CN108829092A - Vehicular automatic driving system with real-time update road information function - Google Patents
Vehicular automatic driving system with real-time update road information function Download PDFInfo
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- CN108829092A CN108829092A CN201810390894.8A CN201810390894A CN108829092A CN 108829092 A CN108829092 A CN 108829092A CN 201810390894 A CN201810390894 A CN 201810390894A CN 108829092 A CN108829092 A CN 108829092A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/048—Detecting movement of traffic to be counted or controlled with provision for compensation of environmental or other condition, e.g. snow, vehicle stopped at detector
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Abstract
The present invention discloses a kind of Vehicular automatic driving system of real-time update road information, including control unit for vehicle, positioning system, information transceiving device, wire-controlled steering system and vehicle monitoring module, control unit for vehicle records traffic route by positioning system, and information exchange is carried out by information transmit-receive and city device road monitoring center, the road information provided urban road monitor center is modified, the movement of steering wheel is recorded by wire-controlled steering system, and Positioning System is modified to data are turned to；When activating Function for Automatic Pilot, control unit for vehicle is according to the road information in selected section, the vehicle traveling information of vehicle monitoring module real-time monitoring and turns to data to vehicle progress automatic Pilot control；The present invention carries out Real Data Exchangs by control unit for vehicle and urban road monitor center, and the road information that can timely update improves navigation accuracy rate, and can greatly reduce the generation of rule-breaking vehicle event, ensure that the safety of vehicle driving to a certain extent.
Description
Technical field
The invention belongs to Advanced Automotive Automatic Control fields, specifically have the vehicle of real-time update road information function certainly
Dynamic control loop.
Background technique
With the increase of China's vehicle volume of holding, road traffic congestion phenomenon is increasingly severe, etesian traffic thing
Therefore also constantly rising, in order to preferably solve the problems, such as this, research and development Vehicular automatic driving system is necessary.
A kind of existing Vehicular automatic driving system is that the video camera and image identification system discrimination by being mounted in driver's cabin are driven
Environment is sailed, then by vehicle-mounted main control computer, GPS positioning system and path planning software according to road-map kept in advance etc.
Information navigates to vehicle, and reasonable driving path is cooked up between the current location and destination of vehicle by vehicle guidance
Destination.
In above-mentioned Vehicular automatic driving system, distinguish that driving environment is unable to monitor by video camera and image identification system
The integrated environment in section cannot accomplish to prevent ahead of time, greatly reduce user and drive to experience；In addition, due to road-map
It is to be pre-stored in vehicle, the update of data depends on the manual operation of driver, and renewal frequency cannot be guaranteed, even if driving
Member can accomplish to timely update, it is also possible to due to not making finally obtained about the up-to-date information of road in existing resource
Data can not react road conditions instantly, and it is unreasonable to ultimately cause traffic route, and navigation accuracy rate is not high, bring to driving
It is inconvenient.
Summary of the invention
In response to the problems existing in the prior art, the purpose of the present invention is to provide one kind can timely update road information, navigation
Accuracy rate is higher and can effectively identify the Vehicular automatic driving system of the real-time update road information of vehicle periphery driving environment.
To achieve the above object, the technical solution adopted by the present invention is that：
Vehicular automatic driving system with real-time update road information function, including vehicle control inside the vehicle is arranged
Unit processed and the positioning system being electrically connected with the control unit for vehicle, information transceiving device and wire-controlled steering system, are also wrapped
The vehicle monitoring module for being laid on road surface is included, the vehicle monitoring module includes multiple groups photosensitive sensor and/or multiple groups ultrasonic wave
Sensor, photosensitive switch control unit, the unit that tests the speed, radio frequency identification unit, data storage cell and data transmission unit；It is described
Control unit for vehicle realizes that wireless telecommunications connect with information transceiving device by the data transmission unit with vehicle monitoring module；
The vehicle monitoring module is used for the vehicle traveling information in real-time monitoring section；
The control unit for vehicle by positioning system record vehicle driving route, and by the information transceiving device with
Urban road monitor center carries out information exchange, and the road information provided the urban road monitor center is modified；It is logical
Cross the movement of wire-controlled steering system record steering wheel, and the comprehensive positioning system to the bend of road turned in data and
Crossing corner camber is modified, and when activating Function for Automatic Pilot, the control unit for vehicle is according to the road for selecting section
Information turns to the vehicle traveling information of data and the vehicle monitoring module real-time monitoring to vehicle progress automatic Pilot control
System.
