CN109062222A - Automatic driving vehicle managing and control system and method - Google Patents
Automatic driving vehicle managing and control system and method Download PDFInfo
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- CN109062222A CN109062222A CN201811024405.3A CN201811024405A CN109062222A CN 109062222 A CN109062222 A CN 109062222A CN 201811024405 A CN201811024405 A CN 201811024405A CN 109062222 A CN109062222 A CN 109062222A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000004891 communication Methods 0.000 claims description 96
- 238000012545 processing Methods 0.000 claims description 28
- 238000001514 detection method Methods 0.000 claims description 16
- 238000003860 storage Methods 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 10
- 238000002604 ultrasonography Methods 0.000 claims description 8
- 238000012360 testing method Methods 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 3
- 238000001931 thermography Methods 0.000 claims description 3
- 238000001757 thermogravimetry curve Methods 0.000 claims description 3
- 238000012795 verification Methods 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 2
- 230000006399 behavior Effects 0.000 claims 1
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- 238000005516 engineering process Methods 0.000 description 3
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
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- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention proposes a kind of automatic driving vehicle managing and control systems, comprising: the first automatic driving vehicle, the second automatic driving vehicle and emergency center；First automatic driving vehicle issues emergency request signal and the first identity information to emergency center, and detect and whether there is the second automatic driving vehicle on its travel route and in pre-determined distance, evacuation instruction and the second identity information are issued with the second automatic driving vehicle on its travel route and in pre-determined distance；Second automatic driving vehicle receives evacuation instruction and the second identity information and is transferred to emergency center；Emergency center receives emergency request signal, the first identity information, evacuation instruction and the second identity information, and certification is compared to the first identity information and the second identity information, and authentication result is fed back into the second automatic driving vehicle, the second automatic driving vehicle determines whether to avoid the first automatic driving vehicle according to authentication result.In addition, the present invention also provides a kind of automatic driving vehicle management-control methods.
Description
Technical field
The present invention relates to unmanned technical field more particularly to a kind of vehicle administrating systems based on unmanned technology
And method.
Background technique
Pilotless automobile is to perceive road environment by vehicle-mounted sensor-based system, and automatic planning travelling line simultaneously controls vehicle
Reach the intelligent automobile of predeterminated target.It is vehicle-periphery to be perceived using onboard sensor, and obtained according to perception
Road, vehicle location and obstacle information, the steering and speed of vehicle are controlled, to enable the vehicle to reliably and securely exist
It is travelled on road.
In recent years, with the development of science and technology, the continuous improvement of people's lives level, the application of pilotless automobile
Range is also constantly expanding, the foreseeable future, and pilotless automobile will very likely substitute comprehensively traditional pilot steering automobile,
It popularizes on each road, since each pilotless automobile can be according to the automatic running of programme path, when encountering burst shape
Pregnant woman in condition, such as certain pilotless automobile just before giving birth will need to rush towards hospital, if other pilotless automobiles on road
Road cannot be avoided in time, it will delayed the time for reaching hospital, and be likely to cause serious consequence.Therefore, unmanned
How the automobile upcoming epoch carry out rationally control to the driving status of various pilotless automobiles and are badly in need of solution as current
Certainly the problem of.
Summary of the invention
In view of above content, it is necessary to a kind of automatic driving vehicle managing and control system and method are provided, it can be according to certain nothing
The emergency situations that people drives in vehicle rationally manage the driving status of other automatic driving vehicles.
The present invention provides a kind of automatic driving vehicle managing and control system comprising: the first automatic driving vehicle, second nobody drive
Sail vehicle and emergency center；First automatic driving vehicle is established near-field communication with second automatic driving vehicle and is connect,
The emergency center is established telecommunication and is connect with first automatic driving vehicle and second automatic driving vehicle respectively；
First automatic driving vehicle is used to issue emergency request signal and the first identity information to the emergency center,
And detect and whether there is second automatic driving vehicle on its travel route and in pre-determined distance, on its travel route
And the second automatic driving vehicle in pre-determined distance issues evacuation instruction and the second identity information；
Second automatic driving vehicle is for receiving the evacuation instruction and the second identity information and being transferred to institute
It states emergency center and carries out authentication processing；
The emergency center for receive the emergency request signal, first identity information, the evacuation instruct and
Second identity information, and certification is compared to first identity information and second identity information, and will certification
As a result second automatic driving vehicle is fed back to, so that second automatic driving vehicle is according to authentication result determination
No evacuation first automatic driving vehicle.
