CN108109415B - Internet automatic driving control system and method with anti-congestion function - Google Patents
Internet automatic driving control system and method with anti-congestion function Download PDFInfo
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- CN108109415B CN108109415B CN201711384712.8A CN201711384712A CN108109415B CN 108109415 B CN108109415 B CN 108109415B CN 201711384712 A CN201711384712 A CN 201711384712A CN 108109415 B CN108109415 B CN 108109415B
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise 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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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Abstract
The invention discloses an internet automatic driving control system with a congestion prevention function and a method thereof. It includes: the cloud server is used for making a path planning change instruction for vehicles on the congested road section based on the destination information of the vehicles according to the received information; the road side subsystem is used for making a command for changing lane planning and a target speed command for vehicles on a congested road section according to the road information and the vehicle information; the automatic driving control system is used for outputting different vehicle body control commands to the vehicle control system according to the received information; the vehicle control system is used for respectively controlling and reducing the vehicle speed and the change of the driving direction according to different vehicle body control commands. According to the system, the cloud server and the road side subsystem are used for monitoring the congestion condition of the urban road, and path planning and lane planning are carried out on the vehicles in the congested road section again, so that the vehicles can avoid the congested road section in time.
Description
Technical Field
The invention belongs to the technical field of automatic driving of automobiles, and particularly relates to a networked automatic driving control system and method with a congestion prevention function.
Background
Congestion in modern cities is a normal state, and how to find congestion in advance is also an urgent problem to be solved in the automobile industry. In the existing driving process, people generally obtain the road congestion condition through map navigation carried by vehicles, and then manually control and select a non-congestion road path to control the vehicles so as to get rid of congestion road sections. However, the map navigation of the vehicle cannot automatically update the road congestion condition in real time, and people generally select a certain path and then directly drive according to the selected path, so that the people rarely pay attention to the road condition. The urban road congestion situation changes all the time, the road condition is checked and the travel route is selected only through manpower, the obtained information is not timely, the selected route is possibly seriously congested, and a driver does not find the congestion situation, so that the congested road section cannot be avoided timely, and the travel is influenced.
Disclosure of Invention
The invention aims to solve the defects of the background technology and provide an internet automatic driving control system and method with a congestion prevention function.
The technical scheme adopted by the invention is as follows: an Internet automatic driving control system with anti-congestion function comprises
The cloud server is used for receiving road information and vehicle information of each road side subsystem, judging congestion conditions of each road according to the received information, making a path planning change instruction for vehicles on a congested road section based on destination information of the vehicles when the congestion condition of a certain road section is judged, and sending the instruction to the road side subsystem;
the road side subsystem is used for acquiring road information and vehicle information on a road where the road is located, sending the road information and the vehicle information to the cloud server, judging the congestion condition of the road according to the road information and the vehicle information, when the road congestion is judged, making a lane planning change instruction and a target vehicle speed instruction for vehicles on a congested road section according to a path planning change instruction and the road information, and outputting the road congestion condition, the path planning instruction, the lane planning instruction and the target vehicle speed instruction to the automatic driving control system.
The automatic driving control system is used for sending vehicle information to the road side subsystem and outputting different vehicle body control commands to the vehicle control system according to the received information
And the vehicle control system is used for respectively controlling and reducing the vehicle speed and the change of the driving direction according to different vehicle body control commands.
The system further comprises a vehicle-mounted information unit, wherein the vehicle-mounted information unit is used for sending the road congestion condition, the path planning instruction, the lane planning instruction and the target vehicle speed instruction which are output by the road side subsystem to the automatic driving control system, and sending the vehicle information output by the automatic driving control system to the road side subsystem.
Furthermore, the cloud server and the road side subsystem and the vehicle-mounted information unit are communicated through a 5G network.
Further, the vehicle-mounted information unit and the automatic driving control system are communicated through the Ethernet.
Further, the vehicle control system includes
The engine controller is used for controlling the gradual reduction of the output driving torque to a target value torque calibrated by the system according to the torque demand signal in the control command;
and the electronic power steering controller is used for controlling the vehicle to complete steering according to the requirement according to the expected steering wheel angle and the expected steering wheel steering angular speed in the control command.
Further, the vehicle control system further comprises a brake controller for controlling the vehicle to brake smoothly according to the deceleration command in the control command until the vehicle speed of the networked vehicle reaches the target vehicle speed.
Furthermore, the vehicle control system also comprises a vehicle body controller which is used for lighting the brake lamp and the steering lamp according to the lamp signal in the control command.
