CN108242168A - A kind of method and device for monitoring vehicle traveling - Google Patents

Abstract

The present invention provides a kind of method and device for monitoring vehicle traveling, and this method includes：Obtain at least one of traffic safety facilities information and road condition information；The road condition information in section, vehicle running state where the traffic safety facilities information in section, vehicle where sending vehicle to vehicle by wireless channel monitor that information and vehicle running state control at least one of information information.The method of the invention and installation cost is low, reliability is high.

Description

A kind of method and device for monitoring vehicle traveling

Technical field

The present invention relates to traffic safety monitoring and controlling field more particularly to a kind of methods and dress for monitoring vehicle traveling It puts.

Background technology

In order to realize intelligent transportation（ITS：Inteligent Transportation System）With the mesh of automatic Pilot , other than the transport condition to vehicle on road is needed to carry out accurate measurements, it is also necessary to accurate section where obtaining vehicle Traffic safety facilities information, for example, it is desired to obtain track line position and information, road surface leading line information, channelizing line letter Breath, deceleration line information, stop line information, zebra stripes information etc. need to obtain warning message, the ban that road signs represent Information, instruction information etc. need to obtain the instruction state information of signal lamp.

Traffic safety facilities are support vehicles driving safeties, smoothly basis, good safety devices system should have There is traffic administration, security protection, traffic guidance, isolation closing, prevent the multiple functions such as dazzle.

Current traffic safety facilities mainly include：Signal lamp, traffic sign, pavement strip, guardrail, isolated gate, Lighting apparatus, line of sight inducement sign, glare screen etc..Wherein,

Road signs include：Caution sign, prohibitory sign, Warning Mark, fingerpost, tourism distinctive emblem, road construction Safety sign, auxiliary sign.The purpose of setting traffic sign is to provide exact information to road personnel, ensures traffic peace It is full unblocked.Speed is high on highway, and number of track-lines is more, it is desirable that landmark size is than big on Ordinary Rd.

Pavement strip includes：Forbid graticule, instruction graticule, warning graticule, be with paint class spary or use directly on road surface The pavings such as concrete precast block arrange into lines, symbol, the traffic control facility with road sign cooperation.Pavement strip type is more, There are runway center line, stop line vertical plane graticule, kerbstone graticule etc..Graticule has continuous lines, intermittent line, arrow index line etc., more Use white or yellow paint.

Safety barrier on highway has variform, and function includes：Vehicle should be prevented to get over outside outlet, prevent vehicle It passes through median strip and swarms into opposite track;It also can induce the sight of driver simultaneously.

Isolated gate is one of infrastructure of highway, it makes highway is totally-enclosed to be achieved, and prevents people and animals Into highway.It can effectively exclude Horizonal Disturbing, avoid resulting traffic delay or traffic accident, ensure at a high speed The performance of highway benefit.Isolated gate is used the difference of material by it, can be divided into metal mesh, expanded metal lath, barbed wire and evergreen hedgerow Several major class.

Road lighting be mainly for ensure night traffic safety with it is unimpeded, it may have a variety of realization forms, substantially It is divided into continuous illumination, local lighting and tunnel illumination.Lighting condition has traffic safety very big influence, and sight lures Beacon is generally set along track both sides, is had and is expressed the purposes such as road alignment, induction pilot's line of vision.To it is necessary to night into The section of row sight line inducing sets reflecting type line of sight inducement sign.

The purposes of glare screen is to block the dazzle of opposite Chinese herbaceous peony illuminator, is divided to two kinds of anti-dazzle net and antiglare shield.Anti-dazzle Netcom The width and thickness blocks light for crossing net stock pass through, and reduce beam intensity and achieve the purpose that prevent opposite Chinese herbaceous peony illuminator from dazzling the eyes; Antiglare shield is the light beam for stopping opposite Chinese herbaceous peony illuminator by its width segments.

Current intelligent transportation system（ITS）In be using a variety of to the monitoring of information of vehicles, vehicle running state information Analytical measurement instrument is implemented, for example, to detect whether vehicle exceeds the speed limit using tachymeter, it is red using whether electronic eyes detection vehicle is rushed Lamp, whether crimping, whether violation lane change, these existing methods lack the shortcomings that be cannot ensure under intensive vehicle environmental measurement property Can, system-wide journey monitoring cannot be carried out to vehicle.

The representative verification vehicle of current road vehicle automatic Pilot technology is the unmanned vapour of Google (Goole) Vehicle, form substantially including：It perceives whether road surface has barrier using laser radar, road marking is obtained using double optics camera Line information positions the high accuracy positioning for realizing vehicle using differential GPS.Lane line information is the basic of unmanned automatic driving needs Information is commonly used optical camera and obtains lane line information by image pattern identifying processing.

In the automatic Pilot technology studied at present, pavement strip information is obtained in the following way：

Application No. is CN201610167770.4, the patent Shen of entitled " a kind of roadmarking generation method and system, " A kind of roadmarking generation method and system please be disclose, including：Using geographic information database and road attribute, road is generated Cross section；According to the road cross section and the road attribute, traffic lane line is automatically generated；It is automatic according to the traffic lane line Generate lane center.It only need to be according to geographic information database with regard to traffic lane line and lane center can be automatically generated.

Application No. is CN201310193755.3, the patent application of entitled " a kind of roadmarking detection method " is public A kind of roadmarking detection method under vehicle assistant drive or automatic Pilot field is opened.The present invention can by vehicle with The relative position information of road is supplied to vehicle driver or onboard system, for reducing the traffic thing caused by run-off-road Therefore.The present invention using be mounted on vehicle's surroundings multiple calibration imaging sensor as acquisition of information source, using based on adaptive The edge detection method extraction image border point of Grads threshold, later by the improved method of Hough transformation quickly from marginal information Middle extraction straight line, and straight line reversely solve according to calibration information and merges multi-angle information in the seat centered on vehicle In mark system, parallel marking line modeling statistics straight line information is finally based on for obtaining the position relationship of roadmarking and vehicle.

Existing the shortcomings that using optical pattern recognition technical limit spacing traffic safety facilities information is under severe weather conditions Accuracy and reliability are difficult to ensure, and are difficult to accurately obtain the unexpected pavement strip information of lane line and are difficult to obtain trackside Road signs information, that is to say, that existing optical pattern recognition technology, which is difficult to ensure that, obtains traffic safety facilities information The accuracy that takes, reliability and comprehensive；

The existing technical disadvantages that vehicle running state monitoring is carried out using tachymeter and electronic eyes are that vehicle-state cannot be travelled Carry out comprehensive, real-time syndrome monitoring and prompting；

The shortcomings that existing Vehicular automatic driving technology be only it is a kind of by self-sensor device obtain vehicle running state information and Road surface lane line information carries out the mode of traveling control, and precise control is low, poor reliability.