Further, first automatic driving vehicle includes the first vehicle control module, the first driving module, the first power mould
Block, the first acquisition module, the first remote communication module, the first near-field communication module, the first signal designation module and the first navigation
Locating module；The first vehicle control module is used to stablize the driving status of first automatic driving vehicle, and can control described
First automatic driving vehicle carries out automatic running；The first driving module is electrically connected at the first vehicle control module, and
Corresponding automatic Pilot movement is made under the control action of the first vehicle control module；First power plant module is electrically connected at
The first vehicle control module, the power resources being used to provide the described during the first automatic driving vehicle progress automatic running；Institute
It states the first acquisition module and is electrically connected at the first vehicle control module, for acquiring first automatic driving vehicle itself and week
The information in collarette border；First remote communication module is electrically connected at the first vehicle control module, for in the emergency
The heart establishes telecommunication connection, and issues emergency request signal and the first identity information to the emergency center；Described first is close
Field communication module is electrically connected at the first vehicle control module, connects for establishing near-field communication with second automatic driving vehicle
It connects, and issues corresponding evacuation instruction and the second identity information to second automatic driving vehicle；First signal designation
Module is electrically connected at the first vehicle control module, and light or whistle are issued under the control action of the first vehicle control module
Signal designation；First navigation positioning module is electrically connected at the first vehicle control module, for being accurately positioned described first
The current location of automatic driving vehicle, and travel route is planned according to set destination.
Further, the second automatic driving vehicle include the second vehicle control module, second drive module, the second power plant module,
Second acquisition module, the second near-field communication module, the second remote communication module, second signal indicating module and the second navigator fix
Module；The second vehicle control module is used to stablize the driving status of second automatic driving vehicle, and can control described second
Automatic driving vehicle carries out automatic running；The second driving module is electrically connected at the second vehicle control module, and described
Corresponding automatic Pilot movement is made under the control action of second vehicle control module；Second power plant module is electrically connected at described
Second vehicle control module, the power resources being used to provide the described during the second automatic driving vehicle progress automatic running；Described
Two acquisition modules are electrically connected at the second vehicle control module, for acquiring second automatic driving vehicle itself and surrounding ring
The information in border；Second near-field communication module is electrically connected at the second vehicle control module, for logical with first near field
Letter module establishes near-field communication connection, and receives and issue evacuation instruction and the second identity letter from first near-field communication module
Breath；Second remote communication module is electrically connected at the second vehicle control module, long-range for establishing with the emergency center
Communication connection, and the evacuation received instruction and the second identity information are transferred into the emergency center and carry out authentication processing；Institute
It states second signal indicating module and is electrically connected at the second vehicle control module, and under the control action of the second vehicle control module
Issue light or whistle signal instruction；Second navigation positioning module is electrically connected at the second vehicle control module, for standard
It determines the current location of position second automatic driving vehicle, and travel route is planned according to set destination.
Further, the first driving module and the second driving module respectively include gear control module, brake
Control module, Throttle Opening Control module and direction controlling module, the gear control module is for converting gear, the brake control
For braking to the vehicle of traveling, the Throttle Opening Control module mentions vehicle for controlling oil inlet quantity module
Speed or enhancing horsepower, the direction controlling module are used to control the driving direction of vehicle；And/or
The first signal designation module and the second signal indicating module respectively include left turn signal lamp, turn right
Signal lamp, brake lamp, hazard warning lamp and loudspeaker；The left turn signal lamp, right turn signal lamp, brake lamp and danger
Dangerous hazard warning flasher is respectively used to issue corresponding light indicating signal, and the loudspeaker is for issuing whistle signal；And/or
First acquisition module and second acquisition module respectively include ultrasound examination module, infrared detection module, fingerprint identification module
And camera module, for imaging to the environment of vehicle periphery, the infrared detection module, fingerprint identification module uses the camera module
Infrared thermal imaging detection technique, to obtain Infrared Thermogram corresponding with the heat distribution field on test object surface, the ultrasound
Wave detection module is for detecting the distance between the object and vehicle.
Further, the emergency center includes processor, third remote communication module, memory module and authentication module；
The processor for operation, processing data information, and control coordinate the third remote communication module, the memory module and
The movement of the authentication module；The third remote communication module is electrically connected at the processor, the third telecommunication
Module is established telecommunication with first remote communication module and is connect, to receive the emergency request signal and first body
Part information；The third remote communication module is also established telecommunication with second remote communication module and is connect, to receive
State evacuation instruction and second identity information；The memory module is electrically connected at the processor, for storage by institute
State the emergency request signal and first identity information that third remote communication module receives；The authentication module is electrical
It is connected to the processor, second identity information for being used to receive by after is believed with first identity first received
Authentication processing is compared in breath.
In addition, the present invention also provides a kind of automatic driving vehicle management-control method, the automatic driving vehicle management-control method packet
It includes:
One first automatic driving vehicle occurs emergency case and issues emergency request signal and the first body to an emergency center
Part information；
The emergency center receives the emergency request signal and the first identity information and carries out storage processing；
First automatic driving vehicle detects that there are the second automatic driving cars on travel route and in pre-determined distance
?；
First automatic driving vehicle issues evacuation instruction and the second identity information to second automatic driving vehicle；
Second automatic driving vehicle receives the evacuation instruction and the second identity information and is transferred to described answer
Anxious center carries out authentication processing；
The emergency center receives the evacuation and instructs and the second identity information, and by second identity information with it is described
Certification is compared in first identity information, and authentication result is fed back to second automatic driving vehicle；And
Second automatic driving vehicle receives the authentication result and is determined whether to avoid institute according to the authentication result
State the first automatic driving vehicle.
