CN107678426A - The collision avoidance system of automatic running automobile - Google Patents
The collision avoidance system of automatic running automobile Download PDFInfo
- Publication number
- CN107678426A CN107678426A CN201710772606.0A CN201710772606A CN107678426A CN 107678426 A CN107678426 A CN 107678426A CN 201710772606 A CN201710772606 A CN 201710772606A CN 107678426 A CN107678426 A CN 107678426A
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- Prior art keywords
- automatic running
- automobile
- running automobile
- section
- automatic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 230000006698 induction Effects 0.000 claims abstract description 35
- 230000008676 import Effects 0.000 claims abstract description 19
- 238000009434 installation Methods 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 12
- 230000033228 biological regulation Effects 0.000 claims description 11
- 238000005096 rolling process Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 5
- 230000006872 improvement Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention discloses a kind of collision avoidance system of automatic running automobile, including designated lane and automatic running automobile, Vehicle Controller is provided with automatic running automobile, the designated lane includes two side walls, automatic running automobile can be along the side wall one-way traffic of designated lane, the designated lane includes solo running section and imports section, import section and be imported into for being provided from dynamic side wall of the running automobile along designated lane from two solo running sections in same solo running section, the vehicle induction installation prevented when importing with other automatic running car collisions is provided with automatic running automobile, the vehicle induction installation connects with Vehicle Controller communication, Vehicle Controller senses other automatic running automobile time-controlled automatic running automobile speeds to prevent and other automatic running car collisions in vehicle induction installation.The collision avoidance system of automatic running automobile provided by the invention, it is more safely, conveniently and economical compared with for conventional traffic system, facilitate the life of people.
Description
Technical field
The present invention relates to a kind of collision avoidance system of automatic running automobile.
Background technology
As vehicle is during road driving, when especially driving a vehicle on a highway, by driver personal technology
Many influences such as quality, health, vehicle condition and weather conditions, easily cause traffic accident and take place frequently, these are all serious
The lifting of highway communication transport power is restricted, very big inconvenience is brought to social production and people's life.With automatic running automobile, electronic
Automobile and other new-energy automobile technologies are rapidly developed in recent years, and unmanned transit system will turn into the main traffic of people
Trip mode.
A kind of unmanned intelligent transportation system is disclosed in the Chinese invention patent of Application No. 201310540722.1,
It includes designated lane and the vehicle that can be voluntarily travelled in dedicated Lanes, side wall traveling of the vehicle along dedicated Lanes
And it can be imported into along side wall from track area is entered in runway area.Because during remittance, the invention passes through central schedule
The opportunity that control system drives into runway area to vehicle is controlled to prevent from colliding between vehicle.But once center is adjusted
Disconnected between degree control system and vehicle, vehicle can not obtain the control of central schedule control system transmission during remittance
System instruction, then easily occur unexpected.
The content of the invention
In view of the shortcomings of the prior art, can be effective the invention provides a kind of collision avoidance system of automatic running automobile
Ground prevents automatic running automobile from being collided when importing, and improves security.
To achieve the above object, the invention provides a kind of collision avoidance system of automatic running automobile, including designated lane
With automatic running automobile, Vehicle Controller is provided with automatic running automobile, the designated lane includes two side walls, automatic running
Automobile can be along the side wall one-way traffic of designated lane, and the designated lane includes solo running section and imports section, imports section and uses
It is imported into being provided from dynamic side wall of the running automobile along designated lane from two solo running sections in same solo running section, from
The vehicle induction installation prevented when importing with other automatic running car collisions, the vehicle are provided with dynamic running automobile
Induction installation connects with Vehicle Controller communication, and Vehicle Controller is when vehicle induction installation senses other automatic running automobiles
Automatic running automobile speed is controlled to prevent and other automatic running car collisions.
It is using the advantages of above-mentioned technical proposal：Because designated lane includes solo running section and imports section, importing section can
It is imported into for being provided from dynamic side wall of the running automobile along designated lane from two solo running sections in same solo running section；From
When dynamic running automobile is imported by importing section, the Vehicle Controller set on automatic running automobile senses in vehicle induction installation
Automatic running automobile speed can be controlled during other automatic running automobiles, so as to prevent automatic running automobile in remittance process
In voluntarily completed by automatic running automobile with other automatic running car collisions, whole process, it is not necessary to by artificial or
Person's remote server controls, therefore security is higher.