In short, there are traffic safety facilities acquisition of information reliability is low, vehicle row for existing road traffic monitoring technology It is poor to the prompting real-time of vehicle traveling shape body to sail status monitoring, these shortcomings of the poor reliability of vehicle traveling control.

Invention content

The present invention provides a kind of method and device for monitoring vehicle traveling, for overcoming road traffic of the existing technology Safety devices acquisition of information reliability is low, vehicle running state monitoring is poor to the prompting real-time of vehicle traveling shape body, vehicle row Sail at least one of the poor reliability of control these shortcomings.

The present invention provides a kind of method for monitoring vehicle traveling, for network side, including：

Obtain at least one of traffic safety facilities information and road condition information；

Following at least one information is sent to vehicle by wireless channel：

The traffic safety facilities information in section where vehicle；

The road condition information in section where vehicle；

Vehicle running state monitors information；And

Vehicle running state controls information；

Wherein,

The traffic safety facilities include at least one of signal lamp, traffic sign, pavement strip, guardrail, isolated gate；

Location information of the traffic safety facilities information including traffic safety facilities, classification information, subclass information At least one of with meaning information；Wherein, the location information of the traffic safety facilities includes the institute with pavement strip Associated geographical coordinate or the positioning measurement amount for exporting the geographical coordinate in position；The classification information includes using In representing a kind of specific category in signal lamp ＆ lantern, traffic sign class, pavement strip class, guardrail class, isolated gate class these major class Information；The subclass information includes the information for representing some subclass in specified link traffic safety facilities classification；Institute State specific form or state that meaning information includes at least one of signal lamp, traffic sign, pavement strip, guardrail and isolated gate Meaning；

The road condition information includes whether road surface has barrier, road barrier object location, road gradient, road surface camber, road Whether whether surface evenness, road surface rainy, snowy and whether have at least one of these information of mist；

The transport condition monitoring information includes vehicle running state and is detached from traffic law License Status, permits in traffic law State, the finger for deviateing vehicle traveling planning state, keeping at least one of vehicle traveling planning state and pavement behavior prompting Show information；

The transport condition control information includes traffic law license status data, the control letter based on traffic law License Status At least one of breath, vehicle traveling planning status information and control information based on vehicle traveling planning status information.

The present invention gives a kind of device for monitoring vehicle traveling, positioned at network side, including：

Trackside data obtaining module, towards the information sending module of vehicle；Wherein,

Trackside data obtaining module, for obtaining at least one of traffic safety facilities information and road condition information, Including traffic safety facilities acquisition of information submodule and/or road condition information acquisition submodule；

Towards the information sending module of vehicle, following at least one information is sent to vehicle for passing through wireless channel：

The traffic safety facilities information in section where vehicle；

The road condition information in section where vehicle；

Vehicle running state monitors information；And

Vehicle running state controls information；

Traffic safety facilities information forward process in section where the information sending module towards vehicle includes vehicle The road condition information forward process submodule in section, vehicle running state monitoring information generation submodule where module, vehicle At least one of submodule is generated with vehicle running state control information；

Wherein,

The traffic safety facilities include at least one of signal lamp, traffic sign, pavement strip, guardrail, isolated gate；

Location information of the traffic safety facilities information including traffic safety facilities, classification information, subclass information At least one of with meaning information；Wherein, the location information of the traffic safety facilities includes the institute with pavement strip Associated geographical coordinate or the positioning measurement amount for exporting the geographical coordinate in position；The classification information includes using In representing a kind of specific category in signal lamp ＆ lantern, traffic sign class, pavement strip class, guardrail class, isolated gate class these major class Information；The subclass information includes the information for representing some subclass in specified link traffic safety facilities classification；Institute State specific form or state that meaning information includes at least one of signal lamp, traffic sign, pavement strip, guardrail and isolated gate Meaning；

The road condition information includes whether road surface has barrier, road barrier object location, road gradient, road surface camber, road Whether whether surface evenness, road surface rainy, snowy and whether have at least one of these information of mist；

The transport condition monitoring information includes vehicle running state and is detached from traffic law License Status, permits in traffic law State, the finger for deviateing vehicle traveling planning state, keeping at least one of vehicle traveling planning state and pavement behavior prompting Show information；

The transport condition control information includes traffic law license status data, the control letter based on traffic law License Status At least one of breath, vehicle traveling planning status information and control information based on vehicle traveling planning status information.

The method and device of monitoring vehicle traveling that the present invention provides, can overcome traffic safety of the existing technology to set It is poor to apply the prompting real-time that acquisition of information reliability is low, vehicle running state monitoring travels vehicle shape body, vehicle traveling control At least one of poor reliability these shortcomings.At low cost, reliability is high and is easily achieved.

Other features and advantages of the present invention will be illustrated in the following description.

Description of the drawings

Fig. 1 is the method flow diagram of a kind of monitoring vehicle traveling that the embodiment of the present invention provides；

Fig. 2 is the device composition schematic diagram of a kind of monitoring vehicle traveling that the embodiment of the present invention provides.

Embodiment

The method and device of monitoring vehicle traveling that the present invention provides, for road traffic of the existing technology to be overcome to pacify Full facilities information acquisition reliability is low, vehicle running state monitoring is poor to the prompting real-time of vehicle traveling shape body, vehicle traveling At least one of these shortcomings of the poor reliability of control.

To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention Embodiment be described in detail.It should be noted that in the absence of conflict, in the embodiment and embodiment in the application Feature mutually can arbitrarily combine.

Below in conjunction with the accompanying drawings, the method citing and device citing of monitoring vehicle traveling provided by the invention are illustrated.

Embodiment one, a kind of method citing for monitoring vehicle traveling

It is shown in Figure 1, the embodiment of the method for monitoring vehicle traveling provided by the invention, for network side, including：

Step S110 obtains at least one of traffic safety facilities information and road condition information；

Step S120 sends following at least one information by wireless channel to vehicle：

The traffic safety facilities information in section where vehicle；

The road condition information in section where vehicle；

Vehicle running state monitors information；And

Vehicle running state controls information；

Wherein,

The traffic safety facilities include at least one of signal lamp, traffic sign, pavement strip, guardrail, isolated gate；

Location information of the traffic safety facilities information including traffic safety facilities, classification information, subclass information At least one of with meaning information；Wherein, the location information of the traffic safety facilities includes the institute with pavement strip Associated geographical coordinate or the positioning measurement amount for exporting the geographical coordinate in position；The classification information includes using In representing a kind of specific category in signal lamp ＆ lantern, traffic sign class, pavement strip class, guardrail class, isolated gate class these major class Information；The subclass information includes the information for representing some subclass in specified link traffic safety facilities classification；Institute State specific form or state that meaning information includes at least one of signal lamp, traffic sign, pavement strip, guardrail and isolated gate Meaning；

The road condition information includes whether road surface has barrier, road barrier object location, road gradient, road surface camber, road Whether whether surface evenness, road surface rainy, snowy and whether have at least one of these information of mist；

The transport condition monitoring information includes vehicle running state and is detached from traffic law License Status, permits in traffic law State, the finger for deviateing vehicle traveling planning state, keeping at least one of vehicle traveling planning state and pavement behavior prompting Show information；

The transport condition control information includes traffic law license status data, the control letter based on traffic law License Status At least one of breath, vehicle traveling planning status information and control information based on vehicle traveling planning status information.