Specifically, in the multiple groups photosensitive sensor/ultrasonic sensor each group be all provided with that there are two photosensitive sensors/super
Sonic sensor, the distance between described two photosensitive sensor/ultrasonic sensors be it is fixed, and it is adjacent every two groups it is photosensitive
The distance between sensor/ultrasonic sensor is also fixed；Photosensitive sensor/the ultrasonic sensor is also connected with meter
When device, start timing when sensor-triggered；
Photosensitive sensor/the ultrasonic sensor is used to road pavement vehicle and tests the speed, and perception vehicle periphery
Driving-environment information, the driving-environment information includes the quiet of vehicle periphery, dynamic barrier, the spacing of front and back vehicle and phase
To vehicle speed information；The location information of the multiple photosensitive sensor/ultrasonic sensor is stored in the data storage in advance
In unit, the control unit for vehicle judges the reality of the quiet of vehicle periphery, dynamic barrier from vehicle according to the positional information
When distance and front and back vehicle spacing information.
Specifically, the photosensitive switch control unit and the multiple groups photosensitive sensor, multiple groups ultrasonic sensor, test the speed
Unit electrical connection replaces the photosensitive sensor to work for controlling the ultrasonic sensor under no light condition；
The alternation of the photosensitive sensor and ultrasonic sensor is realized by the photosensitive switch control unit, both
The monitoring to vehicle can be similarly realized at night, while also can be reduced the burden of sensor, avoid working long hours and damaging.
Specifically, the radio frequency identification unit includes the radio-frequency card installed in the car and the reader that road surface is arranged in, institute
The information for stating identity information and vehicle that car owner is stored in radio-frequency card, photosensitive sensor/ultrasonic sensor described in every group it
Between be equipped with the reader；
When vehicle crosses one group of photosensitive sensor/ultrasonic sensor, the reader, the reader must travel
It is the information that can recognize the identity information and vehicle of car owner by the radio-frequency card read in vehicle.
Specifically, the control unit for vehicle is connected with the driving motor of vehicle, and the control unit for vehicle is being driven automatically
According to the restricted speed of input, selected section, current road segment vehicle traveling information when sailing, driven using proximity by control
The revolving speed of dynamic motor controls running speed, when running speed is close to restricted speed, passes through and adjusts the output of driving motor and turn
The proportional integration of speed makes speed keep stable state.
Specifically, the control unit for vehicle is connected with the voice guard of vehicle, and the control unit for vehicle is in vehicle
When close to automatic Pilot destination, control voice guard issues alarm sound, informs that driver will arrive at the destination, and by vehicle
Prompt drop is to preset vehicle speed；
Further, the control unit for vehicle is also connected with the Vehicular warning lamp of rear of vehicle, the vehicle control list
Member automatically opens Vehicular warning lamp when vehicle is close to destination.
Specifically, the control unit for vehicle is before vehicle starts every time, in the interior automated driving system of automatic detection vehicle
The situation of each component simultaneously verifies system mode, in the case where detecting the control loop normal operation, allows described in enabling
Control loop；When detecting that the control loop is operating abnormally, forbid the enabling of the control loop automatically；When the driving
After system is prohibited because of system exception, electricity is again after power on operation only under vehicle execution for the control unit for vehicle, just meeting
Self-test is carried out to the control loop again；
Further, the control unit for vehicle is also connected with the instrument board warning lamp of vehicle, the control unit for vehicle
When detecting that automated driving system is operating abnormally in vehicle, controller dial plate warning lamp does not stop to flash, and informs that driver is current
Vehicle condition.