Further, first automatic driving vehicle occurs emergency case and issues emergency request letter to an emergency center
Number and the first identity information specifically include:
Emergency case occurs for passenger in first automatic driving vehicle, and the passenger is to first automatic driving car
The input emergency instruction of the first vehicle control module, the first remote communication module of first automatic driving vehicle is by remotely leading to
Believe to the emergency center and issues emergency request signal and the first identity information；And/or
The emergency center receives the emergency request signal and the first identity information and carries out the specific packet of storage processing
It includes:
The third remote communication module of the emergency center receives the emergency request signal and the first identity information, institute
The processor for stating emergency center carries out verification processing to the emergency request signal and the first identity information, the emergency center
Memory module stores the emergency request signal verified and the first identity information.
Further, first automatic driving vehicle detects that there are the second nothings on travel route and in pre-determined distance
People drives vehicle and specifically includes:
First acquisition module of first automatic driving vehicle is acquired the information of ambient enviroment, and described first adopts
Collect module camera module and infrared detection module, fingerprint identification module respectively to the object on the first automatic driving vehicle travel route into
The ultrasound examination module of row detection, first acquisition module detects between the object and first automatic driving vehicle
Distance whether be less than the pre-determined distance.
Further, first automatic driving vehicle issues evacuation instruction and second to second automatic driving vehicle
Identity information specifically includes:
First vehicle control module of first automatic driving vehicle generates evacuation instruction, first automatic driving vehicle
First near-field communication module instructs the evacuation and the second identity information is sent to second automatic driving vehicle；And/or
Second automatic driving vehicle receives the evacuation instruction and the second identity information and is transferred to described answer
Anxious center carries out authentication processing and specifically includes:
Second near-field communication module of second automatic driving vehicle is received from first near-field communication module
Evacuation instruction and the second identity information, and transferred to the emergency center and carry out authentication processing.
Further, the emergency center receives the evacuation and instructs and the second identity information, and by second identity
Certification is compared with first identity information for information, and it is specific that authentication result fed back to second automatic driving vehicle
Include:
The third remote communication module of the emergency center receives the evacuation instruction and the second identity information, the emergency
Second identity information is compared the authentication module at center with the first identity information for being stored in the memory module recognizes
Authentication result is fed back to second automatic driving vehicle by card, the third remote communication module of the emergency center；And/or
Second automatic driving vehicle receives the authentication result and is determined whether to avoid institute according to the authentication result
The first automatic driving vehicle is stated to specifically include:
Second remote communication module of second automatic driving vehicle receives the authentication result and is transferred to institute
The second vehicle control module is stated, the second vehicle control module makes corresponding traveling control instruction according to authentication result:
If authenticating successfully, the second vehicle control module control second drives module, the second power plant module and second signal
Indicating module carries out evacuation movement；
If certification is unsuccessful, the second vehicle control module control second drives module, the second power plant module and the second letter
Number indicating module continues according to preset navigation programming route running.
Automatic driving vehicle managing and control system of the invention and method are issued by the first automatic driving vehicle to emergency center
Emergency request signal and the first identity information, and the second automatic driving vehicle on its travel route and in pre-determined distance issues
Evacuation instruction and the second identity information, second automatic driving vehicle receive the evacuation instruction and the second identity information simultaneously
It is transferred to the emergency center and carries out authentication processing, the emergency center is to first identity information and second body
Certification is compared in part information, and authentication result is fed back to second automatic driving vehicle so that described second nobody drive
Vehicle is sailed to be determined whether to avoid first automatic driving vehicle according to the authentication result；Automatic driving vehicle control system
System and method can be realized when emergency situations occur in certain automatic driving vehicle and need to rush towards destination, other unmanned
Vehicle can avoid in time, and the automatic driving vehicle for shortening generation emergency situations rushes towards the time of destination, improve emergency
The success rate of hedging.
Additional aspect and advantage of the invention will become obviously in following description section, or practice through the invention
Recognize.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the schematic diagram of the automatic driving vehicle managing and control system of one embodiment of the invention.
Fig. 2 is the structural block diagram of the automatic driving vehicle managing and control system of another embodiment of the present invention.
Fig. 3 is automatic driving vehicle management-control method flow chart of the invention.
Main element symbol description
The present invention that the following detailed description will be further explained with reference to the above drawings.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It should be noted that it can be directly to separately when a component is considered as " connection " another component
One component may be simultaneously present component placed in the middle.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
Please refer to Fig. 1 to Fig. 2, one embodiment of the present of invention provides a kind of automatic driving vehicle managing and control system 100,
It can rationally be managed according to driving status of the emergency situations in certain automatic driving vehicle to other automatic driving vehicles.