According to the control method of any one of the internet automatic driving control systems, the cloud server judges the congestion condition of each road according to the acquired road information and vehicle information, and when the congestion condition of a certain road section is judged, a command for changing the path planning is made for the vehicles on the congested road section based on the destination information of the vehicles; the road side subsystem judges the congestion condition of the road according to the acquired road information, and when the road congestion is judged, a command for changing the lane plan and a target speed command are made for the vehicles on the congested road section according to the command for changing the path plan and the road information; the automatic driving control system outputs different control commands to the vehicle control system according to the received different instruction information; the vehicle control system respectively controls and reduces the vehicle speed and the change of the driving direction according to different control commands.
Further, the vehicle control system gradually reduces the vehicle output driving torque to a target value torque calibrated by the system according to a torque demand signal in the control command; controlling the vehicle to complete steering according to requirements according to the expected steering wheel angle and the expected steering wheel steering angular speed in the control command; and turning on the brake lamp and the steering lamp according to the car lamp signal in the control command.
Furthermore, when the vehicle output driving torque is reduced to the target value torque calibrated by the system, the automatic driving control system judges that the vehicle speed is greater than the target vehicle speed, a deceleration instruction is sent to the vehicle control system, and the vehicle control system controls the vehicle to brake smoothly according to the deceleration instruction until the vehicle speed of the vehicle reaches the target vehicle speed.
The automatic driving control system monitors the congestion condition of the urban road through the road information and the vehicle information acquired by the cloud server and the road side subsystem, re-performs path planning and lane planning on vehicles in the congested road section, sends lane change information to related vehicles, adjusts the number of vehicles in the congested road section, sends expected vehicle speed, and re-performs path planning on the vehicles according to received instructions. The system controls the autonomous vehicle: software of the electronic steering power-assisted controller, the engine controller and the brake controller is developed adaptively, hardware cost is not increased, the economy and the feasibility are better, and the running time of the automatic driving vehicle is greatly improved.
Drawings
Fig. 1 is a schematic diagram of the principle of the present invention.
FIG. 2 is a control flow chart of the present invention.
Detailed Description
The invention will be further described in detail with reference to the following drawings and specific examples, which are not intended to limit the invention, but are for clear understanding.
As shown in fig. 1, the internet-connected automatic driving control system with anti-congestion function of the present invention includes a cloud server 1, a road side subsystem 2, a vehicle-mounted information unit 3, an automatic driving control system 4, and a vehicle control system 5, wherein:
the cloud server 1 has the functions of global control, dynamic planning, real-time scheduling, big data analysis and the like. Specifically, the cloud server is used for receiving road information and vehicle information sent by each road side subsystem, judging congestion conditions of each road according to the received information, and not changing path planning of vehicles on smooth roads; and when the congestion of a certain road section is judged, a command for changing the path plan is made for the vehicles on the congested road section based on the destination information of the vehicles, and the command is sent to the road side subsystem.
The cloud server 1 receives information including road congestion and smooth information acquired by each road side subsystem, and information of vehicle number, position, speed, destination, intelligent traffic signal lamp and the like. The cloud server outputs results including: instructions to alter the path plan for vehicles on congested road segments.
The road side subsystem 2 has the functions of carrying out congestion judgment, lane level planning, vehicle and road cooperative control and the like on the road where the road is located. Specifically, the road side subsystem is used for acquiring road information and vehicle information on a road where the road side subsystem is located, sending the road information and the vehicle information to the cloud server, judging congestion conditions of the road according to the road information and the vehicle information, when the road congestion is judged, making a lane plan change instruction and a target vehicle speed instruction for vehicles on a congested road section according to a path plan change instruction and the road information, and outputting the road congestion conditions, the path plan instruction, the lane plan instruction and the target vehicle speed instruction to the automatic driving control system.
The information received by the road side subsystem 2 includes: the system comprises vehicle position, speed and destination information uploaded by a vehicle-mounted information unit on a road where a road side subsystem is located, the number of vehicles in each lane, distance information and intelligent traffic signal lamp information.
Judging by the road side subsystem: the number of vehicles in all lanes of the road is more than 60, the distance between vehicles is less than 1 meter, the speed of the vehicle is less than 3km/h (the parameters can be calibrated), the intelligent signal lamps are green lamps, and the like, and the condition is met at the same time, so that the road congestion can be judged; the distance between the vehicles on the road is more than 3 meters, the speed of the vehicles is more than 20km/h (the parameters can be calibrated), the intelligent signal lamp is a green lamp, and the like, and the conditions are met simultaneously, so that the smooth road can be judged.