Method described in the present embodiment, which is characterized in that

The acquisition traffic safety facilities information, including following at least one step：

Network side obtains the traffic safety facilities information in vehicle place section from traffic safety facilities information database, The traffic safety facilities information database is established using the traffic safety facilities information acquired on the spot；And

Network side obtains the road traffic in vehicle place section by wireless channel from traffic safety facilities information transmitting terminal Safety devices information, the traffic safety facilities information transmitting terminal are laid in road side.

Specifically, the traffic safety facilities information acquired on the spot described in the present embodiment, including：

The position of road pavement graticule, the subclass of pavement strip carry out in-site measurement and store the data of acquisition；Or

The meaning of position, traffic sign to traffic sign carries out in-site measurement or collection in worksite and the data for storing acquisition.

Specifically, the road side facilities information transmitting terminal described in the present embodiment obtains traffic safety facilities information Method include following at least one step：

Traffic safety facilities location information obtaining step specifically includes following at least one sub-step：

Facilities information transmitting terminal by measure and navigation satellite-signal or measure terrestrial radio positioning net send signal acquisition its Geographic coordinate information associated with traffic safety facilities position；

Facilities information transmitting terminal sends radio location signals, which believes the facility for terrestrial radio positioning net The positioning measurement of transmitting terminal is ceased, which is used to obtain the corresponding road traffic peace of facilities information transmitting terminal The associated geographic coordinate information in position of full facility；

Position coordinates measurement is carried out at the predetermined installation position of facilities information transmitting terminal using aeronautical satellite positioning terminal, will be obtained The position coordinates measurement result obtained is transferred to facilities information transmitting terminal by wired or wireless interface, which deposits Store up the position coordinates；

Traffic safety facilities classification information obtaining step, including following sub-step：

Facilities information transmitting terminal is set by wired or wireless interface from network server, the loading of traffic safety facilities information Any one of standby, terminal or storage medium obtain data, which includes the corresponding road of facilities information transmitting terminal The classification information of road traffic safety facilities, the facilities information Sender side Storage data；

Traffic safety facilities subclass information acquiring step, including following sub-step：

Facilities information transmitting terminal is set by wired or wireless interface from network server, the loading of traffic safety facilities information Any one of standby, terminal or storage medium obtain data, which includes the corresponding road of facilities information transmitting terminal The subcategory information of road traffic safety facilities, the facilities information Sender side Storage data；

And

Traffic safety facilities meaning information acquiring step, including following sub-step：

Facilities information transmitting terminal is set by wired or wireless interface from network server, the loading of traffic safety facilities information Any one of standby, terminal, storage medium and traffic safety facilities sensor obtain data, which includes The meaning information of the corresponding traffic safety facilities of facilities information transmitting terminal, the facilities information Sender side Storage data.

Further, the transmitting terminal of road side facilities information described in the present embodiment, the traffic safety facilities letter obtained Breath is sent to network side radio electrical nodes by radio channel.

Method described in the present embodiment, which is characterized in that

The acquisition road condition information, including following at least one step：

Network side obtains at least part road condition information in vehicle place section, the pavement behavior number from pavement behavior database It is established according to library using the road condition information acquired on the spot；And

Network side obtains the road condition information in vehicle place section, the road condition information sense from road condition information sensing terminal Know that end is laid in road side.

Specifically, the road condition information acquired on the spot described in the present embodiment, obtains as follows：

At least one of gradient, road gradient between the camber on field survey road surface, interior outside parameter, and store the ginseng Number.

Specifically, the road condition information sensing terminal described in the present embodiment is perceived including following at least one pavement behavior Device：

The laser radar being laid in above track side or track；

The millimetre-wave radar being laid in above track side or track；

The optical imaging probe being laid in above track side or track；And

The road upkeep vehicle being detected along road driving and road pavement situation.

Method described in the present embodiment, which is characterized in that

It is described that vehicle running state monitoring information is sent to vehicle by wireless channel, include the use of the life of vehicle running state information The step of monitoring information into vehicle running state, specifically includes：

Traffic law License Status is determined according to traffic safety facilities information, judges vehicle using vehicle running state information Whether transport condition is detached from traffic law License Status, if so, the instruction letter of generation vehicle derailing traffic law License Status Breath, if it is not, then generating the instruction information that vehicle is in traffic law License Status；And/or

Vehicle traveling planning state is determined according at least one of traffic safety facilities information and road condition information, is made Planning status information is travelled with vehicle and judges whether vehicle running state deviates vehicle traveling planning state, if so, generation vehicle The instruction information of deviation vehicle traveling planning state, if it is not, then generating vehicle keeps instruction from vehicle traveling planning state Information；

Wherein,

The vehicle traveling planning state includes predetermined traveling parameter group of the vehicle in a following time interval, the predetermined row It sails parameter group and includes following at least one parameter：

Represent the coordinate parameters of route or travel by vehicle or driving trace；

Represent the parameter of Vehicle Speed or velocity interval；

Represent the parameter of Vehicular turn direction and/or steering position；And

Represent the parameter of vehicle lane change direction and/or lane change position；

Represent the parameter of vehicle deceleration and/or deceleration position；

Represent that vehicle stops traveling and/or stops the parameter of traveling-position；And

Represent that vehicle enters transport condition from halted state and/or enters the parameter of the time of transport condition from halted state；

The traffic law License Status includes following at least one parameter：

Travel speed range；With track vehicle spacing thresholding；Vehicle lane change spacing thresholding；Driving trace fluctuates thresholding；Lane change limits System instruction；Fare distance threshold；Lane center deviates thresholding；Vehicle deceleration parameter；Signal lamp parameter.

