CN109017783A - Automatic Pilot method and automated driving system - Google Patents
Automatic Pilot method and automated driving system Download PDFInfo
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- CN109017783A CN109017783A CN201810801852.9A CN201810801852A CN109017783A CN 109017783 A CN109017783 A CN 109017783A CN 201810801852 A CN201810801852 A CN 201810801852A CN 109017783 A CN109017783 A CN 109017783A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
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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
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
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Abstract
The invention discloses a kind of automatic Pilot method and automated driving systems.Automatic Pilot method, comprising the following steps: identify the identity information and location information of vehicle；Ground common control center is handled to obtain initial control signal to the location information of the vehicle, and the initial control signal is sent to the corresponding vehicle control system of identity information；The automatic Pilot of the corresponding vehicle of identity information is controlled according to the initial control signal.Automatic Pilot method has the advantages that at low cost.
Description
Technical field
The present embodiments relate to automatic Pilot technical field more particularly to a kind of automatic Pilot method and automatic Pilot systems
System.
Background technique
Automatic Pilot technology is current research hotspot.Automatic Pilot relies on artificial intelligence, can actively grasp in nobody
In the case where work, motor vehicle is operated with allowing computer automatic safe.Automatic Pilot not only can be by people from taking great energy laborious driving
It is freed in operation, and the accuracy due to computer, response speed and repeatability be considerably beyond the mankind, thus can be with
The safety of motor vehicle is greatly promoted, traffic accident is reduced.
Current automatic Pilot technology is mainly set about from vehicle itself, allows vehicle intelligent computing system simulation people in driving machine
All behaviors when motor-car.It allows vehicle to perceive ambient enviroment and condition of road surface as people, plans travel route, make correlation
Analytical judgment and decision complete sequence of operations of such as refueling, brake, turn to etc..The effort side of current automatic Pilot technology
To being all driving behaviors and thought for allowing vehicle based computing system to simulate people completely, that is, the vehicle of automatic Pilot is allowed to have intelligence
The powerful ability of energy perception, calculating, real-time programmed decision-making etc., the realization of these abilities depend on a series of high performance electronics
Equipment.Current automated driving system includes various types of sensors, such as camera, radar and GPS positioning system,
Mobile communication system etc..The information of these sensors acquisition is the original foundation that motor vehicles act in next step.Automatic Pilot
System finally controls throttle, brake and steering of vehicle etc..
Therefore, current automated driving system depends on many high-performance, high-cost sensing equipment and powerful meter
Calculation ability.So more equipment is individually integrated on every trolley, so that the automated driving system of vehicle is with high costs.Therefore
How a kind of at low cost automated driving system is improved, just at the demand of automatic Pilot technical field.
Summary of the invention
The present invention provides a kind of automatic Pilot method and automated driving system, with high costs to solve automated driving system
Technical problem.
In a first aspect, the embodiment of the invention provides a kind of automatic Pilot methods, comprising the following steps: identify the body of vehicle
Part information and location information；Ground common control center handles the location information of the vehicle to obtain initial control letter
Number, the initial control signal is sent to the corresponding vehicle control system of identity information；Believed according to the initial control
The automatic Pilot of number corresponding vehicle of control identity information.
Preferably, road environment information is also identified when identifying the location information of the vehicle.
Preferably, the identity information of the identification vehicle, location information, road environment information include: by the vehicle row
The road surface sailed is divided into latticed, detects the identity information of vehicle in each grid, location information, road environment information.
Preferably, the location information of the vehicle is detected, road environment information is that real-time detection or prefixed time interval are examined
It surveys, the road environment information includes detecting the location information of barrier in each grid, according to different moments vehicle and obstacle
The position of object can calculate the change in location information of vehicle, the change in location information of barrier, the velocity information of barrier.
Preferably, one binary sensor in the corresponding ground of each grid or aerial at least setting.
Preferably, the initial control signal include: automatic Pilot the vehicle be one when, control automatic Pilot
At least one the speed, acceleration of vehicle and steering；And/or the vehicle of automatic Pilot is two, two automatic Pilots
Vehicle in tandem, when subsequent automatic driving vehicle needs to overtake other vehicles, controls the speed, acceleration of the vehicle of two amount automatic Pilots
With at least one turn to, the vehicle of two automatic Pilots barrier each other, before the vehicle of automatic Pilot be automatic Pilot below
Vehicle give way evacuation or back automatic Pilot replacing vehicle lane to overtake other vehicles；And/or the vehicle of automatic Pilot is more
At least one when, control the speed, acceleration of the vehicle of automatic Pilot and turn to, hinder each other between the vehicle of more automatic Pilots
Hinder object.