The automatic driving vehicle managing and control system 100 includes the first automatic driving vehicle 10, the second automatic driving vehicle 20
And emergency center 30；First automatic driving vehicle 10 is established near-field communication with second automatic driving vehicle 20 and is connect,
The emergency center 30 is established with first automatic driving vehicle 10 and second automatic driving vehicle 20 long-range logical respectively
Letter connection；
First automatic driving vehicle 10 is used to issue emergency request signal and the first identity to the emergency center 30
Information, and detect and whether there is second automatic driving vehicle 20 on its travel route and in pre-determined distance, with Xiang Qihang
It sails the second automatic driving vehicle 20 on route and in pre-determined distance and issues evacuation instruction and the second identity information；
Second automatic driving vehicle 20 is for receiving the evacuation instruction and the second identity information and being transferred to
The emergency center 30 carries out authentication processing；
The emergency center 30 is for receiving the emergency request signal, first identity information, evacuation instruction
And second identity information, and certification is compared to first identity information and second identity information, and will recognize
Card result feeds back to second automatic driving vehicle 20, so that second automatic driving vehicle 20 is according to the authentication result
Determine whether to avoid first automatic driving vehicle 10.
It is appreciated that the emergency center 30 should first receive the first identity issued by first automatic driving vehicle 10
Information receives the second identity information issued by second automatic driving vehicle 20 afterwards；If after the emergency center 30 compares
Second identity information received is consistent with first identity information first received, then verifying is to second nothing
People drives the first automatic driving vehicle 10 generation emergency situations that vehicle 20 issues evacuation instruction, and to the emergency center 30
Emergency request is carried out, then second automatic driving vehicle 20 should make corresponding evacuation movement.
It is appreciated that the quantity of first automatic driving vehicle 10 and second automatic driving vehicle 20 is at least one
It is a, and multiple first automatic driving vehicles 10 can send corresponding emergency request signal and to the emergency center 30 respectively
One identity information is kept away when there is the second automatic driving vehicle 20 to receive from what one of them first automatic driving vehicle 10 issued
Allow instruction and when the second identity information, second automatic driving vehicle 20 instructs the evacuation and second identity information
It transfers to the emergency center 30 to authenticate, the emergency center 30 is by second identity information and multiple first automatic driving cars
Certification is compared in 10 the first identity information, such as there is first identity information consistent with second identity information,
Then second automatic driving vehicle 20 should make corresponding evacuation movement.
First automatic driving vehicle 10 includes that the first vehicle control module 11, first drives module 12, the first power plant module
13, the first acquisition module 14, the first remote communication module 15, the first near-field communication module 16.The first vehicle control module 11 is used
In stablizing the driving status of first automatic driving vehicle 10, and it can control first automatic driving vehicle 10 and carry out automatically
Traveling；The first driving module 12 is electrically connected at the first vehicle control module 11, and in the first vehicle control module 11
Corresponding automatic Pilot movement is made under control action；First power plant module 13 is electrically connected at the first vehicle control module
11, the power resources being used to provide the described during the first automatic driving vehicle 10 progress automatic running；The first acquisition mould
Block 14 is electrically connected at the first vehicle control module 11, for acquiring first automatic driving vehicle 10 itself and ambient enviroment
Information；First remote communication module 15 is electrically connected at the first vehicle control module 11, is used for and the emergency center
30 establish telecommunication connection, and issue emergency request signal and first identity information to the emergency center 30；It is described
First near-field communication module 16 is electrically connected at the first vehicle control module 11, for building with second automatic driving vehicle 20
Vertical near-field communication connection, and corresponding evacuation instruction and the second identity information are issued to second automatic driving vehicle 20.
First automatic driving vehicle 10 further includes the first signal designation module 17 and the first navigation positioning module 18.Institute
It states the first signal designation module 17 and is electrically connected at the first vehicle control module 11, and in the control of the first vehicle control module 11
Effect is lower to issue light or whistle signal instruction, convenient for prompt pedestrian or other vehicles note that preferably ensure that the peace of vehicle
Full traveling；First navigation positioning module 18 is electrically connected at the first vehicle control module 11, for being accurately positioned described
The current location of one automatic driving vehicle 10, and travel route is planned according to set destination.
