CN108205312B - Unmanned BRT vehicle automatic start-stop implementation method based on high-precision map and infrared beacon - Google Patents
Unmanned BRT vehicle automatic start-stop implementation method based on high-precision map and infrared beacon Download PDFInfo
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Abstract
The invention discloses a method for realizing automatic starting and stopping of an unmanned BRT (bus rapid transit) vehicle based on a high-precision map and an infrared beacon, which comprises the following steps of: the method comprises the following steps: starting an unmanned BRT vehicle from a starting point bus stop yard, and entering a cruise stage after starting is finished; step two: when the vehicle passes through a deceleration point arranged on a high-precision map, taking the lane center line after the deviation as a desired path to set deceleration to a desired speed and then enabling the vehicle to run on the desired path at a constant speed; when an infrared receiver arranged on the vehicle body receives an infrared signal reflected by a roadside reflector, parking at a set deceleration by a station; automatically opening the vehicle door after the vehicle is detected to be stopped stably; when the closing signal of the vehicle door is detected, the vehicle is restarted and enters a cruising stage; when the vehicle reaches the destination bus station and passes through the destination set on the high-precision map, the vehicle stops at the set deceleration, and the travel is finished. The invention can realize the accurate transverse and longitudinal parking of the vehicle at the BRT platform.
Description
Technical Field
The invention belongs to the technical field of intelligent driving and control thereof, and particularly relates to a method for realizing automatic starting and stopping of an unmanned BRT (bus rapid transit) vehicle based on a high-precision map and an infrared beacon.
Background
A Bus Rapid Transit system (BRT) is a novel public passenger transport system between Rapid Rail Transit (RRT) and Normal Bus (NBT), is a medium-traffic transportation mode, is rapidly operated in a special road space, and is also commonly called as 'subway on the ground'. Because the BRT plans at the most inboard of road to in lane separation, the platform has the guardrail to shelter from in addition, consequently needs the vehicle to violently, vertically all relatively more accurate when parkking, just can avoid the door to be sheltered from, makes things convenient for the passenger to get on or off the bus.
The automatic start and stop of the subway mainly depends on an Automatic Train Operation (ATO), and is mostly called as an automatic train driving system at present. The accurate positioning of subway mainly relies on the transponder, and the coding information of position and speed is stored in every transponder, and when subway passed through the transponder, accurate positioning of subway was realized through reading the information that stores in the transponder to receiving arrangement (transponder antenna) that the subway bottom was installed. The transponders of the platform are distributed densely, generally 3-4 transponders are arranged on one platform, and when a subway passes through each transponder, the speed information in the transponder is read to adjust the speed of the vehicle in real time so as to realize accurate parking of the platform. The platform screen door is 30cm wider than the door, so that an error of + -15cm is allowed when parking.
The automatic driving is a necessary product for the development of the intelligent era and the internet era, and the popularization of the automatic driving is a breakthrough on buses. On one hand, the development of public transportation and automatic driving is greatly promoted by national policies; on the other hand, because the bus route is fixed, automatic driving is easier to realize. The unmanned BRT vehicle has the on-board computer to calculate the expected speed in real time according to the current position, so that the vehicle can arrive at the platform more accurately, and people can go out conveniently. However, how to realize the accurate transverse and longitudinal stopping of the platform and avoid accidents in the process of getting on and off passengers (especially old people and children) still needs further research.
Disclosure of Invention
The invention solves the technical problem that aiming at the defects of the prior art, the invention provides the unmanned BRT vehicle automatic starting and stopping implementation method based on the high-precision map and the infrared beacon, which can realize the accurate transverse and longitudinal stopping of the vehicle at the BRT platform and avoid the problem that the distance between the vehicle and the platform is larger when the vehicle stops at the BRT platform. When the vehicle reaches the position of a deceleration point arranged on the high-precision map, the vehicle decelerates to run to remind passengers of arriving at the platform; then, when the vehicle is subjected to the infrared beacon, the vehicle is decelerated and parked, the precision of the parking position is improved, the transverse and longitudinal distance between the unmanned BRT vehicle and the platform when the unmanned BRT vehicle parks at the platform is reduced as much as possible, and the safety of passengers getting on and off the vehicle is ensured; two sets of independent infrared beacon devices (infrared beacon redundancy) have better fault-tolerant capability, and the failure of platform parking caused by device failure is reduced.