Preferably, at least one vehicle control system generates vehicle control adjustment instruction according to preset rules, and sends institute
It states vehicle control adjustment and instructs ground common control center of giving, the ground common control center is according to the vehicle control adjustment
Instruction and initial control signal generate correcting controlling signal, to adjust the automatic of corresponding at least one vehicle control system progress
It drives.
Preferably, the preset rules are that the vehicle adjustment instruction of different stage is preset according to emergency significance level,
Rank that the vehicle adjustment instruction of the different stage corresponds to different travel speeds, difference is overtaken other vehicles or different destinations.
Second aspect, the present invention also provides a kind of automated driving systems, for controlling vehicle automatic Pilot on road surface, from
Dynamic control loop includes: ground common control center and vehicle control system, and the vehicle control system is set on vehicle, institute
Stating ground common control center includes the sensor along road setting, wherein the ground common control center passes through sensor
Identify the identity information and location information of vehicle；The ground common control center handles the location information of the vehicle
Initial control signal is obtained, the initial control signal is sent to the corresponding vehicle control system of identity information；It is described
Vehicle control system controls the automatic Pilot of the corresponding vehicle of identity information according to the initial control signal.
Preferably, the sensor includes binary sensor and identification sensor, by the road of the vehicle driving
Face is divided into latticed, and the binary sensor detects the location information of vehicle in each grid, the identification sensing
Device detects the identity information of the vehicle in each grid, and the setting of at least one binary sensor is corresponding in each grid
Ground is aerial, and the binary sensor also identifies road environment information.
Preferably, ground common control center further includes main control module and terrestrial transmission module, and the main control module is used
It is handled to obtain initial control signal in the location information to the vehicle, road environment information；The terrestrial transmission module,
It is used to that initial control signal to be transferred to corresponding vehicle control system according to the identity information of vehicle.
Preferably, vehicle control system includes vehicle transmission module, control unit, braking system, dynamical system and steering
System, the vehicle transmission module are used to receive the initial control signal that the ground common control center is sent, the control
Unit processed is used to control the work of braking system, dynamical system and steering system according to initial control signal；The braking system
System, is used to control the braking of vehicle；The dynamical system is used to provide power for the operation of vehicle；The steering system,
Its steering for being used to control vehicle.
Preferably, the type of the binary sensor includes pressure sensor, optical sensor.
Compared with prior art, the present invention is by providing a kind of automatic Pilot method, comprising the following steps: identifies vehicle
Identity information and location information；Ground common control center handles the location information of the vehicle to obtain initial control letter
Number, the initial control signal is sent to the corresponding vehicle control system of identity information；Believed according to the initial control
The automatic Pilot of number corresponding vehicle of control identity information, solves existing automated driving system technical problem with high costs,
Automatic Pilot method of the invention has the advantages that at low cost, and automatic Pilot method is concentrated the component of detection on the ground
On ground common control center, the vehicle control system on vehicle only needs to receive signal automatic Pilot, the vehicle control on vehicle
System structure processed is simple, at low cost, and ground common control center can control all vehicles on road surface and advance, to all vehicles
Route make planning, drive safer, reduce social cost.
The present invention also identifies road environment information when identifying the location information of the vehicle, and automatic Pilot is safer.
The identity information of identification vehicle of the invention, location information, road environment information include: by the vehicle driving
Road surface is divided into latticed, detects the identity information of vehicle in each grid, location information, road environment information, detection is each
The identity information of vehicle, location information are more accurate in grid.
The corresponding ground of the grid each of of the invention or one binary sensor of aerial at least setting, binary system pass
Sensor only needs the presence or absence of detection object, that is, only needs to be indicated with " 0 ", " 1 " two states, and required information content is few, can
With mitigate significantly system to communication, the requirements of abilities such as calculate, further decrease the demand of main control module, reduce cost, two into
The position of sensor processed is arranged more reasonable, reduces the quantity demand of binary sensor.
At least one vehicle control system of the invention generates vehicle control adjustment instruction according to preset rules, and sends institute
It states vehicle control adjustment and instructs ground common control center of giving, the ground common control center is according to the vehicle control adjustment
Instruction and initial control signal generate correcting controlling signal, to adjust the automatic of corresponding at least one vehicle control system progress
Drive, method of the invention be suitable for automatic Pilot when emergency generation, increase automatic Pilot method applicability and
Fault-tolerance.