Method described in the present embodiment, which is characterized in that

It is described that vehicle running state control information is sent to vehicle by wireless channel, include the use of the life of vehicle running state information The step of controlling information into vehicle running state, specifically includes：

Traffic law License Status is determined according to traffic safety facilities information, judges vehicle using vehicle running state information Whether transport condition is detached from traffic law License Status, if so, generation vehicle running state control information, vehicle traveling shape State control information, which is used to adjust the project for being detached from traffic law License Status in vehicle running state in traffic law, to be permitted Can state, be in the instruction of traffic law License Status if it is not, not generating vehicle running state control information then or generating vehicle Information；And/or

Vehicle traveling planning state is determined according at least one of traffic safety facilities information and road condition information, is made Planning status information is travelled with vehicle and judges whether vehicle running state deviates vehicle traveling planning state, if so, generation vehicle Transport condition control information, vehicle running state control information will be for will deviate vehicle traveling planning in vehicle running state The project of state is adjusted to vehicle traveling planning state is kept, if it is not, not generating vehicle running state control information or generation then Vehicle is in the instruction information for keeping vehicle traveling planning state；

Wherein,

The vehicle traveling planning state includes predetermined traveling parameter group of the vehicle in a following time interval, the predetermined row It sails parameter group and includes following at least one parameter：

Represent the coordinate parameters of route or travel by vehicle or driving trace；

Represent the parameter of Vehicle Speed or velocity interval；

Represent the parameter of Vehicular turn direction and/or steering position；And

Represent the parameter of vehicle lane change direction and/or lane change position；

Represent the parameter of vehicle deceleration and/or deceleration position；

Represent that vehicle stops traveling and/or stops the parameter of traveling-position；And

Represent that vehicle enters transport condition from halted state and/or enters the parameter of the time of transport condition from halted state；

The traffic law License Status includes following at least one parameter：

Travel speed range；With track vehicle spacing thresholding；Vehicle lane change spacing thresholding；Driving trace fluctuates thresholding；Lane change limits System instruction；Fare distance threshold；Lane center deviates thresholding；Vehicle deceleration parameter；Signal lamp parameter.

Method described in the present embodiment, wherein,

It is described to judge whether vehicle running state is detached from traffic law License Status using vehicle running state information, including：

The information project included in vehicle running state information sets the project with what is included in traffic law License Status It puts thresholding or restrictive condition is compared, if the setting thresholding or limit to the project included in traffic law License Status Vehicle running state is then judged to no disengaging traffic law License Status by condition processed；If not in traffic law License Status Comprising the setting thresholding or restrictive condition to the project, then by vehicle running state be judged to be in from traffic law permit shape State.

Method described in the present embodiment, wherein,

It is described to judge whether vehicle running state deviates vehicle traveling planning state using vehicle running state information, including：

The information project included in vehicle running state information sets the project with what is included in vehicle traveling planning state It puts parameter or restrictive condition is compared, if what is included in vehicle traveling planning state misses the matching corresponding to the project Vehicle running state is then judged to deviate vehicle traveling planning state by poor range；If do not exceed and travel planning state beyond vehicle In include to the matching error range corresponding to the project, then vehicle running state is judged to keep vehicle traveling planning shape State；Wherein,

The restrictive condition includes the information project included in vehicle running state information with being included in vehicle traveling planning state The matching error thresholding to the project.

Vehicle running state control information, the vehicle running state control are sent to vehicle by wireless channel described in the present embodiment Information processed cooperates with vehicle running state autonomous control, and specifically, vehicle running state autonomous control is with the first frequency pair The transport condition of vehicle is controlled, and sending vehicle running state to vehicle by wireless channel controls information with the second frequency pair Vehicle running state is controlled；

Specifically, the vehicle running state autonomous control described in the present embodiment sends out control according to the first frequency to traveling servo mechanism Data processed；Typically, the operating interval time of the first frequency is between 0.1 millisecond to 100 milliseconds.

Specifically, in the present embodiment, information is controlled to be sent out with the second frequency to traveling servo mechanism using vehicle running state Go out to control data；Typically, the operating interval time of the second frequency is between 100 milliseconds to 10 seconds.

In the present embodiment, the vehicle running state autonomous control is implemented by car-mounted device, specifically：

Use facilities information generation vehicle traveling planning status data or the vehicle traveling planning status number determined using network side According to the vehicle running state data item that setting vehicle running state information includes travels the phase for planning that status data includes with vehicle Matching error thresholding between the data item answered, when vehicle running state data item and vehicle travel the phase for planning that status data includes When error between the data item answered is more than matching error thresholding, control information is sent out to traveling servo mechanism, control traveling is watched It takes mechanism the vehicle running state data item more than matching error thresholding is adjusted in the matching error thresholding.

Method described in the present embodiment, which is characterized in that

It is being sent before vehicle running state monitors information to vehicle by wireless channel or is travelling shape sending vehicle to vehicle Before state control information, vehicle running state information is obtained by wireless channel；

It is described that vehicle running state information is obtained by wireless channel, including：

The location information in vehicle running state information is determined to the radio-positioning of vehicle by network side, velocity information, is added At least one of velocity information and driving trace information；Or

By the wireless channel between network side and vehicle from vehicle obtain vehicle running state information in location information, speed believe At least one of breath, acceleration information, driving posture information and driving trace information；

The location information of the vehicle running state information including vehicle, velocity information, acceleration information, driving posture information and At least one of driving trace information.

In the present embodiment, the method for implementing transport condition control includes：The setting vehicle traveling shape in vehicle travels planning state The correspondence of the vehicle traveling lane item of information that state information includes and vehicle traveling planning lane information item, is advised when vehicle travels Draw lane information item in need change traveling lane when, in a manner of at least one of figure, image, word, sound and voice It prompts to need the track entered to driver, wherein, it is described to need to change Travel vehicle when in vehicle traveling planning lane information item During road, including occurring needing lane change, the either case driven towards in way outlet and avoiding obstacles to go out in vehicle travel process It is existing.

In the present embodiment, vehicle running state data item and vehicle that setting vehicle running state information includes travel layout data Comprising corresponding data item between matching error thresholding, specifically include：Each data item that vehicle traveling layout data includes For example, vehicle traveling layout data is a two-dimensional array, N is arranged along line direction for the error range of one permission of setting The one-dimension array of a vehicle traveling layout data project is arranged with the corresponding vehicle traveling of the row in the corresponding column direction of every a line Value or value the up/down limit of layout data project, N are the element number in array, and the value of N is positive integer.

