CN108039053A - A kind of intelligent network joins traffic system - Google Patents
A kind of intelligent network joins traffic system Download PDFInfo
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- CN108039053A CN108039053A CN201711222257.1A CN201711222257A CN108039053A CN 108039053 A CN108039053 A CN 108039053A CN 201711222257 A CN201711222257 A CN 201711222257A CN 108039053 A CN108039053 A CN 108039053A
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- traffic control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
Abstract
The present invention provides a kind of intelligent network based on system, suitable for different vehicle type and road level, that automated vehicle control can be achieved to join traffic system.Specifically include following subsystem：(1) traffic control system, including：Traffic control center/unit of layering, for processing information, formulates traffic operation instruction；(2) roadside unit system, is made of roadside unit, for obtaining data flow from net connection vehicle, detects traffic behavior, and send target instruction target word to net connection vehicle；(3) vehicle subsystem, is made of the mixed flow of different net connection degree and the degree of automation；(4) communication system, for providing wired or radio communication service for all entities in system.The present invention readjusts and optimizes the driving control task and algorithm between vehicle and traffic control network, roadside unit network, there is provided a more safe and reliable, economic traffic control and rwan management solution RWAN.
Description
Technical field
The present invention relates to an integrated system, joins vehicle (Connected and Automated for intelligent network
Vehicles, CAV) complete car operation and control are provided, more particularly, to a kind of friendship for controlling intelligent network connection car
Siphunculus manage and control system, by give each vehicle send specifically have time sensitivity control instruction, including vehicle with
Speed, lane-change, paths chosen etc..
Background technology
Automatic driving vehicle, that is, possess and perceive surrounding enviroment and in the feelings without driver's control or a small amount of driver's operation
The vehicle of cruise is realized under condition, it is just under development.At present, automatic driving vehicle has not been put to wide mainly in the experimental test stage
General business application.Existing method needs costly and complicated onboard system, brings the difficulty of application and popularization.
The content of the invention
The present invention provides a kind of intelligent network to join traffic system, mainly sends specific tool by joining car to each intelligent network
The control instruction of having time sensitiveness.The present invention is suitable for the part track of highway or all tracks.
To achieve the above object, the technical solution adopted by the present invention is：
A kind of intelligent network joins traffic system, is used for realization traffic control and management, including traffic control system, roadside unit
System, vehicle subsystem, communication system；Wherein：
The traffic control system includes traffic control center and the traffic control unit of layering, for information processing, system
Determine traffic control instruction；
The roadside unit system is made of roadside unit, for obtaining data flow from net connection vehicle, detects traffic behavior,
And send target instruction target word to net connection vehicle；
The vehicle subsystem is made of the mixed flow of different net connection degree and the degree of automation；
The communication system is used to provide wired or radio communication service for all entities in system.
The system of the present invention can be operated on the part track of road or all tracks.
The traffic control center and traffic control unit are included with computing module automatically or semi-automatically, are used for realization
Include data acquisition, information processing, the network optimization and traffic control function.
The roadside unit system, which includes, has data perception, data processing, control signal transmission and information issuing function
Module.
Information handled by the traffic control center and traffic control unit joins traffic system for each by the intelligent network
The vehicle custom-made of system service；Described information includes wagon control instruction and following at least one content：Weather, road surface bar
Part, the journey time of estimation；The wagon control instruction includes at least one in speed, following distance, lane design and path
Content.Wagon control instruction is calculated by traffic control center and traffic control unit, is sent to pair by roadside unit
The vehicle answered.
The traffic control command information formulated between the traffic control center and traffic control unit is handed over from upper strata
Logical control centre and traffic control unit are sent to low layer traffic control center and traffic control unit, and comprising with the next item down or
Multinomial content：Desired speed, it is expected following distance, it is expected the volume of traffic, the expectation traffic diverging in access point, Traffic Signal Timing ginseng
Number.
The hardware that the intelligent network connection traffic system is applied includes one or more of：Power supply, traffic detector, have
Line and wireless communication module, data storage device and database；
The traffic detector is following one or more：Radar system, induction coil system, infrared detection system,
Video system.Wherein, radar system includes laser, microwave, millimeter wave, ultrasonic radar system.
The traffic control center of the layering and traffic control unit include：
Macro TCC, the information of ground region layer TCC is come from for handling, and is provided traffic control to ground region layer TCC and referred to
Order；
Ground region layer TCC, the information of Macro TCC and channel layer TCC are come from for handling, and are provided to channel layer TCC
Traffic control instructs；
Channel layer TCC, the information of ground region layer TCC and section layer TCU are come from for handling, and are provided to section layer TCC
Traffic control instructs；
Section layer TCU, traffic is provided for handling the information for coming from channel layer TCC and putting layer TCU, and to a layer TCU
Control instruction；
Point layer TCU, the information of section layer TCU and roadside unit are come from for handling, and provide traffic to roadside unit
Control instruction.
The Macro TCC is used for realization following functions：
Traffic control instruction is provided to ground region layer TCC；
Processing comes from the information of ground region layer TCC；
In data center's store historical data of Macro TCC, to support information processing and policy optimization；Wherein, it is macroscopical
The data center of layer TCC possesses data storage, processing, the function of analysis；
Automatically or semi-automatically arithmetic center is provided, realizes data acquisition, information processing, the network optimization and traffic control signal
The function of timing；
Control interior multiple ground region layer TCC in a big way, using high power capacity and the communication media of low latency, such as optical fiber, with
Ground region layer TCC communicates.
Described ground region layer TCC is used for realization following functions：
Traffic control instruction is provided to channel layer TCC；
Processing comes from the information of Macro TCC and channel layer TCC；
Data center's store historical data of region layer TCC on ground, to support information processing and policy optimization；Wherein, it is regional
The data center of layer TCC possesses data storage, processing, the function of analysis；
Automatically or semi-automatically arithmetic center is provided, realizes data acquisition, information processing, the network optimization and in a regional model
Enclose the function of interior traffic control signal timing；
Multiple channel layer TCC in the corresponding scope of control, using high power capacity and the communication media of low latency, such as optical fiber, with
The Macro TCC on upper strata communicates.