The road surface of vehicle driving of the invention is divided into the shape of grid, the corresponding ground of each grid or it is aerial extremely
One binary sensor is set less, and the position of binary sensor is arranged more reasonable, reduces the number of binary sensor
Amount demand.
Compared with prior art, the embodiment of the present invention also provides a kind of automated driving system, for controlling vehicle on road
Automatic Pilot on face, automated driving system include: ground common control center and vehicle control system, the vehicle control system
It is set on vehicle, the ground common control center includes the sensor along road setting, wherein the ground common control
Center identifies the identity information and location information of vehicle by sensor；Position of the ground common control center to the vehicle
Confidence breath is handled to obtain initial control signal, and the initial control signal is sent to the corresponding vehicle of identity information
Control system；The vehicle control system controls driving automatically for the corresponding vehicle of identity information according to the initial control signal
It sails, solves existing automated driving system technical problem with high costs, automatic Pilot method of the invention has at low cost
Advantage, automatic Pilot method are concentrated the component of detection on the ground, and the vehicle control system on vehicle only needs to receive letter
Number automatic Pilot, the vehicle control system structure on vehicle is simple, at low cost.
Detailed description of the invention
Fig. 1 is the flow diagram for the automatic Pilot method that A of the embodiment of the present invention is provided.
Fig. 2 is the more specifically flow diagram for the automatic Pilot method that A of the embodiment of the present invention is provided.
Fig. 3 is the modular structure schematic diagram for the automated driving system that B of the embodiment of the present invention is provided；
Fig. 4 is the specific modular structure schematic diagram at the ground common control center in B of the embodiment of the present invention；
Fig. 5 is the positional structure schematic diagram of the binary sensor in B of the embodiment of the present invention；
Fig. 6 is the specific modular structure schematic diagram of the vehicle control system in B of the embodiment of the present invention；
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail
The processing or method described as flow chart.Although each step is described as the processing of sequence by flow chart, many of these
Step can be implemented concurrently, concomitantly or simultaneously.In addition, the sequence of each step can be rearranged.When its operation
The processing can be terminated when completion, it is also possible to have the additional step being not included in attached drawing.The processing can be with
Corresponding to method, function, regulation, subroutine, subprogram etc..
Embodiment A
Referring to Fig. 1, Fig. 1 is the flow diagram for the automatic Pilot method that A of the embodiment of the present invention is provided, automatic Pilot side
Method for controlling vehicle automatic Pilot on road surface, automatic Pilot method the following steps are included:
Step S1: the identity information and location information of vehicle are identified.
Step S2: ground common control center is handled to obtain initial control signal to the location information of the vehicle,
The initial control signal is sent to the corresponding vehicle control system of identity information；
Step S3: the automatic Pilot of the corresponding vehicle of identity information is controlled according to the initial control signal.
In step sl, identity information, the location information of the identification vehicle include: to draw the road surface of the vehicle driving
It is divided into latticed, detects the identity information of vehicle, location information in each grid.Preferably, in the position for identifying the vehicle
Road environment information is also identified when information.When identifying identity information, the location information, road environment information of vehicle, by the vehicle
The road surface of traveling is divided into latticed, detects the identity information of vehicle in each grid, location information, road environment information.
Detect the location information of the vehicle, road environment information is that real-time detection or prefixed time interval detect, the road environment
Information includes detecting the location information of barrier in each grid.Preferably, location information, the road environment of the vehicle are detected
Information is real-time detection.Each corresponding ground of the grid or one binary sensor of aerial at least setting, binary system pass
The sensor location information of vehicle and the location information of barrier in each grid for identification.Identification is arranged on road roadside to pass
Sensor or the corresponding ground of each grid or aerial setting identification sensor, identification sensor vehicle for identification
Identity information.It is appreciated that barrier can be the object on road except automatic driving vehicle, such as pedestrian, it is non-automatic to drive
Vehicle is sailed, the vehicle in roadside is stopped.Automatic Pilot vehicle there are two or it is more than two when, the vehicles of multiple automatic Pilots it
Between also barrier each other.