As a further improvement on the present invention, the end of driving into for importing section is connected with two solo running sections, imports section
End of rolling away from be connected with a solo running section, import section and be made up of parallel area and Hui Che areas, the one end in parallel area is described
End is driven into, the other end in parallel area is connected with the one end in Hui Che areas, and the other end in Hui Che areas rolls end, parallel area etc. away from for described
Width wide and with preferably at least twice solo running section, the width in Hui Che areas roll extreme direction away from from itself and parallel area junction court
Tapered, the vehicle induction installation includes preventing the infrared induction module of automatic running automobile driving alongside in parallel area.
It is using the advantages of above-mentioned technical proposal：Due to might have more automatic running automobiles in remittance section while sailing
Enter, easily cause congestion and collision, the setting in parallel area so that can be arranged by oneself when automatic running automobile is in parallel area logical
Cross order；The infrared induction module serves the effect for preventing automatic running automobile driving alongside in parallel area；Automatic row
Sail automobile can be to drive into same solo running section after by parallel area along Hui Che areas, and whole remittance process is very fast
Speed, safety.
As a further improvement on the present invention, the infrared induction module includes infrared transmitter and infrared remote receiver, red
External transmitter is arranged at the side of automatic running automobile, and the emitting area of the infrared transmitter is in fan-shaped and can be illuminated
The irradiation area of strip is left on object, infrared remote receiver is respectively arranged at the rear and front end position of automatic running automobile opposite side
Put, the Vehicle Controller after the signal of infrared remote receiver transmission is received regulation speed to prevent and other automatic running vapour
Car collides.
It is using the advantages of above-mentioned technical proposal：When automatic running automobile, which drives into, imports section, two solo running Duan Hui
The automatic running automobile entered can travel along the side wall of respective side, because the infrared transmitter of automatic running automobile side can
The side environs are irradiated, when other automatic running automobiles opposite side infrared remote receiver by infrared transmitter
Irradiation when（When i.e. the irradiation area of strip is located on the infrared remote receiver of the automatic running automobile）, infrared remote receiver is by signal
Vehicle Controller is passed to, Vehicle Controller is prevented with other automatic running automobiles simultaneously by controlling automatic running automobile speed
Seniority among brothers and sisters is sailed, so as to prevent being collided during remittance.
As a further improvement on the present invention, the vehicle induction installation includes being used to prevent automatic running automobile in remittance car
Knocked into the back in area apart from induction module, this is arranged at the front end of automatic running automobile, the Vehicle Controller apart from induction module
Regulation speed is reduced to prevent and front automatic running car collision after distance perspective is received and answer the signal of module transfer.
It is using the advantages of above-mentioned technical proposal：When automatic running automobile is driven into Hui Che areas, automatic running vapour is arranged at
The front end of car apart from induction module when sensing other automatic running automobiles positioned at front, signal can be passed to vehicle-mounted
Controller, Vehicle Controller prevent from knocking into the back with front automatic running automobile, carried by controlling automatic running automobile speed
High security.
As a further improvement on the present invention, including remote scheduling center, automatic running automobile and remote scheduling center it
Between connected by wireless network, the remote scheduling is automatic to avoid as far as possible centrally through allotment automatic running car running process
Running automobile meets in section is imported.
It is using the advantages of above-mentioned technical proposal：The traveling process of automatic running automobile is carried out by remote scheduling center
Allotment, avoids automatic running automobile from being met in section is imported, prevents automatic running automobile in section is imported so as to play as far as possible
The possibility to collide, automatic running automobile is set efficiently to pass through in section is imported.
As a further improvement on the present invention, radio receiver-transmitter, automatic row are provided with the automatic running automobile
Automobile is sailed by voluntarily allocating traveling process between the radio receiver-transmitter and periphery automatic running automobile to avoid as far as possible
Met with other automatic running automobiles in section is imported.
It is using the advantages of above-mentioned technical proposal：Automatic running automobile passes through radio receiver-transmitter and periphery automatic running
Traveling process is voluntarily allocated between automobile, avoids meeting in section is imported with other automatic running automobiles as far as possible, so as to play
The possibility for preventing automatic running automobile from being collided in section is imported, automatic running automobile is set efficiently to lead in section is imported
Cross.