The channel layer TCC is used for realization following functions：
Traffic control instruction is provided to section layer TCU；
Processing comes from the traffic control instruction of ground region layer TCC and section layer TCU；
Optimization and processing module are provided to realize data processing and formulate control targe；
Automatically or semi-automatically arithmetic center is provided, comprising data acquisition, information processing, the network optimization and provides a passage
The signal timing plan of scope, such as 10 kilometers of Highway Channels and its connected local road；
Including a calculation server, a database, a Date Conversion Unit, possesses image processing function to handle
Data from road controller, control the section layer TCU in corresponding scope；Wherein, road is controlled by TCC traffic controls algorithm
Section layer TCC (for example, adaptive predictable traffic control algorithm), a channel layer TCC and section layer TCU and and its upper strata
Ground region layer TCC is interacted, and the channel layer TCC coverages are 5-20 kilometers.
The section layer TCU is used for realization following functions：
Traffic control instruction is provided to a layer TCU；
Processing comes from channel layer TCC and puts the information of layer TCU；
Optimization and processing module are provided to realize data processing and formulate control targe；
The traffic control unit of a routes coverage is provided, the routes coverage is 1-2 kilometers；
Including lan data converting system (for example, Cisco Nexus 7000) and an engineering servers (for example, IBM
Engineering servers Model 8203 and ORACL databases), and interacted with a layer TCU by wired or wireless communication medium.
The point layer TCU is used for realization following functions：
Traffic control instruction is provided to roadside unit；
The traffic data of collection point layer roadside unit collection；
Optimization and processing module are provided to realize data processing and formulate control targe；
The traffic control unit of one more short-track road (such as 50 meters) is provided；
Interacted with several roadside units.
The roadside unit consists of the following components：
One sensing module, for gathering traffic and vehicle drive environment information；
One data processing module, for providing the measured value of particular vehicle, include but not limited to speed, space headway,
The distance between plus/minus speed, vehicle and traffic lane line, the angle of vehicle and center line, overall traffic behavior；
One first communication module, for realizing information exchange between vehicle and last layer level point layer TCU；
One second communication module, instructs to vehicle for sending specific vehicle drive；
One display module, sends to the data of mobile unit for showing；
One power supply unit.
The vehicle subsystem includes following at least one module：Vehicle control module, Vehicle Detection and data acquisition module
Block, wireless communication module, data acquisition and interactive module.
Intelligent network connection traffic system system can realize redistributing for driving task between vehicle, specifically include with
Next or multiple situations：
1) instruction of normal driving and the required by task that cruises is provided for vehicle；
2) provide navigation task needed for instruction and information, including security maintenance, traffic control/road conditions and other
Customizing messages；
If 3) during thrashing, adapter vehicle performance task and security maintenance task of supervision；
4) the information exchange task of aspect provides data supporting in order to control, this partial data is provided by vehicle-mounted detector；
5) in mechanical aspect, meet wagon control task, monitor surrounding environment, there is provided back-up system supports；
6) driving information of key is provided for vehicle；
7) driving task is met, and mutually by the use of as spare, to prevent any mistake or the situation of failure.
The vehicle subsystem has vehicle-mounted displaying interface, is following one or more：
Audio frequency apparatus, has voice control and Text-To-Speech transformation function；
Video equipment, such as head-up display (Head-up-display, HUD)；
Vibratory equipment.
Vehicle in the vehicle subsystem has vehicle identification and following function, is combined by one or more of real
It is existing：The certification of net connection vehicle safety, board units ID (OBU ID), removable facility ID, Differential Global Positioning System DGPS
(Differential Global Positioning System), Visual retrieval device, removable LiDAR (Light
Detection And Ranging, laser acquisition and measurement) or fixed radar detector.
The communication system is one or more of：
OEM (Original Equipment Manufacturer) operator；
Communication service provider, including movement, unicom and telecommunications etc.；
The public organizations of maintenance system, such as relevant governmental traffic department.
Communication system includes the following communication technology：
Wireless communication technique, such as：DSRC, mobile communication technology 3G, 4G and 5G, bluetooth；
Cable communicating technology, such as：Ethernet.
In addition to above-mentioned technical proposal, the present invention can also use following technical solution：
A kind of intelligent network joins traffic system, which is automatic driving vehicle control system, including：
One traffic control center for being used to connect layering and the communication link of traffic control unit, are used for realization at information
Reason and transmission traffic control instruction；
One communication link for being used to connect roadside unit system, is used for realization the data flow for receiving net connection car, detection is handed over
Lead to state and send control instruction to target vehicle；
One vehicle subsystem, for receiving the specific control instruction with time sensitivity, including vehicle follow gallop, is changed
Road, paths chosen and other dependent instructions.
Beneficial effect：The present invention provides a kind of intelligent network to join traffic system, is a kind of car operation comprehensively and traffic control
The integrated system of system, mainly sends the control instruction specifically with time sensitivity by joining car to each intelligent network.This hair
The bright part track suitable for highway or all tracks.Wherein, control instruction is carried out excellent by the traffic control center of highest level
Change, transmit step by step, and specific vehicle is sent to by the traffic control unit of lowest level.These traffic control center/units
A layer architecture is constituted, covers the control field of different stage.