In step s 2, ground common control center, which carries out processing to the location information of vehicle, can be obtained the position change of vehicle
The velocity information of vehicle can be calculated according to the change in location information of different moments vehicle by changing information.Ground common control center
Carrying out processing to the location information of barrier can be obtained the change in location information of barrier, according to the position of different moments barrier
Change information can calculate velocity information, acceleration information, the moving direction information of barrier.Ground common control Central Radical
Pavement behavior is constructed completely according to the vehicle of automatic Pilot, the accurate location of barrier and dynamic changes on road surface
Figure, and the movement of the vehicle, pedestrian moved in energy road pavement is made prediction.
In step s3, initial control signal include: automatic Pilot the vehicle be one when, control automatic Pilot
At least one the speed, acceleration of vehicle and steering；And/or the vehicle of automatic Pilot is two, two automatic Pilots
Vehicle in tandem, when subsequent automatic driving vehicle needs to overtake other vehicles, controls the speed, acceleration of the vehicle of two amount automatic Pilots
With at least one turn to, the vehicle of two automatic Pilots barrier each other, before the vehicle of automatic Pilot be automatic Pilot below
Vehicle give way evacuation or back automatic Pilot replacing vehicle lane to overtake other vehicles；And/or the vehicle of automatic Pilot is more
At least one when, control the speed, acceleration of the vehicle of automatic Pilot and turn to, hinder each other between the vehicle of more automatic Pilots
Hinder object.
Referring to Fig. 2, Fig. 2 is the more specifically flow diagram for the automatic Pilot method that A of the embodiment of the present invention is provided,
Automatic Pilot method is further comprising the steps of:
Step S4: at least one vehicle control system generates vehicle control adjustment according to preset rules and instructs, and sends institute
It states vehicle control adjustment and instructs and give ground common control center,
Step S5: the ground common control center is generated according to the vehicle control adjustment instruction and initial control signal
Correcting controlling signal, to adjust the automatic Pilot that at least one corresponding vehicle control system carries out.
In step s 4, the preset rules are to be referred to according to the vehicle adjustment of the default different stage of emergency significance level
It enables, the vehicle adjustment instruction of the different stage corresponds to different travel speeds, different overtake other vehicles rank or different destinations.Tightly
Urgent thing part includes but is not limited to vehicle trouble, the people on vehicle sick, special car suddenly.Special car, such as police car, rescue
Vehicle, fire fighting truck.Specifically, corresponding preset rules can be parking such as in vehicle trouble；In the ill on vehicle,
Corresponding preset rules, which can be, changes destination, such as goes to hospital；Special car, when for police car, corresponding rule be can be
Automatic driving vehicle gives way for police car, and police car is run at high speed, rank of overtaking other vehicles highest, and the runaway convict that police car needs to arrest takes automatic
The vehicle automatic stopping of driving, when for ambulance or fire fighting truck, it is ambulance that corresponding rule, which can be automatic driving vehicle,
Or fire fighting truck gives way, ambulance or fire fighting truck are run at high speed, rank of overtaking other vehicles highest.It is appreciated that default cited by the present invention
The embodiment of rule is only section Example, and the rule for not departing from inventive concept is within the scope of the invention.It can be with
Understand, sensor can also be increased on vehicle, to detect in vehicle whether really generation emergency and be transferred to ground control
Camera is installed such as to check the situation in vehicle in center.
Embodiment B
Also referring to Fig. 3 and Fig. 4, Fig. 3 is that the modular structure for the automated driving system 10 that B of the embodiment of the present invention is provided is shown
It is intended to, Fig. 4 is the specific modular structure schematic diagram at the ground common control center 11 in B of the embodiment of the present invention, the automatic Pilot
System 10 is for controlling vehicle automatic Pilot on road surface.Automated driving system 10 includes ground common control center 11 and vehicle
Control system 12, the vehicle control system 12 are set on vehicle, and the ground common control center includes being arranged along road
Sensor (not labeled).
The ground common control center 11 identifies the identity information and location information of vehicle by sensor；
The ground common control center 11 handles the location information of the vehicle to obtain initial control signal, will
The initial control signal is sent to the corresponding vehicle control system 12 of identity information；
The vehicle control system 12 controls driving automatically for the corresponding vehicle of identity information according to the initial control signal
It sails.
