CN108845579A - A kind of automated driving system and its method of port vehicle - Google Patents
A kind of automated driving system and its method of port vehicle Download PDFInfo
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- CN108845579A CN108845579A CN201810919578.5A CN201810919578A CN108845579A CN 108845579 A CN108845579 A CN 108845579A CN 201810919578 A CN201810919578 A CN 201810919578A CN 108845579 A CN108845579 A CN 108845579A
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- 238000004458 analytical method Methods 0.000 claims abstract description 4
- 230000004888 barrier function Effects 0.000 claims description 37
- 238000003384 imaging method Methods 0.000 claims description 13
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- 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
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- 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
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- 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
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- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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Abstract
The invention discloses the automated driving systems of port vehicle, including sensing layer, for acquiring the environmental information on current vehicle position periphery, and map are combined to carry out target detection, identify and position；Decision-making level, the environmental information for being acquired according to sensing layer calculates analysis and obtains decision information, and decision information is transferred to control layer；Control layer, for completing traveling task based on the operation of decision information control vehicle according to the decision information received；Data transfer layer realizes that the fixed point of container receives for receiving and sending decision information；Sensing layer is connected with decision-making level, and decision-making level is connected with control layer, and decision-making level is connected with data transfer layer.The beneficial effects of the invention are as follows when drifting about occurs in Beidou/GPS signal or signal is weak, it is to rely on container, is accurately positioned site of road in vehicle and harbour, accurately control Vehicular automatic driving route, automatic Pilot is integrated in a system, facilitates integral transplanting system, reduces personnel labour.
Description
Technical field
The invention belongs to automatic Pilot fields, more particularly, to the automated driving system and its method of a kind of port vehicle.
Background technique
With the development of globalised economy tide, the sea-freight carrying whole world is more than 60% trade, big with its low cost, freight volume
The features such as occupy always transport faucet.Harbour needs largely to assemble vehicle at harbour as most important Transport Hub
Middle operation.Important means of the container as linking sea-freight and other means of transportation, handling capacity are to measure the weight of port capacity
Evaluation index is wanted, so the conevying efficiency and means of transportation of container have been a concern.
Traditional Transportation mode is mainly assembled vehicle by pilot steering and is transported between suspension bridge and stockyard, and driver is easy
It makes a fault, and the large labor intensity of driver, wastes a large amount of manpower and material resources.In order to reduce driver's labor intensity, mention
The efficiency of loading and unloading of high cube container and the stability of operation, automatic Pilot technology become the important means of each port and pier.
There are a large amount of containers in harbour, and compared to ordinary road scene, its identification is very low, and since harbour is logical
It is frequently located in seashore or river bank, stormy waves is larger, and unique geographical location will affect GPS/ Beidou signal, leads to GPS/ Beidou occur
The case where signal drift, causes positioning accuracy low.Positioning is the key technical problem of automatic Pilot, and positioning accuracy is low to be directly resulted in
The automatic Pilot of vehicle goes wrong.
Summary of the invention
The object of the present invention is to provide a kind of structures simply, realizes vehicle is accurately positioned in port area, monitors in real time,
Help the automated driving system for understanding working truck position, improving working efficiency, a kind of port vehicle for reducing operating risk.
Technical scheme is as follows：
A kind of automated driving system of port vehicle, which is characterized in that including：
Sensing layer for acquiring the environmental information on current vehicle position periphery, and combines map to carry out target detection, identification
And positioning；
Decision-making level, environmental information for being acquired according to the sensing layer calculate analysis and obtain decision information, and by decision
Information is transferred to control layer；
Control layer executes traveling task for controlling the operation of the vehicle according to the decision information received；
Data transfer layer, for receive decision-making level's decision information and will treated information sends back decision-making level, realize from
The dynamic unified allocation of resources for driving vehicle；
The sensing layer is connected with decision-making level, and the decision-making level is connected with control layer, and the decision-making level and data pass
Defeated layer is connected.
In the above-mentioned technical solutions, the sensing layer includes：
Vehicle mounted imaging apparatus, for acquiring the distance between the vehicle periphery and barrier and vehicle periphery driving environment
Image information, and lane line, pedestrian and traffic lights are detected according to the image information；
Vehicle carried pick device, for obtaining the location information of the vehicle；
Vehicle-mounted detection device, for obtain the vehicle in harbour the obstacle information of local environment and the vehicle with
The size of the distance between barrier and barrier.