Brief description of the drawings
Fig. 1 is the exemplary system figure of the present invention；
Fig. 2 joins system schematic for three axis intelligent networks；
Fig. 3 reassigns schematic diagram for driving task；
Fig. 4 is the driving task distribution diagram of a system based on typical automotive vehicle；
Fig. 5 is a driving task distribution schematic diagram in the embodiment of the present invention；
Fig. 6 forms schematic diagram for system；
Fig. 7 is traffic control system schematic diagram；
Fig. 8 is roadside unit RSU system schematics；
Fig. 9 is vehicle subsystem data flow diagram；
Figure 10 is communication system schematic diagram；
Figure 11 is a layer TCU schematic diagram；
Figure 12 is section layer TCU schematic diagrames；
Figure 13 is channel layer TCC schematic diagrames；
Figure 14 is ground region layer TCC schematic diagrames；
Figure 15 is Macro TCC schematic diagrames；
Figure 16 drives into control schematic diagram for vehicle；
Figure 17 rolls control schematic diagram away from for vehicle；
Figure 18 is RSU module design diagrams；
Figure 19 is microwave radar established angle schematic diagram；
Figure 20 is OBU module design example figures；
Figure 21 is TCC/TCU Organization Charts.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
Following explanation is carried out to the reference numeral in attached drawing first：
101-TCC/TCU traffic control systems：The traffic control center TCC and traffic control unit TCU of one layering,
The formulation instructed for information processing, traffic control.Traffic control center TCC is arithmetic center automatically or semi-automatically, is had
Data Integration, information processing, the network optimization and the function of the traffic control signal timing for geographic coverage.Traffic control list
First TCU is less traffic control unit, has the function of similar, but its control range covered is smaller, such as ring road, is handed over
Prong etc..
102-roadside unit system：One roadside unit RSU network, receives the data flow from net connection car, detects traffic
Condition, sends target instruction target word to vehicle.Roadside unit system realizes the work(of data perception, data processing and control signal transmission
Energy.In practice, a point layer TCU or section layer TCU can be interacted with a RSU.
103-vehicle subsystem：Vehicle subsystem contains the mixed traffic flow under different net connection degree and the degree of automation.
104-communication system：One subsystem that wired/radio communication service is provided for some or all entities in system
System.
105-transport data stream：Data stream packets contain traffic behavior, from roadside unit system to TCC/TCU traffic administrations system
The vehicle request of system, and handled by TCC/TCU traffic control systems.
106-control instruction afflux：Control instruction is obtained by TCC/TCU traffic control systems, is contained towards not going the same way
The control instruction based on vehicle of network planning mould.Control instruction is sent to the position of target RSU set RSU by roadside unit system.
107-vehicle data stream：Vehicle status data and the request from vehicle subsystem to roadside unit system.
108-wagon control instruction stream：The stream contains the different controls sent from roadside unit system to vehicle subsystem
System instruction, for example, recommended vehicle speed, navigation information.
301-Macro traffic control center, referred to as：Macro TCC：Automatically or semi-automatically arithmetic center, covers more
A area, realizes interlocal traffic control, has the function of data acquisition, information processing and large scale network traffic optimization.
302-ground region layer traffic control center, referred to as：Ground region layer TCC：Automatically or semi-automatically arithmetic center, covers one
A city or main city zone, have the function of data acquisition, information processing and urban traffic network and traffic control signal optimization.
303-channel layer traffic control center, referred to as：Channel layer TCC：Automatically or semi-automatically arithmetic center, covers one
A passage and its connected road and ring road, have data acquisition, information processing, traffic access point control and dynamic traffic guidance
Function.
304-section layer traffic control center, referred to as：Section layer TCU：Automatically or semi-automatically arithmetic center, covers one
The shorter section of bar, has the function of data acquisition, information processing and road section traffic volume control.
A 305-layer traffic control unit, referred to as：Point layer TCU：Cover a less highway sector, ring road or
Intersection, has the function of data acquisition, traffic signalization and vehicle request processing.
306-roadside unit RSU：The data flow from net connection car is received, detects traffic behavior, and send to target vehicle
Instruction.RSU networks have the function of data acquisition, data processing and control signal transmission.
307-vehicle subsystem, i.e. intelligent network join car：Hybrid vehicle under different net connection degree and the degree of automation
Stream.
401-Macro control targe is close with ground region layer TCC information.
403-ground region layer control targe is close with channel layer TCC information.
405-channel layer control targe is close with section layer TCU information.
407-section layer control targe is close with a layer TCU information.
The traffic behavior that 402-ground region layer becomes more meticulous, there is provided distribute the index of control targe.
The traffic behavior that 404-channel layer becomes more meticulous, there is provided distribute the index of control targe.
The traffic behavior that 406-section layer becomes more meticulous, there is provided distribute the index of control targe.
The traffic behavior that a 408-layer becomes more meticulous, there is provided distribute the index of control targe.
601-vehicle static ＆ multidate informations：
(1) static information, including：
1st, vehicle ID；
2nd, vehicle size information；
3rd, vehicle type information (including vehicle maximal rate, acceleration and deceleration)；
4th, vehicle OBU information (software information, hardware information)：OBU softwares are designed to without form input by user, can
To pass through V2I (Vehicle-to-Infrastructure) or V2V (Vehicle-to-Vehicle) either or both
Communication is realized and portable RSU seamless combinations.OBU hardware include DSRC wave frequencies communication (or other communication technologys) ability with
And global positioning system (Global Positioning System, GPS) technology, compared with RSU, it only needs DSRC wave frequencies
(or the other communication technologys) ability of communication.
(2) multidate information, including：
1st, timestamp；
2nd, lateral direction of car/lengthwise position；
3rd, car speed；
4th, vehicle OD information (including origin information, destination information, routing information)；
5th, other necessary car status informations.
602-wagon control instructs and navigation information：
(1) wagon control instructs, including：
1. in particular moment, the request of transverse direction/lengthwise position；
2. suggest speed；
3. course changing control information.
(2) navigation information, including：
1. weather；
2. journey time/reliability；
3. road guide.
701-vehicle supervision department
702-communications service provider (Communication Service Provider, CSP)；
703-original equipment manufacturer (Original Equipment Manufacturer, OEM)；
801-optimizer：Generate Optimal Control Strategy etc.；
802-processor：Handle the data from RSU.