Specifically, during automated driving system is run, the control unit for vehicle is according to set on vehicle control face
Automated driving system is exited in the input order of self-driving function mute key on plate by force, and the Vehicular automatic driving system is by by force
It, just can be again to Vehicular automatic driving after the control unit for vehicle operation that only electricity powers on again under vehicle execution after exiting
System carries out self-test；
Further, after vehicle arrives at the destination, the control unit for vehicle is according on vehicle control panel
The input order of self-driving function mute key normally exit automated driving system, the Vehicular automatic driving system normally exits
Afterwards, without carrying out the operation that electricity powers on again under vehicle, Function for Automatic Pilot can be activated again.
Specifically, the road information includes that city map, road section length, crossing position, traffic lights position, each section are red
The time interval of the distance between green light quantity, traffic lights and traffic lights.
Specifically, the location information of whole photosensitive sensor/ultrasonic sensors is stored in the data storage cell,
The vehicle traveling information includes vehicle-periphery information, the spacing of front and back vehicle and opposite vehicle speed information.
Optionally, the Vehicular automatic driving system of the real-time update road information can also be used on photovoltaic highway, directly
Variation by monitoring the electric signal of single photovoltaic panel can measure the kinematic parameter of the driving vehicle on photovoltaic highway, in this way may be used
To reduce the use of sensor, keep system structure simpler.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention by the self-learning function of control unit for vehicle,
Using the traffic route of positioning system record driver, and pass through the data interaction with urban road center, amendment, perfect road
Information；When driver fatigue, control panel can be passed through and activate Function for Automatic Pilot and a restricted speed is set, according to repairing
Positive road information reduces driver using the method for control unit for vehicle automatic control motor torque output and Vehicular turn
Driving burden, alleviate the fatigue of driver；And vehicle monitoring module is laid on road surface and drives ring to road vehicle by the present invention
Border information carries out real-time monitoring, is monitored simultaneously by multiple groups sensor, can monitor the integrated environment information of road, accomplish to do sth. in advance
Prevention, to avoid the generation of road safety accident；The present invention replaces road pavement by photosensitive sensor and ultrasonic sensor
Vehicle is monitored, and can not only reach monitoring effect same with daytime at night, moreover it is possible to prevent sensor because working long hours
And damage, to ensure the stability of the Vehicular automatic driving control, extend service life of the invention.
Detailed description of the invention
Fig. 1 is the structural schematic block diagram for the Vehicular automatic driving system that the present invention has real-time update road information function；
Fig. 2 is the structural schematic block diagram of vehicle monitoring module in the present invention；
Fig. 3 is the workflow schematic block for the Vehicular automatic driving system that the present invention has real-time update road information function
Figure；
Fig. 4 is the structural schematic diagram of vehicle monitoring module in embodiment 2；
In figure：1, control unit for vehicle；101, positioning system；102, wire-controlled steering system；103, information transceiving device；2,
Vehicle monitoring module；201, photosensitive sensor；202, ultrasonic sensor；203, photosensitive switch control unit；204, test the speed list
Member；205, radio frequency identification unit；206, data transmission unit；207, data storage cell；208, electric signal monitoring unit；209,
Data processing unit.
Specific embodiment
Below in conjunction with the attached drawing in the present invention, technical solution of the present invention is clearly and completely described, it is clear that
Described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the implementation in the present invention
Example, those of ordinary skill in the art's all other embodiment obtained under the conditions of not making creative work belong to
The scope of protection of the invention.
Embodiment 1
As shown in Figures 1 to 3, a kind of Vehicular automatic driving system of real-time update road information is present embodiments provided, is wrapped
Include the control unit for vehicle 1 being arranged inside the vehicle and the positioning system 101 being electrically connected with the control unit for vehicle 1, letter
R-T unit 103 and wire-controlled steering system 102 are ceased, further includes the vehicle monitoring module 2 for being laid on road surface, the vehicle monitoring mould
Block 2 include multiple groups photosensitive sensor 201, multiple groups ultrasonic sensor 202, photosensitive switch control unit 203, the unit 204 that tests the speed,
Radio frequency identification unit 205, data storage cell 207 and data transmission unit 206；The control unit for vehicle 1 and vehicle monitoring
Module 2 realizes that wireless telecommunications connect with information transceiving device 103 by the data transmission unit 206；The vehicle monitoring mould
Block 2 is used for the vehicle traveling information in real-time monitoring section；
Specifically, the positioning system 101 is vehicle GPS alignment system, and the control unit for vehicle 1 passes through positioning system
101 record route or travel by vehicle, and through information transceiving device 103 in such a way that GPRS is communicated or 3G is communicated, realization and city
The information exchange at city road monitoring center obtains city map, road section length, crossing position, red by urban road monitor center
The distance between green light position, each section traffic lights quantity, traffic lights, traffic lights time between the road informations such as sun, and pass through
Repeatedly the information such as sun carry out above-mentioned road information between the traffic route of the acquisition of positioning system 101, parking position, parking when driving
Amendment；Operation of the driver to steering wheel is recorded by the wire-controlled steering system 102, and the comprehensive positioning system 101 is right
The information such as turning position, turning radius are recorded, and then the road in the road information provided urban road monitor center
Camber and crossing corner camber etc. turn to data and are modified, perfect road information, and in later period driving procedure, carry out into one
The verifying and correction of step.