In the present embodiment, vehicle side receives vehicle running state prompt message from network side radio node, is travelled based on the vehicle Condition prompting information sends out prompting in a manner of at least one of figure, image, word, sound and voice to driver；

In the present embodiment, vehicle running state monitoring information includes following at least one：

Hypervelocity, has been more than the speed indicated by the road section traffic volume safety devices information, including；More than the limitation of traffic sign instruction Speed；More than the limitation speed of road surface numeral flag instruction；

Violation lane change, including：Vehicle at the pavement strip for forbidding lane change lane change or at the pavement strip for allowing lane change it is continuous Lane change；

It turns in violation of rules and regulations, the instruction direction of the leading line in place track is not abided by during including Vehicular turn；

Illegal parking, including：Vehicle stops in no-parking zone；Vehicle stops in non-parking area

It travels in violation of rules and regulations, including：Vehicle crimping travels, and vehicle slows down not at deceleration line, stops not at stop line, is forbidding it It is travelled on the track of affiliated type of vehicle traveling；

Make a dash across the red light/amber light, and stop line or zebra stripes are crossed in the case where signal lamp is in amber light or red light phase including vehicle；

In the present embodiment, the traffic law License Status includes following at least one：

Travel speed range, the safety traffic speed-limiting messages in value range section according to where vehicle of this are set, for example, setting It is 60~80 kilometers/hour；

With track vehicle spacing thresholding, the safety speed-limit information and peace in value section according to where first and second vehicle of this Full spacing keeps one or more settings in information, for example, setting the spacing of vehicle as more than 100 meters；

Vehicle lane change spacing thresholding, the value speed-limiting messages in section and safe lane change according to where first and second vehicle of this One or more settings in pitch information, for example, setting the lane change spacing of vehicle as more than 200 meters；

Driving trace fluctuates thresholding, the value of this is used to judge whether the driving trace of vehicle smoothes out, if appearance is rapidly shaken Pendulum or snakelike traveling；It is sampled by the dynamic position to vehicle and curve matching determines the driving trace of vehicle, will be fitted The ginseng whether any one of crest value in bent curvature of a curve, variance work and specific spacing smoothes out as judgement driving trace Number, for example, fluctuating thresholding using 100 meters of maximum fluctuation amplitudes apart from upper vehicle driving trace as driving trace；

Lane change limitation instruction, the permitted lane changing way information setting in track in value section according to where vehicle of this, Value range includes forbidding lane change, forbids left lane change, forbid right lane change, allow left lane change, allowing one kind or more in right lane change Kind；

Fare distance threshold, the value thresholding track line position in section, vehicle location and vehicle body according to where vehicle of this are wide Distance between body center point and lane line for example, when the body width of vehicle is 1.6 meters, is set as 90 centimetres by degree setting, Under the distance, the spacing of wheel and lane line is 10 centimetres；

Lane center deviates thresholding, the value thresholding of this lane center line position in section, vehicle position according to where vehicle It is fixed to install, for example, the distance between body center point and track center line is set as 30 centimetres as lane center deviates thresholding；

Vehicle deceleration parameter, the value deceleration line position in section and rate limitation according to where vehicle of this are set；

Signal lamp parameter, the value signal lamp state in section or state switch instant according to where vehicle of this are set, for example, Under red light phase, the position of vehicle cannot cross stop line or zebra stripes.

Further, in the present embodiment, one or more items of information that the safe condition scope control information is included Whether mesh judges the transport condition data of vehicle in safe condition range control as the element in one-dimension array by array operation In information limited range processed.

In the present embodiment, the autonomous control of vehicle running state is using the first control frequency（I.e. shorter control interval time）It is real Now to vehicle running state（Including driving trace）Short time range in（In the range of small distance, for example, Centimeter Level distance）'s Control, makes its vehicle running state（Including driving trace）Match with vehicle traveling layout data；The vehicle that network side is sent Transport condition control information is using the second control frequency（I.e. longer control interval time）It realizes to vehicle running state（Including Driving trace）Long time scale（In the range of corresponding big operating range, for example, several meters or tens of meter levels）Control, make it Vehicle running state（Including driving trace）The traffic law License Status scope control information match abided by with vehicle needs. Implement the network controls of vehicle running state on the basis of the autonomous control of vehicle running state, vehicle traveling can be corrected The accumulation of error or correct the mistake that autonomous control occurs that the autonomous control of state generates, improve the safety of vehicle traveling；By In in vehicle short time range（In the range of small distance, for example, Centimeter Level distance）Control by the vehicle row on vehicular platform The autonomous control for sailing state is implemented, and reduces the required control data transmission frequency of network controls of vehicle running state, It reduces network side and implements the required process resource of vehicle running state control.

Embodiment two, a kind of device citing for monitoring vehicle traveling

It is shown in Figure 2, the device embodiment of monitoring vehicle traveling provided by the invention, positioned at network side, including：

Trackside data obtaining module 210, towards the information sending module 220 of vehicle；Wherein,

Trackside data obtaining module, for obtaining at least one of traffic safety facilities information and road condition information, Including traffic safety facilities acquisition of information submodule and/or road condition information acquisition submodule；

Towards the information sending module 220 of vehicle, following at least one letter is sent to vehicle 281/282 for passing through wireless channel Breath：

The traffic safety facilities information in section where vehicle；

The road condition information in section where vehicle；

Vehicle running state monitors information；And

Vehicle running state controls information；

Traffic safety facilities information forward process in section where the information sending module towards vehicle includes vehicle The road condition information forward process submodule 224 in section, vehicle running state monitoring information generation where module 221, vehicle At least one of submodule 222 and vehicle running state control information generation submodule 223；

Wherein,

The traffic safety facilities include at least one of signal lamp, traffic sign, pavement strip, guardrail, isolated gate；

Location information of the traffic safety facilities information including traffic safety facilities, classification information, subclass information At least one of with meaning information；Wherein, the location information of the traffic safety facilities includes the institute with pavement strip Associated geographical coordinate or the positioning measurement amount for exporting the geographical coordinate in position；The classification information includes using In representing a kind of specific category in signal lamp ＆ lantern, traffic sign class, pavement strip class, guardrail class, isolated gate class these major class Information；The subclass information includes the information for representing some subclass in specified link traffic safety facilities classification；Institute State specific form or state that meaning information includes at least one of signal lamp, traffic sign, pavement strip, guardrail and isolated gate Meaning；

The road condition information includes whether road surface has barrier, road barrier object location, road gradient, road surface camber, road Whether whether surface evenness, road surface rainy, snowy and whether have at least one of these information of mist；

The transport condition monitoring information includes vehicle running state and is detached from traffic law License Status, permits in traffic law State, the finger for deviateing vehicle traveling planning state, keeping at least one of vehicle traveling planning state and pavement behavior prompting Show information；

The transport condition control information includes traffic law license status data, the control letter based on traffic law License Status At least one of breath, vehicle traveling planning status information and control information based on vehicle traveling planning status information.

Device described in the present embodiment, which is characterized in that

The traffic safety facilities acquisition of information submodule that the trackside data obtaining module 210 includes, it is as follows for performing At least one operation：

Network side obtains the traffic safety facilities information in vehicle place section from traffic safety facilities information database, The traffic safety facilities information database is established using the traffic safety facilities information acquired on the spot；And

Network side obtains the road traffic in vehicle place section by wireless channel from traffic safety facilities information transmitting terminal Safety devices information, the traffic safety facilities information transmitting terminal are laid in road side.

Specifically, traffic safety facilities acquisition of information shown in Figure 2, that trackside data obtaining module 210 includes The traffic safety facilities information transmitting terminal 231 to 234 that submodule is never laid at the dental floss of road receives and road dental floss position And the relevant information of type, receive roadside from the traffic safety facilities information transmitting terminal 241 to 245 being laid at kerb line The position of line and information receive vehicle from the traffic safety facilities information transmitting terminal 251 to 252 being laid at lane line Road line position information.