It is one embodiment of the present of invention as shown in Figure 1, intelligent network connection traffic system includes TCC/TCU traffic control systems
101st, RSU roadside units system 102, vehicle subsystem 103 and communication system 104.TCC/TCU traffic control systems 101 are one
The traffic control network being made of traffic control center TCC and traffic control unit TCU of a layering, can be handled from RSU
The traffic information of roadside unit system 102, and send traffic operation instruction to RSU roadside units system 102.RSU roadside units
System 102 is the network of roadside unit, possesses processing Vehicle Detection, communication, control instruction and the function of emission monitoring.Vehicle
System 103 is the mixed flow under different net connection degree and the degree of automation, can send static, multidate information and vehicle please
Ask to RSU roadside units system 102, and receive the instruction of RSU roadside units system 102.RSU roadside units system 102 is in the future
Traffic information is converted to from the vehicle data of vehicle subsystem 103 and request, and is sent by communication system 104 to TCC/TCU
Traffic control system 101.TCC/TCU traffic control systems 101 handle these information in corresponding level, and send operation and refer to
Order feeds back to RSU subsystems 102.RSU roadside units system 102 checks and registers these operation instructions, and sends instruction set
108 give vehicle (including suggesting speed and navigation information etc.).Communication system 104, which is one, has local and global link
Wireless communication and security system, wired and wireless communication service is provided for all entities in system.
As shown in Fig. 2, the attribute of the system relate to the system integration, automation and net connection property, it is specifically defined as：
(1) vehicle automation level make use of American Society of Automotive Engineers SAE (Society of Automotive
Engineers definition).
(2) definition of network interconnection level is based on information content and content, including following five stages：
C0：Without the net connectionization stage
Vehicle and driver can not obtain traffic information.
C1：Information associated phase
Vehicle and driver can only obtain simple traffic information, such as collect the road section traffic volume state of meter.This category information has
There are certain precision and resolution, while also have very important delay.
C2：Limited interconnection sensing stage
Vehicle and driver can obtain real-time, high-precision, the insignificant traffic information of delay.Information essentially from
In RSU, adjacent vehicle and other information supplier.However, there are imperfection for the information in the stage.
C3：The abundant information sharing stage
Vehicle and driver can be with adjacent vehicle, traffic control equipment, real-time traffic states map and high-res
Basic map is connected.The information in the stage has enough precision, real-time, integrality, rich and polyphyly.
C4：Network-wide optimization interconnects the stage
Vehicle and driver are provided of the information by optimization processing.The facilities and equipment of intelligence can provide excellent for vehicle
The information feedback of change.
(3) definition of system integration level is the angle based on coordination/optimization, specifically includes following five stages：
S0：Without the integrated stage
Do not have between system any integrated.
S1：Traffic key point layer system integration phase, for example, the control of the intersection based on RSU, ramp metering rate
System is in intersection or ring road regional ensemble.Coordination/the optimization range in the stage is smaller.
S2：Section layer system integration phase
The scope in the stage expands than on last stage, and more RSU and vehicle will be made overall plans and coordinate and optimized, but travel pattern
Still remain unchanged.
S3：Traffic corridor layer system integration phase, for example, Shanghai-Nanjing Expressway scope is integrated, covers a variety of traffic
Pattern；
Coordinate and the scope of optimization is across a variety of travel patterns, whole highway or trunk roads.Shared between RSU and vehicle
Information, to realize the system optimal in target zone.
S4：The global Macro system integration stage
The stage will coordinate and optimize from city or provincial scope, connect larger range of RSU and vehicle.
Unless expressly stated otherwise, otherwise heretofore described any embodiment may be configured to adapt to one or more
A net connectionization stage, and one or more system integration stages.
Fig. 3 illustrates driving task reassignment, including：(1) all driving tasks are showed in the three classes of original definition：" control
System ", " navigation ", " cruise ".Safety traffic of these driving tasks for all vehicles between origin and destination is extremely important.(2)
These tasks are how to be distributed by vehicle subsystem 103, TCC/TCU traffic control systems 101, RSU roadside units system 102
's.In " cruise " stage, TCC/TCU traffic control systems 101, RSU roadside units system 102 provide instruction to vehicle, including
" pre- trip information ", " path planning ".In " navigation " stage, TCC/TCU traffic control systems 101, RSU roadside unit systems
102 provide instruction and information for navigation task：Traffic control/road condition and other customizing messages.Vehicle subsystem 103 meets
Vehicle operating task, monitors security maintenance task.In " control " stage, TCC/TCU traffic control systems 101, RSU roadside units
System 102 provides data for information exchange task.Meanwhile vehicle subsystem 103 meets wagon control task, and monitor surrounding ring
Border, is backed up with back-up system.
Fig. 4 illustrates the driving task distribution based on traditional typical automated driving system solution.Automatic driving vehicle,
The cognition technology possessed, such as radar, shooting are first-class, can support the most driving tasks of completion in the three phases of Fig. 3,
And V2I technologies mainly provide support in " cruise " stage.The Typical Representative for the communication technology that V2I is applied is special short-distance radio
Communicate (Dedicated Short Range Communications, DSRC), to meet the needs of its order and information exchange.
However, tradition V2I has some limitations.One of them is major problem is that single point failure influences, that is to say, that when server or
Fail if having on the path of linked server at one, then whole system can also fail immediately.This will cause the loss of data, danger
Evil whole system.
Fig. 5 illustrates the driving task distribution embodiment of the system.Vehicle subsystem 103, and TCC/TCU traffic pipes
Reason system 101, RSU roadside units system 102 manage all driving tasks of three phases.Perceive and the communication technology is by vehicle
System 103, and TCC/TCU traffic control systems 101, RSU roadside units system 102 are applied.Aware services are in " control "
" navigation " stage, and communication service is in " cruise " and " navigation " stage.Vehicle subsystem 103, and TCC/TCU traffic administrations
System 101, RSU roadside units system 102, the cooperation of these three systems have ensured the safe and reliable and economy of system.Especially
Ground, dual security system provide a fail safe mechanism.When one of subsystem failure, other systems can ensure
Effective operation of system.