In the above-mentioned technical solutions, the vehicle mounted imaging apparatus includes：
Laser radar, for obtaining the distance between the vehicle and peripheral obstacle；
Vehicle-mounted camera, for obtaining the image information of vehicle-periphery in harbour；
Mobileye, the image information of the vehicle-periphery for being obtained according to the vehicle-mounted camera detect lane
Line, traffic lights and pedestrian information；
Interchanger, the distance between vehicle and barrier for receiving the laser radar and vehicle-mounted camera acquisition,
The image information of barrier size and vehicle-periphery, and acquired above- mentioned information are sent to decision-making level；
The laser radar is mounted among the roof of the vehicle, and the vehicle-mounted camera and Mobileye are installed in
Before the windshield of the vehicle.
In the above-mentioned technical solutions, the vehicle carried pick device includes：
Beidou GPS dual mode receiver, for obtaining the latitude and longitude information of road in harbour；
Inertial navigation unit, for obtaining the operation posture and the speed of service of the vehicle, and by road in the harbour
Latitude and longitude information and the operation posture of vehicle and the information of the speed of service be sent to decision-making level；
The beidou GPS dual mode receiver is mounted on the roof of the vehicle.
In the above-mentioned technical solutions, the vehicle-mounted detection device includes：
Millimetre-wave radar acquires the distance between the vehicle and long-distance barrier object for detecting；
Ultrasonic radar acquires the distance between the vehicle and short distance barrier for detecting；
CAN card, for receiving the distance between the millimetre-wave radar, the vehicle of ultrasonic radar acquisition and barrier letter
Breath, and lane line, traffic lights and the pedestrian information obtained for receiving the Mobileye, and above- mentioned information are sent to
Decision-making level；
The millimetre-wave radar is mounted on right above the license plate of the vehicle, and the ultrasonic radar is mounted on the vehicle
Periphery, the CAN card is mounted on the vehicle interior.
In the above-mentioned technical solutions, the decision-making level includes industrial personal computer.
In the above-mentioned technical solutions, the data transfer layer includes：
4G module, for receiving and transmitting the decision information of the decision-making level,
Central processing platform handles the decision information for receiving, and adjusts to the automatic driving vehicle in system is unified
Match, and deployment information is sent to the control layer；
The 4G module is mounted on the inside of the vehicle.
In the above-mentioned technical solutions, the control layer includes auto-pilot controller, for controlling the vehicle according to institute
It states decision information and executes traveling task, the auto-pilot controller is used to control the operation of steering wheel, brake pedal, throttle.
In the above-mentioned technical solutions, the auto-pilot controller is mounted on the inside of the vehicle.
A kind of automatic Pilot method of port vehicle includes the following steps when Beidou GPS signal drifts about：
(1) default route：Predetermined travel route is cooked up according to the initial position of the vehicle and destination locations；
(2) environment sensing：Static-obstacle thing in harbour is obtained according to the vehicle mounted imaging apparatus, vehicle carried pick device acquisition
And vehicle identification information, the identification information is sent to decision-making level；
(3) high accuracy positioning：
(3-1) establishes harbour sequence label：The vehicle mounted imaging apparatus, vehicle carried pick device acquisition are obtained into harbour cataract or glaucoma
Hinder the image information of object, barrier at a distance from the vehicle, in harbour road latitude and longitude information as tag element, according to
The tag element establishes harbour sequence label；
(3-2) images match：The image information for acquiring the vehicle-periphery in real time according to vehicle-mounted camera, and it is described
Tag element in the sequence label of harbour is matched, and vehicle general location range is obtained；
The matching of (3-3) range information：It is acquired in harbour in real time between barrier and the vehicle according to vehicle-mounted detection device
Distance, tag element compares at a distance from the harbour sequence label, calculates and counter releases the vehicle in Port Road
Locating accurate location；
(3-4) extracts accurate location information：According to the accurate location and the harbour sequence label in the step (3-2)
In the tag element of latitude and longitude information compare, extract accurate longitude and latitude of the vehicle in sequence label, obtain accurate
Location information；
(4) planning calculates travel route：The accurate location information is sent to decision-making level, is computed and cooks up vehicle
Driving path；
(5) control and execution：According to planning driving path control auto-pilot controller operation, respectively control steering wheel,
Brake pedal and throttle realize the traveling of vehicle；
(6) center regulation：The current state of vehicle is obtained by sensing layer, and information is sent to center via decision-making level
In processing platform, the unified allocation of resources to the automatic driving vehicle in platform is realized.
