vehicle termination of the embodiment of the present invention six；
Fig. 7 is the schematic diagram one of the vehicle termination of the embodiment of the present invention；
Fig. 8 is the schematic diagram two of the vehicle termination of the embodiment of the present invention；
Fig. 9 is the schematic diagram three of the vehicle termination of the embodiment of the present invention；
Figure 10 is the interface diagram of each equipment room of the embodiment of the present invention；
Figure 11 is the schematic diagram of the roadway segment office of the embodiment of the present invention；
Figure 12 is the schematic diagram of a scenario before the lane change of the embodiment of the present invention；
Figure 13 is the schematic diagram of a scenario after the lane change of the embodiment of the present invention；
The schematic flow sheet that Figure 14 switches over for the vehicle termination of the embodiment of the present invention in Internet of Things.
Embodiment
The characteristics of in order to more fully hereinafter understand the embodiment of the present invention and technology contents, below in conjunction with the accompanying drawings
Realization to the embodiment of the present invention is described in detail, appended accompanying drawing purposes of discussion only for reference, is not used for
Limit the embodiment of the present invention.
Fig. 1 for the method for the control track direction of the embodiment of the present invention one schematic flow sheet, in this example
Control the method for track direction to be applied to road and command equipment, the road commander equipment can be with roadway segment
Equipment carries out data interaction, as shown in figure 1, the method for the control track direction comprises the following steps：
Step 101：Monitor the state of each roadway segment equipment.
In the embodiment of the present invention, when the state for monitoring the first road staging device meets first condition, institute
Stating method also includes：Determine the second road staging device for meeting second condition, second roadway segment
The direction in the track that equipment is controlled is the second direction.
Here, first condition refers to：The track that roadway segment equipment is controlled runs into obstacle in track, capacity
The event of the influence traffic efficiency such as limited, accident.
In the embodiment of the present invention, the direction in the track that the first road staging device is controlled is first direction, the
The direction in the track that two roadway segment equipment are controlled is second direction, wherein, first direction and second direction
Conversely.
Second condition refers to：The track capacity that roadway segment equipment is controlled is enough.
Step 102：When the state for monitoring the first road staging device meets first condition, to second
Road staging device sends first and indicates message, and the first instruction message is used to indicate second roadway segment
The direction in the track that equipment is controlled switches to first direction by second direction；Wherein, first road
The direction in the track that staging device is controlled is the first direction.
In the embodiment of the present invention, methods described also includes：Second is sent to the first road staging device to refer to
Show message, the second instruction message is used to indicate the following information of the first road staging device：Described
The direction in the track of two roadway segment equipment control switches to first direction by second direction.So, first
Road staging device can just learn that the direction in the track of the second road staging device control is switched.
In the embodiment of the present invention, road commander's equipment also has following function：Vehicle termination is entered and driven automatically
Road is sailed to be authenticated.Check whether the self-detection result and correction result of vehicle termination meet the bar of automatic Pilot
Part.
Reference picture 10, road command centre (i.e. road commander equipment) and adjacent road command centre are (i.e.
Road commands equipment) data interaction is carried out by interface C, to adjust the capacity and row of different roadway segment offices
Sail average speed.
In the embodiment of the present invention, equipment is commanded to join the roadway segment equipment in entire road by road
Number is reset, so as to change the direction of vehicle termination traveling.
Fig. 2 for the method for the control track direction of the embodiment of the present invention two schematic flow sheet, in this example
The method of track direction is controlled to be applied to the second road staging device, as shown in Fig. 2 the control track side
To method comprise the following steps：
Step 201：Receive the first instruction message that road commander's equipment is sent.
Here, first indicate that message is used for the direction for indicating the track of the second road staging device control by second
Direction switches to first direction.
Step 202：Message is indicated according to described first, the track that the second road staging device is controlled
Direction first direction is switched to by second direction；Wherein, the side in the track of the first road staging device control
To for the first direction.
In the embodiment of the present invention, the direction in the track that the second road staging device is controlled is by second
Direction switches to first direction, including：The second road staging device passes through its track bottom controlled
Multiple antenna launches control signal, and the control signal carries the directional information in track；Pass through the control
The direction in the track that signal controls the second road staging device switches to first direction by second direction.