As shown in fig. 6, the composition of whole intelligent network connection traffic system is as follows：Macro traffic control center (Marco
TCC) 301 be an automatically or semi-automatically arithmetic center, covers multiple areas, realizes interlocal traffic control, has number
According to the function of collection, information processing and large scale network traffic optimization.Ground region layer traffic control center (Regional TCC)
302, it is an automatically or semi-automatically arithmetic center, covers a city or main city zone, there is data acquisition, information processing
The function of optimizing with urban traffic network and traffic control signal.Channel layer traffic control center (Corridor TCC) 303 is
One automatically or semi-automatically arithmetic center, covers a passage and its connected road and ring road, has data acquisition, information
The function of processing, traffic access point control and dynamic traffic guidance.Section layer traffic control center (Segment TCU) 304 be
One automatically or semi-automatically arithmetic center, covers a shorter section, has data acquisition, information processing and road section traffic volume
The function of control.One less highway sector of the covering of point layer traffic control unit (Point TCU) 305, ring road or friendship
Prong, has the function of data acquisition, traffic signalization and vehicle request processing.Marco TCC 301、Regional TCC
302nd, Corridor TCC 303, Segment TCC 304 and Point TCU 305 are main group of TCC/TCU subsystems 101
Into.Roadside unit RSU：The data flow from net connection car is received, detects traffic behavior, and send and instruct to target vehicle.Trackside
Unit R SU 306 represents small control units, joins from net and data and request are received in vehicle, identifies traffic behavior, sends instructions to
Target vehicle.The network being made of RSU306 is RSU subsystems 303, has data acquisition, data processing and control signal transmission
Function.Intelligent network connection car 307 is the basic composition of vehicle subsystem 304, under different net connection degree and the degree of automation
Vehicle.OBU (board units and V2I communication units) network is placed in intelligent network connection car 307.
As shown in fig. 7, top Macro TCC301 is by control targe such as region layer traffic control and boundary information
401 send region layer TCC302 to the second layer.Meanwhile ground region layer TCC302 sends detailed traffic behavior 402 to Macro
TCC301, such as congestion status, aid in Macro TCC301 to realize large scale network traffic optimization with this.Similar process exists
Carried out between the continuous rank of each two.Ground region layer TCC302 sends control targe and boundary information 403 to channel layer TCC
303, and receive specific traffic behavior 404.Channel layer TCC303 sends control targe and boundary information 405 to section layer TCU
304, and receive specific traffic behavior 406.Section layer TCU304 sends control targe and boundary information 407 to a layer TCU
305, and the specific traffic behavior 408 of receiving point layer TCU305.
As shown in figure 8, roadside unit RSU306 groups receive the data from intelligent network connection car CAV, non intelligent net connection car, and
Detect traffic behavior.Then, 306 groups of roadside unit RSU sends data to a layer TCU305.Received from roadside unit group 306
After all data, layer TCU305 Optimal Control Strategies are put, send target instruction target word to roadside unit group 306.
As shown in figure 9, roadside unit RSU306 groups receive the data from intelligent network connection car 307, traffic behavior is detected, and
Send target instruction target word and join car 307 to intelligent network.RSU networks concentrate on data acquisition, data processing, transmit control signal.Information
Also shared by different intelligent network connection car 307, intelligent network connection car 307 is also a subsystem, can include different net connection degree
With the mixed flow under the degree of automation.
As shown in Figure 10, vehicle supervision department 701 controls the communication information between TCC and TCU.Between TCU and RSU
Information is shared with vehicle supervision department 701 and communications service provider 702.Communications service provider 702 also controls RSU to join with intelligent network
Data between car (connected automated vehicle, CAV).Communication between non-CAV and CAV, and RSU with
Communication between non-CAV, is controlled by original equipment manufacturer OEM 703.
As shown in figure 11, roadside unit RSU306 gathers the traffic data on highway, and traffic information 502 is transferred to excellent
Change device 801 and processor 802.After receiving the data, processor 802 handles data, generates the traffic that point layer becomes more meticulous in real time
State 408, and it is transferred to section layer TCU304.Section layer TCU304 determines control targe 407, and notifies optimizer 801.
Optimizer 801 is based on 502 optimal control target 407 of traffic information, and the control instruction 501 based on vehicle is sent to trackside list
First RSU306.
As shown in figure 12, the layer TCU305 generations traffic behavior 408 that point layer becomes more meticulous in real time is put, and is passed to excellent
Change device 801 and processor 802.After receiving status information, processor 802 handles it, and generates the section layer essence of current road segment
The traffic behavior 406 of refinement, and it is transferred to channel layer TCC303.Channel layer TCC303 determines channel layer control targe 405, and leads to
Know optimizer 801.Optimizer 801 optimizes channel layer control targe 405 based on the traffic behavior 408 that a layer becomes more meticulous, and will control
Target processed is transferred to a layer TCU305.
As shown in figure 13, layer TCU304 in section generates the traffic behavior 406 that real-time section layer becomes more meticulous, and is transmitted
To optimizer 801 and processor 802.After traffic state information is received, processor 802 handles and generates real-time channel layer finely
The traffic behavior 404 of change, and it is transferred to ground region layer TCC302.Ground region layer TCC302 determines ground region layer control targe 403, and by its
Notify optimizer 801.Optimizer 801 based on the traffic behavior 406 that becomes more meticulous of section layer optimally region layer control targe 403, and
Control targe is transferred to section layer TCU304.
Figure 14 illustrates the data and decision-making stream of ground region layer TCC302.Each channel layer TCC303 unites all traffic datas
One is sent to ground region layer TCC302.After data center receives data, all data are handled by message handler.Message handler
Traffic data is generated, and sends it to control centre.Decision-making is drafted according to pre-defined algorithm by control centre, and sends the result to certainly
Plan optimizer.Optimizer Simulation Decision, optimizes it, and is sent to channel layer TCC303 and Macro TCC301 at the same time.Macro
TCC301 shares traffic data, system optimization decision-making with neighbouring other ground region layer TCC302, and feeds back to ground region layer TCC302.
As shown in figure 15, region layer TCC302 in each ground sends traffic data and local optimisation strategy gives Macro TCC301.
One message handler integrates decision-making and the traffic data of all optimizations.Afterwards, control centre is based on from ground region layer TCC303
Traffic data draft decision-making.Can be handled by decision processor after the decision-making drafted.One last system optimization decision-making
It will determine, and feed back to ground region layer TCC303.