The roadside subsystem outputs information: based on the judgment of congestion or smoothness of the road, the path planning of vehicles on the smooth road is not changed; for a congested road section, calculating lane level instructions of vehicles on the congested road section based on instructions of changing path planning and the number of vehicles on each lane of the congested road section by a cloud server, sending lane change information to related vehicles, and adjusting the number of vehicles on each lane of the road; the expected speed of the vehicle is sent, and the road vehicle passing through the road section with the most reasonable speed is reached. The command is issued to a vehicle-mounted information unit of the networked automatic driving vehicle.
The vehicle-mounted information unit 3 is used for sending the road congestion condition, the instruction for changing the path plan, the instruction for changing the lane plan and the target vehicle speed instruction output by the road side subsystem to the automatic driving control system, and sending the vehicle information output by the automatic driving control system to the road side subsystem. The cloud server and the road side subsystem and the vehicle-mounted information unit are communicated through a 5G network. The vehicle-mounted information unit and the automatic driving control system are communicated through the Ethernet.
The automatic driving control system 4 is used for sending vehicle information to the road side subsystem and outputting different vehicle body control commands to the vehicle control system according to the received information, and the automatic driving control system and the vehicle control system are connected through a CAN bus to transmit data. The control commands output by the autopilot control system include a torque demand signal, a deceleration command signal, a desired steering wheel angle and a desired steering wheel angular velocity signal, and a light signal.
The vehicle control system 5 is used for controlling and reducing the vehicle speed and the driving direction change respectively according to different vehicle body control commands. Specifically, the vehicle control system comprises
The engine controller 6 is used for controlling the engine body 10 to gradually reduce the output driving torque to a target value torque calibrated by a system according to a torque demand signal in a control command;
and the electronic power steering controller 8 is used for controlling an electronic power steering actuator 12 of the vehicle to complete steering according to the expected steering wheel angle and the expected steering wheel steering angular speed in the control command.
And the brake controller 7 is used for controlling the brake system 11 of the vehicle to brake smoothly according to the deceleration instruction in the control command until the speed of the networked vehicle reaches the target speed, and at the moment, the deceleration instruction of the automatic driving control system returns to zero.
And the automobile body controller 9 is used for lighting a brake lamp and a steering lamp 13 according to an automobile lamp signal in the control command to remind a rear automobile of paying attention to control the automobile speed and avoid rear-end collision.
As shown in fig. 2, a control method based on the internet-connected automatic driving control system includes the following steps:
the method comprises the steps that firstly, information is collected, vehicle information is collected from a vehicle-mounted information unit to a road side subsystem, and the road side subsystem collects the obtained vehicle information and road information on a road to a cloud server.
The cloud server monitors the condition of a vehicle-mounted information unit of the networked vehicle in real time through the road side subsystem, collects traffic signals of all road sections in the driving direction of the networked vehicle, records the road right of each road section, judges the congestion condition of each road according to the acquired road information and vehicle information, and makes a command for changing path planning on the basis of the destination information of the vehicle in the congested road section when judging that the congestion occurs in a certain road section.
And the road side subsystem judges the congestion condition of the road according to the acquired road information, and when the road congestion is judged, a command for changing the lane plan and a target speed command are made for the vehicles on the congested road section according to the command for changing the path plan and the road information.
The automatic driving control system carries out coordination control of all control systems in the vehicle again according to the received different instruction information, different control commands are output to the vehicle control system through the CAN bus, and the vehicle control system respectively controls and reduces the vehicle speed and the change of the driving direction according to the different control commands.
The autopilot control system sends a torque demand signal to the engine controller that is stepped down from the current value to a target value calibrated by the system. The engine controller gradually reduces the output drive torque to a target value torque calibrated by the system according to the torque demand signal.
If the vehicle speed is not enough to be reduced to a target vehicle speed by the measure of limiting the engine torque, the automatic driving control system sends a deceleration command signal to the brake controller through the CAN bus, and controls the vehicle to brake smoothly according to the deceleration command until the vehicle speed of the networked vehicle reaches the target vehicle speed, and the deceleration command of the automatic driving control system returns to zero.
The automatic driving control system sends a deceleration instruction signal to the brake controller through the CAN bus, and simultaneously sends a brake lamp control command to the vehicle body controller through the CAN bus, and the vehicle body controller lights a brake lamp after receiving the deceleration instruction signal to remind a vehicle behind to control the vehicle speed and avoid rear-end collision.
When the networked vehicle reaches a position where the vehicle CAN turn or turn off, the automatic driving control system sends the expected steering wheel rotation angle and the expected steering wheel steering angular speed through the CAN bus, controls the vehicle to stably and safely pass through the position, and implements the upper-layer strategy requirement of path re-planning.
Those not described in detail in this specification are within the skill of the art.