In the embodiment of the present invention, methods described also includes：The second road staging device controls vehicle termination
The track that direction is the second direction is driven into through lane change track.
Step 203：When vehicle termination is switched to by the second by the first road staging device control
During the staging device control of road, the second road staging device controls the vehicle termination towards the first direction
Traveling.
In the embodiment of the present invention, methods described also includes：Receive that the first road staging device sends the
Three indicate message；When vehicle termination is switched to by second road by the first road staging device control
When staging device is controlled, the described 3rd instruction message is sent to the vehicle termination, the described 3rd indicates to disappear
Cease for indicating the vehicle termination according to target velocity in the road that the second road staging device is controlled
Traveling.
In the embodiment of the present invention, roadway segment equipment also has following function：
Reference picture 11, each roadway segment office (i.e. roadway segment equipment) controls the vehicle in one section of track
Terminal, can carry out data interaction with the vehicle termination in one section of track.
Reference picture 7 to Fig. 9, Figure 11, the land burial of track both sides lane line has antenna, and antenna passes through feedback
Line is connected to road branch equipment, and road branch equipment is placed on roadside.Here, it is corresponding in one section of track
Antenna road branch equipment corresponding with this section of track is connected.It is achieved thereby that roadway segment equipment and vehicle
Data interaction between terminal.
Reference picture 10, (i.e. road is commanded with road command centre for roadway segment office (i.e. roadway segment equipment)
Equipment) it is connected by optical fiber, data interaction is carried out by interface B.Roadway segment office is by being embedded in road bottom
Under antenna and vehicle termination pass through interface A and carry out data interaction.
Reference picture 10, roadway segment office (i.e. roadway segment equipment) and adjacent roadway segment innings (i.e. road
Staging device) it is connected by optical fiber, data interaction is carried out by interface Bb.
In addition, roadway segment equipment is provided with laser range finder and the correction program of standardization, for controlling
Correction work of the vehicle termination processed before automatic Pilot road is entered.
Fig. 3 is accessed for the vehicle of the embodiment of the present invention three in the schematic flow sheet of the method for car networking, this example
Vehicle access car networking method be applied to vehicle termination, the vehicle termination can be with roadway segment equipment
Data interaction is carried out, as shown in figure 3, the method for vehicle access car networking comprises the following steps：
Step 301：Receive the roadway segment equipment the 3rd indicates message.
Step 302：Message is indicated according to the described 3rd, target velocity is determined.
Step 303：The vehicle termination is controlled to be controlled according to the target velocity in the roadway segment equipment
Track in travel.
In the embodiment of the present invention, vehicle termination also has following function：
Reference picture 7 is to Fig. 9, and the signal intensity received by six slave antennas calculates vehicle termination in track
Interior position and speed.Then, first sent according to roadway segment office indicates message, sends suitable
Steering instructions, the transport condition of vehicle termination are adjusted to the state of roadway segment equipment needs.
Reference picture 7 to Fig. 9, the front portion of vehicle termination is equipped with vehicle-mounted array radar, can detect vehicle
The barrier of the front end of terminal, calculates the probability of vehicle termination collision, so as to independently send deceleration or stop
Instruction.Road ahead where detecting vehicle termination using trailer-mounted radar has obstacle, and roadway segment equipment
When not assigning the first instruction message (i.e. commander's instruction), vehicle termination independently can slow down or stop.
In the embodiment of the present invention, vehicle termination can carry out self-inspection, check the engine, tire pressure, water of itself
Whether temperature, machine oil hydraulic oil temperature, fuel residual amount, vehicle electronic device various functions index are normal, if having
Alarm.Specifically, vehicle termination is in engine, tire pressure, water temperature, engine oil pipeline, fuel tank, vehicle electronics
Sensor and alarm module are set in equipment, if announcement will be sent by exception occur with upper bit function or state
It is alert.
In the embodiment of the present invention, vehicle termination can complete correction and switching under the instruction of roadway segment equipment
Process.