The technical scheme provided by the invention is as follows:
a method for realizing automatic start and stop of an unmanned BRT vehicle based on a high-precision map and an infrared beacon comprises a preparation stage and an unmanned BRT vehicle operation stage;
in the preparation stage, an infrared transceiver (a polarization filter reflector type infrared sensor) is installed on an unmanned BRT body, a reflector (a polarization filter reflector) is installed at a parking spot on the front roadside of a platform, and a deceleration spot position is set on a high-precision map (the high-precision map is a sub-meter level map, such as a high-precision map of God);
the operation stage of the unmanned BRT vehicle is controlled according to the following steps:
starting an unmanned BRT vehicle from a starting point bus stop;
step two, entering a cruising stage;
judging whether the unmanned BRT vehicle reaches a destination bus station, if so, stopping at a set deceleration when passing a destination set on a high-precision map, and ending the journey; otherwise, entering the step four;
step four, if the unmanned BRT vehicle passes through a deceleration point arranged on a high-precision map, taking a path obtained by translating the center line of the lane to one side of a vehicle door for a certain distance as an expected path, decelerating the unmanned BRT vehicle to an expected speed at a set deceleration and then driving the unmanned BRT vehicle on the expected path at a constant speed, and entering step five; otherwise, returning to the step two;
step five, when an infrared transceiver mounted on the body of the unmanned BRT receives an infrared signal reflected by the road side reflecting plate, namely when the unmanned BRT vehicle passes through a parking spot, the unmanned BRT vehicle stops by a stop at a set deceleration;
step six, after the vehicle is detected to be stable, automatically opening the vehicle door (when the vehicle speed is detected to be 0 and kept for 2s through the received GPS data, judging that the vehicle is stable), and manually closing the vehicle door after a driver confirms that all passengers get on the vehicle;
step seven, after detecting a door closing signal (namely detecting that a door closing button is pressed), restarting the unmanned BRT vehicle, and returning to the step two;
further, the BRT is provided with a special lane, and in the first step, the center line of the special lane is used as an expected path when the vehicle starts; before starting, the automatic horn sounding and the turn light striking are carried out; when the transverse distance between the unmanned BRT vehicle and the center line of the BRT special lane is smaller than a set threshold value (0.2m), starting is finished, the cruise stage is started, and the steering lamp is reset.
Further, the cruising stage in the second step is as follows:
v. themaxThe speed for constant-speed cruising of the unmanned BRT vehicle; v. ofminThe minimum speed of a front vehicle is self-adaptive to the unmanned BRT vehicle during cruising; the speed units mentioned in the invention are all m/s, and the distance units are all m.
Vehicle speed v in front of driveway of unmanned BRT vehiclefront≥vmaxOr when the unmanned BRT vehicle is not in front of the lane, the unmanned BRT vehicle cruise at a constant speed and sets a speed vd＝vmax；
When v ismin≤vfront＜vmaxIn time, the unmanned BRT vehicle self-adaptively cruises and follows the front vehicle, and 1.5 is guaranteed<th<2.2, where th is headway, where th is (S-x)0) Calculated by the following formula,/v, wherein S is the distance from the front vehicle (measured by the millimeter wave radar detection of the head of the unmanned BRT vehicle)To) x)0V is the minimum safe distance, and v is the real-time speed of the unmanned BRT vehicle;
when v isfront<vminWhen is, if S>(4v +20), the unmanned BRT vehicle changes lane and overtakes; otherwise, stopping the vehicle until the front vehicle leaves, and restarting the unmanned BRT vehicle.
TABLE 1 cruise phase unmanned BRT vehicle behavior
Further, in the preparation stage, the method for installing the infrared transceiver on the body of the unmanned BRT vehicle comprises the following steps: the method comprises the following steps that an infrared receiving and transmitting device is arranged at a position, close to a vehicle head and a vehicle roof, on a vehicle body on one side of a vehicle door of the unmanned BRT vehicle; for the BRT for getting on or off the bus on the left side, an infrared transceiver is arranged on the left side of the bus body and at a position close to the bus head and the bus roof;
a reflecting plate is arranged at the position of a parking spot on the front roadside of the platform, and the height of the reflecting plate is consistent with that of an infrared receiving and transmitting device arranged on the body of the unmanned BRT vehicle; the parking position, namely the installation position of the reflecting plate is determined according to the following steps:
1. considering ride comfort, a suitable deceleration range A at the time of parking and a lower speed v that the vehicle should reach before the parking point are determined2；
2. The deceleration a of the vehicle at the time of parking is set within the deceleration range A2(a2∈ a), the distance D between the theoretical (ideal) stopping point and the platform stop line2It should satisfy:
d calculated according to the formula2Determining the position of a parking spot, and installing a reflecting plate at the position of the parking spot;
3. in practice, because the communication time, the response time of an actuating mechanism, the deceleration and the speed precision are uncertain and have errors, multiple tests are required in an actual scene and the installation position of the reflecting plate is updated;
the test procedure was as follows:
(1) vehicle at constant speed v2Driving;
(2) when the infrared transceiver installed on the body of the unmanned BRT receives the infrared signal reflected by the road side reflecting plate, namely when the unmanned BRT vehicle passes through the parking position, the vehicle decelerates a2Carrying out deceleration parking;
(3) stopping the vehicle, and measuring the distance between the vehicle stopping position and the stop line; judging whether the vehicle meets the longitudinal precision requirement when the vehicle stops (the distance between the vehicle stop position and the stop line is within 0-15 cm); if the position is satisfied, ending the experiment, and determining that the parking position is a satisfactory parking position, namely the reflector plate is installed at the satisfactory parking position, otherwise, entering the step (4);
(4) and (4) updating the installation position of the reflecting plate and returning to the step (1).