Figure 16 describes the process that intelligent network connection car 307 enters full control system.Intelligent network joins car 307 on the system of arrival side
Behind boundary, request is transmitted into RSU306.Borderline region refers to the neighboring area of section layer TCU304 institutes control range.RSU306
There is provided to enter and ask to a layer TCU305, after a layer TCU305 is received and entered request, detection intelligent network joins the information of car 307,
Including static and dynamic vehicle information 601.Point layer TCU305 joins car 307 for intelligent network and enters the formulation vehicle control of full control system
System instruction and navigation information 602 (such as suggesting speed, entry time, in-position etc.), and based on the information of RSU306 detections
Attempt to take over the control of intelligent network connection car 307.Intelligent network connection car 307 receives wagon control instruction and navigation from RSU306
Information 602, and instruct and navigate to confirm wagon control using onboard subsystem processing wagon control instruction and navigation information 602
Information 602.If wagon control instructs and navigation information 602 cannot be confirmed by the judgement of onboard subsystem, then intelligent network
Join car 307 to update and send renewal request again.Intelligent network connection car 307 follows wagon control instruction and navigation information 602 travels,
If wagon control instructs and navigation information 602 is confirmed, into full control system.Put layer TCU305 adapter intelligent networks
Join the Driving control of car 307, intelligent network joins wagon control instruction and the navigation information 602 that car 307 is provided according to full control system
Keep traveling.Point layer TCU305 renewal traffic behaviors, and send and become more meticulous after intelligent network connection car 307 enters full control system
Wagon control instruction and navigation information 601 to section layer TCU304.
Figure 17 describes the process that intelligent network connection car 307 rolls full control system away from.As shown in figure 17, when intelligent network joins car
During 307 arrival system boundary region, it sends to roadside unit RSU306 and leaves request.Borderline region refers to a section layer
Region near TCU304 control ranges border.Roadside unit RSU306, which is provided, leaves request to a layer TCU305.Based on trackside
The information of unit R U306 detections, point layer TCU305 sail out of full control system formulation for intelligent network connection car 307 and leave 602 (example of instruction
Such as, it is proposed that speed, time departure, leave position etc.).Intelligent network joins car 307 and the wagon control instruction left is received from RSU306
With navigation information 602, and using onboard subsystem processing wagon control instruction and navigation information 602 with determine wagon control instruct
Whether can be identified with navigation information 602.If leave wagon control instruction and navigation information 602 cannot be by onboard subsystem
Judgement confirmed, then vehicle updates again and request is left in transmission.The traveling of intelligent network connection car 307, which follows, leaves vehicle control
System instruction and navigation information 602, and leave full control system after leaving wagon control instruction and being identified with navigation information 602.
Point layer TCU305 terminates the Driving control to intelligent network connection car 307, and intelligent network connection car 307 recovers automatic driving mode, performing
After leaving operation, it then follows the driving strategy of vehicle itself.After intelligent network connection car 307 leaves full control system, layer TCU305 is put
Traffic behavior is updated, and sends the vehicle static to become more meticulous and multidate information 601 and gives section layer TCU304.
Exemplified by a Highway Channels, the design embodiments of present system are described.It should be noted that
It is below illustrative embodiment, the present invention is not limited to these Examples.
1st, RSU modules
As shown in figure 18, a roadside unit RSU module includes two major functions：1) handed over vehicle and point layer TCU
Mutually；2) traffic and vehicle drive environment information are gathered.Sensing module integrate the information from different detectors, specifically will with
Illustrate in lower paragraph.Data processing module using Data fusion technique to obtain six main characteristic parameters, i.e. speed, headstock when
Away from, the distance between plus/minus speed, vehicle and roadmarking, the angle between vehicle and road-center, overall traffic behavior.
Meanwhile communication module sends the information for coming from vehicle and point layer TCU to data processing module, with the result of update module.
After the generation of six characteristic parameters, communication module sends steering instructions to vehicle-mounted OBU systems, and with a layer TCU sharing information.Exhibition
Show that interface module will show the data of OBU systems reception.Power supply unit ensures the energy needed for whole system running.
In certain embodiments, roadside unit RSU modules join on highway every 50 meter amperes loaded on intelligent network.Setting height(from bottom) is
Apart from road surface 40cm.RSU is needed perpendicular to road in installation process.In certain embodiments, roadside unit RSU modules
Setting angle is as shown in figure 19.
2nd, OBU mobile units
Figure 20 illustrates an example of OBU mobile units.Communication module, which is used to receive, comes from roadside unit RSU's
Information is instructed with requiring.Data acquisition module is used to monitor operating state.Vehicle control module is used to perform control requirement.
3rd, TCU/TCC systems
As Figure 21 illustrates an example of TCU/TCC systems.TCC/TCU systems are in the traffic control of a layering
The heart/traffic control unit, has the function of processing information, formulates traffic operation instruction etc..Traffic control center TCC is automatic or half
Automatic arithmetic center, has the function of data acquisition, information processing, the network optimization and area traffic signal control.Traffic control
Unit TCU is less traffic control unit, has the function of similar, but covers more small range express highway section, ring road
Or intersection.Five kinds of different types of TCC/TCU.Data of the point layer TCU collections from different RSU.Section layer TCU collections
Data from difference layer TCU, optimize traffic flow, control point layer TCU provide control signal for vehicle.Channel layer TCC is gathered
Data from same RSU, and optimize the traffic of a passage.Ground region layer TCC gathers the data from multiple passages, in larger model
Enclose optimization traffic flow and transport need (such as a city scope).Macro TCC gathers the number from multiple ground region layer TCC
According in optimization trip requirements on a large scale.
For each point layer TCU, data acquisition is from a roadside unit RSU system 1.One point layer TCU14 has parallel
Data of the interface from a roadside unit RSU.One lightning strike protection facilities protection roadside unit RU and road control system
System.Roadside unit RSU is installed on trackside.