Please continue to refer to Fig. 4, ground common control center 11 further includes main control module 111, terrestrial transmission module 114, is passed
Sensor includes binary sensor 113 and identification sensor 112.Binary sensor 113, terrestrial transmission module 114, body
Part identification sensor 112 is all electrically connected with main control module 111, wherein
The identification sensor 112, for identification identity information of vehicle.Identification sensor 112 can be with
Setting is corresponding aerial on roadside, road surface or road surface.As a kind of selection, identification sensor 112 can be a two dimensional code
Identification module, on vehicle setting binding identity two dimensional code, identification sensor 112 by identification vehicle two dimensional code with
The identity information of vehicle is identified, to identify the position of the identity of the vehicle control system 12 of corresponding installation and current vehicle on vehicle
Set binding.Alternatively, identification sensor 112 can be a signal receiving module, and signal is installed on vehicle
Information of vehicles is sent to identification sensor 112, identification sensor by sending module, the signal transmitting module on vehicle
The identity information of 112 identification vehicles, to identify that the identity of the vehicle control system 12 of corresponding installation and binding are current on vehicle
The position of vehicle.It is appreciated that identification sensor 112 can identify the vehicle of automatic Pilot all on the road surface of road
Identity information.It is appreciated that the type of identification sensor 112 is without limitation, information of vehicles can be identified to identify vehicle
The identity of the vehicle control system 12 of corresponding installation on.
Referring to Fig. 5, Fig. 5 is the positional structure schematic diagram of the binary sensor 113 in B of the embodiment of the present invention.It is described
Including multiple, binary sensor 113 is distributed on the corresponding ground 20 in road surface of vehicle driving or right binary sensor 113
That answers is aerial, is used to detect the location information of vehicle, road environment information and is sent to main control module 111.It is only drawn in Fig. 5
Several binary sensors 113 do not represent the particular number of binary sensor 113 as signal.Binary sensor 113
Detect the location information of vehicle, road environment information is that real-time detection or interval event detect.Binary sensor 113 is located at ground
It, can be with ground 20 flush or below ground 20 when on face 20.When binary sensor 113 is lower than ground 20, binary system is passed
Sensor 113 is 1-10mm lower than the distance on ground 20, and preferably shorter than the distance on ground 20 is 1-5mm.Binary sensor 113 is set
When being placed in aerial, binary sensor 113 is hung in the air, such as sets up shelf in the top on road surface, binary sensor 113 is outstanding
It hangs or is fixed on shelf.The type of binary sensor 113 includes but is not limited to pressure sensor, optical sensor.Specifically
Such as Thermal Infra-Red sensor.Preferably, the road surface of vehicle driving is divided into the shape of grid, and each grid is correspondingly
One binary sensor 113 in face or aerial at least setting.The shape of each grid include but is not limited to triangle, rectangle,
Square and regular hexagon.Preferably, mesh shape is square.Preferably, the area of each square is 16cm2-
100cm2.There are barrier, pedestrian, vehicle etc., binary sensor 113 on the road surface of 113 corresponding position of binary sensor
The presence or absence of barrier, pedestrian, vehicle etc. can be sensed, also can detect the size of the objects such as barrier, pedestrian, vehicle, detection
The same sensor used for object is more, then object is bigger, on the contrary then smaller.Barrier, pedestrian, vehicle on road surface etc.
After movement, the corresponding binary sensor 113 in position senses signal, the corresponding binary sensor in movement front position after movement
113 cannot sense signal.To which binary sensor 113 can detect the change in location of the location information of vehicle, vehicle
Information, the location information of barrier, change in location information of barrier etc..Preferably, the road surface of vehicle driving also includes periphery
Pavement, i.e., be also provided with binary sensor 113 on the pavement on periphery.Since binary sensor 113 senses each net
Lattice only need the presence or absence of detection object, that is, only need to be indicated with " 0 ", " 1 " two states, and required information content is few, can be with
Mitigate requirement of the system to abilities such as communication, calculating significantly.It is appreciated that binary sensor 113 select it is normally opened or normally closed
Type is without limitation.Such as in someone on road surface or object, the binary sensor 113 of corresponding position can sense signal, such as exist
Nobody or when object on road surface, the binary sensor 113 of corresponding position cannot sense signal, can also be with the type phase
Instead.