Further, in the preparation stage, the position of the deceleration point on the high-precision map is determined according to the following steps:
1. the deceleration a of the vehicle during deceleration from the deceleration point to the stop point is set within the deceleration range A1Distance D between deceleration point and parking point1It should satisfy:
d when the above formula is equal sign1And marking the position of the ideal deceleration point on the high-precision map by taking the position of the deceleration point corresponding to the value as the position of the ideal deceleration point. The position of the deceleration point on the high-precision map should meet the following requirements: (1) the distance between the deceleration point and the stopping point is sufficient for the vehicle to complete the deceleration process, i.e. the vehicle has completed the deceleration before reaching the stopping point, and has reached the speed v2Driving at a constant speed; (2) the distance between the deceleration point and the stop point can not be too far, so as to avoid the vehicle from having a smaller speed v2The vehicle can run for a longer time.
2. Performing multiple tests in an actual scene and updating the position of a deceleration point on a high-precision map;
the test procedure was as follows:
(1) vehicle cruise speed vmaxRunning (40-60 km/h);
(2) when reaching the deceleration point on the high-precision map, the vehicle decelerates at a deceleration rate a1Decelerating at a desired speed v2；
(3) Observing vehicle speed as reduced to v2The position of the parking lot, and the distance between the position and the parking spot; if the vehicle speed is reduced to v2When the position is before the stopping point (namely the vehicle finishes decelerating before reaching the stopping point) and the distance between the position and the stopping point is less than a set threshold value, ending the test process and determining that the current deceleration point position is a satisfactory deceleration point position; otherwise, entering the step (4);
(4) and (5) modifying the position of the deceleration point on the high-precision map, and returning to the step (1).
Further, in the fourth step, when passing through a deceleration point set on the high-precision map, the following lateral control is performed on the unmanned BRT vehicle:
firstly, establishing a vehicle coordinate system, wherein the origin of coordinates of the vehicle coordinate system is the center position of a vehicle head, the positive front of the vehicle is the positive direction of an X axis, the positive left of the vehicle is the positive direction of a Y axis, and the positive upper of the vehicle is the positive direction of a Z axis;
then, detecting left and right lane lines of a lane where the unmanned BRT vehicle is located through a camera, and giving lane line parameters in a vehicle coordinate system, wherein functions of the left and right lane lines are expressed as follows:
then respectively taking 10 discrete points on the left lane line and the right lane line: (x)i,f(xi))、(xi,g(xi) Where x) isi0, 5, 10, …, 45 (m); taking the mean value
Fitting the obtained mean discrete points to obtain a lane centerline expression: h (x) ═ a3x3+b3x2+c3x+d3Wherein d is3Namely the transverse distance between the unmanned BRT vehicle and the center line of the special lane;
ideally, the vehicle will translate the lane center line to the left by a distance x when it reaches the deceleration pointmThe obtained path is used as a desired path so that the vehicle can stop at the side; wherein x ism＝(DRoad surface-DVehicle with wheels)/2-Dm(cm)，DRoad surfaceIs the lane width, DVehicle with wheelsTo vehicle width, DmThe ideal value of the lateral distance between the vehicle and the platform when the platform parks. In practical situations, multiple experiments should be performed in a practical scenario to determine x as finalmThe value is obtained. In the experimental process, to ensure the safety, x is usedmStarting from 0, the distance increases with increasing number of trials until the lateral distance from the platform at which the vehicle stops meets the accuracy requirement (0-15 cm).
The test procedure was as follows:
(1) setting xmStarting the vehicle when the vehicle speed is 0;
(2) when the unmanned BRT vehicle does not reach the deceleration point, calculating a lane line central line expression as an expected path according to a left lane line function and a right lane line function detected by a camera, so that the vehicle can run in the middle of a lane;
(3) when the unmanned BRT vehicle reaches a deceleration point, the center line of the lane is translated leftwards by a distance xmThe obtained path is used as a desired path so that the vehicle can stop at the side;
(4) measuring the transverse distance between the vehicle and the platform after the unmanned BRT vehicle is parked, and judging whether the transverse distance between the vehicle and the platform when the vehicle is parked meets the requirement of transverse precision (the measured transverse distance between the vehicle and the platform and the ideal value D of the transverse distance between the vehicle and the platform when the platform is parked)mWithin 0-15 cm), if so, then x at that time is determinedmValue as final xmA value; otherwise, entering the step (5);
(5) increase xm(ii) a And (5) after the passenger finishes boarding, restarting the vehicle, and returning to the step (2).