Specifically, in 201/ ultrasonic sensor 202 of multiple groups photosensitive sensor each group be all provided with there are two photosensitive biography
201/ ultrasonic sensor 202 of sensor, the distance between described two 201/ ultrasonic sensors 202 of photosensitive sensor are fixed
, and the distance between adjacent every two groups of photosensitive sensors, 201/ ultrasonic sensor 202 is also fixed；The light sensor
201/ ultrasonic sensor 202 of device is also connected with timer, starts timing when sensor-triggered；
Further, in 201/ ultrasonic sensor 202 of multiple groups photosensitive sensor each group set there are two photosensitive biography
201/ ultrasonic sensor 202 of sensor, and the distance between 201/ ultrasonic sensor 202 of described two photosensitive sensors is solid
Fixed L rice, it is assumed that the headstock of a vehicle is T1 by the time used in one group of 201/ ultrasonic sensor 202 of photosensitive sensor,
And this vehicle integrally pass through the time used in 201/ ultrasonic sensor 202 of a photosensitive sensor be T2, then can be by the survey
The instantaneous velocity that fast unit 204 is calculated when this vehicle crosses this group of 201/ ultrasonic sensor 202 of photosensitive sensor is L/
T1, length of wagon are (L/T1) * T2；
201/ ultrasonic sensor 202 of photosensitive sensor is used to road pavement vehicle and tests the speed, and perception vehicle
Driving-environment information around, the driving-environment information includes the spacing of the quiet of vehicle periphery, dynamic barrier, front and back vehicle
And opposite vehicle speed information；The location information of the multiple 201/ ultrasonic sensor 202 of photosensitive sensor is stored in advance
In the data storage cell 207, the control unit for vehicle 1 judges quiet, the dynamic of vehicle periphery according to the positional information
The spacing information of real-time range of the barrier from vehicle and front and back vehicle.
Specifically, the photosensitive switch control unit 203 and the multiple groups photosensitive sensor 201, multiple groups supersonic sensing
Device 202, the unit 204 that tests the speed electrical connection replace the photosensitive biography for controlling the ultrasonic sensor 202 under no light condition
Sensor 201 works；
Under the conditions of having light (daytime), the photosensitive switch control unit 203 control the photosensitive sensor 201 with it is described
The unit 204 that tests the speed electrical connection, and disconnect being electrically connected for the ultrasonic sensor 202 and the unit 204 that tests the speed；Unglazed
Under the conditions of (night), the photosensitive switch control unit 203 controls the ultrasonic sensor 202 and the unit 204 that tests the speed
Electrical connection, and disconnect being electrically connected for the photosensitive sensor 201 and the unit 204 that tests the speed；It is controlled by the photosensitive switch
Unit 203 realizes the alternation of the photosensitive sensor 201 and ultrasonic sensor 202, can similarly realize at night
Monitoring to vehicle, while also can be reduced the burden of sensor, it avoids working long hours and damaging.
Further, the radio frequency identification unit 205 includes the radio-frequency card installed in the car and photovoltaic road surface is arranged in
Reader is stored with the identity information of car owner and the information of vehicle in the radio-frequency card, and photosensitive sensor described in every group 201/ surpasses
A reader is equipped between sonic sensor 202；
Communication connection is realized by microwave 5.8GHz frequency range between the reader and radio-frequency card, communication distance can reach 8
~30 meters, when vehicle crosses the road surface equipped with reader, the reader can recognize by reading the radio-frequency card in vehicle i.e.