Second automatic driving vehicle 20 includes that the second vehicle control module 21, second drives module 22, the second power plant module
23, the second acquisition module 24, the second near-field communication module 25 and the second remote communication module 26.The second vehicle control module 21 is used
In stablizing the driving status of second automatic driving vehicle 20, and it can control second automatic driving vehicle 20 and carry out automatically
Traveling；The second driving module 22 is electrically connected at the second vehicle control module 21, and in the second vehicle control module 21
Corresponding automatic Pilot movement is made under control action；Second power plant module 23 is electrically connected at the second vehicle control module
21, the power resources being used to provide the described during the second automatic driving vehicle 20 progress automatic running；The second acquisition mould
Block 24 is electrically connected at the second vehicle control module 21, for acquiring second automatic driving vehicle 20 itself and ambient enviroment
Information；Second near-field communication module 25 is electrically connected at the second vehicle control module 21, is used for and first near field
Communication module 16 establishes near-field communication connection, and receives and issue evacuation instruction and second from first near-field communication module 16
Identity information；Second remote communication module 26 is electrically connected at the second vehicle control module 21, for in the emergency
The heart 30 establish telecommunication connection, and by the evacuation received instruction and the second identity information transfer to the emergency center 30 into
Row authentication processing；
Second automatic driving vehicle 20 further includes second signal indicating module 27 and the second navigation positioning module 28.Institute
It states second signal indicating module 27 and is electrically connected at the second vehicle control module 21, and in the control of the second vehicle control module 21
Effect is lower to issue light or whistle signal instruction, convenient for prompt pedestrian or other vehicles note that preferably ensure that the peace of vehicle
Full traveling；Second navigation positioning module 28 is electrically connected at the second vehicle control module 21, for being accurately positioned described
The current location of two automatic driving vehicles 20, and travel route is planned according to set destination.
In the present embodiment, described first module 12 and the second driving module 22 are driven respectively including at least gear control mould
Block, brake control module, Throttle Opening Control module and direction controlling module (not shown), the gear control module is for converting shelves
Position, for braking to the vehicle of traveling, the Throttle Opening Control module is used to control oil inlet quantity the brake control module, into
And raised speed to vehicle or enhance horsepower, the direction controlling module is used to control the driving direction of vehicle.
In the present embodiment, first acquisition module 14 and second acquisition module 24 include at least ultrasonic wave respectively
Detection module, infrared detection module, fingerprint identification module and camera module, the camera module can image the environment of vehicle periphery,
The infrared detection module, fingerprint identification module uses infrared thermal imaging detection technique, corresponding with the heat distribution field on test object surface to obtain
Infrared Thermogram, consequently facilitating carrying out accurate judgement to test object, the ultrasound examination module is for detecting the object
The distance between vehicle.Pass through the mutual cooperation energy between ultrasound examination module, infrared detection module, fingerprint identification module and camera module
It is enough that comprehensively the information of road traffic and ambient enviroment is comprehensively acquired, and pass through the first vehicle control module 11 and the second vehicle
The information of 21 pairs of module acquisitions of control is analyzed and processed, to guarantee that automatic driving vehicle is able to carry out safety traffic.
Communication connection between first near-field communication module 16 and second near-field communication module 25 can pass through
Any one communication mode such as bluetooth, NFC, ZigBee, Wi-Fi is realized.
The first signal designation module 17 and the second signal indicating module 27 include at least left turn signal respectively
Lamp, right turn signal lamp, brake lamp, hazard warning lamp and loudspeaker.The left turn signal lamp, right turn signal lamp,
Brake lamp and hazard warning lamp are respectively used to issue corresponding light indicating signal, and the loudspeaker is for issuing whistle letter
Number.
It is appreciated that first power plant module 13 and second power plant module 23 are respectively engine or motor.
The emergency center 30 includes processor 31, third remote communication module 32, memory module 33 and authentication module 34；
The processor 31 controls for operation, processing data information and coordinates the third remote communication module 32, the storage mould
The movement of block 33 and the authentication module 34；The third remote communication module 32 is electrically connected at the processor 31, described
Third remote communication module 32 is established telecommunication with first remote communication module 15 and is connect, to receive the emergency request
Signal and first identity information；The third remote communication module 32 is also established far with second remote communication module 26
Journey communication connection, to receive the evacuation instruction and second identity information；The memory module 33 is electrically connected at described
Processor 31, the emergency request signal and described first received for storage by the third remote communication module 32
Identity information；The authentication module 34 is electrically connected at the processor 31, second identity for being used to receive by after
Authentication processing is compared with first identity information first received for information, and authentication result is long-range via the third
Communication module 32 feeds back to second automatic driving vehicle 20, so that second automatic driving vehicle 20 is according to authentication result
Decide whether to avoid first automatic driving vehicle 10.
It is appreciated that the third remote communication module 32 and first remote communication module 15, described second are remotely
Communication connection between communication module 26 can be realized by any one communication technology such as 3G, 4G, 5G.
Please refer to attached drawing 3, the present invention also provides a kind of control using above-mentioned automatic driving vehicle managing and control system 100
Method comprising following steps:
Step 1, the first automatic driving vehicle 10 occur emergency case and to emergency center 30 issue emergency request signal and
First identity information；
Specifically, it when passenger's generation emergency case in first automatic driving vehicle 10, needs to rush towards purpose as early as possible
Ground, the passenger to the first vehicle control module 11 of first automatic driving vehicle 10 input emergency instruction, described first nobody
Drive vehicle 10 the first remote communication module 15 by telecommunication to the emergency center 30 issue emergency request signal and
First identity information.