Further, the redundancy of the infrared beacon is:
in the preparation stage, two independent sets of infrared receiving and transmitting devices are arranged on the vehicle body on one side of the vehicle door in the vertical direction at positions close to the vehicle head and the vehicle roof; two independent reflecting plates are arranged in the vertical direction, and the height of each reflecting plate is consistent with that of two sets of infrared receiving and transmitting devices arranged on the body of the unmanned BRT vehicle;
setting a deceleration confirmation point on a high-precision map, wherein the deceleration confirmation point is positioned between the reflecting plate and the platform and is used for detecting whether the infrared receiving and transmitting device installed on the unmanned BRT vehicle body receives the infrared signal reflected by the reflecting plate;
when a vehicle passes through the reflecting plate, if two sets of infrared receiving and transmitting devices of the unmanned BRT vehicle body receive infrared signals, the equipment is considered to be normal; if only one set of infrared receiving and transmitting devices receives the infrared signals, the vehicle can normally run to remind related personnel to check the equipment; v if the vehicle passes the deceleration confirmation point on the high-precision map2V < Δ v (where △ v is a threshold value, △ v > 0), indicating that no infrared signal is detected (the vehicle deceleration judgment is mainly used for judging whether the infrared transceiver is in failure, and reminding a driver to take over the vehicle when the infrared transceiver is in failure, and if the infrared transceiver is in failure and no deceleration judgment is added, the vehicle cannot judge that the vehicle is about to arrive at the platform and continues to drive forwards), alarming is required and the driver takes over the vehicle to perform platform parking operation.
Further, when an obstacle exists in front of the deceleration stage before the platform, the processing method of the unmanned BRT vehicle comprises the following steps:
when approaching the platform, if the obstacle is in front of the current driving lane, the vehicle decelerates and stops, and the lane changing and obstacle avoiding operation is not carried out. The purpose is in order to normally receive the infrared signal that reflects through the polarized wave filtering baffle so that slow down and parking, avoid missing the signal. When the obstacle on the front side is far away, the vehicle continues to run. If the front barrier does not leave within the set time, the voice reminds the driver to intervene, the driver manually operates to the platform, and the passenger automatically drives again after getting on the bus.
Has the advantages that:
the invention provides a method for realizing automatic starting and stopping of an unmanned BRT (bus brake test) vehicle based on a high-precision map and an infrared beacon, which comprises the following steps of: the method comprises the following steps that firstly, an unmanned BRT vehicle starts from a starting point bus stop, enters a cruise stage after starting is finished, and secondly: when the unmanned BRT vehicle passes through a deceleration point arranged on a high-precision map, the lane center line after deviation is taken as an expected path, and the unmanned BRT vehicle runs at a constant speed after the deceleration is set to be decelerated to an expected speed; step three, when an infrared receiver installed on the unmanned BRT vehicle body receives an infrared signal reflected by the roadside polarization filtering reflector (namely when the unmanned BRT vehicle passes through a parking point), parking by a station at a set deceleration; step four, after the vehicle is detected to be stopped stably, the vehicle door is automatically opened, and when the driver confirms that all passengers get on the vehicle, the vehicle door is manually closed; step five, after a vehicle door closing signal is detected, restarting the unmanned BRT vehicle and entering a cruising stage; and step six, when the unmanned BRT vehicle reaches a destination bus station and passes through a destination arranged on a high-precision map, stopping at a set deceleration, and ending the journey.
Its advantages are the following:
1. the platform parking based on the high-precision map and the infrared equipment is more in line with the operation habit of human drivers, improves the position precision during parking, and reduces the transverse and longitudinal distance between the platform and the platform.
2. Two sets of independent infrared beacon devices are adopted, better fault tolerance is achieved, and meanwhile, a deceleration confirmation point is arranged on a high-precision map, so that the probability of platform parking failure caused by device faults is reduced.
3. The system detects that the driver restarts after closing the door, avoids the condition that the door clamps the passenger or the vehicle is started when the passenger does not get on the vehicle, thereby ensuring the personal safety of the passenger when getting on or off the vehicle.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a vehicle coordinate system;
FIG. 3 is a schematic diagram of a deceleration point and a parking point before a platform;
FIG. 4 is a schematic view of the installation of a polarized wave filter reflector type infrared sensor of a car body;
fig. 5 is a schematic view of the installation of the front reflection plate of the docking station.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.
The intelligent vehicle modified by a bus with the length of 12m and the width of 2.5m is provided with an infrared receiving and transmitting device, a laser radar, a millimeter wave radar, a camera and a GPS/IMU system, and an unmanned BRT vehicle automatic start-stop experiment based on a high-precision map and an infrared beacon is unfolded on a road with a standard two-way six-lane.
Referring to a flow chart shown in fig. 1, a method for realizing automatic start and stop of an unmanned BRT vehicle based on a high-precision map and an infrared beacon includes the following steps:
the method comprises the following steps that firstly, an unmanned BRT vehicle starts from a starting point bus stop and enters a cruise stage after starting is finished;
step two, when the unmanned BRT vehicle passes through a deceleration point arranged on a high-precision map, taking the center line of the lane after deviation as an expected path to set deceleration to an expected speed and then driving at a constant speed;
step three, when an infrared receiver installed on the body of the unmanned BRT receives an infrared signal reflected by the roadside polarization filtering reflector (namely when the unmanned BRT passes through a parking point), parking by a station at a set deceleration;
step four, after the vehicle is detected to be stopped stably, the vehicle door is automatically opened, and when the driver confirms that all passengers get on the vehicle, the vehicle door is manually closed;
step five, after a vehicle door closing signal is detected, restarting the unmanned BRT vehicle and entering a cruising stage;
and step six, when the unmanned BRT vehicle reaches a destination bus station and passes through a destination arranged on a high-precision map, stopping at a set deceleration, and ending the journey.