The identity information of car owner and the information of vehicle.
Specifically, when driver is activated by the self-driving function start button being arranged on the control panel of pressing or rotation vehicle
After Function for Automatic Pilot, control unit for vehicle 1 according to the positioning function of revised road information and GPS determine current vehicle and
The distance between traffic lights, crossing and bend, the restricted speed inputted on the control panel according to driver and selected road
Section, the current road conditions obtained by urban road monitor center collect present road information and vehicle by vehicle monitoring module 2
Peripheral information, by the direct torque to vehicle traction motor rationally control running speed and speed-raising process, and according to amendment after
Road information and the steering data control vehicle obtained by wire-controlled steering system 102 steering；
Further, the control unit for vehicle 1 uses proximity to the revolving speed control of driving motor, to the rate of rise
It is limited.When speed reaches the 75% of restricted speed, rate of rise limitation increases, and the rate of climb slows down.When speed is close
When restricted speed, according to the traffic informations such as front-and-rear vehicle distance, opposite speed, road curve demand, to the output revolving speed of driving motor
It carries out PI adjusting (proportional integration adjusting), speed is made to stablize output；
Further, when vehicle is close to automatic Pilot destination, the control unit for vehicle 1 can control the sound of vehicle
Alarm makes a sound alarm, informs that driver will arrive at the destination, and speed is down to a preset vehicle speed (for example,
15km/h), while the Vehicular warning lamp for being located at rear of vehicle is opened, to warn front vehicle.After audible alarm sounds, drive
The audible alarm control key being arranged in member's pressable or rotating control panel turns off alarm sound；If driver does not need sound report
It is alert, then it can cancel manually sound alarm function before issuing alarm sound through the audible alarm control key on control panel.
To allow driver to learn whether Vehicular automatic driving system is normal in time, the control unit for vehicle 1 is equipped with
One safety monitoring module, the safety monitoring module can all be run before each vehicle launch for automatic Pilot in vehicle
The program code of system detects the situation of each component in Vehicular automatic driving system and verifies system mode.Detecting vehicle
In the case where automated driving system normal operation, allow to enable Vehicular automatic driving system：When detecting Vehicular automatic driving system
When system is operating abnormally, forbid the enabling of Vehicular automatic driving system automatically, does not stop to flash instrument board warning lamp, inform driver
Current vehicle conditions；After Vehicular automatic driving system is prohibited, after only vehicle executes lower electric power on operation again, safety
Monitoring modular just can carry out self-test to Vehicular automatic driving system again, and determine whether to allow to enable.
In conclusion the present invention passes through the self-learning function of control unit for vehicle 1, is recorded and driven using positioning system 101
The traffic route of member, and pass through the data interaction with urban road center, amendment, perfect road information；When driver fatigue,
Function for Automatic Pilot can be activated by control panel and a restricted speed is set, and vehicle is utilized according to modified road information
The method of control unit 1 automatic control motor torque output and Vehicular turn reduces the driving burden of driver, alleviates and drive
The fatigue of member；And vehicle monitoring module 2 is laid on road surface and carries out real-time monitoring to road vehicle driving-environment information by the present invention,
It is monitored simultaneously by multiple groups sensor, the integrated environment information of road can be monitored, accomplish to prevent ahead of time, so that road be avoided to pacify
The generation of full accident；The present invention replaces road pavement vehicle by photosensitive sensor 201 and ultrasonic sensor 202 and is monitored,
Monitoring effect same with daytime can not only be reached at night, moreover it is possible to prevent sensor from damaging because working long hours, to protect
The stability for having hindered the Vehicular automatic driving control, extends service life of the invention.