Step 2, the emergency center 30 receives the emergency request signal and the first identity information and carries out at storage
Reason；
Specifically, the third remote communication module 32 of the emergency center 30 receives the emergency request signal and first
The processor 31 of identity information, the emergency center 30 carries out at verification the emergency request signal and the first identity information
Reason, the emergency request signal and the first identity information that 33 pairs of memory module of the emergency center 30 were verified are deposited
Storage.
Step 3, first automatic driving vehicle 10 detects that there are the second nothings on travel route and in pre-determined distance
People drives vehicle 20；
Specifically, the first acquisition module 14 of the first automatic driving vehicle 10 is acquired the information of ambient enviroment, institute
The camera module and infrared detection module, fingerprint identification module for stating the first acquisition module 14 are respectively on 10 travel route of the first automatic driving vehicle
Object detected, the ultrasound examination module of first acquisition module 14 detect the object with described first nobody drive
Sail whether the distance between vehicle 10 is less than the pre-determined distance.
Step 4, first automatic driving vehicle 10 issues evacuation instruction and the to second automatic driving vehicle 20
Two identity informations；
Specifically, the first vehicle control module 11 of first automatic driving vehicle 10 generates evacuation instruction, first nothing
The first near-field communication module 16 that people drives vehicle 10 instructs the evacuation and the second identity information is sent to second nothing
People drives vehicle 20.
Step 5, second automatic driving vehicle 20 receives the evacuation instruction and the second identity information and is transferred
Authentication processing is carried out to the emergency center 30；
Specifically, the second near-field communication module 25 of second automatic driving vehicle 20 receives logical from the first near field
Believe evacuation instruction and the second identity information of module 16, and is transferred to the emergency center 30 and carry out authentication processing.
Step 6, the emergency center 30 receives the evacuation instruction and the second identity information, and second identity is believed
Certification is compared with first identity information for breath, and authentication result is fed back to second automatic driving vehicle 20；
Specifically, the third remote communication module 32 of the emergency center 30 receives the evacuation instruction and the second identity letter
Breath, the authentication module 34 of the emergency center 30 is by second identity information and the first body for being stored in the memory module 33
Certification is compared in part information, and authentication result is fed back to described second by the third remote communication module 32 of the emergency center 30
Automatic driving vehicle 20.
Step 7, second automatic driving vehicle 20, which receives the authentication result and according to authentication result determination, is
No evacuation first automatic driving vehicle 10；
Specifically, the second remote communication module 26 of second automatic driving vehicle 20 receives the authentication result and will
It transfers to the second vehicle control module 21, and the second vehicle control module 21 is made corresponding traveling control according to authentication result and referred to
It enables:
If authenticating successfully, the second vehicle control module 21 control second drives module 22, the second power plant module 23 and the
Binary signal indicating module 17 carries out the evacuation movement of lane change or pulling over observing etc；
If certification is unsuccessful, the second vehicle control module 21 control second drive module 22, the second power plant module 23 and
Second signal indicating module 17 continues according to preset navigation programming route running.
Automatic driving vehicle managing and control system of the invention and method pass through the first automatic driving vehicle 10 into the emergency
The heart 30 issues emergency request signal and the first identity information, and second on its travel route and in pre-determined distance is unmanned
Vehicle 20 issues evacuation instruction and the second identity information, and second automatic driving vehicle 20 receives the evacuation and instructs and the
Two identity informations are simultaneously transferred to the progress of emergency center 30 authentication processing, and the emergency center 30 is to first identity
Certification is compared in information and second identity information, and authentication result is fed back to second automatic driving vehicle 20,
So that second automatic driving vehicle 20 determines whether to avoid first automatic driving vehicle 10 according to the authentication result；
The automatic driving vehicle managing and control system and method can be realized when generation emergency situations in certain automatic driving vehicle and need to catch up with
When going to destination, other automatic driving vehicles can avoid in time, and the automatic driving vehicle for shortening generation emergency situations is rushed towards
The time of destination improves the success rate of emergency danger-avoiding.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of automatic driving vehicle managing and control system characterized by comprising the first automatic driving vehicle, second unmanned
Vehicle and emergency center；First automatic driving vehicle is established near-field communication with second automatic driving vehicle and is connect, institute
Emergency center is stated to establish telecommunication with first automatic driving vehicle and second automatic driving vehicle respectively and connect；
First automatic driving vehicle is used to issue emergency request signal and the first identity information to the emergency center, and examines
It surveys and whether there is second automatic driving vehicle on its travel route and in pre-determined distance, on its travel route and pre-
If the second automatic driving vehicle in distance issues evacuation instruction and the second identity information；
Second automatic driving vehicle is for receiving the evacuation instruction and the second identity information and being transferred to described answer
Anxious center carries out authentication processing；
The emergency center for receive the emergency request signal, first identity information, the evacuation instruct and it is described
Second identity information, and certification is compared to first identity information and second identity information, and by authentication result
Second automatic driving vehicle is fed back to, so that second automatic driving vehicle determines whether to keep away according to the authentication result
Allow first automatic driving vehicle.