In the embodiment of the present invention, when vehicle termination is switched to by the second road by the control of the first road staging device
When staging device is controlled, the vehicle termination court is controlled according to the instruction message of the second road staging device
First direction is travelled；Wherein, the direction in the track of the second road staging device control is cut by second direction
Shift to the first direction；The direction in the track that the first road staging device is controlled is the first direction.
Fig. 4 commands the structure composition schematic diagram of equipment, the road commander for the road of the embodiment of the present invention four
Equipment can carry out data interaction with roadway segment equipment, as shown in figure 4, road commander's equipment includes：
Monitoring unit 41, the state for monitoring each roadway segment equipment；
Indicating member 42, for when the state for monitoring the first road staging device meets first condition, to
Second road staging device sends first and indicates message, and the first instruction message is used to indicate the second
The direction in the track that road staging device is controlled switches to first direction by second direction；Wherein, described
The direction in the track that one road staging device is controlled is the first direction.
The road commander equipment also includes：Determining unit 43, the second of second condition is met for determining
Roadway segment equipment, the direction in the track that the second road staging device is controlled is the second direction.
The indicating member 42, is additionally operable to send the second instruction message, institute to the first road staging device
Stating the second instruction message is used to indicate the following information of the first road staging device：Second roadway segment
The direction in the track of equipment control switches to first direction by second direction.
It will be appreciated by those skilled in the art that each unit in road commander's equipment shown in Fig. 4 realizes work(
The associated description of the method for foregoing control track direction can be can refer to and understood.Road commander shown in Fig. 4 sets
The function of each unit in standby can realize by running on the program on processor, also can be by specifically patrolling
Collect circuit and realize.
Fig. 5 is the structure composition schematic diagram of the roadway segment equipment of the embodiment of the present invention five, as shown in figure 5,
The roadway segment equipment includes：
Interactive unit 51, message is indicated for receiving road commander's equipment is sent first；
Control unit 52, for indicating message according to described first, the second road staging device is controlled
The direction in track first direction is switched to by second direction；Wherein, the car of the first road staging device control
The direction in road is the first direction；When vehicle termination by the first road staging device control switch to by
During the second road staging device control, the second road staging device controls the vehicle termination towards institute
State first direction traveling.
Described control unit 52, is additionally operable to the second road staging device and passes through its track bottom controlled
Multiple antenna launches control signal, and the control signal carries the directional information in track；Pass through the control
The direction in the track that signal controls the second road staging device switches to first direction by second direction.
Described control unit 52, is additionally operable to control vehicle termination to drive into direction through lane change track for the second party
To track.
The interactive unit 51, the 3rd instruction for being additionally operable to receive the first road staging device transmission disappears
Breath；When vehicle termination is switched to by the second road staging device by the first road staging device control
During control, the described 3rd instruction message is sent to the vehicle termination, the 3rd instruction message is used to refer to
Show that the vehicle termination is travelled according to target velocity in the road that the second road staging device is controlled.
It will be appreciated by those skilled in the art that each unit in roadway segment equipment shown in Fig. 5 realizes work(
The associated description of the method for foregoing control track direction can be can refer to and understood.Roadway segment shown in Fig. 5 is set
The function of each unit in standby can realize by running on the program on processor, also can be by specifically patrolling
Collect circuit and realize.
Fig. 6 is the structure composition schematic diagram of the vehicle termination of the embodiment of the present invention six, as shown in fig. 6, described
Vehicle termination includes：
Interactive unit 61, for receiving the roadway segment equipment the 3rd indicates message；
Determining unit 62, for indicating message according to the described 3rd, determines target velocity；
Control unit 63, for controlling the vehicle termination to be set according to the target velocity in the roadway segment
Travelled in the track of standby control.
It will be appreciated by those skilled in the art that each unit in vehicle termination shown in Fig. 6 realizes that function can
Understand with reference to the associated description of the method for foregoing control track direction.It is each in vehicle termination shown in Fig. 6
The function of unit can realize by running on the program on processor, also can be by specific logic circuit
Realize.