The invention has the advantages and positive effects that：
Can be to rely on container 1. when drifting about occurs in Beidou/GPS signal or signal is weak, be accurately positioned vehicle and
Site of road in harbour accurately controls Vehicular automatic driving route；
2. the automatic Pilot of port vehicle is integrated in a system, facilitates integral transplanting system, have wide range of applications.
3. Vehicular automatic driving controller is installed on vehicle, set without bases such as large-scale redevelopment port and pier ground
It applies, improvement cost is low, reduces personnel labour, and homework precision is high.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the automated driving system of port vehicle of the invention；
Fig. 2 is the structural schematic diagram of harbour sequence label in the automatic Pilot method of port vehicle of the invention；
Fig. 3 is the flow chart of high accuracy positioning in the present invention.
Specific embodiment
Below in conjunction with specific embodiment, invention is further described in detail.It should be appreciated that described herein specific
Embodiment is used only for explaining the present invention, is not intended to limit the present invention, is never limited in protection scope of the present invention.
Embodiment 1
As shown in Figure 1-Figure 3, a kind of automated driving system of port vehicle of the present invention, the system include：Sensing layer, decision
Layer, control layer and data transfer layer；Sensing layer, for acquiring the environmental information on current vehicle position periphery, and combine map into
Row target detection identifies and positions；Decision-making level's (such as industrial personal computer), the environmental information for being acquired according to sensing layer calculate analysis
Decision information is obtained, and decision information is transferred to control layer；Control layer, for being based on certainly according to the decision information received
Plan information controls the operation of vehicle, completes traveling task；Data transfer layer realizes packaging for receiving and sending decision information
The fixed point of case receives；
Above-mentioned sensing layer includes vehicle mounted imaging apparatus, vehicle carried pick device and vehicle-mounted detection device, and vehicle mounted imaging apparatus is used
In obtain vehicle local environment in harbour obstacle information and vehicle between barrier at a distance from and barrier size,
Vehicle mounted imaging apparatus includes the laser radar being mounted among vehicle roof, for obtain the distance between vehicle and barrier and
The size of barrier；Vehicle-mounted camera before being mounted on vehicle windscreen, for obtaining the barrier of local environment in harbour
Image information；Mobileye before being mounted on vehicle windscreen, the vehicle periphery ring for being obtained according to vehicle-mounted camera
The image information in border, detection lane line, traffic lights and pedestrian information；Interchanger, for receiving the laser radar and vehicle
The image information of the distance between vehicle and barrier that camera obtains, barrier size and vehicle-periphery is carried, and will
Acquired above- mentioned information are sent to decision-making level；Laser radar and vehicle-mounted camera pass through Ethernet and interchanger communication connection；Vehicle
Positioning device is carried, for obtaining the location information of vehicle；Vehicle carried pick device includes the beidou GPS dual mode reception for being mounted on roof
Machine, for obtaining the latitude and longitude information of road in harbour；It is installed in the vehicle the inertial navigation unit in portion, for obtaining the vehicle
Operation posture and the speed of service, and by the latitude and longitude information of road in the harbour and the operation posture of vehicle and operation speed
The information of degree is sent to decision-making level, and beidou GPS dual mode receiver passes through Ethernet and inertial navigation unit communication connection；Vehicle-mounted spy
Device is surveyed, for acquiring the driving environment image information of vehicle, vehicle-mounted detection device includes right above the license plate for being mounted on vehicle
Millimetre-wave radar, for detect acquisition the distance between vehicle and long-distance barrier object；It is mounted on the ultrasound of the periphery of vehicle
Wave radar, for detecting acquisition the distance between vehicle and barrier；The CAN card being installed in the vehicle, for receiving the milli
The distance between metre wave radar, the vehicle of ultrasonic radar acquisition and barrier information, and obtained for receiving the Mobileye
Lane line, traffic lights and the pedestrian information taken, and above- mentioned information are sent to decision-making level；Millimetre-wave radar, ultrasonic wave thunder
It is connected up to CAN bus is passed through with Mobileye with CAN card；Interchanger, inertial navigation unit and CAN card pass through USB and decision
Layer communication connection；
Above-mentioned control layer includes auto-pilot controller, executes traveling task according to decision information for controlling vehicle, from
Dynamic driving controller is used to control the operation of steering wheel, brake pedal, throttle, for controlling the acceleration, acceleration, steering of vehicle
Deng.