Device described in the present embodiment, which is characterized in that

The road condition information acquisition submodule that the trackside data obtaining module 210 includes, for performing following at least one Operation：

Network side obtains at least part road condition information in vehicle place section, the pavement behavior number from pavement behavior database It is established according to library using the road condition information acquired on the spot；And

Network side obtains the road condition information in vehicle place section, the road condition information sense from road condition information sensing terminal Know that end is laid in road side.

Specifically, shown in Figure 2, the road condition information that network side trackside data obtaining module 210 includes obtains son Module obtains the road surface shape in 281 and 282 place section of vehicle from the road condition information sensing terminal 261 and 262 for being laid in trackside Condition information.

Device described in the present embodiment, which is characterized in that

The vehicle running state monitoring information generation submodule 222 that the information sending module 220 towards vehicle includes, is used for Using vehicle running state information generation vehicle running state monitoring information, the following operation of execution is specifically included：

Traffic law License Status is determined according to traffic safety facilities information, judges vehicle using vehicle running state information Whether transport condition is detached from traffic law License Status, if so, the instruction letter of generation vehicle derailing traffic law License Status Breath, if it is not, then generating the instruction information that vehicle is in traffic law License Status；And/or

Vehicle traveling planning state is determined according at least one of traffic safety facilities information and road condition information, is made Planning status information is travelled with vehicle and judges whether vehicle running state deviates vehicle traveling planning state, if so, generation vehicle The instruction information of deviation vehicle traveling planning state, if it is not, then generating vehicle keeps instruction from vehicle traveling planning state Information；

Wherein,

The vehicle traveling planning state includes predetermined traveling parameter group of the vehicle in a following time interval, the predetermined row It sails parameter group and includes following at least one parameter：

Represent the coordinate parameters of route or travel by vehicle or driving trace；

Represent the parameter of Vehicle Speed or velocity interval；

Represent the parameter of Vehicular turn direction and/or steering position；And

Represent the parameter of vehicle lane change direction and/or lane change position；

Represent the parameter of vehicle deceleration and/or deceleration position；

Represent that vehicle stops traveling and/or stops the parameter of traveling-position；And

Represent that vehicle enters transport condition from halted state and/or enters the parameter of the time of transport condition from halted state；

The traffic law License Status includes following at least one parameter：

Travel speed range；With track vehicle spacing thresholding；Vehicle lane change spacing thresholding；Driving trace fluctuates thresholding；Lane change limits System instruction；Fare distance threshold；Lane center deviates thresholding；Vehicle deceleration parameter；Signal lamp parameter.

Device described in the present embodiment, which is characterized in that

The vehicle running state control information generation submodule 223 that the information sending module 220 towards vehicle includes, is used for Using vehicle running state information generation vehicle running state control information, the following operation of execution is specifically included：

Traffic law License Status is determined according to traffic safety facilities information, judges vehicle using vehicle running state information Whether transport condition is detached from traffic law License Status, if so, generation vehicle running state control information, vehicle traveling shape State control information, which is used to adjust the project for being detached from traffic law License Status in vehicle running state in traffic law, to be permitted Can state, be in the instruction of traffic law License Status if it is not, not generating vehicle running state control information then or generating vehicle Information；And/or

Vehicle traveling planning state is determined according at least one of traffic safety facilities information and road condition information, is made Planning status information is travelled with vehicle and judges whether vehicle running state deviates vehicle traveling planning state, if so, generation vehicle Transport condition control information, vehicle running state control information will be for will deviate vehicle traveling planning in vehicle running state The project of state is adjusted to vehicle traveling planning state is kept, if it is not, not generating vehicle running state control information or generation then Vehicle is in the instruction information for keeping vehicle traveling planning state；

Wherein,

The vehicle traveling planning state includes predetermined traveling parameter group of the vehicle in a following time interval, the predetermined row It sails parameter group and includes following at least one parameter：

Represent the coordinate parameters of route or travel by vehicle or driving trace；

Represent the parameter of Vehicle Speed or velocity interval；

Represent the parameter of Vehicular turn direction and/or steering position；And

Represent the parameter of vehicle lane change direction and/or lane change position；

Represent the parameter of vehicle deceleration and/or deceleration position；

Represent that vehicle stops traveling and/or stops the parameter of traveling-position；And

Represent that vehicle enters transport condition from halted state and/or enters the parameter of the time of transport condition from halted state；

The traffic law License Status includes following at least one parameter：

Travel speed range；With track vehicle spacing thresholding；Vehicle lane change spacing thresholding；Driving trace fluctuates thresholding；Lane change limits System instruction；Fare distance threshold；Lane center deviates thresholding；Vehicle deceleration parameter；Signal lamp parameter.

Device described in the present embodiment, which is characterized in that further include vehicle running state data obtaining module, the module is to vehicle Before 281/282 sends vehicle running state monitoring information or sending vehicle running state control letter to vehicle 281/282 Before breath, vehicle running state information is obtained by wireless channel, the operation performed includes：

The location information in vehicle running state information is determined to the radio-positioning of vehicle by network side, velocity information, is added At least one of velocity information and driving trace information；Or

By the wireless channel between network side and vehicle from vehicle obtain vehicle running state information in location information, speed believe At least one of breath, acceleration information, driving posture information and driving trace information；

The location information of the vehicle running state information including vehicle, velocity information, acceleration information, driving posture information and At least one of driving trace information.

The method and device of monitoring vehicle traveling that the present invention provides, overcomes traffic safety facilities of the existing technology Acquisition of information reliability is low, vehicle running state monitoring is poor to the prompting real-time of vehicle traveling shape body, vehicle traveling control At least one of these shortcomings of poor reliability.The method and installation cost are low, reliability is high and is easily achieved.

Method and device provided in an embodiment of the present invention can use electronic technology, wireless radio transmission in whole or in part Technology and computer technology are realized；Method provided in an embodiment of the present invention, can in whole or in part by software instruction and/ Or hardware circuit is realized；The module or unit that device provided in an embodiment of the present invention includes, may be used electronic component, Radio-frequency devices and computer equipment are realized.

The above, only preferred embodiment of the invention, is not used for limiting protection scope of the present invention.Appoint Technical staff in what field of the present invention, do not depart from disclosed herein spirit and scope under the premise of, Ke Yi Any modification and variation, but protection scope of the present invention defining with appended claims are carried out in the form and details of implementation Subject to range.