The starting stage in the first step is specifically as follows:
the BRT is provided with a special lane, so that the center line of the special lane is taken as a desired path in a starting stage; before starting, the driver automatically sounds a horn and turns a turn light. And when the transverse distance between the unmanned BRT vehicle and the center line of the BRT special lane is less than 0.2m, starting is finished, the cruise stage is started, and the steering lamp is reset.
The cruise stage in the first step is specifically as follows:
v. themaxFor the constant-speed cruising speed of the unmanned BRT vehicle, take vmax＝12m/s；vminThe minimum speed of the front vehicle is taken as v when the unmanned BRT vehicle is adaptive to cruisemin3 m/s; the speed units mentioned in the invention are all m/s, and the distance units are all m.
At the present vehicle speed vfront≥vmaxOr when the unmanned BRT vehicle is not in front of the lane, the unmanned BRT vehicle cruise at a constant speed and sets a speed vd＝vmax；
At the present vehicle speed vmin≤vfront＜vmaxIn time, the unmanned BRT vehicle self-adaptively cruises and follows the front vehicle, and 1.5 is guaranteed<th<2.2, where th is headway, where th is (S-x)0) Calculated as v, where S is the distance between the unmanned BRT vehicle and the vehicle ahead, x0V is the minimum safe distance, and v is the real-time speed of the unmanned BRT vehicle;
at the present vehicle speed vfront<vminWhen is, if S>(4v +20), the unmanned BRT vehicle changes lane and overtakes; otherwise, stopping the vehicle until the front vehicle leaves, and restarting the unmanned BRT vehicle.
TABLE 1 cruise phase unmanned BRT vehicle behavior
In the second and third steps, the specific steps of setting the position of the deceleration point on the high-precision map and installing the infrared receiving and transmitting device of the vehicle body and the roadside polarization filtering reflecting plate are as follows:
4.1. installation of the vehicle body infrared transceiver: considering BRT for getting on and off the vehicle on the left side, two independent sets of infrared receiving and transmitting devices are arranged on the left side of the vehicle body, close to the vehicle head and the vehicle roof and in the vertical direction;
4.2. installing a roadside polarization filtering reflector in front of the platform: the height of the infrared receiving and transmitting device is consistent with that of the infrared receiving and transmitting device of the vehicle body, two independent polarization filtering reflecting plates are arranged in the vertical direction, and the distance between the two independent polarization filtering reflecting plates and a platform is determined by the following steps:
consider ride comfortModerately determining a suitable deceleration range a; determining a lower speed v that the vehicle should reach before the stopping point2＝2m/s；
Determination of parking spot (reflector) position:
determining a suitable deceleration a at parking2＝0.3m/s(a2∈ a), theoretically the distance D between the stopping point and the stopping line2It should satisfy:
securing reflectors to desired stopping points, i.e. D determined by the above formula2Where the value is located. In practice, because the communication time, the response time of an actuating mechanism, the deceleration and the speed precision are uncertain and have errors, a plurality of tests are required in an actual scene, the installation position of the reflecting plate is updated, and D is finally determined2A value;
the test procedure was as follows:
(1) vehicle at constant speed v2Driving;
(2) when the vehicle reaches a stopping point (namely, the infrared sensor of the polarized filter of the vehicle body detects the infrared light reflected back by the reflecting plate), the vehicle decelerates at a speed D2Carrying out deceleration parking;
(3) stopping the vehicle, and measuring the distance between the vehicle stopping position and the stop line;
(4) and updating the installation position of the reflecting plate. The above experimental process is repeated until a satisfactory stopping point (i.e., the reflecting plate is mounted at a satisfactory position) is determined so that the accuracy requirement is satisfied when the vehicle is stopped.
4.3. After the parking point position is determined, determining the position of a deceleration point on a high-precision map:
determining the deceleration a of the vehicle during deceleration from a deceleration point to a stopping point1＝0.3m/s(a1∈ A), determining the cruising speed v112m/s, the distance D between the deceleration point and the parking point1It should satisfy:
marking an ideal deceleration point on a high-precision map, namely D when the distance between the deceleration point and the parking point takes the formula equal sign1. Performing multiple tests in an actual scene, updating a deceleration point on a high-precision map, and finally determining D1A value;
the test procedure was as follows:
(1) vehicle cruise speed vmaxDriving;
(2) to the point of deceleration on the high accuracy map, the vehicle is decelerated α at a deceleration1Decelerating at a desired speed v2；
(3) Observing vehicle speed as reduced to v2The distance between the location of the hour and the parking spot;
(4) the deceleration point is modified on the high precision map. The above experimental process is repeated until a satisfactory deceleration point is determined on the high-precision map to meet the following requirements: (1) the distance between the deceleration point and the stopping point is sufficient for the vehicle to complete the deceleration process, i.e. the vehicle has completed the deceleration before reaching the stopping point, and has reached the speed v2Driving at a constant speed; (2) the distance between the deceleration point and the stop point can not be too far, so as to avoid the vehicle from having a smaller speed v2The vehicle can run for a longer time.