Above-mentioned data transfer layer includes the 4G module in the portion that is installed in the vehicle, and the decision for receiving and transmitting decision-making level is believed
Breath and central processing platform for receiving processing decision information, and to the automatic driving vehicle unified allocation of resources in system, and will be adjusted
Control layer is sent to information.
A kind of automatic Pilot method of port vehicle includes the following steps when Beidou GPS signal drifts about：
(1) default route：Predetermined travel route is cooked up according to the final position of the initial position of vehicle and predicted operation；
(2) environment sensing：According to vehicle-mounted camera (such as model AVT), laser radar (such as brand be Velodyne
Vlp-16), the beidou GPS dual mode receiver beidou GPS dual mode receiver of compass in ancient China (brand be) acquisition obtain it is static in harbour
Barrier and vehicle identification information, identification information is sent to decision-making level, and (such as industrial personal computer, industrial personal computer use brand to grind China
Industrial personal computer)；
(3) high accuracy positioning：
(3-1) establishes harbour sequence label：Obstacle in harbour is obtained according to vehicle mounted imaging apparatus, vehicle carried pick device acquisition
The latitude and longitude information of road is tag element at a distance from vehicle, in harbour for the image information of object, barrier, according to tag element
Establish harbour sequence label；
(3-2) images match：The image information for acquiring vehicle-periphery in real time according to vehicle-mounted camera, with harbour label
Tag element in sequence is matched (for example, by using SURF feature extraction algorithm, using RANSAC matching algorithm), and vehicle is obtained
General location range；
The matching of (3-3) range information：According to vehicle-mounted detection device acquire in harbour in real time between barrier and vehicle away from
From tag element compares (for example, by using ICP algorithm (i.e. iterative closet point algorithm)) at a distance from the sequence label of harbour, calculates anti-
Release vehicle accurate location locating in Port Road；
(3-4) extracts accurate location information：According to the longitude and latitude in the accurate location and harbour sequence label in step (3-2)
The tag element for spending information compares, and extracts accurate longitude and latitude of the vehicle in sequence label, obtains accurate location information；
(4) planning calculates travel route：Accurate location information is sent to decision-making level, is computed the rule made to vehicle
Draw driving path；
(5) control and execution：According to planning driving path control auto-pilot controller operation, respectively control steering wheel,
Brake pedal and throttle realize the traveling of vehicle；
(6) center regulation：The current state of vehicle is obtained by sensing layer, and information is sent to center via decision-making level
In processing platform, the unified allocation of resources to the automatic driving vehicle in platform is realized.
Above-mentioned obstacle information include barrier size, the position of barrier relative vehicle, barrier movement velocity.
A kind of automatic Pilot method of port vehicle, when GPS/ Beidou signal is good, method includes the following steps：
(1) default route：Predetermined travel route is cooked up according to the final position of the initial position of vehicle and predicted operation；
(2) precision positions：The longitude and latitude positional information of vehicle is obtained by beidou GPS dual mode receiver, and passes through inertia
Navigation device obtains the operation posture and the speed of service of vehicle, to determine the periphery situation of vehicle, and by periphery situation information
It is sent to industrial personal computer；
(3) planning calculates travel route：Industrial personal computer carries out analytical calculation according to periphery situation information, and calculating is made to vehicle
Part planning driving path and traveling strategy；
(4) control and execution：According to planning driving path and the traveling strategy auto-pilot controller fortune of adjustment control in time
Row controls the traveling that steering wheel, brake pedal and throttle realize vehicle respectively；
(5) center regulation：The current state of vehicle is obtained by sensing layer, and information is sent to center via decision-making level
In processing platform, the unified allocation of resources to the automatic driving vehicle in platform is realized.
Above-mentioned traveling strategy is acceleration, deceleration, lane-change etc., to realize the adjustment of route or travel by vehicle, improves the fortune of vehicle
Row safety and stability.