The main control module 111 is used for the location information to the vehicle, road environment information is handled to obtain just
Begin control signal；The main control module 111, which carries out processing to the location information of vehicle, can be obtained the change in location information of vehicle, root
According to the change in location information of different moments vehicle, the velocity information of vehicle can be calculated.Position of the main control module 111 to barrier
Information carries out processing the change in location information of barrier can be obtained being counted according to the change in location information of different moments barrier
Calculate the velocity information of barrier.The main control module 111 is according to the accurate location of the vehicle of automatic Pilot, barrier on road surface
And dynamic changes construct the complete map of pavement behavior, and the movement of the vehicle, pedestrian moved in energy road pavement is made
Prediction.The control module at least can control the operation of a vehicle control system 12.Preferably, there are many vehicles on road surface
When, main control module 111 can control the operation of the vehicle control system 12 of all vehicles on road surface simultaneously.Due to main control module
111 construct the complete map of pavement behavior, and ground common control center 11 has whole assurance, and energy to entire traffic condition
The movement of the vehicle, the pedestrian that move in road pavement etc. are made prediction, thus main control module 111 can in road pavement all vehicles shifting
Dynamic route makes planning, to control the automatic Pilot of vehicle, it is thus possible to wagon flow be adjusted flexibly in real time according to the actual situation, this is right
In improving road colleague's ability, alleviates traffic congestion and be of great importance.
The terrestrial transmission module 114 is used to that initial control signal to be transferred to correspondence according to the identity information of vehicle
Vehicle control system 12, terrestrial transmission module 114 can also receive vehicle control system 12 transmission signal.Terrestrial transmission module
114 be preferably wireless transport module, initial control signal is radioed to the vehicle control system 12 of corresponding vehicle.It is preferred that
Ground, terrestrial transmission module 114 are arranged in roadside, in order to preferably transmit signal.It, can be with when the road surface of vehicle driving is longer
Multiple terrestrial transmission modules 114 are set, and a terrestrial transmission module 114, i.e., every road section surface is arranged in the road surface for choosing appropriate length
One terrestrial transmission module 114 is set, to guarantee the stability of signal transmission.
Referring to Fig. 6, Fig. 6 is the specific modular structure schematic diagram of the vehicle control system 12 in B of the embodiment of the present invention, vehicle
Control system 12 includes vehicle transmission module 122, control unit 121, braking system 123, dynamical system 124, steering system
125 and regular trigger module 126, vehicle transmission module 122, braking system 123, dynamical system 124, steering system 125, rule
Trigger module 126 is all electrically connected with control unit 121.
The braking system 123, is used to control the braking of vehicle；
The dynamical system 124 is used to provide power for the operation of vehicle；
The steering system 125, is used to control the steering of vehicle.
Braking system 123, dynamical system 124 and steering system 125 can choose the corresponding system of existing automatic Pilot,
Or system newly developed, it is in the present invention, no longer further to be limited.
The vehicle transmission module 122 is used to receive the terrestrial transmission module 114 at the ground common control center 11
The initial control signal of transmission, vehicle transmission module 122 are also used for sending a signal to terrestrial transmission module 114.Vehicle transmits mould
Block 122 is wireless transport module, and vehicle transmission module 122 receives the initial control signal that terrestrial transmission module 114 is sent.To
Using wireless transmission side when the initial control signal is sent to the vehicle control system 12 by ground common control center 11
Formula.
Described control unit 121 is used to control braking system 123, dynamical system 124 according to initial control signal and turn
Work to system 125；Control unit 121 can be CPU (Central Processing Unit, central processing unit), control
Chip etc..Control unit 121 can also generate vehicle control adjustment instruction according to preset rules, and pass through vehicle transmission module 122
It sends the vehicle control adjustment and instructs ground common control center of giving, ground common control center 11 is according to the vehicle control
Adjustment instruction and initial control signal generate correcting controlling signal, are carried out with adjusting at least one corresponding vehicle control system 12
Automatic Pilot.The preset rules are that the vehicle adjustment instruction of different stage is preset according to emergency significance level, described
The vehicle adjustment instruction of different stage corresponds to different travel speeds, different overtake other vehicles rank or different destinations.
The rule trigger module 126, is used to receive instruction with trigger control unit 121 and generates vehicle according to preset rules
Control adjustment instruction.Specifically, triggering rule module 126 can be button, touch screen etc., to receive the instruction of user.
As a kind of selection, automated driving system 10 further includes remote control equipment (not shown), and remote control equipment includes that hand is mechanical, electrical
The vehicle control adjustment generated by preset rules can be instructed and be transferred to ground common control center 11 by the terminals such as brain, remote control equipment
Terrestrial transmission module 114, to apply for the drive parameters such as speed, direction, route of adjustment Vehicular automatic driving.Concentrate control in ground
Center 11 processed can also control vehicle according to remote signal and realize left and right turn, forward-reverse, emergency stop, Throttle Opening Control, main clutch
The control such as control and throttle, gear.Refer to it is appreciated that remote control equipment can also generate vehicle control adjustment according to preset rules
It enables, and sends the vehicle control adjustment by vehicle transmission module 122 and instruct and give ground common control center.
