CN108363398A - A kind of automatic driving vehicle traffic control system - Google Patents
A kind of automatic driving vehicle traffic control system Download PDFInfo
- Publication number
- CN108363398A CN108363398A CN201810212476.XA CN201810212476A CN108363398A CN 108363398 A CN108363398 A CN 108363398A CN 201810212476 A CN201810212476 A CN 201810212476A CN 108363398 A CN108363398 A CN 108363398A
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- vehicle
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- control module
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- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000004807 localization Effects 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 10
- 238000012806 monitoring device Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 238000000465 moulding Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 241001269238 Data Species 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of automatic driving vehicle traffic control systems, including：Vehicle detection module, vehicle localization module, cab signal transceiver module, crossing control module and system regulation module etc., vehicle detection module detection enter the vehicle pass-through information at crossing and are sent to crossing control module；Crossing control module controls the pass-through command of crossing vehicle according to the information received, gives full play to the technical advantage of automatic driving vehicle, is of great significance to the traffic control system of unmanned technology.
Description
Technical field
The present invention relates to a kind of traffic control systems, and in particular to a kind of unmanned traffic control system belongs to nobody
Drive technical field of traffic control.
Background technology
With being constantly progressive for science and technology, unmanned technology is ripe day by day, and unmanned technology is with its safety, height
Effect, the advantage of intelligence bring huge change to people’s lives.There is an urgent need for matched traffic for the trip mode of modernization
Control system, the traffic control system of current unmanned technology is still just for traditional traffic lights instruction system fortune
Row, and signal lamp identification technology is equipped on automatic driving vehicle, but traditional traffic signalization mode can not be abundant
The technical advantage of automatic driving vehicle is played, proposes that the traffic control system for adapting to unmanned technology is of great significance.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of automatic driving vehicle traffic control system, it is unmanned to instruct
Traffic intersection dynamic regulation may be implemented quickly through traffic intersection in vehicle, alleviates traffic congestion.
The technical solution that the present invention takes is：A kind of automatic driving vehicle traffic control system, including：Vehicle detection mould
Block, is located on each runway and traffic intersection runway infall, for detect leading to by infall all directions vehicle
Market condition, and the vehicle pass-through information detected is informed into crossing control module.
Vehicle localization module, using satellite positioning, the traveling-position information for determining vehicle.Cab signal receives and dispatches mould
Block for vehicle identification information, vehicle location information, vehicle running state to be informed crossing control module, while receiving crossing
The passage situation instruction that control module is sent out.Crossing control module receives and dispatches mould for receiving vehicle detection module and cab signal
The information of block, and corresponding pass-through command is sent out to each vehicle according to the information received.System regulation module is used for receiving area
The traffic status of each crossing control module is managed, and according to wagon flow situation, adjusts the travel route and situation of automatic driving vehicle.
The present invention also provides a kind of control methods of automatic driving vehicle traffic control system as described above, including such as
Lower step：（a）Each vehicle detection module detection enters the vehicle pass-through information at crossing and is sent to crossing control module；（b）
Vehicle into crossing is sent vehicle identification information, vehicle position information and traveling state of vehicle by cab signal transceiver module
To crossing control module；（c）Crossing control module controls the pass-through command of crossing vehicle according to the information received, and will pass through
Instruction is sent to the automatic driving vehicle into crossing, and crossing vehicle pass-through situation is sent to system regulation module；（d）System
System regulation and control module receives the traffic status information of each crossing control module, and is believed according to the traffic status of crossing control module
Breath, adjusts the travel route and situation of automatic driving vehicle, avoids traffic congestion.
A kind of vehicle identification module is additionally provided in the embodiment of the present invention, including：Vehicle pass-through grade module：For determining
Current rank；Vehicle authentication module：Classification, model for determining vehicle.
The present invention also provides a kind of vehicle pass-through ranks to determine method, includes the following steps：According to class of vehicle, respectively
Distribute to ambulance, police car, fire fighting truck X-band signal frequency, I grade of current grade；Distribute to bus, environment-friendly vehicle, tool car Y
Band signal frequency, II grade of current grade；Distribute to taxi, common private car Z band signal frequencies, III grade of current grade；
When vehicle enters crossing, it is right that vehicle pass-through grade module adjustment cab signal transceiver module is transmitted to crossing control module vehicle institute
The band signal frequency answered.