One point layer TCU14 is interacted using wired optical cable (or optical fiber) with roadside unit RSU.Point layer TCU is installed on trackside,
Protect by lightning strike protector 2.Each point layer TCU14 is connected with 4 roadside unit RSU.One point layer TCU includes Engineering Service
Device and data conversion system.It utilizes data flow software.
Each section layer TCU11 includes a lan data converting system and an engineering servers.Section layer TCU passes through
Wired optical cable is interacted with point layer TCC.About 1-2 kilometers of the scope of each section layer TCU coverings.
Channel layer TCC15 includes a calculation server, data warehouse, a Date Conversion Unit, with image procossing work(
Data of the collection from road controller 14 can be calculated.Channel layer TCC is along section control point layer TCC (for example, channel layer TCC is covered
One highway is extended down to urban road).TCC traffic control algorithms are used for control point layer TCC (for example, adaptive prediction traffic control
Algorithm processed).Data warehouse is a database, and the back-up system of channel layer TCC15.Channel layer TCC15 uses have linear light
It is fine to be interacted with section layer TCU.Evaluation work station calculates the data from section layer TCU11, and by the data transfer of calculating
To section layer TCU11.Each channel layer TCC covers 5-20 kilometers.
Ground region layer TCC12：Each ground region layer TCC12 is controlled in a geographic coverage (for example, one administrative region of a city of covering)
Multiple channel layer TCC15.Ground region layer TCC is interacted using wire cable (for example, optical fiber) with channel layer TCC.
Macro TCC12：Each Macro TCC13 control in extensive scope multiple ground region layer TCC12 (for example,
Each save has one or more Macro TCC.Macro TCC is interacted using wire cable (optical fiber) and ground region layer TCC.
4th, analysis degree map and vehicle location
High-res map can realize accurate and clearly highway sign and marking is shown.After road network changes, ground
Figure can do corresponding renewal automatically.Meanwhile under 99% confidence level, map error is less than 10cm.
The Vehicle positioning system that the system uses is mainly Differential Global Positioning System (Differential Global
Positioning System, D-GPS), it can be achieved that under 99% confidence level, position error is less than 5cm, while supports GPS systems
System.
Part description illustrates the algorithm and symbol in the embodiment of the present invention on information operation.These arthmetic statements are usually
It is applied to by professional technician in data processing technique, to ensure the transitivity and sustainability of their work.These operations
By description functionally, in calculating and in logic so that its can by computer program or equivalent circuit or microcode or its
Its similar fashion is realized.In addition, it is sometimes that these operations are also more convenient as module, and generality will not be lost.Retouched
The operation stated and its relevant module of institute can be placed in software, firmware, hardware or other combinations.
It will pass through one or more hardware or software module in some always described steps of this embodiment, operation or processing
Or application is realized with the combination of its facility.In one embodiment, appliance computer program product realizes software module, should
Computer program product includes a computer-readable medium for including computer program code, and is held by computer processor
OK, to realize any or all of processing step.
The embodiment of the present invention may further relate to perform the device that the present invention operates.This device special structure for required purpose
Build, either it, which includes a universal computing device, can optionally activate or be reset by computer program.The computer journey
Sequence is stored in a readable computer media or other any type of electronic storage mediums.In addition, in addition, in this theory
Any computing system mentioned in bright book can include single processor, or can use multiple places to improve computing capability
Manage the framework of device.
The embodiment of the present invention further relates to a product of calculating process described herein.The product includes calculating process
Handling result, wherein information are stored in readable computer-readable storage medium, and can include computer journey as described herein
Sequence product or any embodiment of other data combination.
The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (19)
1. a kind of intelligent network joins traffic system, it is characterised in that：It is used for realization traffic control and management, including traffic administration system
System, roadside unit system, vehicle subsystem, communication system；Wherein：
The traffic control system includes traffic control center and the traffic control unit of layering, for information processing, traffic control
Make the formulation of instruction；
The roadside unit system is made of roadside unit, for obtaining data flow from net connection vehicle, detects traffic behavior, and to
Net connection vehicle sends control instruction；
The vehicle subsystem is made of the mixed flow of different net connection degree and the degree of automation；
The communication system is used to provide wired or radio communication service for all entities in system.
2. intelligent network according to claim 1 joins traffic system, it is characterised in that：The traffic control center and traffic control
Unit processed has computing module automatically or semi-automatically, is used for realization data acquisition, information processing, the network optimization and traffic control
Function.
3. intelligent network according to claim 1 joins traffic system, it is characterised in that：The roadside unit system has data
Perception, data processing, control signal transmission and information issuing function module.
4. intelligent network according to claim 1 joins traffic system, it is characterised in that：The traffic control center and traffic control
Information handled by unit processed is joined the vehicle custom-made of transit system services for each by the intelligent network；Described information includes
Wagon control instructs and following at least one content：Weather, pavement conditions, the journey time of estimation；The wagon control instruction
Including at least one content in speed, following distance, lane design and path.
5. intelligent network according to claim 1 joins traffic system, it is characterised in that：The traffic control center and traffic control
Traffic control that unit processed is formulated instruction is from upper strata traffic control center and traffic control unit to low layer traffic control center
Sent with traffic control unit, and include following one or more contents：Desired speed, it is expected following distance, it is expected the volume of traffic,
The expectation traffic diverging of access point, Traffic Signal Timing parameter.
6. intelligent network according to claim 1 joins traffic system, it is characterised in that：The intelligent network connection traffic system is answered
Hardware includes one or more of：Power supply, traffic detector, wired and wireless communication module, data storage device and
Database；
The traffic detector is following one or more：Radar system, induction coil system, infrared detection system, video
System.
7. intelligent network according to claim 1 joins traffic system, it is characterised in that：The traffic control center of the layering and
Traffic control unit includes：
Macro TCC, the information of ground region layer TCC is come from for handling, and provides traffic control instruction to ground region layer TCC；
Ground region layer TCC, the information of Macro TCC and channel layer TCC are come from for handling, and provide traffic to channel layer TCC
Control instruction；
Channel layer TCC, the information of ground region layer TCC and section layer TCU are come from for handling, and provide traffic to section layer TCC
Control instruction；
Section layer TCU, traffic control is provided for handling the information for coming from channel layer TCC and putting layer TCU, and to a layer TCU
Instruction；
Point layer TCU, the information of section layer TCU and roadside unit are come from for handling, and provide traffic control to roadside unit
Instruction.