Brief description of the drawings
Fig. 1 is the schematic diagram that section is imported in the embodiment of the present invention；
Fig. 2 is the schematic diagram of automatic running automobile the first situation of meeting in parallel area in the embodiment of the present invention；
Fig. 3 is the schematic diagram of automatic running automobile second of situation of meeting in parallel area in the embodiment of the present invention；
Fig. 4 is the schematic diagram of automatic running automobile the third situation of meeting in parallel area in the embodiment of the present invention；
Fig. 5 is that automatic running automobile meets the schematic diagram of situation in catchment area in the embodiment of the present invention；
Fig. 6 is the annexation figure of Vehicle Controller in the embodiment of the present invention.
Embodiment
The embodiment of the collision avoidance system of the automatic running automobile of the present invention is as shown in figures 1-6：Including designated lane and
Automatic running automobile 1, Vehicle Controller is provided with automatic running automobile 1, the designated lane includes two side walls, automatic running
Speed controller is provided with automobile 1 and along wall mobile devices, it is described to include being used to sense automatic running along wall mobile devices
The transfer of the range sensor of distance and control wheel steering between automobile 1 and designated lane side wall, transfer
Operation principle be exactly by controlling deflecting roller constantly to carry out steering adjustment, make automatic running automobile 1 remain in motion with
The distance between designated lane side wall, so that automatic running automobile 1 in the process of moving can be along designated lane side wall row
Sail without colliding, the designated lane includes solo running section 21 and imports section（22a, 22b）, import section（22a, 22b）For supplying
Side wall of the automatic running automobile 1 along designated lane is imported into same solo running section 21 from two solo running sections 21,
The vehicle induction installation for preventing being collided with other automatic running automobiles 1 when importing, car are provided with automatic running automobile 1
Induction installation, speed controller, communicate and connect with Vehicle Controller respectively along wall mobile devices, Vehicle Controller is in vehicle
Induction installation, which senses, controls the speed of automatic running automobile 1 to prevent and other automatic running vapour during other automatic running automobiles 1
Car 1 collides.
In the present embodiment, the remittance section（22a, 22b）End of driving into be connected with two solo running sections 21, import section
（22a, 22b）End of rolling away from be connected with a solo running section 21, import section and be made up of parallel area 22a and Hui Che areas 22b, parallel
End is driven into area 22a one end for described, and the parallel area 22a other end is connected with Hui Che areas 22b one end, Hui Che areas 22b's
The other end is described end of rolling away from, and parallel area 22a is wide and has the width of preferably at least twice solo running section 21, Hui Che areas
22b width is tapered towards extreme direction is rolled away from parallel area 22a junctions from it, and the vehicle induction installation includes preventing automatic row
Sail the infrared induction module of the driving alongside in parallel area 22a of automobile 1.
In the present embodiment, the infrared induction module includes infrared transmitter 11 and infrared remote receiver 12, infrared emission
Device 11 is arranged at the side of automatic running automobile 1, and the emitting area of the infrared transmitter 11 is in fan-shaped and can be illuminated
The irradiation area of strip is left on object, infrared remote receiver 12 is respectively arranged at the rear and front end of the opposite side of automatic running automobile 1
Position, the Vehicle Controller after the signal of the transmission of infrared remote receiver 12 is received regulation speed to prevent and other automatic rows
Automobile 1 is sailed to collide.
Due to importing section（22a, 22b）End of driving into be connected with two solo running sections 21, import section roll away from end connection
There is a solo running section 21, and import between the solo running section 21 of section both ends connection there is continuous side wall, therefore from
Dynamic running automobile 1 along side wall traveling by can be realized as together being imported into a solo running from two solo running sections 21
In section 21.
When automatic running automobile 1 is by importing section（22a, 22b）When, as shown in Figure 1：It is now in importing driving into for section 26
End near two automatic running automobiles 1 along wall mobile devices respectively along left wall 2a and right wall 2b（Relative to automatic running
The side wall in left side or right side for the travel direction of automobile）Traveling just can together be imported into the solo running section 21 for rolling end away from
In.
Automatic running automobile 1 is travelled at parallel area 22a section, it is necessary to situation side by side be prevented, because importing
Area 22b width narrows gradually, and the automatic running automobile 1 of driving alongside easily enters afterwards in parallel area 22a
Catchment area 22b in collide.