Claims (12)

1. a kind of method for monitoring vehicle traveling, for network side, including：

Obtain at least one of traffic safety facilities information and road condition information；

Following at least one information is sent to vehicle by wireless channel：

The traffic safety facilities information in section where vehicle；

The road condition information in section where vehicle；

Vehicle running state monitors information；And

Vehicle running state controls information；

Wherein,

The traffic safety facilities include at least one of signal lamp, traffic sign, pavement strip, guardrail, isolated gate；

Location information of the traffic safety facilities information including traffic safety facilities, classification information, subclass information At least one of with meaning information；Wherein, the location information of the traffic safety facilities includes the institute with pavement strip Associated geographical coordinate or the positioning measurement amount for exporting the geographical coordinate in position；The classification information includes using In representing a kind of specific category in signal lamp ＆ lantern, traffic sign class, pavement strip class, guardrail class, isolated gate class these major class Information；The subclass information includes the information for representing some subclass in specified link traffic safety facilities classification；Institute State specific form or state that meaning information includes at least one of signal lamp, traffic sign, pavement strip, guardrail and isolated gate Meaning；

The road condition information includes whether road surface has barrier, road barrier object location, road gradient, road surface camber, road Whether whether surface evenness, road surface rainy, snowy and whether have at least one of these information of mist；

The transport condition monitoring information includes vehicle running state and is detached from traffic law License Status, permits in traffic law State, the finger for deviateing vehicle traveling planning state, keeping at least one of vehicle traveling planning state and pavement behavior prompting Show information；

The transport condition control information includes traffic law license status data, the control letter based on traffic law License Status At least one of breath, vehicle traveling planning status information and control information based on vehicle traveling planning status information.

2. the method as described in claim 1, which is characterized in that

The acquisition traffic safety facilities information, including following at least one step：

Network side obtains the traffic safety facilities information in vehicle place section from traffic safety facilities information database, The traffic safety facilities information database is established using the traffic safety facilities information acquired on the spot；And

Network side obtains the road traffic in vehicle place section by wireless channel from traffic safety facilities information transmitting terminal Safety devices information, the traffic safety facilities information transmitting terminal are laid in road side.

3. the method as described in claim 1, which is characterized in that

The acquisition road condition information, including following at least one step：

Network side obtains at least part road condition information in vehicle place section, the pavement behavior number from pavement behavior database It is established according to library using the road condition information acquired on the spot；And

Network side obtains the road condition information in vehicle place section, the road condition information sense from road condition information sensing terminal Know that end is laid in road side.

4. the method as described in claim 1, which is characterized in that

It is described that vehicle running state monitoring information is sent to vehicle by wireless channel, include the use of the life of vehicle running state information The step of monitoring information into vehicle running state, specifically includes：

Traffic law License Status is determined according to traffic safety facilities information, judges vehicle using vehicle running state information Whether transport condition is detached from traffic law License Status, if so, the instruction letter of generation vehicle derailing traffic law License Status Breath, if it is not, then generating the instruction information that vehicle is in traffic law License Status；And/or

Vehicle traveling planning state is determined according at least one of traffic safety facilities information and road condition information, is made Planning status information is travelled with vehicle and judges whether vehicle running state deviates vehicle traveling planning state, if so, generation vehicle The instruction information of deviation vehicle traveling planning state, if it is not, then generating vehicle keeps instruction from vehicle traveling planning state Information；

Wherein,

The vehicle traveling planning state includes predetermined traveling parameter group of the vehicle in a following time interval, the predetermined row It sails parameter group and includes following at least one parameter：

Represent the coordinate parameters of route or travel by vehicle or driving trace；

Represent the parameter of Vehicle Speed or velocity interval；

Represent the parameter of Vehicular turn direction and/or steering position；And

Represent the parameter of vehicle lane change direction and/or lane change position；

The traffic law License Status includes following at least one parameter：

Travel speed range；With track vehicle spacing thresholding；Vehicle lane change spacing thresholding；Driving trace fluctuates thresholding；Lane change limits System instruction；Fare distance threshold；Lane center deviates thresholding；Vehicle deceleration parameter；Signal lamp parameter.

5. the method as described in claim 1, which is characterized in that

It is described that vehicle running state control information is sent to vehicle by wireless channel, include the use of the life of vehicle running state information The step of controlling information into vehicle running state, specifically includes：

Traffic law License Status is determined according to traffic safety facilities information, judges vehicle using vehicle running state information Whether transport condition is detached from traffic law License Status, if so, generation vehicle running state control information, vehicle traveling shape State control information, which is used to adjust the project for being detached from traffic law License Status in vehicle running state in traffic law, to be permitted Can state, be in the instruction of traffic law License Status if it is not, not generating vehicle running state control information then or generating vehicle Information；And/or

Vehicle traveling planning state is determined according at least one of traffic safety facilities information and road condition information, is made Planning status information is travelled with vehicle and judges whether vehicle running state deviates vehicle traveling planning state, if so, generation vehicle Transport condition control information, vehicle running state control information will be for will deviate vehicle traveling planning in vehicle running state The project of state is adjusted to vehicle traveling planning state is kept, if it is not, not generating vehicle running state control information or generation then Vehicle is in the instruction information for keeping vehicle traveling planning state；

Wherein,

The vehicle traveling planning state includes predetermined traveling parameter group of the vehicle in a following time interval, the predetermined row It sails parameter group and includes following at least one parameter：

Represent the coordinate parameters of route or travel by vehicle or driving trace；

Represent the parameter of Vehicle Speed or velocity interval；

Represent the parameter of Vehicular turn direction and/or steering position；And

Represent the parameter of vehicle lane change direction and/or lane change position；

The traffic law License Status includes following at least one parameter：

Travel speed range；With track vehicle spacing thresholding；Vehicle lane change spacing thresholding；Driving trace fluctuates thresholding；Lane change limits System instruction；Fare distance threshold；Lane center deviates thresholding；Vehicle deceleration parameter；Signal lamp parameter.

6. the method as described in any one of claim 4,5, which is characterized in that

It is being sent before vehicle running state monitors information to vehicle by wireless channel or is travelling shape sending vehicle to vehicle Before state control information, vehicle running state information is obtained by wireless channel；

It is described that vehicle running state information is obtained by wireless channel, including：

The location information in vehicle running state information is determined to the radio-positioning of vehicle by network side, velocity information, is added At least one of velocity information and driving trace information；Or

By the wireless channel between network side and vehicle from vehicle obtain vehicle running state information in location information, speed believe At least one of breath, acceleration information, driving posture information and driving trace information；

The location information of the vehicle running state information including vehicle, velocity information, acceleration information, driving posture information and At least one of driving trace information.