In the operation of automated driving system 10 in use, the road surface of vehicle driving is equivalent to a big active transport system,
Vehicle is equivalent to by freight, and the ground common control center 11 on road surface controls the automatic running of vehicle.Vehicle from
During departure place to destination, main driving judgement and decision are completed by ground common control center 11, and on vehicle
Vehicle control system 12 only need to be implemented instruction, the driving function of vehicle is greatly simplified, and motor vehicles are implemented as
Originally it can be greatly reduced.
It is appreciated that the content in embodiment A and embodiment B can complement one another and illustrate.
Compared with prior art, the present invention is by providing a kind of automatic Pilot method, comprising the following steps: identifies vehicle
Identity information and location information；Ground common control center handles the location information of the vehicle to obtain initial control letter
Number, the initial control signal is sent to the corresponding vehicle control system of identity information；Believed according to the initial control
The automatic Pilot of number corresponding vehicle of control identity information, solves existing automated driving system technical problem with high costs,
Automatic Pilot method of the invention has the advantages that at low cost, and automatic Pilot method is concentrated the component of detection on the ground
On ground common control center, the vehicle control system on vehicle only needs to receive signal automatic Pilot, the vehicle control on vehicle
System structure processed is simple, at low cost, and ground common control center can control all vehicles on road surface and advance, to all vehicles
Route make planning, drive safer, reduce social cost.
The present invention also identifies road environment information when identifying the location information of the vehicle, and automatic Pilot is safer.
The identity information of identification vehicle of the invention, location information, road environment information include: by the vehicle driving
Road surface is divided into latticed, detects the identity information of vehicle in each grid, location information, road environment information, detection is each
The identity information of vehicle, location information are more accurate in grid.
The corresponding ground of the grid each of of the invention or one binary sensor of aerial at least setting, binary system pass
Sensor only needs the presence or absence of detection object, that is, only needs to be indicated with " 0 ", " 1 " two states, and required information content is few, can
With mitigate significantly system to communication, the requirements of abilities such as calculate, further decrease the demand of main control module, reduce cost, two into
The position of sensor processed is arranged more reasonable, reduces the quantity demand of binary sensor.
At least one vehicle control system of the invention generates vehicle control adjustment instruction according to preset rules, and sends institute
It states vehicle control adjustment and instructs ground common control center of giving, the ground common control center is according to the vehicle control adjustment
Instruction and initial control signal generate correcting controlling signal, to adjust the automatic of corresponding at least one vehicle control system progress
Drive, method of the invention be suitable for automatic Pilot when emergency generation, increase automatic Pilot method applicability and
Fault-tolerance.
The road surface of vehicle driving of the invention is divided into the shape of grid, the corresponding ground of each grid or it is aerial extremely
One binary sensor is set less, and the position of binary sensor is arranged more reasonable, reduces the number of binary sensor
Amount demand.
Compared with prior art, the embodiment of the present invention also provides a kind of automated driving system, for controlling vehicle on road
Automatic Pilot on face, automated driving system include: ground common control center and vehicle control system, the vehicle control system
It is set on vehicle, the ground common control center includes the sensor along road setting, wherein the ground common control
Center identifies the identity information and location information of vehicle by sensor；Position of the ground common control center to the vehicle
Confidence breath is handled to obtain initial control signal, and the initial control signal is sent to the corresponding vehicle of identity information
Control system；The vehicle control system controls driving automatically for the corresponding vehicle of identity information according to the initial control signal
It sails, solves existing automated driving system technical problem with high costs, automatic Pilot method of the invention has at low cost
Advantage, automatic Pilot method are concentrated the component of detection on the ground, and the vehicle control system on vehicle only needs to receive letter
Number automatic Pilot, the vehicle control system structure on vehicle is simple, at low cost.
It is worth noting that, included each unit and module are only according to function logic in above-mentioned all embodiments
It is divided, but is not limited to the above division, as long as corresponding functions can be realized；In addition, each functional unit
Specific name be also only for convenience of distinguishing each other, the protection scope being not intended to restrict the invention.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (13)
1. a kind of automatic Pilot method, which comprises the following steps:
Identify the identity information and location information of vehicle；
Ground common control center is handled to obtain initial control signal to the location information of the vehicle, by the initial control
Signal processed is sent to the corresponding vehicle control system of identity information；
The automatic Pilot of the corresponding vehicle of identity information is controlled according to the initial control signal.