In the present embodiment, infrared transmitter 11 is arranged at the left side of the travel direction of automatic running automobile 1, infrared remote receiver
12 right sides for being arranged at the travel direction of automatic running automobile 1, and automatic running automobile 1 traveling into parallel area 22a when, edge
The automatic running automobile 1 of left wall 2a travelings can enable the infrared remote receiver 12 for being arranged at right side, the automatic row travelled along right wall 2b
The infrared transmitter 11 for being arranged at left side can then be enabled by sailing automobile 1.
The situation that automatic running automobile 1 meets in parallel area 22a is as shown in Figure 2, Figure 3 and Figure 4：Two automatic running automobiles
1 in parallel area 22a when meeting, along right wall 2b travelings and the left side of automatic running automobile 1 that position is forward set it is infrared
Transmitter 11 is irradiated in the infrared remote receiver 12 that the right side front position of another automatic running automobile 1 is set, then by infrared hair
The meeting regulation speed of automatic running automobile 1 that emitter 11 is irradiated reduces, and the automatic running automobile 1 of forward position is preferentially crossed remittance
Enter section；If the infrared transmitter 11 that the left side of automatic running automobile 1 of travelled along right wall 2b and position rearward is set is irradiated in
The infrared remote receiver 12 that the right side back-end location of another automatic running automobile 1 is set, then irradiated by infrared transmitter 11
The meeting regulation speed of automatic running automobile 1 rises and preferentially crosses remittance section；It is if left along the automatic running automobile 1 of right wall 2b travelings
The infrared transmitter 11 that side is set is irradiated in the right side front of another automatic running automobile 1 simultaneously and back-end location set it is red
Outer receiver 12, the then regulation speed of automatic running automobile 1 irradiated by infrared transmitter 11 rise and preferentially cross remittance section
Or regulation speed decline makes an other automatic running automobile 1 preferentially cross remittance section.Automatic row is avoided in this way
The parallel running in parallel area of automobile 1 is sailed, so as to avoid being collided in the catchment area 22b entered afterwards, makes traveling, import
Process is more quick, safety.
In the present embodiment, the vehicle induction installation includes being used to prevent automatic running automobile 1 from chasing after in Hui Che areas 22b
Tail apart from induction module 13, preferably use airborne laser range finder apart from induction module 13, this is arranged at apart from induction module 13
The front end of automatic running automobile 1, Vehicle Controller regulation speed after the signal transmitted apart from induction module 13 is received
Reduce to prevent from colliding with front automatic running automobile 1.
When two automatic running automobiles 1 meet in catchment area 22b, set on the automatic running automobile 1 at rear away from
From the automatic running automobile 1 that induction module 13 can sense front, so as to which regulation speed declines and kept and front automatic running
The distance between automobile 1, to prevent from knocking into the back.
In the present embodiment, including remote scheduling center, by wireless between automatic running automobile 1 and remote scheduling center
Network connection, the remote scheduling is centrally through the allotment running of automatic running automobile 1 to avoid automatic running automobile as far as possible
Met in section is imported.
The traveling process of automatic running automobile is allocated by remote scheduling center, avoids automatic running vapour as far as possible
Car meets in section is imported, and so as to play the possibility for preventing that automatic running automobile 1 from colliding in section is imported, makes automatic row
Automobile 1 is sailed safe efficient in section is imported to pass through.
In the present embodiment, radio receiver-transmitter is provided with the automatic running automobile, automatic running automobile 1 passes through
Traveling process is voluntarily allocated between the radio receiver-transmitter 1 and periphery automatic running automobile 1 to avoid as far as possible with other certainly
Dynamic running automobile 1 meets in section is imported.
Automatic running automobile 1 is by the way that voluntarily allotment is run between radio receiver-transmitter and periphery automatic running automobile 1
Journey, avoid meeting in section is imported with other automatic running automobiles 1 as far as possible, prevent automatic running automobile 1 from converging so as to play
Enter the possibility to be collided in section, enable automatic running automobile 1 is safe efficient in section is imported to pass through.
One kind of above example, the simply present invention preferably specific embodiment, those skilled in the art are in skill of the present invention
The usual variations and alternatives carried out in art aspects are included in protection scope of the present invention.