Embodiment 2
As shown in figure 4, present embodiments providing a kind of vehicle applied to the real-time update road information on photovoltaic highway
Automated driving system, the difference with above-described embodiment 1 are that vehicle monitoring module 2 includes that electric signal monitoring is single in the present embodiment
Member 208, ultrasonic sensor 202, photosensitive switch control unit 203, radio frequency identification unit 205, data processing unit 209 and
Data transmission unit 206, the configuration of vehicle monitoring module 2 are used for real-time monitoring vehicle row in the photovoltaic panel of photovoltaic highway
Sail speed；208/ ultrasonic sensor 202 of electric signal monitoring unit is also connected with timer, when sensor-triggered/telecommunications
The electric signal of number monitoring unit monitoring starts timing when changing；
In the preferable situation of light intensity, the photosensitive switch control unit 203 controls the electric signal monitoring unit
2010 are electrically connected with the data processing unit 209, data transmission unit 206, and disconnect the ultrasonic sensor 202 and institute
State the electrical connection of data processing unit 209, data transmission unit 206；The present embodiment passes through 2 monitoring car of vehicle monitoring module
When by one piece of photovoltaic panel, the change in electric of the photovoltaic panel and the duration of change in electric, the data processing
Unit 209 to monitoring data carry out calculation process, according to monitor single photovoltaic panel power on signal variation duration and
The both ends distance computation of the single photovoltaic panel obtains the travel speed of vehicle；In the case where light intensity is weaker, the light
Quick switch control unit 203 controls the ultrasonic sensor 202 and the data processing unit 209, data transmission unit 206
Electrical connection, and disconnect the electricity of the electric signal monitoring unit 2010 and the data processing unit 209, data transmission unit 206
Connection；The electric signal monitoring unit 2010 and ultrasonic sensor 202 are realized by the photosensitive switch control unit 203
It works alternatively, can similarly realize the monitoring to vehicle at night, while also can be reduced the ultrasonic sensor 202 and electricity
The burden for measuring monitoring unit 2010, avoids working long hours and damaging.
Specifically, data processing unit 209 includes estimator, described when vehicle drives through in one piece of photovoltaic panel
Estimator is configured as the spacing of the duration and the photovoltaic board ends that change based on the photovoltaic panel power on signal come really
Determine the travel speed of vehicle.
Specifically, the electric signal monitoring unit 208 is used to monitor voltage, electric current, power, the electricity etc. in photovoltaic panel；
Further, when vehicle drives through in one piece of photovoltaic panel, the estimator is configured as based on the light
The spacing of duration and the photovoltaic board ends that plate power on signal changes are lied prostrate to determine the travel speed of vehicle.Actually answering
In, the photovoltaic panel is crystal silicon solar plate, having a size of 2000*1000*35mm, rated power 180W, transfer efficiency
It is 80%, the both ends center of photovoltaic panel is equipped with terminal A, B, the distance L=2000mm of terminal A to terminal B, when no vehicle row
When sailing by the photovoltaic panel, output power W1=W* η=180*80%=140W of the photovoltaic panel, when there is vehicle driving warp
When crossing the photovoltaic panel, the front part of vehicle passes through terminal A, and the output power W1 starts to gradually decrease, until the vehicle
Front reaches terminal B, and the output power bottoms out W2, at this point, the photovoltaic panel is sheltered from completely by vehicle, it can not
The direct irradiation of light is obtained, but the indirect illumination of the acquisitions such as reflection, scattering of the light being radiated on adjacent photovoltaic plate can be passed through
It penetrates, and then is converted to lower output power, W2 is defined as W2=W1*10%=14W, the vehicle monitoring module here
It is 0.12S that 2 monitorings, which obtain the output power from the time that W1 drops to W2, keeps the output power in W2 ever since, directly
Terminal A is left to vehicle tail traveling, the output power starts to gradually rise, until W1, the vehicle tail at this time
Traveling leaves terminal B, and the output power is that 0.12S is calculated according to speed formula v=L/t from the time that W2 is increased to W1
Instantaneous travel speed v=60KM/h when passing through the photovoltaic panel to vehicle.