Road accident module and vehicle-mounted accident module are additionally provided in the embodiment of the present invention, road accident module is by road thing
Therefore determining module and road accident transmitting module composition, vehicle-mounted accident module are emitted by vehicle-mounted accident determining module and vehicle-mounted accident
Module forms；Vehicle-mounted accident determining module, for determining car accident state；Vehicle-mounted accident transmitting module is used for accident vehicle
Accident condition, which is sent to, closes on crossing control module；Road accident determining module, for determining road accident state；Road thing
Therefore transmitting module, close on crossing control module for accident road accident state to be sent to.
Since present invention employs above-mentioned technical proposal, the present invention has the following advantages：In implementation process of the present invention, respectively
The vehicle pass-through information detected is sent to crossing control module by a crossing detection module, and crossing control module is logical according to vehicle
Row grade and vehicle running state send out vehicle pass-through instruction, and simultaneity factor regulation and control module detects each crossing vehicle pass-through in time
Situation, and send out regulation and control instruction.It is orderly current that automatic driving vehicle intersection may be implemented, and effectively prevent traffic congestion.
Description of the drawings
Fig. 1 is the traffic control system structural schematic diagram of the present invention.
Fig. 2 is the traffic control system environment layout structural schematic diagram of the present invention.
Fig. 3 is the traffic control system method implementation process diagram of the present invention.
Specific implementation mode
With reference to specific embodiment and with reference to attached drawing, the invention will be further described, in the schematic implementation of the invention
Example and explanation are used for explaining the present invention, but not as a limitation of the invention.
Fig. 1 is traffic control system structural schematic diagram, as shown, may include in system：Vehicle localization module 101,
It is arranged on vehicle, using satellite positioning, the location information for determining vehicle in real time.
Vehicle identification module 102 is arranged on vehicle, for determining type of vehicle and vehicle pass-through grade, vehicle identification
Module 102 may include vehicle authentication module and vehicle pass-through grade module.It is stored in vehicle authentication module pre-set
Information of vehicles can include the master datas such as vehicle manufacturers, type of vehicle, license plate number；It is set in vehicle pass-through grade module
It is equipped with frequency values corresponding with vehicle pass-through grade.
Vehicle-mounted accident module 103 is arranged on vehicle, for determining car accident type and informing the crossing closed on control
Module, vehicle-mounted accident module may include vehicle-mounted accident determining module and vehicle-mounted accident transmitting module.Vehicle-mounted accident determining module
The accident pattern being likely to occur and accident condition monitoring device are stored, vehicle-mounted accident transmitting module is used for accident pattern signal
It is sent to crossing control module.
In embodiment, a variety of emergency buttons such as blow out, knock into the back, scratching, thrusting into can be arranged in vehicle-mounted accident determining module, together
When, it, can be vehicle-mounted with automatic trigger after high temperature, intense impact occurs in vehicle, and when vehicle-mounted accident determining module button attonity
Accident determining module trouble-signal state；Vehicle-mounted accident transmitting module reads vehicle-mounted accident determining module signal and is sent to crossing
Control module.
Cab signal transceiver module 104 is arranged on vehicle, is used for vehicle identification information, vehicle location information, vehicle
Running condition information is sent to crossing control module and receives crossing control module instruction.
In embodiment, cab signal transceiver module can read the information in vehicle authentication module, and according to vehicle pass-through
The frequency values being arranged in grade module send vehicle identification information, vehicle location information and vehicle running state information, vehicle row
It may include Vehicle Speed, vehicle heading to sail status information.
Road accident module 201, for determining road accident type and informing the crossing control module closed on, road accident
Module may include road accident determining module and road accident transmitting module.Road accident determining module storage is likely to occur
Accident pattern, road accident transmitting module is used to accident pattern signal being sent to crossing control module.