Embodiment 2
A kind of automatic Pilot method of port vehicle includes the following steps when Beidou GPS signal drifts about：
(1) default route：Predetermined travel route is cooked up according to the final position of the initial position of vehicle and predicted operation；
(2) environment sensing：According to vehicle-mounted camera (such as model AVT), laser radar (such as brand be Velodyne
Vlp-16), beidou GPS dual mode receiver (being the vertical Beidou GPS receiver of Shenzhen ancestor for example, by using brand) acquisition obtain port
Static-obstacle thing and vehicle identification information in mouthful, it (is to grind auspicious industry control for example, by using brand that identification information, which is sent to decision-making level,
Machine)；
(3) high accuracy positioning：
(3-1) establishes harbour sequence label：Obstacle in harbour is obtained according to vehicle mounted imaging apparatus, vehicle carried pick device acquisition
The latitude and longitude information of road is tag element at a distance from vehicle, in harbour for the image information of object, barrier, according to tag element
Establish harbour sequence label；
(3-2) images match：The image information for acquiring vehicle-periphery in real time according to vehicle-mounted camera, with harbour label
Tag element in sequence is matched (for example, by using SURF feature extraction algorithm, using RANSAC matching algorithm), and vehicle is obtained
General location range；
The matching of (3-3) range information：According to vehicle-mounted detection device acquire in harbour in real time between barrier and vehicle away from
From tag element compares (for example, by using ICP algorithm (i.e. iterative closet point algorithm)) at a distance from the sequence label of harbour, calculates anti-
Release vehicle accurate location locating in Port Road；
(3-4) extracts accurate location information：According to the longitude and latitude in the accurate location and harbour sequence label in step (3-2)
The tag element for spending information compares, and extracts accurate longitude and latitude of the vehicle in sequence label, obtains accurate location information；
(4) planning calculates travel route：Accurate location information is sent to decision-making level, is computed the rule made to vehicle
Draw driving path；
(5) control and execution：According to planning driving path control auto-pilot controller operation, respectively control steering wheel,
Brake pedal and throttle realize the traveling of vehicle；
(6) center regulation：The current state of vehicle is obtained by sensing layer, and information is sent to center via decision-making level
In processing platform, the unified allocation of resources to the automatic driving vehicle in platform is realized.
Embodiment 3
On the basis of embodiment 1, inertial navigation unit may be mounted on the headstock of vehicle, such as preferably be mounted on
Headstock and one of the left and right sides towards direction of travel pass through operation posture and the speed of service that inertial navigation unit obtains vehicle
Afterwards, in order to further increase data accuracy, the extraction point cloud feature from the information that laser radar obtains is obtained from vehicle-mounted camera
Abstract image characteristic point in the information taken recycles characteristic matching and kalman filter method, to above-mentioned location information, operation appearance
State and the speed of service are modified verification.
One embodiment of the present invention has been described in detail above, but the content is only preferable implementation of the invention
Example, should not be considered as limiting the scope of the invention.It is all according to equivalent variations made by the present patent application range and improve
Deng should still be within the scope of the patent of the present invention.
Claims (10)
1. a kind of automated driving system of port vehicle, which is characterized in that including：
Sensing layer for acquiring the environmental information on current vehicle position periphery, and combines map to carry out target detection, identification and determine
Position；
Decision-making level, environmental information for being acquired according to the sensing layer calculate analysis and obtain decision information, and by decision information
It is transferred to control layer；
Control layer executes traveling task for controlling the operation of the vehicle according to the decision information received；
Data transfer layer, for receive decision-making level's decision information and will treated information sends back decision-making level, realization drives automatically
Sail the unified allocation of resources of vehicle；
The sensing layer is connected with decision-making level, and the decision-making level is connected with control layer, the decision-making level and data transfer layer
It is connected.
2. automated driving system according to claim 1, which is characterized in that the sensing layer includes：
Vehicle mounted imaging apparatus, for acquiring the figure of the distance between the vehicle periphery and barrier and vehicle periphery driving environment
Lane line, pedestrian and traffic lights are detected as information, and according to the image information；
Vehicle carried pick device, for obtaining the location information of the vehicle；
Vehicle-mounted detection device, for obtaining the vehicle obstacle information of local environment and vehicle and obstacle in harbour
The size of the distance between object and barrier.