The present embodiment is suitable for the Vehicular automatic driving system of the real-time update road information on photovoltaic highway, the present embodiment
In photovoltaic panel can be used for photovoltaic power generation and road surface for vehicle driving, be also used to monitor the driving status of road vehicles,
And then Vehicular automatic driving system is cooperated to carry out automatic Pilot control to vehicle, keep the function of photovoltaic panel more diversified.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. the Vehicular automatic driving system with real-time update road information function, including vehicle control inside the vehicle is arranged
Unit (1) and the positioning system (101) being electrically connected with the control unit for vehicle (1), information transceiving device (103) and line
It controls steering system (102), which is characterized in that further include the vehicle monitoring module (2) for being laid on road surface, the vehicle monitoring module
(2) include multiple groups photosensitive sensor (201) and/or multiple groups ultrasonic sensor (202), photosensitive switch control unit (203), survey
Fast unit (204), radio frequency identification unit (205), data storage cell (207) and data transmission unit (206)；The vehicle control
Unit (1) processed and vehicle monitoring module (2) pass through the data transmission unit (206) and information transceiving device (103) realization nothing
Line communication connection；The vehicle monitoring module (2) is used for the vehicle traveling information in real-time monitoring section；
When activating Function for Automatic Pilot, the control unit for vehicle (1) according to select the road information in section, turn to data with
And the vehicle traveling information of vehicle monitoring module (2) real-time monitoring carries out automatic Pilot control to vehicle.
2. the Vehicular automatic driving system according to claim 1 with real-time update road information function, it is special
In being all provided with there are two photosensitive sensor for each group in the multiple groups photosensitive sensor (201)/ultrasonic sensor (202)
(201)/ultrasonic sensor (202), and the distance between described two photosensitive sensors (201)/ultrasonic sensor (202)
It is fixed.
3. the Vehicular automatic driving system according to claim 1 with real-time update road information function, it is special
In, the photosensitive switch control unit (203) and the multiple groups photosensitive sensor (201), multiple groups ultrasonic sensor (202),
Test the speed unit (204) electrical connection, for control the ultrasonic sensor (202) under no light condition replace the light sensor
Device (201) work.
4. the Vehicular automatic driving system according to claim 1 with real-time update road information function, it is special
In the radio frequency identification unit (205) includes the radio-frequency card installed in the car and the reader that road surface is arranged in, the radio-frequency card
Inside it is stored with the identity information of car owner and the information of vehicle, photosensitive sensor described in every group (201)/ultrasonic sensor (202)
Between be equipped with the reader.
5. the Vehicular automatic driving system according to claim 1 with real-time update road information function, it is special
In the control unit for vehicle (1) is connected with the driving motor of vehicle, control unit for vehicle (1) root in automatic Pilot
According to the restricted speed of input, selected section, current road segment vehicle traveling information, pass through control driving motor using proximity
Revolving speed control running speed, when running speed is close to restricted speed, pass through the ratio for adjusting the output revolving speed of driving motor
Example integral makes speed keep stable state.
6. the Vehicular automatic driving system according to claim 1 with real-time update road information function, feature exist
In the control unit for vehicle (1) is connected with the voice guard of vehicle, and the control unit for vehicle (1) is in vehicle close to certainly
When dynamic driving destination, control voice guard issues alarm sound, informs that driver will arrive at the destination, and speed is down to
Preset vehicle speed.
7. the Vehicular automatic driving system according to claim 1 with real-time update road information function, feature exist
In the control unit for vehicle (1) is before vehicle starts every time, the shape of each component in the interior automated driving system of automatic detection vehicle
Condition simultaneously verifies system mode, in the case where detecting the control loop normal operation, allows to enable the control loop；?
When detecting that the control loop is operating abnormally, forbid the enabling of the control loop automatically；When the control loop is because of system
After exception is prohibited, electricity, just can be again to institute again after power on operation only under vehicle execution for the control unit for vehicle (1)
It states control loop and carries out self-test.
8. the Vehicular automatic driving system according to claim 1 with real-time update road information function, feature exist
In, the road information include city map, it is road section length, crossing position, traffic lights position, each section traffic lights quantity, red
The time interval of the distance between green light and traffic lights.
9. the Vehicular automatic driving system according to claim 1 with real-time update road information function, feature exist
In the data storage cell (207) is interior to be stored with whole photosensitive sensors (201)/ultrasonic sensor (202) position letter
Breath, the vehicle traveling information include vehicle-periphery information, the spacing of front and back vehicle and opposite vehicle speed information.
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