Claims (10)
1. The utility model provides a networking automatic driving control system with prevent function that blocks up which characterized in that: comprises that
The cloud server (1) is used for receiving road information and vehicle information of each road side subsystem, judging congestion conditions of each road according to the received information, when congestion occurs in a certain road section, making a path planning change instruction for vehicles in the congested road section based on destination information of the vehicles, and sending the instruction to the road side subsystem;
the road side subsystem (2) is used for acquiring road information and vehicle information on a road where the road is located, sending the road information and the vehicle information to the cloud server, judging the congestion condition of the road according to the road information and the vehicle information, when the road congestion is judged, calculating a lane level instruction of a vehicle on the congested road section according to a route planning changing instruction and the road information, sending lane changing information to related vehicles, adjusting the number of vehicles on each lane of the road, sending expected vehicle speed, making a lane planning changing instruction and a target vehicle speed instruction for the vehicle on the congested road section, and outputting the road congestion condition, the route planning instruction, the lane planning instruction and the target vehicle speed instruction to the automatic driving control system;
the automatic driving control system (4) is used for sending vehicle information to the road side subsystem and outputting different vehicle body control commands to the vehicle control system according to the received information;
and the vehicle control system (5) is used for respectively controlling and reducing the vehicle speed and the running direction change according to different vehicle body control commands.
2. The internet-connected automatic driving control system with the anti-congestion function according to claim 1, characterized in that: the vehicle-mounted information unit (3) is used for sending the road congestion condition, the path planning instruction, the lane planning instruction and the target vehicle speed instruction which are output by the road side subsystem to the automatic driving control system and sending the vehicle information output by the automatic driving control system to the road side subsystem.
3. The internet-connected automatic driving control system with the anti-congestion function according to claim 2, characterized in that: the cloud server (1) and the road side subsystem (2) and the vehicle-mounted information unit (3) are communicated through a 5G network.
4. The internet-connected automatic driving control system with the anti-congestion function according to claim 2, characterized in that: the vehicle-mounted information unit (3) and the automatic driving control system (4) are communicated through the Ethernet.
5. The internet-connected automatic driving control system with the anti-congestion function according to claim 1, characterized in that: the vehicle control system (5) comprises
An engine controller (6) for controlling stepwise reduction of the output drive torque to a target value torque calibrated by the system in accordance with a torque demand signal in the control command;
and the electronic power steering controller (8) is used for controlling the vehicle to complete steering according to the requirement according to the expected steering wheel angle and the expected steering wheel steering angular speed in the control command.
6. The internet-connected automatic driving control system with the anti-congestion function according to claim 1, characterized in that: the vehicle control system (5) further comprises a brake controller (7) for controlling the vehicle to brake smoothly according to the deceleration command in the control command until the vehicle speed of the networked vehicle reaches the target vehicle speed.
7. The internet-connected automatic driving control system with the anti-congestion function according to claim 1, characterized in that: the vehicle control system (5) further comprises a vehicle body controller (9) for lighting a brake lamp and a steering lamp according to a vehicle lamp signal in the control command.
8. A control method based on the internet automatic driving control system of any one of claims 1 to 7, characterized in that: the cloud server judges the congestion condition of each road according to the acquired road information and vehicle information, and when the congestion condition of a certain road section is judged, a command for changing the path plan is made for the vehicles on the congested road section based on the destination information of the vehicles; the road side subsystem judges the congestion condition of the road according to the acquired road information, and when the road congestion is judged, a command for changing the lane plan and a target speed command are made for the vehicles on the congested road section according to the command for changing the path plan and the road information; the automatic driving control system outputs different control commands to the vehicle control system according to the received different instruction information; the vehicle control system respectively controls and reduces the vehicle speed and the change of the driving direction according to different control commands.
9. The control method according to claim 8, characterized in that: the vehicle control system gradually reduces the vehicle output driving torque to a target value torque calibrated by the system according to a torque demand signal in the control command; controlling the vehicle to complete steering according to requirements according to the expected steering wheel angle and the expected steering wheel steering angular speed in the control command; and turning on the brake lamp and the steering lamp according to the car lamp signal in the control command.
10. The control method according to claim 9, characterized in that: when the vehicle outputs the driving torque and is reduced to the target value torque calibrated by the system, the automatic driving control system sends a deceleration instruction to the vehicle control system when judging that the vehicle speed is greater than the target vehicle speed, and the vehicle control system controls the vehicle to brake stably according to the deceleration instruction until the vehicle speed of the vehicle reaches the target vehicle speed.
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| CN106710203A (en) * | 2017-01-10 | 2017-05-24 | 东南大学 | Multidimensional intelligent network connection traffic system |
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