3. automated driving system according to claim 2, which is characterized in that the vehicle mounted imaging apparatus includes：
Laser radar, for obtaining the distance between the vehicle and peripheral obstacle；
Vehicle-mounted camera, for obtaining the image information of vehicle-periphery in harbour；
Mobileye, the image information of the vehicle-periphery for being obtained according to the vehicle-mounted camera, detection lane line are handed over
Ventilating signal lamp and pedestrian information；
Interchanger, the distance between vehicle and barrier for receiving the laser radar and vehicle-mounted camera acquisition, obstacle
The image information of object size and vehicle-periphery, and acquired above- mentioned information are sent to decision-making level；
The laser radar is mounted among the roof of the vehicle, and the vehicle-mounted camera and Mobileye are installed in described
Before the windshield of vehicle.
4. automated driving system according to claim 3, which is characterized in that the vehicle carried pick device includes：
Beidou GPS dual mode receiver, for obtaining the latitude and longitude information of road in harbour；
Inertial navigation unit, for obtaining the operation posture and the speed of service of the vehicle, and by the warp of road in the harbour
The information of the operation posture and the speed of service of latitude information and vehicle is sent to decision-making level；
The beidou GPS dual mode receiver is mounted on the roof of the vehicle.
5. automated driving system according to claim 4, which is characterized in that the vehicle-mounted detection device includes：
Millimetre-wave radar acquires the distance between the vehicle and long-distance barrier object for detecting；
Ultrasonic radar acquires the distance between the vehicle and short distance barrier for detecting；
CAN card, for receiving the distance between the millimetre-wave radar, the vehicle of ultrasonic radar acquisition and barrier information,
And lane line, traffic lights and the pedestrian information obtained for receiving the Mobileye, and above- mentioned information are sent to certainly
Plan layer；
The millimetre-wave radar is mounted on right above the license plate of the vehicle, and the ultrasonic radar is mounted on the outer of the vehicle
Week, the CAN card are mounted on the vehicle interior.
6. automated driving system according to claim 5, it is characterised in that：The decision-making level includes industrial personal computer.
7. automated driving system according to claim 6, which is characterized in that the data transfer layer includes：
4G module, for receiving and transmitting the decision information of the decision-making level,
Central processing platform handles the decision information for receiving, and to the automatic driving vehicle unified allocation of resources in system, and
Deployment information is sent to the control layer；
The 4G module is mounted on the inside of the vehicle.
8. automated driving system according to claim 7, it is characterised in that：The control layer includes automatic Pilot control
Device executes traveling task according to the decision information for controlling the vehicle, and the auto-pilot controller is used for controlling party
Operation to disk, brake pedal, throttle.
9. automated driving system according to claim 8, it is characterised in that：The auto-pilot controller is mounted on described
The inside of vehicle.
10. a kind of automatic Pilot side of the port vehicle using automated driving system described in any one of claim 1-9
Method, which is characterized in that when Beidou GPS signal drifts about, include the following steps：
(1) default route：Predetermined travel route is cooked up according to the initial position of the vehicle and destination locations；
(2) environment sensing：Static-obstacle thing and vehicle in harbour are obtained according to the vehicle mounted imaging apparatus, vehicle carried pick device acquisition
Identification information, is sent to decision-making level for the identification information；
(3) high accuracy positioning：
(3-1) establishes harbour sequence label：The vehicle mounted imaging apparatus, vehicle carried pick device acquisition are obtained into barrier in harbour
Image information, barrier at a distance from the vehicle, in harbour road latitude and longitude information as tag element, according to described
Tag element establishes harbour sequence label；
(3-2) images match：The image information for acquiring the vehicle-periphery in real time according to vehicle-mounted camera, with the harbour
Tag element in sequence label is matched, and vehicle general location range is obtained；
The matching of (3-3) range information：According to vehicle-mounted detection device acquire in harbour in real time between barrier and the vehicle away from
From tag element compares at a distance from the harbour sequence label, calculates that counter to release the vehicle locating in Port Road
Accurate location；
(3-4) extracts accurate location information：According in the accurate location and the harbour sequence label in the step (3-2)
The tag element of latitude and longitude information compares, and extracts accurate longitude and latitude of the vehicle in sequence label, and it is accurately fixed to obtain
Position information；
(4) planning calculates travel route：The accurate location information is sent to decision-making level, is computed the row for cooking up vehicle
Sail path；
(5) control and execution：According to planning driving path control auto-pilot controller operation, steering wheel, braking are controlled respectively
Pedal and throttle realize the traveling of vehicle；
(6) center regulation：The current state of vehicle is obtained by sensing layer, and information is sent to central processing via decision-making level
In platform, the unified allocation of resources to the automatic driving vehicle in platform is realized.
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