Reference picture 12 and Figure 13, Figure 12 are the schematic diagram of a scenario before lane change, and Figure 13 is the scene after lane change
Schematic diagram, as illustrated, before the going direction changing of track, respectively there is two tracks in figure to the left, to the right,
Respectively a track left side 1, a track left side 2, the track right side 1, the track right side 2.(i.e. road is commanded for road command centre
Equipment) can be as needed, the direction in wherein certain track is changed.For example, need to be by the track right side 2
Direction be changed to the left, due to control the track right side 2 roadway segment office (i.e. roadway segment equipment) be road
Segmentation office A, therefore, roadway segment office A control the antenna in its corresponding road section to send and carry track direction
Signal, roadway segment office A sets change directional information in the signal that antenna is sent；And arrange lane change track
By the vehicle lane change on the track right side 2 to the track right side 1, it is possible to set up a new track：A track left side 3, then allow
The vehicle termination lane change on a track left side 2 is to a track left side 3.
The schematic flow sheet that Figure 14 switches over for the vehicle termination of the embodiment of the present invention in Internet of Things, this stream
Cheng Zhong, roadway segment office is roadway segment equipment, and road command centre is road commander's equipment；As schemed
Shown in 14, the flow includes：
1st, Quality Initiative road has been set up.Speed control link is set up.That is vehicle termination and original roadway segment
There is normal speed control link between office A, vehicle termination can receive road within dispatching cycle
Segmentation office A speed indicates, report the speed state of itself and front-and-rear vehicle distance from.
2nd, triggering track direction conversion.Road command centre can monitor the state of roadway segment office in real time, if
It was found that roadway segment office C runs into obstacle in track, capacity is limited, and accident etc. influences the event of traffic efficiency,
And opposite direction road capacity it is enough when, then will trigger track direction shift process.After triggering, in road commander
The heart will issue " the track right side 2 switching direction resources standard to the roadway segment office A for needing to arrange for lane changing direction
With roadway segment office ID in standby order ", message, the track ID in direction change track, direction transformation starts
Position, direction transformation end position, direction transformation time started, direction transformation end time.
3rd, the track right side 2 is issued to change direction resource warning order.Roadway segment office A receives road commander
After " the track right side 2 change direction resource warning order " that center is issued, the track right side 2 will be begun preparing for and converted
Resource needed for direction, is included in direction transformation section two and arranges certain space, protect both direction row
The vehicle termination sailed will not hypotelorism.To also it be arranged in the vehicle end travelled in the section of direction transformation in addition
End carries out lane change, carries out lane change to the subsequent vehicle terminal that approach axis is converted into section, it is to avoid entrance side
To conversion section.
4th, report right 2 direction transformations in track are ready to confirm.When roadway segment office A will need conversion side
To the track right side 2 in vehicle termination transfer finish, and to i.e. by approach axis convert section subsequent vehicle
After termination arrangement lane change, the direct of travel on the track right side 2 is entered into line translation, " 2 direction transformations of the track right side are reported
It is ready to confirm ".The vehicle termination to be instructed come from the C lane changes of roadway segment office such as follow-up.
5th, newly-increased track order is issued.Road command centre receives the " track that roadway segment office A is reported
After the right ready confirmation of 2 direction transformations " message, newly-increased track order is issued to roadway segment office C.Disappear
ID with newly-increased track in breath, roadway segment office ID, the track ID in direction change track where track,
At the end of direction transformation starting position, direction transformation end position, direction transformation time started, direction transformation
Between.
6th, newly-increased track is reported to confirm.Roadway segment office C is newly-increased receive that road command centre issues
After the order of track, whether the information for examining newly-increased track can use.If verification is errorless, it can use, will be upper
The newly-increased track of report confirms, and vehicle termination will be arranged to carry out lane change to a track left side 3.
7th, vehicle termination is arranged to enter lane change track from a track left side 2.Report after newly-increased track confirmation, road point
Section office C will arrange vehicle termination to enter lane change track from track 2, and idiographic flow includes：Lane change is triggered, it is accurate
Whether standby lane change resource, measurement meets driving requirements with judgement lane change track, and speed is set up on lane change track
Link is indicated, stops on a track left side 2 and receives speed instruction.