In the second step, when passing through the deceleration point arranged on the high-precision map, the transverse control process of the unmanned BRT vehicle is as follows:
firstly, a vehicle coordinate system is established, and the vehicle coordinate system is defined, wherein the origin of coordinates is the center position of a vehicle head, the right front of the vehicle is an X axis, the right left of the vehicle is a Y axis, and the right upper of the vehicle is a Z axis.
The camera detects the left lane line and the right lane line of a lane where a vehicle is located, and gives lane line parameters in a vehicle coordinate system, wherein the left lane line and the right lane line are expressed as follows:
taking 10 discrete points of the left lane and the right lane respectively: (x)i,f(xi))、(xi,g(xi) Where x) isi0, 5, 10, …, 45; taking the mean value h (x)i)＝(f(xi)+g(xi) And 2), fitting the obtained mean discrete points to obtain a lane centerline expression: h (x) ═ a3x3+b3x2+c3x+d3。
Ideally, the vehicle will translate the lane center line to the left by a distance x when it reaches the deceleration pointmAs a desired path so that the vehicle can be parked alongside; wherein x ism＝(DRoad surface-DVehicle with wheels)/2-Dm(cm)，DRoad surface3.75m is the lane width, DVehicle with wheels2.54m is vehicle width, DmAnd 0.1m is the transverse distance between the vehicle and the platform when the platform parks. In practical situations, x should be made safemStarting from 0, the test time increases along with the increase of the test times until the vehicle stops, and the requirement of lateral precision is met. Initial set of experiments xm＝0。
The transverse control method comprises the following specific steps:
(1) when the vehicle does not reach the deceleration point, the vehicle calculates a lane line central line as an expected path according to a left lane line function and a right lane line function detected by the camera, and the vehicle runs in the middle of a lane;
(2) when the vehicle reaches the deceleration point, the center line of the lane is translated leftwards by a distance xmAs a desired path so that the vehicle can be parked alongside;
(3) measuring the transverse distance between the vehicle and the platform after the vehicle is parked;
(4) and after the passengers finish getting on the vehicle, the vehicle is restarted. The lane center line is taken as a desired path so that the vehicle travels in the middle of the lane.
(5) Increase xm. And repeating the tests until the transverse distance between the vehicle and the platform when the vehicle stops meets the requirement.
In the fifth step, the unmanned BRT vehicle is restarted and enters a cruising stage:
with the lane center as the desired path, the unmanned BRT vehicle behaves as in claim 3.
The redundancy of the infrared beacon is described in detail as follows:
and a deceleration confirmation point is arranged on the high-precision map, is positioned near the midpoint between the reflector and the platform and is used for detecting whether an infrared receiver of the automobile body of the unmanned BRT automobile receives the infrared signal reflected by the reflector.
When the vehicle passes through the polarization filtering reflecting plate, if the infrared receiver of the vehicle body receives the infrared signals twice, the equipment is considered to be normal; if the infrared signal is received once, the vehicle can normally run, and related personnel are reminded to check the equipment; v if the vehicle passes the deceleration confirmation point on the high-precision map2V < Δ v (where △ v is 0.5m/s is a threshold), that is, the vehicle is not decelerated, indicating that no infrared signal is detected, an alarm is required and the driver takes over the vehicle to perform a platform parking operation.
When an obstacle exists in front of the deceleration stage before the platform, the processing method of the unmanned BRT vehicle comprises the following specific steps:
when approaching the platform, if the obstacle is in front of the current driving lane, the vehicle decelerates and stops, and the lane changing and obstacle avoiding operation is not carried out. The purpose is in order to normally receive the infrared signal that reflects through the polarized wave filtering baffle so that slow down and parking, avoid missing the signal. When the obstacle on the front side is far away, the vehicle continues to run. If the front barrier does not leave within the set time, the voice reminds the driver to intervene, the driver manually operates to the platform, and the passenger automatically drives again after getting on the bus.