2. automatic driving vehicle managing and control system according to claim 1, which is characterized in that first automatic driving vehicle
Module, the first power plant module, the first acquisition module, the first remote communication module, first are driven including the first vehicle control module, first
Near-field communication module, the first signal designation module and the first navigation positioning module；Described in the first vehicle control module is used to stablize
The driving status of first automatic driving vehicle, and can control first automatic driving vehicle and carry out automatic running；Described first
It drives module and is electrically connected at the first vehicle control module, and made accordingly under the control action of the first vehicle control module
Automatic Pilot movement；First power plant module is electrically connected at the first vehicle control module, be used to provide the described first nobody
Drive the power resources during vehicle progress automatic running；First acquisition module is electrically connected at the first vehicle control mould
Block, for acquiring the information of first automatic driving vehicle itself and ambient enviroment；First remote communication module is electrical
It is connected to the first vehicle control module, is connect for establishing telecommunication with the emergency center, and is sent out to the emergency center
Emergency request signal and the first identity information out；First near-field communication module is electrically connected at the first vehicle control module,
It connect for establishing near-field communication with second automatic driving vehicle, and is issued accordingly to second automatic driving vehicle
Evacuation instruction and the second identity information；The first signal designation module is electrically connected at the first vehicle control module, and in institute
It states and issues light or whistle signal instruction under the control action of the first vehicle control module；First navigation positioning module is electrically connected
In the first vehicle control module, for the current location of first automatic driving vehicle to be accurately positioned, and according to set
Plan travel route in destination.
3. automatic driving vehicle managing and control system according to claim 2, which is characterized in that the second automatic driving vehicle includes
Second vehicle control module, second drive module, the second power plant module, the second acquisition module, the second near-field communication module, second remotely
Communication module, second signal indicating module and the second navigation positioning module；The second vehicle control module is for stablizing described second
The driving status of automatic driving vehicle, and can control second automatic driving vehicle and carry out automatic running；Described second drives
Module is electrically connected at the second vehicle control module, and makes accordingly automatically under the control action of the second vehicle control module
Driver behavior；Second power plant module is electrically connected at the second vehicle control module, and it is unmanned to be used to provide the described second
Vehicle carries out the power resources during automatic running；Second acquisition module is electrically connected at the second vehicle control module,
For acquiring the information of second automatic driving vehicle itself and ambient enviroment；Second near-field communication module is electrically connected
It in the second vehicle control module, connect, and is received from described for establishing near-field communication with first near-field communication module
First near-field communication module issues evacuation instruction and the second identity information；Second remote communication module is electrically connected at described
Second vehicle control module, connect for establishing telecommunication with the emergency center, and by the evacuation received instruction and the second body
Part message transport to the emergency center carries out authentication processing；The second signal indicating module is electrically connected at second vehicle
Module is controlled, and issues light or whistle signal instruction under the control action of the second vehicle control module；Second navigation is fixed
Position module is electrically connected at the second vehicle control module, for the current location of second automatic driving vehicle to be accurately positioned,
And travel route is planned according to set destination.
4. automatic driving vehicle managing and control system according to claim 3, which is characterized in that described first drives module and institute
It states the second driving module and respectively includes gear control module, brake control module, Throttle Opening Control module and direction controlling module, institute
Gear control module is stated for converting gear, the brake control module is for braking the vehicle of traveling, the throttle
Control module raises speed to vehicle or enhances horsepower for controlling oil inlet quantity, and the direction controlling module is for controlling
The driving direction of vehicle；And/or
The first signal designation module and the second signal indicating module respectively include left turn signal lamp, right turn signal
Lamp, brake lamp, hazard warning lamp and loudspeaker；The left turn signal lamp, right turn signal lamp, brake lamp and dangerous report
Alert flash lamp is respectively used to issue corresponding light indicating signal, and the loudspeaker is for issuing whistle signal；And/or
First acquisition module and second acquisition module respectively include ultrasound examination module, infrared detection module, fingerprint identification module and take the photograph
As head module, the camera module is for imaging the environment of vehicle periphery, and the infrared detection module, fingerprint identification module is using infrared
Thermal imaging detection technique, to obtain Infrared Thermogram corresponding with the heat distribution field on test object surface, the ultrasonic wave inspection
Module is surveyed for detecting the distance between the object and vehicle.