8th, interior roadway segment office C will be indicated to roadway segment office A forwarding speeds during lane change, so in car
When terminal enters a track left side 3 from lane change track, roadway segment office C and roadway segment office A can jointly to
Vehicle termination downloading speed is indicated, prevents lane change from failing.
9th, vehicle termination is arranged to enter left 3 track from lane change track.Vehicle termination drives in lane change track
When overlapping with a track left side 3, road segmentation office C will arrange vehicle termination to enter a track left side 3 from lane change track.Survey
Whether amount meets driving requirements with a judgement track left side 3, and speed is set up on a track left side 3 and indicates link, is stopped
Speed is received on lane change track to indicate.So far, road direction conversion terminates, the vehicle subsequently travelled to the left
Terminal by can in the section of setting with the time track a left side 3 in travel.
, can be in any combination in the case where not conflicting between technical scheme described in the embodiment of the present invention.
In several embodiments provided by the present invention, it should be understood that disclosed method and smart machine,
It can realize by another way.Apparatus embodiments described above are only schematical, for example,
The division of the unit, only a kind of division of logic function, can there is other division side when actually realizing
Formula, such as：Multiple units or component can be combined, or be desirably integrated into another system, or some features can
To ignore, or do not perform.In addition, the coupling or straight of shown or discussed each part each other
Connect coupling or communication connection can be by some interfaces, the INDIRECT COUPLING or communication connection of equipment or unit,
Can be electrical, machinery or other forms.
The above-mentioned unit illustrated as separating component can be or may not be it is physically separate, as
The part that unit is shown can be or may not be physical location, you can positioned at a place, also may be used
To be distributed on multiple NEs；Part or all of unit therein can be selected according to the actual needs
Realize the purpose of this embodiment scheme.
In addition, each functional unit in various embodiments of the present invention can be fully integrated into a second processing list
, can also two or more unit collection in member or each unit is individually as a unit
Into in a unit；Above-mentioned integrated unit can both be realized in the form of hardware, it would however also be possible to employ hard
Part adds the form of SFU software functional unit to realize.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited to
This, any one skilled in the art the invention discloses technical scope in, can readily occur in
Change or replacement, should all be included within the scope of the present invention.
Claims (15)
1. a kind of method for controlling track direction, it is characterised in that command equipment, the road applied to road
Road commander's equipment can carry out data interaction with roadway segment equipment, and methods described includes：
Monitor the state of each roadway segment equipment；
When the state for monitoring the first road staging device meets first condition, to the second road staging device
Send first and indicate message, the first instruction message is used to indicate that the second road staging device is controlled
The direction in the track of system switches to first direction by second direction；Wherein, the first road staging device control
The direction in the track of system is the first direction.
2. the method for control track direction according to claim 1, it is characterised in that when monitoring the
When the state of one road staging device meets first condition, methods described also includes：
The the second road staging device for meeting second condition is determined, the second road staging device control
The direction in track is the second direction.
3. the method for control track direction according to claim 1, it is characterised in that methods described is also
Including：
Second is sent to the first road staging device and indicates message, and the second instruction message is used to indicate
The following information of first road staging device：The direction in the track of the second road staging device control by
Second direction switches to first direction.
4. a kind of method for controlling track direction, it is characterised in that applied to the second road staging device, institute
The method of stating includes：
Receive the first instruction message that road commander's equipment is sent；
Message is indicated according to described first, the direction in the track that the second road staging device is controlled is by the
Two directions switch to first direction；Wherein, the direction in the track that the first road staging device is controlled is described the
One direction；
When vehicle termination is switched to by the second road staging device by the first road staging device control
During control, the second road staging device controls the vehicle termination to be travelled towards the first direction.
5. the method for control track direction according to claim 4, it is characterised in that described by described in
The direction in the track of the second road staging device control switches to first direction by second direction, including：
The multiple antenna for the track bottom that the second road staging device is controlled by it launches control letter
Number, the control signal carries the directional information in track；
The direction in the track for being controlled the second road staging device by the control signal is by second direction
Switch to first direction.
6. the method for control track direction according to claim 4, it is characterised in that methods described is also
Including：
The second road staging device controls vehicle termination to drive into direction through lane change track for the second direction
Track.