8. intelligent network according to claim 7 joins traffic system, it is characterised in that：The Macro TCC be used for realization with
Lower function：
Traffic control instruction is provided to ground region layer TCC；
Processing comes from the information of ground region layer TCC；
In data center's store historical data of Macro TCC, to support information processing and policy optimization；
Automatically or semi-automatically arithmetic center is provided, realizes data acquisition, information processing, the network optimization and traffic control signal timing
Function；
Multiple ground region layer TCC interior in a big way is controlled, is communicated with ground region layer TCC.
9. intelligent network according to claim 7 joins traffic system, it is characterised in that：Described ground region layer TCC be used for realization with
Lower function：
Traffic control instruction is provided to channel layer TCC；
Processing comes from the information of Macro TCC and channel layer TCC；
Data center's store historical data of region layer TCC on ground, to support information processing and policy optimization；
Automatically or semi-automatically arithmetic center is provided, realizes data acquisition, information processing, the network optimization and in a geographic coverage
The function of traffic control signal timing；
Multiple channel layer TCC in the corresponding scope of control, communicate with the Macro TCC on upper strata.
10. intelligent network according to claim 7 joins traffic system, it is characterised in that：The channel layer TCC be used for realization with
Lower function：
Traffic control instruction is provided to section layer TCU；
Processing comes from the traffic control instruction of ground region layer TCC and section layer TCU；
Optimization and processing module are provided to realize data processing and formulate control targe；
Automatically or semi-automatically arithmetic center is provided, comprising data acquisition, information processing, the network optimization and provides a channel range
Signal timing plan；
Including a calculation server, a database, a Date Conversion Unit, possess image processing function and come from handling
The data of road controller, control the section layer TCU in corresponding scope；Wherein, section layer is controlled by TCC traffic controls algorithm
TCC, a channel layer TCC and section layer TCU and and its upper strata region layer TCC interact, the channel layer TCC coverages
For 5-20 kilometers.
11. intelligent network according to claim 7 joins traffic system, it is characterised in that：Section layer TCU be used for realization with
Lower function：
Traffic control instruction is provided to a layer TCU；
Processing comes from channel layer TCC and puts the information of layer TCU；
Optimization and processing module are provided to realize data processing and formulate control targe；
The traffic control unit of a routes coverage is provided, the routes coverage is 1-2 kilometers；
Carried out including lan data converting system and an engineering servers, and with a layer TCU by wired or wireless communication medium
Interaction.
12. intelligent network according to claim 7 joins traffic system, it is characterised in that：The point layer TCU is used for realization following
Function：
Traffic control instruction is provided to roadside unit；
The traffic data of collection point layer roadside unit collection；
Optimization and processing module are provided to realize data processing and formulate control targe；
The traffic control unit on one more short-track road is provided；
Interacted with several roadside units.
13. intelligent network according to claim 1 joins traffic system, it is characterised in that：The roadside unit is by following several portions
It is grouped into：
One sensing module, for gathering traffic and vehicle drive environment information；
One data processing module, for providing the measured value of particular vehicle, includes but not limited to speed, space headway, plus/minus
The distance between speed, vehicle and traffic lane line, the angle of vehicle and center line, overall traffic behavior；
One first communication module, for realizing information exchange between vehicle and last layer level point layer TCU；
One second communication module, instructs to vehicle for sending specific vehicle drive；
One display module, sends to the data of mobile unit for showing；
One power supply unit.
14. intelligent network according to claim 1 joins traffic system, it is characterised in that：The vehicle subsystem includes following
At least one module：Vehicle control module, Vehicle Detection and data acquisition module, wireless communication module, data acquisition and interaction
Module.
15. intelligent network according to claim 1 joins traffic system, it is characterised in that：The intelligent network joins traffic system energy
It is enough that redistributing for driving task is realized between vehicle, specifically include following one or more situations：
1) instruction of normal driving and the required by task that cruises is provided for vehicle；
2) instruction and the information needed for navigation task is provided, including security maintenance, traffic control/road conditions and other are specific
Information；
If 3) during thrashing, adapter vehicle performance task and security maintenance task of supervision；
4) the information exchange task of aspect provides data supporting in order to control, this partial data is provided by vehicle-mounted detector；
5) in mechanical aspect, meet wagon control task, monitor surrounding environment, there is provided back-up system supports；
6) driving information of key is provided for vehicle；
7) driving task is met, and mutually by the use of as spare, to prevent any mistake or the situation of failure.
16. intelligent network according to claim 1 joins traffic system, it is characterised in that：The vehicle subsystem have include
Vehicle-mounted displaying interface, is following one or more：Audio frequency apparatus, video equipment, vibratory equipment.
17. intelligent network according to claim 1 joins traffic system, it is characterised in that：Vehicle in the vehicle subsystem
With vehicle identification and following function, combined and realized by one or more of：The certification of net connection vehicle safety, board units
ID, removable facility ID, Differential Global Positioning System, visual detector, removable or fixed radar detector.
18. intelligent network according to claim 1 joins traffic system, it is characterised in that：The communication system is by with next
Or multiple compositions：OEM operational administratives system, wireless service provider, the public organizations of maintenance system；The communication system
The technology of application includes wireless and cable communicating technology.
19. a kind of intelligent network joins traffic system, it is characterised in that：The system is automatic driving vehicle control system, including：
One be used for connect layering traffic control center and traffic control unit communication link, be used for realization information processing and
Transmit traffic control instruction；
One communication link for being used to connect roadside unit system, is used for realization the data flow for receiving net connection car, detection traffic shape
State and to target vehicle send control instruction；
One vehicle subsystem, for receiving the specific control instruction with time sensitivity, including vehicle follow gallop, lane-change,
Paths chosen and other dependent instructions.
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