5. according to the described in any item automatic driving vehicle managing and control systems of claim 3 or 4, which is characterized in that in the emergency
Pericardium includes processor, third remote communication module, memory module and authentication module；The processor is for operation, processing data
Information, and control the movement for coordinating the third remote communication module, the memory module and the authentication module；The third
Remote communication module is electrically connected at the processor, and the third remote communication module is built with first remote communication module
Vertical telecommunication connection, to receive the emergency request signal and first identity information；The third remote communication module
It also establishes telecommunication with second remote communication module to connect, to receive the evacuation instruction and second identity letter
Breath；The memory module is electrically connected at the processor, is received for storage by the third remote communication module
The emergency request signal and first identity information；The authentication module is electrically connected at the processor, be used for by
Authentication processing is compared with first identity information first received in second identity information received afterwards.
6. a kind of management-control method using any one of the claim 1-5 automatic driving vehicle managing and control system, which is characterized in that
The management-control method includes:
One first automatic driving vehicle occurs emergency case and issues emergency request signal and the first identity letter to an emergency center
Breath；
The emergency center receives the emergency request signal and the first identity information and carries out storage processing；
First automatic driving vehicle detects that there are the second automatic driving vehicles on travel route and in pre-determined distance；
First automatic driving vehicle issues evacuation instruction and the second identity information to second automatic driving vehicle；
Second automatic driving vehicle receives the evacuation instruction and the second identity information and is transferred in the emergency
The heart carries out authentication processing；
The emergency center receives the evacuation and instructs and the second identity information, and by second identity information and described first
Certification is compared in identity information, and authentication result is fed back to second automatic driving vehicle；And
Second automatic driving vehicle receives the authentication result and determines whether to avoid described the according to the authentication result
One automatic driving vehicle.
7. management-control method according to claim 6, which is characterized in that emergency case occurs for first automatic driving vehicle
And it is specifically included to emergency center sending emergency request signal and the first identity information:
Emergency case occurs for passenger in first automatic driving vehicle, and the passenger is to first automatic driving vehicle
The input emergency instruction of first vehicle control module, the first remote communication module of first automatic driving vehicle by telecommunication to
The emergency center issues emergency request signal and the first identity information；And/or
The emergency center receives the emergency request signal and the first identity information and carries out storage processing and specifically includes:
The third remote communication module of the emergency center receives the emergency request signal and the first identity information, described to answer
The processor at anxious center carries out verification processing, the storage of the emergency center to the emergency request signal and the first identity information
Module stores the emergency request signal verified and the first identity information.
8. management-control method according to claim 6, which is characterized in that first automatic driving vehicle, which detects, to travel
There are the second automatic driving vehicles to specifically include on route and in pre-determined distance:
First acquisition module of first automatic driving vehicle is acquired the information of ambient enviroment, the first acquisition mould
The camera module and infrared detection module, fingerprint identification module of block respectively examine the object on the first automatic driving vehicle travel route
Survey, the ultrasound examination module of first acquisition module detect between the object and first automatic driving vehicle away from
From whether less than the pre-determined distance.
9. management-control method according to claim 6, which is characterized in that first automatic driving vehicle is to second nothing
People drives vehicle sending evacuation instruction and the second identity information specifically includes:
First vehicle control module of first automatic driving vehicle generates evacuation and instructs, and the first of first automatic driving vehicle
Near-field communication module instructs the evacuation and the second identity information is sent to second automatic driving vehicle；And/or
Second automatic driving vehicle receives the evacuation instruction and the second identity information and is transferred in the emergency
The heart carries out authentication processing and specifically includes:
Second near-field communication module of second automatic driving vehicle receives keeping away from first near-field communication module
It allows instruction and the second identity information, and is transferred to the emergency center and carry out authentication processing.
10. management-control method according to claim 6, which is characterized in that the emergency center receive the evacuation instruct and
Second identity information, and second identity information is compared certification with first identity information, and by authentication result
Second automatic driving vehicle is fed back to specifically include:
The third remote communication module of the emergency center receives the evacuation instruction and the second identity information, the emergency center
Authentication module certification, institute is compared with the first identity information for being stored in the memory module in second identity information
Authentication result is fed back to second automatic driving vehicle by the third remote communication module for stating emergency center；And/or
Second automatic driving vehicle receives the authentication result and determines whether to avoid described the according to the authentication result
One automatic driving vehicle specifically includes:
Second remote communication module of second automatic driving vehicle receives the authentication result and is transferred to described the
Two vehicle control modules, the second vehicle control module make corresponding traveling control instruction according to authentication result:
If authenticating successfully, the second vehicle control module control second drives module, the second power plant module and second signal instruction
Module carries out evacuation movement；
If certification is unsuccessful, the second driving of the second vehicle control module control module, the second power plant module and second signal refer to
Show that module continues according to preset navigation programming route running.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811024405.3A CN109062222A (en) | 2018-09-04 | 2018-09-04 | Automatic driving vehicle managing and control system and method |
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| CN201811024405.3A CN109062222A (en) | 2018-09-04 | 2018-09-04 | Automatic driving vehicle managing and control system and method |
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