7. the method for control track direction according to claim 4, it is characterised in that methods described is also
Including：
Receive the 3rd instruction message that the first road staging device is sent；
When vehicle termination is switched to by the second road staging device by the first road staging device control
During control, the described 3rd instruction message is sent to the vehicle termination, the 3rd instruction message is used to refer to
Show that the vehicle termination is travelled according to target velocity in the road that the second road staging device is controlled.
8. a kind of method that vehicle accesses car networking, it is characterised in that applied to vehicle termination, the vehicle
Terminal can carry out data interaction with roadway segment equipment, and methods described includes：
Receive the roadway segment equipment the 3rd indicates message；
Message is indicated according to the described 3rd, target velocity is determined；
The track expert for controlling the vehicle termination to be controlled according to the target velocity in the roadway segment equipment
Sail.
9. the method that vehicle according to claim 8 accesses car networking, it is characterised in that methods described
Also include：
When vehicle termination is switched to by the control of the first road staging device to be controlled by the second road staging device,
The vehicle termination is controlled to be travelled towards first direction according to the instruction message of the second road staging device；Its
In, the direction in the track of the second road staging device control switches to the first direction by second direction；
The direction in the track that the first road staging device is controlled is the first direction.
10. a kind of road commands equipment, it is characterised in that the road commander equipment can be with roadway segment
Equipment carries out data interaction, and the road commander equipment includes：
Monitoring unit, the state for monitoring each roadway segment equipment；
Indicating member, for when the state for monitoring the first road staging device meets first condition, to
Two roadway segment equipment send first and indicate message, and the first instruction message is used to indicate second road
The direction in the track that staging device is controlled switches to first direction by second direction；Wherein, described first
The direction in the track that roadway segment equipment is controlled is the first direction.
11. road according to claim 9 commands equipment, it is characterised in that the indicating member,
It is additionally operable to send the second instruction message to the first road staging device, the second instruction message is used to refer to
Show the following information of the first road staging device：The direction in the track of the second road staging device control
First direction is switched to by second direction.
12. a kind of roadway segment equipment, it is characterised in that the roadway segment equipment includes：
Interactive unit, message is indicated for receiving road commander's equipment is sent first；
Control unit, for indicating message according to described first, the second road staging device is controlled
The direction in track switches to first direction by second direction；Wherein, the track of the first road staging device control
Direction be the first direction；When vehicle termination is switched to by institute by the first road staging device control
When stating the control of the second road staging device, the second road staging device controls the vehicle termination towards described
First direction is travelled.
13. roadway segment equipment according to claim 12, it is characterised in that described control unit,
It is additionally operable to control vehicle termination to drive into the track that direction is the second direction through lane change track.
14. roadway segment equipment according to claim 12, it is characterised in that the interactive unit,
It is additionally operable to receive the 3rd instruction message that the first road staging device is sent；When vehicle termination is by described
The control of one road staging device is switched to when control by the second road staging device, by the described 3rd instruction
Message is sent to the vehicle termination, and the 3rd instruction message is used to indicate the vehicle termination according to target
Speed is travelled in the road that the second road staging device is controlled.
15. a kind of vehicle termination, it is characterised in that the vehicle termination includes：
Interactive unit, for receiving the roadway segment equipment the 3rd indicates message；
Determining unit, for indicating message according to the described 3rd, determines target velocity；
Control unit, for controlling the vehicle termination according to the target velocity in the roadway segment equipment
Travelled in the track of control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610164858.0A CN107219846B (en) | 2016-03-21 | 2016-03-21 | Method for controlling lane direction, road command and segmentation equipment and vehicle terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610164858.0A CN107219846B (en) | 2016-03-21 | 2016-03-21 | Method for controlling lane direction, road command and segmentation equipment and vehicle terminal |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107219846A true CN107219846A (en) | 2017-09-29 |
| CN107219846B CN107219846B (en) | 2021-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610164858.0A Active CN107219846B (en) | 2016-03-21 | 2016-03-21 | Method for controlling lane direction, road command and segmentation equipment and vehicle terminal |
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| CN107219846B (en) | 2021-09-07 |
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