In embodiment, a variety of accidents such as traffic accident, road surface failure, periphery fire can be arranged in road accident determining module
Button；Road accident transmitting module reads road accident determining module signal and is sent to crossing control module.
Vehicle detection module 301, setting, with traffic intersection runway infall, pass through friendship on each runway for detecting
The passage situation of all directions vehicle at fork, and the vehicle pass-through information detected is informed into crossing control module.
In embodiment, laser radar technique may be used in vehicle detection module, and recording and sending vehicle passes through signal to road
Multiple spot monitoring is arranged along lane in mouth control module, intersection vehicle detection module, it is ensured that enters intersection in all directions vehicle
It can effectively be detected before point, into when crosspoint and after entering crosspoint.
Two PLC controllers are respectively adopted in crossing control module and system regulation module, using optical fiber transmission signal.
Fig. 2 is traffic control system environment layout structural schematic diagram, as shown, by taking six-lane crossroad as an example, it is real
Vehicle detection module is respectively set on each lane, while being also provided with vehicle detection module in each lane infall by Shi Zhong.
Road accident module arrangement is in both sides of the road, on longer section, often arranges more than one Road Detection mould
The spacing of block, setting road accident module is 1000-1200m.
Illustrate the control of prevailing state by taking Fig. 2 as an example below.
Fig. 3 is the control method implementation process diagram of traffic control system, as shown, may include steps of：
Vehicle on all directions lane first passes around the vehicle detection module without crosspoint on a runway before entering crossing, detection
The vehicle pass-through information at crossing will be entered and be sent to crossing control module；Local controller according on each runway without intersection
The vehicle detection of point；Into crossing vehicle by cab signal transceiver module by vehicle identification information, vehicle position information and vehicle
Driving condition is sent to crossing control module；The passage that crossing control module controls crossing vehicle according to the information received refers to
It enables, and pass-through command is sent to the automatic driving vehicle into crossing, and crossing vehicle pass-through situation is sent to system tune
Control module；System regulation module receives the traffic status information of each crossing control module, and according to the logical of crossing control module
Row condition information adjusts the travel route and situation of automatic driving vehicle, avoids traffic congestion.
Technical solution provided in an embodiment of the present invention detects vehicle pass-through information by vehicle detection module, and is handed over
Collision calculation is pitched, the more rational current sequence of optimization effectively prevents the restriction of existing signal lamp, improves traffic efficiency.
Claims (5)
1. a kind of automatic driving vehicle traffic control system, which is characterized in that including：Vehicle detection module is located at each row
With traffic intersection runway infall on track, for detecting the passage situation by infall all directions vehicle, and will detect
To vehicle pass-through information inform crossing control module；Vehicle localization module, using satellite positioning, the traveling for determining vehicle
Location information；Cab signal transceiver module, for vehicle identification information, vehicle location information, vehicle running state to be informed road
Mouth control module, while receiving the passage situation instruction that crossing control module is sent out；Crossing control module, for receiving vehicle inspection
The information of module and cab signal transceiver module is surveyed, and corresponding pass-through command is sent out to each vehicle according to the information received；
System regulation module for receiving the traffic status for handling each crossing control module, and according to wagon flow situation, adjusts nobody and drives
Sail the travel route and situation of vehicle；Further include vehicle identification module, vehicle identification module is by vehicle pass-through grade module and vehicle
Authentication module composition, vehicle pass-through grade module, for determining current rank；Vehicle authentication module, for determining vehicle
Classification, model.
2. a kind of automatic driving vehicle traffic control system as described in claim 1, it is characterised in that：It further include road accident
Module and vehicle-mounted accident module, road accident module is made of road accident determining module and road accident transmitting module, vehicle-mounted
Accident module is made of vehicle-mounted accident determining module and vehicle-mounted accident transmitting module；Vehicle-mounted accident determining module, for determining vehicle
Accident condition；Vehicle-mounted accident transmitting module closes on crossing control module for accident vehicle accident condition to be sent to；Road
Accident determining module, for determining road accident state；Road accident transmitting module, for sending accident road accident state
To closing on crossing control module.