The above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (9)
1. A method for realizing automatic starting and stopping of an unmanned BRT vehicle based on a high-precision map and an infrared beacon is characterized by comprising a preparation stage and an unmanned BRT vehicle operation stage;
in the preparation stage, two independent sets of infrared receiving and transmitting devices are arranged on the vehicle body at one side of the unmanned BRT vehicle door, close to the vehicle head and the vehicle roof, in the vertical direction; two independent reflecting plates are arranged in the vertical direction of the parking position on the front roadside of the platform, and the heights of the reflecting plates are consistent with those of two sets of infrared receiving and transmitting devices arranged on the body of the unmanned BRT vehicle; setting a deceleration point and a deceleration confirmation point on the high-precision map; wherein, the position of the deceleration confirmation point is between the reflecting plate and the platform stop line; the operation stage of the unmanned BRT vehicle is controlled according to the following steps:
the method comprises the following steps that firstly, an unmanned BRT vehicle starts from a starting point bus stop;
step two, the unmanned BRT vehicle enters a cruising stage;
step three, judging whether the unmanned BRT vehicle reaches a destination bus station, if so, stopping at a set deceleration when passing a destination set on a high-precision map, and ending the journey; otherwise, entering the step four;
step four, when the unmanned BRT vehicle passes through a deceleration point arranged on a high-precision map, taking a path obtained by translating the central line of the special lane for BRT to one side of the vehicle door for a certain distance as an expected path, decelerating the unmanned BRT vehicle to an expected speed at a set deceleration, then enabling the unmanned BRT vehicle to run on the expected path at a constant speed, and entering step five; otherwise, returning to the step two;
step five, when an infrared transceiver installed on the body of the unmanned BRT receives an infrared signal reflected by the road side reflecting plate, namely when the unmanned BRT vehicle passes through a parking spot, the unmanned BRT vehicle stops by a stop at a set deceleration; when the vehicle passes through the reflecting plate, if two sets of infrared receiving and transmitting devices of the body of the unmanned BRT vehicle receive infrared signals, the equipment is considered to be normal, and the unmanned BRT vehicle stops at a stop at a set deceleration; if only one set of infrared receiving and transmitting devices receives the infrared signals, related personnel are reminded to check the equipment; v if the vehicle passes the deceleration confirmation point on the high-precision map2-v < Δ v, indicating no infrared signal is detected, giving an alarm and taking over the vehicle by the driver for a platform parking maneuver, wherein v2The speed which the vehicle should reach before the stop point is obtained, v is the real-time speed of the unmanned BRT vehicle, △ v is a threshold value, and △ v is more than 0;
step six, automatically opening the vehicle door after the vehicle is detected to be stopped stably;
and seventhly, when the vehicle door closing signal is detected, restarting the unmanned BRT vehicle, and returning to the step two.
2. The unmanned BRT vehicle automatic start-stop implementation method based on the high-precision map and the infrared beacon is characterized in that in the running stage of the unmanned BRT vehicle, the center line of a special BRT lane is used as an expected path during starting; before starting, the automatic horn sounding and the turn light striking are carried out; and when the transverse distance between the unmanned BRT vehicle and the center line of the BRT special lane is smaller than a set threshold value, starting is finished, the cruise stage is started, and the steering lamp is reset.
3. The unmanned BRT vehicle automatic start-stop implementation method based on the high-precision map and the infrared beacon according to claim 1, wherein in the second step, in the cruising stage:
v. themaxThe speed for constant-speed cruising of the unmanned BRT vehicle; v. ofminThe minimum speed of a front vehicle is self-adaptive to the unmanned BRT vehicle during cruising;
vehicle speed v in front of driveway of unmanned BRT vehiclefront≥vmaxOr when the unmanned BRT vehicle is not in front of the lane, the unmanned BRT vehicle cruise at a constant speed and sets a speed vd＝vmax；
When v ismin≤vfront＜vmaxIn time, the unmanned BRT vehicle self-adaptively cruises and follows the front vehicle, and 1.5 is guaranteed<th<2.2, where th is headway, where th is (S-x)0) Calculated as v, where S is the distance to the vehicle in front, x0Is the minimum safe distance;
when v isfront<vminWhen is, if S>(4v +20), the unmanned BRT vehicle changes lane and overtakes; otherwise, stopping the vehicle until the front vehicle leaves, and restarting the unmanned BRT vehicle.
4. The method for realizing the automatic starting and stopping of the unmanned BRT vehicle based on the high-precision map and the infrared beacon is characterized in that in the preparation stage, a method for installing an infrared receiving and transmitting device on the body of the unmanned BRT vehicle comprises the following steps: the method comprises the following steps that an infrared receiving and transmitting device is arranged at a position, close to a vehicle head and a vehicle roof, on a vehicle body on one side of a vehicle door of the unmanned BRT vehicle;
a reflecting plate is arranged at the position of a parking spot on the front roadside of the platform, and the height of the reflecting plate is consistent with that of an infrared receiving and transmitting device arranged on the body of the unmanned BRT vehicle; the parking position, namely the installation position of the reflecting plate is determined according to the following steps:
step 1, determining a suitable deceleration range A when parking and a speed v which the vehicle should reach before a parking point2；
Step 2, setting deceleration a of vehicle at parking in deceleration range A2Theoretical distance D between stop point and stop line of platform2It should satisfy:
d calculated according to the formula2Determining the position of a parking spot, and installing a reflecting plate at the position of the parking spot;
step 3, carrying out multiple tests in an actual scene and updating the installation position of the reflecting plate; the test procedure was as follows:
1) vehicle at constant speed v2Driving;
2) when the infrared transceiver installed on the body of the unmanned BRT vehicle receives the infrared signal reflected by the road side reflecting plate, namely when the unmanned BRT vehicle passes through the parking position, the vehicle decelerates a2Carrying out deceleration parking;
3) after the vehicle stops, measuring the distance between the stop position of the vehicle and a platform stop line; judging whether the vehicle meets the longitudinal precision requirement when the vehicle stops; if yes, ending the experiment, and determining that the parking position is a satisfactory parking position, namely the reflector is installed at the satisfactory parking position, otherwise, entering the step 4);
4) and updating the installation position of the reflecting plate and returning to the step 1).