2. automatic Pilot method as described in claim 1, it is characterised in that: also identified when identifying the location information of the vehicle
Road environment information.
3. automatic Pilot method as claimed in claim 2, it is characterised in that: identity information, the position letter of the identification vehicle
Breath, road environment information include:
The road surface of the vehicle driving is divided into latticed, detects the identity information of vehicle, location information, road in each grid
Face environmental information.
4. automatic Pilot method as claimed in claim 3, it is characterised in that: detect location information, the road surface ring of the vehicle
Border information is that real-time detection or prefixed time interval detect, and the road environment information includes detecting barrier in each grid
Location information can calculate the change in location information of vehicle, the position of barrier according to the position of different moments vehicle and barrier
Set the velocity information of change information, barrier.
5. automatic Pilot method as claimed in claim 3, it is characterised in that: the corresponding ground of each grid or it is aerial extremely
One binary sensor is set less.
6. automatic Pilot method as described in claim 1, which is characterized in that the initial control signal includes:
At least one when the vehicle of automatic Pilot is one, control the speed, acceleration of the vehicle of automatic Pilot and turn to；
And/or the vehicle of automatic Pilot be two, the vehicle of two automatic Pilots in tandem, subsequent automatic Pilot vehicle
When needing to overtake other vehicles, at least one speed, acceleration and steering of the vehicle of two amount automatic Pilots are controlled, two automatic Pilots
Vehicle barrier each other, before the vehicle of automatic Pilot be that the vehicle of automatic Pilot below gives way evacuation or back automatic Pilot
Replacing vehicle lane is to overtake other vehicles；
And/or the vehicle of automatic Pilot be more when, control the vehicle of automatic Pilot speed, acceleration and turn at least
One of, barrier each other between the vehicle of more automatic Pilots.
7. automatic Pilot method as described in claim 1, it is characterised in that: at least one vehicle control system is according to default rule
Vehicle control adjustment instruction is then generated, and sends the vehicle control adjustment and instructs ground common control center of giving, the ground
Centralized-control center generates correcting controlling signal according to the vehicle control adjustment instruction and initial control signal, to adjust correspondence
At least one vehicle control system carry out automatic Pilot.
8. automatic Pilot method as claimed in claim 7, it is characterised in that: the preset rules are important according to emergency
Degree preset different stage vehicle adjustment instruction, the vehicle adjustment instruction of the different stage correspond to different travel speeds,
Difference is overtaken other vehicles rank or different destination.
9. a kind of automated driving system, for controlling vehicle automatic Pilot on road surface, which is characterized in that automated driving system packet
Include: ground common control center and vehicle control system, the vehicle control system are set on vehicle, and control is concentrated on the ground
Center processed includes the sensor along road setting, wherein
The ground common control center identifies the identity information and location information of vehicle by sensor；
The ground common control center is handled to obtain initial control signal to the location information of the vehicle, will be described first
Beginning control signal is sent to the corresponding vehicle control system of identity information；
The vehicle control system controls the automatic Pilot of the corresponding vehicle of identity information according to the initial control signal.
10. automated driving system as claimed in claim 9, it is characterised in that: the sensor include binary sensor and
The road surface of the vehicle driving is divided into latticed, each grid of the binary sensor detection by identification sensor
The location information of interior vehicle, the identification sensor detect the identity information of the vehicle in each grid, at least one two
For the setting of system sensor on the corresponding ground of each grid or aerial, the binary sensor also identify road environment letter
Breath.
11. automated driving system as claimed in claim 10, it is characterised in that: ground common control center further includes master control mould
Block and terrestrial transmission module,
The main control module, is used for that the location information to the vehicle, road environment information to be handled initially is controlled
Signal；
The terrestrial transmission module is used to that initial control signal to be transferred to corresponding vehicle control according to the identity information of vehicle
System processed.
12. automated driving system as claimed in claim 9, it is characterised in that: vehicle control system include vehicle transmission module,
Control unit, braking system, dynamical system and steering system,
The vehicle transmission module is used to receive the initial control signal that the ground common control center is sent,
Described control unit is used to control the work of braking system, dynamical system and steering system according to initial control signal；
The braking system is used to control the braking of vehicle；
The dynamical system is used to provide power for the operation of vehicle；
The steering system is used to control the steering of vehicle.
13. automated driving system as claimed in claim 10, it is characterised in that: the type of the binary sensor includes pressure
Force snesor, optical sensor.
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