7. a kind of device for monitoring vehicle traveling, positioned at network side, including：

Trackside data obtaining module, towards the information sending module of vehicle；Wherein,

Trackside data obtaining module, for obtaining at least one of traffic safety facilities information and road condition information, Including traffic safety facilities acquisition of information submodule and/or road condition information acquisition submodule；

Towards the information sending module of vehicle, following at least one information is sent to vehicle for passing through wireless channel：

The traffic safety facilities information in section where vehicle；

The road condition information in section where vehicle；

Vehicle running state monitors information；And

Vehicle running state controls information；

Traffic safety facilities information forward process in section where the information sending module towards vehicle includes vehicle The road condition information forward process submodule in section, vehicle running state monitoring information generation submodule where module, vehicle At least one of submodule is generated with vehicle running state control information；

Wherein,

The traffic safety facilities include at least one of signal lamp, traffic sign, pavement strip, guardrail, isolated gate；

Location information of the traffic safety facilities information including traffic safety facilities, classification information, subclass information At least one of with meaning information；Wherein, the location information of the traffic safety facilities includes the institute with pavement strip Associated geographical coordinate or the positioning measurement amount for exporting the geographical coordinate in position；The classification information includes using In representing a kind of specific category in signal lamp ＆ lantern, traffic sign class, pavement strip class, guardrail class, isolated gate class these major class Information；The subclass information includes the information for representing some subclass in specified link traffic safety facilities classification；Institute State specific form or state that meaning information includes at least one of signal lamp, traffic sign, pavement strip, guardrail and isolated gate Meaning；

The road condition information includes whether road surface has barrier, road barrier object location, road gradient, road surface camber, road Whether whether surface evenness, road surface rainy, snowy and whether have at least one of these information of mist；

The transport condition monitoring information includes vehicle running state and is detached from traffic law License Status, permits in traffic law State, the finger for deviateing vehicle traveling planning state, keeping at least one of vehicle traveling planning state and pavement behavior prompting Show information；

The transport condition control information includes traffic law license status data, the control letter based on traffic law License Status At least one of breath, vehicle traveling planning status information and control information based on vehicle traveling planning status information.

8. device according to claim 7, which is characterized in that

The traffic safety facilities acquisition of information submodule that the trackside data obtaining module includes, for performing as follows at least A kind of operation：

Network side obtains the traffic safety facilities information in vehicle place section from traffic safety facilities information database, The traffic safety facilities information database is established using the traffic safety facilities information acquired on the spot；And

Network side obtains the road traffic in vehicle place section by wireless channel from traffic safety facilities information transmitting terminal Safety devices information, the traffic safety facilities information transmitting terminal are laid in road side.

9. device according to claim 7, which is characterized in that

The road condition information acquisition submodule that the trackside data obtaining module includes, for performing following at least one behaviour Make：

Network side obtains at least part road condition information in vehicle place section, the pavement behavior number from pavement behavior database It is established according to library using the road condition information acquired on the spot；And

Network side obtains the road condition information in vehicle place section, the road condition information sense from road condition information sensing terminal Know that end is laid in road side.

10. device according to claim 7, which is characterized in that

The vehicle running state monitoring information generation submodule that the information sending module towards vehicle includes, for using vehicle Running condition information generation vehicle running state monitoring information, specifically includes the following operation of execution：

Traffic law License Status is determined according to traffic safety facilities information, judges vehicle using vehicle running state information Whether transport condition is detached from traffic law License Status, if so, the instruction letter of generation vehicle derailing traffic law License Status Breath, if it is not, then generating the instruction information that vehicle is in traffic law License Status；And/or

Vehicle traveling planning state is determined according at least one of traffic safety facilities information and road condition information, is made Planning status information is travelled with vehicle and judges whether vehicle running state deviates vehicle traveling planning state, if so, generation vehicle The instruction information of deviation vehicle traveling planning state, if it is not, then generating vehicle keeps instruction from vehicle traveling planning state Information；

Wherein,

The vehicle traveling planning state includes predetermined traveling parameter group of the vehicle in a following time interval, the predetermined row It sails parameter group and includes following at least one parameter：

Represent the coordinate parameters of route or travel by vehicle or driving trace；

Represent the parameter of Vehicle Speed or velocity interval；

Represent the parameter of Vehicular turn direction and/or steering position；And

Represent the parameter of vehicle lane change direction and/or lane change position；

The traffic law License Status includes following at least one parameter：

Travel speed range；With track vehicle spacing thresholding；Vehicle lane change spacing thresholding；Driving trace fluctuates thresholding；Lane change limits System instruction；Fare distance threshold；Lane center deviates thresholding；Vehicle deceleration parameter；Signal lamp parameter.

11. device as claimed in claim 7, which is characterized in that

The vehicle running state control information generation submodule that the information sending module towards vehicle includes, for using vehicle Running condition information generation vehicle running state control information, specifically includes the following operation of execution：

Traffic law License Status is determined according to traffic safety facilities information, judges vehicle using vehicle running state information Whether transport condition is detached from traffic law License Status, if so, generation vehicle running state control information, vehicle traveling shape State control information, which is used to adjust the project for being detached from traffic law License Status in vehicle running state in traffic law, to be permitted Can state, be in the instruction of traffic law License Status if it is not, not generating vehicle running state control information then or generating vehicle Information；And/or

Vehicle traveling planning state is determined according at least one of traffic safety facilities information and road condition information, is made Planning status information is travelled with vehicle and judges whether vehicle running state deviates vehicle traveling planning state, if so, generation vehicle Transport condition control information, vehicle running state control information will be for will deviate vehicle traveling planning in vehicle running state The project of state is adjusted to vehicle traveling planning state is kept, if it is not, not generating vehicle running state control information or generation then Vehicle is in the instruction information for keeping vehicle traveling planning state；

Wherein,

The vehicle traveling planning state includes predetermined traveling parameter group of the vehicle in a following time interval, the predetermined row It sails parameter group and includes following at least one parameter：

Represent the coordinate parameters of route or travel by vehicle or driving trace；

Represent the parameter of Vehicle Speed or velocity interval；

Represent the parameter of Vehicular turn direction and/or steering position；And

Represent the parameter of vehicle lane change direction and/or lane change position；

The traffic law License Status includes following at least one parameter：

Travel speed range；With track vehicle spacing thresholding；Vehicle lane change spacing thresholding；Driving trace fluctuates thresholding；Lane change limits System instruction；Fare distance threshold；Lane center deviates thresholding；Vehicle deceleration parameter；Signal lamp parameter.

12. according to 10 and 11 any one of them device of claim, which is characterized in that further include vehicle running state information and obtain Modulus block, the module before vehicle running state monitoring information is sent to vehicle or are sending vehicle running state to vehicle Before controlling information, vehicle running state information is obtained by wireless channel, the operation performed includes：

The location information in vehicle running state information is determined to the radio-positioning of vehicle by network side, velocity information, is added At least one of velocity information and driving trace information；Or

By the wireless channel between network side and vehicle from vehicle obtain vehicle running state information in location information, speed believe At least one of breath, acceleration information, driving posture information and driving trace information；

The location information of the vehicle running state information including vehicle, velocity information, acceleration information, driving posture information and At least one of driving trace information.