3. a kind of automatic driving vehicle traffic control system as described in claim 1, it is characterised in that：Include the following steps：
（a）Each vehicle detection module detection enters the vehicle pass-through information at crossing and is sent to crossing control module；（b）Into crossing
Vehicle by cab signal transceiver module by vehicle identification information, vehicle position information and traveling state of vehicle be sent to crossing control
Molding block；（c）Crossing control module controls the pass-through command of crossing vehicle according to the information received, and pass-through command is sent
To the automatic driving vehicle into crossing, and crossing vehicle pass-through situation is sent to system regulation module；（d）System regulation mould
Block receives the traffic status information of each crossing control module, and according to the traffic status information of crossing control module, adjusts nothing
People drives the travel route and situation of vehicle, avoids traffic congestion.
4. a kind of automatic driving vehicle traffic control system as claimed in claim 3, it is characterised in that：Know including following vehicle
Other method：According to class of vehicle, it is respectively allocated to ambulance, police car, fire fighting truck band signal frequency, is I grade of current grade；
Bus, environment-friendly vehicle, tool car band signal frequency are distributed to, is II grade of current grade；Distribute to taxi, common private savings
Vehicle band signal frequency is III grade of current grade；When vehicle enters crossing, vehicle pass-through grade module adjusts cab signal and receives
Hair module is transmitted to the band signal frequency corresponding to the control module vehicle of crossing.
5. a kind of automatic driving vehicle traffic control system as claimed in claim 3, it is characterised in that：Including the shape that passes through as follows
Condition recognition methods：Vehicle-mounted accident determining module and accident condition monitoring device determine accident pattern by accident condition button；Vehicle
Load accident transmitting module reads vehicle-mounted accident determining module signal and is sent to crossing control module；Road accident determining module and
Accident condition monitoring device determines accident pattern by accident condition button；Road accident transmitting module reads road accident and determines
Module by signal is simultaneously sent to crossing control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810212476.XA CN108363398A (en) | 2018-03-15 | 2018-03-15 | A kind of automatic driving vehicle traffic control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810212476.XA CN108363398A (en) | 2018-03-15 | 2018-03-15 | A kind of automatic driving vehicle traffic control system |
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| CN108363398A true CN108363398A (en) | 2018-08-03 |
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| CN201810212476.XA Pending CN108363398A (en) | 2018-03-15 | 2018-03-15 | A kind of automatic driving vehicle traffic control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109062217A (en) * | 2018-08-29 | 2018-12-21 | 广州市君望机器人自动化有限公司 | To the dispatching method and device of robot crossroad |
| CN110952406A (en) * | 2019-12-11 | 2020-04-03 | 上海同济城市规划设计研究院有限公司 | Road arrangement suitable for unmanned bus and unmanned bus lane system |
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| CN107358802A (en) * | 2017-06-14 | 2017-11-17 | 青岛破浪舟车船装备科技有限公司 | A kind of traffic signals area networking intelligence traffic system |
| CN107437338A (en) * | 2017-09-15 | 2017-12-05 | 张成德 | A kind of traffic intersection passing control system and method |
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2018
- 2018-03-15 CN CN201810212476.XA patent/CN108363398A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009037623A (en) * | 2007-08-03 | 2009-02-19 | Korea Electronics Telecommun | Traffic control robot, traffic control system using the same, and control method thereof |
| CN102157071A (en) * | 2011-03-22 | 2011-08-17 | 芜湖伯特利汽车安全系统有限公司 | Intelligent traffic management system and control method based on inter-vehicle network |
| CN105869422A (en) * | 2015-01-22 | 2016-08-17 | 谢文军 | Traffic control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109062217A (en) * | 2018-08-29 | 2018-12-21 | 广州市君望机器人自动化有限公司 | To the dispatching method and device of robot crossroad |
| CN110952406A (en) * | 2019-12-11 | 2020-04-03 | 上海同济城市规划设计研究院有限公司 | Road arrangement suitable for unmanned bus and unmanned bus lane system |
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Application publication date: 20180803 |