Claims (6)
- A kind of 1. collision avoidance system of automatic running automobile, it is characterised in that：Including designated lane and automatic running automobile, automatically Vehicle Controller is provided with running automobile, the designated lane includes two side walls, and automatic running automobile can lead to along special The side wall one-way traffic in road, the designated lane include solo running section and import section, import section and are used to be provided from dynamic running automobile edge The side wall for designated lane is imported into same solo running section from two solo running sections, is provided with automatic running automobile Prevent the vehicle induction installation with other automatic running car collisions, the vehicle induction installation and vehicle-mounted control when importing Device communication connection, Vehicle Controller sense other automatic running automobile time-controlled automatic running Automobiles in vehicle induction installation Speed is to prevent and other automatic running car collisions.
- 2. according to the collision avoidance system of the automatic running automobile described in claim 1, it is characterised in that：It is described to import sailing for section Enter end and be connected with two solo running sections, the end of rolling away from for importing section is connected with a solo running section, import section by parallel area and Hui Che areas are formed, and end is driven into the one end in parallel area for described, and the other end in parallel area is connected with the one end in Hui Che areas, Hui Che areas The other end roll end away to be described, parallel area is wide and has the width of preferably at least twice solo running section, the width in Hui Che areas Degree is tapered towards extreme direction is rolled away from parallel area junction from it, and the vehicle induction installation includes preventing automatic running automobile simultaneously The infrared induction module of driving alongside in row area.
- 3. according to the collision avoidance system of the automatic running automobile described in claim 2, it is characterised in that：The infrared induction mould Block includes infrared transmitter and infrared remote receiver, and infrared transmitter is arranged at the side of automatic running automobile, the infrared transmitter Emitting area in fan-shaped and the irradiation area of strip can be left on illuminated object, infrared remote receiver is respectively arranged at The rear and front end position of automatic running automobile opposite side, the Vehicle Controller is after the signal of infrared remote receiver transmission is received Regulation speed is to prevent and other automatic running car collisions.
- 4. according to the collision avoidance system of the automatic running automobile described in Claims 2 or 3, it is characterised in that：The vehicle sense Device is answered to include being used for preventing that automatic running automobile from knocking into the back in Hui Che areas apart from induction module, this is set apart from induction module In the front end of automatic running automobile, Vehicle Controller regulation speed after distance perspective is received and answer the signal of module transfer drops It is low to prevent and front automatic running car collision.
- 5. according to the collision avoidance system of the automatic running automobile described in claim 4, it is characterised in that：Including in remote scheduling The heart, connected between automatic running automobile and remote scheduling center by wireless network, the remote scheduling is automatic centrally through allotment Running automobile running to avoid automatic running automobile from being met in section is imported as far as possible.
- 6. according to the collision avoidance system of the automatic running automobile described in claim 4, it is characterised in that：The automatic running vapour Be provided with radio receiver-transmitter on car, automatic running automobile by the radio receiver-transmitter and periphery automatic running automobile it Between voluntarily allocate traveling process to avoid meeting in section is imported with other automatic running automobiles as far as possible.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710772606.0A CN107678426A (en) | 2017-08-31 | 2017-08-31 | The collision avoidance system of automatic running automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710772606.0A CN107678426A (en) | 2017-08-31 | 2017-08-31 | The collision avoidance system of automatic running automobile |
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| Publication Number | Publication Date |
|---|---|
| CN107678426A true CN107678426A (en) | 2018-02-09 |
Family
ID=61134820
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710772606.0A Pending CN107678426A (en) | 2017-08-31 | 2017-08-31 | The collision avoidance system of automatic running automobile |
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| Country | Link |
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| CN (1) | CN107678426A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108399795A (en) * | 2018-02-28 | 2018-08-14 | 交通运输部公路科学研究所 | A kind of working method of the vehicle collision alarm set based on intelligent transportation base station |
| CN109410619A (en) * | 2018-12-04 | 2019-03-01 | 清华大学 | A kind of control method and system for automatic driving vehicle |
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Cited By (4)
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| CN108399795A (en) * | 2018-02-28 | 2018-08-14 | 交通运输部公路科学研究所 | A kind of working method of the vehicle collision alarm set based on intelligent transportation base station |
| CN108399795B (en) * | 2018-02-28 | 2020-07-17 | 交通运输部公路科学研究所 | Working method of vehicle collision reminding device based on intelligent traffic base station |
| CN109410619A (en) * | 2018-12-04 | 2019-03-01 | 清华大学 | A kind of control method and system for automatic driving vehicle |
| CN109410619B (en) * | 2018-12-04 | 2021-09-10 | 清华大学 | Automatic traffic control method and system under one-way road network |
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