5. The method for realizing the automatic start and stop of the unmanned BRT vehicle based on the high-precision map and the infrared beacon according to claim 4, wherein the longitudinal precision requirement in the step 3) is that the distance between the stop position of the vehicle and the stop line is within 0-15 cm.
6. The unmanned BRT vehicle automatic start-stop implementation method based on the high-precision map and the infrared beacon as claimed in claim 4, wherein in the preparation stage, the position of the deceleration point on the high-precision map is determined according to the following steps:
step 1, setting deceleration a of vehicle in deceleration process from deceleration point to stopping point in deceleration range A1Distance D between deceleration point and parking point1It should satisfy:
d when the above formula is equal sign1Taking the position of the deceleration point corresponding to the value as the position of an ideal deceleration point, and marking the position of the ideal deceleration point on a high-precision map;
step 2, carrying out multiple tests in an actual scene and updating the position of a deceleration point on a high-precision map; the test procedure was as follows:
1) vehicle cruise speed vmaxDriving;
2) when reaching the deceleration point on the high-precision map, the vehicle decelerates at a deceleration rate a1Decelerating at a desired speed v2；
3) Observing vehicle speed as reduced to v2The position of the parking lot, and the distance between the position and the parking spot; if the vehicle speed is reduced to v2When the current deceleration point is positioned in front of the stop point and the distance between the stop point and the current deceleration point is smaller than a set threshold value, ending the test process and determining that the current deceleration point is positioned at a satisfactory deceleration point; otherwise, entering step 4);
2.4) modifying the position of the deceleration point on the high-precision map and returning to the step 1).
7. High-precision-based optical fiber cable of claim 1The method for realizing the automatic start and stop of the unmanned BRT vehicle by using the degree map and the infrared beacon is characterized in that in the fourth step, the center line of the special lane for the BRT is translated to one side of the vehicle door by xmTaking the obtained path as an expected path, and performing multiple tests in an actual scene to determine the path as xmA value of (d); the test procedure was as follows:
1) setting xmStarting the vehicle when the vehicle speed is 0;
2) when the unmanned BRT vehicle does not reach the deceleration point, calculating a lane line central line expression special for BRT according to a left lane line function and a right lane line function detected by a camera to serve as an expected path so that the vehicle can run in the middle of a lane;
3) when the unmanned BRT vehicle reaches a deceleration point, the center line of the BRT special lane is translated leftwards by a distance xmThe obtained path is used as a desired path so that the vehicle can stop at the side;
4) measuring the transverse distance between the vehicle and the platform after the unmanned BRT vehicle is parked, judging whether the transverse distance between the vehicle and the platform when the vehicle is stopped meets the requirement of transverse precision, and if so, determining x at the momentmValue as final xmA value; otherwise, entering step 5);
5) increase xm(ii) a Restarting the vehicle and returning to the step 2);
the method for calculating the line expression of the lane line special for BRT in the step 2) comprises the following steps:
firstly, establishing a vehicle coordinate system, wherein the origin of coordinates of the vehicle coordinate system is the center position of a vehicle head, the positive front of the vehicle is the positive direction of an X axis, the positive left of the vehicle is the positive direction of a Y axis, and the positive upper of the vehicle is the positive direction of a Z axis;
then, detecting left and right lane lines of the BRT special lane by a camera, and giving lane line parameters in a vehicle coordinate system, wherein functions of the left and right lane lines are expressed as follows:
then respectively taking 10 discrete points on the left lane line and the right lane line: (x)i,f(xi))、(xi,g(xi) Where x) isi＝0，5，10，…，45 (m); taking the mean value h (x)i)＝(f(xi)+g(xi) And 2), fitting the obtained mean discrete points to obtain a BRT special lane central line expression: h (x) ═ a3x3+b3x2+c3x+d3Wherein d is3Namely the transverse distance between the unmanned BRT vehicle and the center line of the BRT special lane.
8. The method for implementing the automatic start and stop of the unmanned BRT vehicle based on the high-precision map and the infrared beacon as claimed in claim 7, wherein the lateral precision requirement in the step 4) is the measured lateral distance between the vehicle and the platform and the ideal value D of the lateral distance between the vehicle and the platform when the platform stopsmWithin a range of 0-15 cm.
9. The unmanned BRT vehicle automatic start-stop implementation method based on the high-precision map and the infrared beacon is characterized in that when approaching a station, if an obstacle exists in front of a lane where the current unmanned BRT vehicle runs, the vehicle decelerates and stops without performing lane change and obstacle avoidance operation; when the obstacle at the front side is far away, the vehicle continues to run; and if the front barrier does not leave within the set time, reminding the driver of intervention.
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