CN109421697A

CN109421697A - A kind of control method for vehicle, device and system

Info

Publication number: CN109421697A
Application number: CN201710765218.XA
Authority: CN
Inventors: 孙芃; 何星星; 高亮; 翁畅维
Original assignee: Siemens AG
Current assignee: Siemens AG
Priority date: 2017-08-30
Filing date: 2017-08-30
Publication date: 2019-03-05
Also published as: WO2019042592A1; EP3659134A1

Abstract

The present invention relates to technical field of transportation more particularly to a kind of control method for vehicle and equipment, and to improve the efficiency of entire traffic system, effectively prevention traffic accident reduces traffic congestion.In a method provided in an embodiment of the present invention, the first equipment obtains the first traffic control information and the second traffic control information, first traffic control information are acquired by an automatic driving vehicle, and second traffic control information is centralized control information；First equipment generates the first traffic control instruction according to first traffic control information and second traffic control information, for controlling the traveling of the automatic driving vehicle.Centralized control is combined with vehicle autonomous control, control the traveling of automatic driving vehicle, consider the traffic conditions of a traffic system part, it is contemplated that traffic conditions whole in the traffic system, it can be improved the flow and efficiency of entire traffic system, reduce the probability that traffic accident occurs.

Description

A kind of control method for vehicle, device and system

Technical field

The present invention relates to technical field of transportation, more particularly to call a kind of control method for vehicle, device and system.

Background technique

Automatic driving vehicle (Autonomous vehicles or Self-piloting automobile), also known as without People drives vehicle, computer drives vehicle or wheeled mobile robot, is a kind of unpiloted vehicle of utilization computer technology realization ?.Automatic driving vehicle cooperates by artificial intelligence, vision calculating, radar, monitoring device and positioning system, so that calculating Machine controls to automatic safe the traveling of vehicle under the operation of nobody class active.

In following traffic system, it will there are a large amount of automatic driving vehicles, how to these automatic driving vehicles It is controlled, travels it safely, be a urgent problem needed to be solved.Current traffic control method (such as traffic light signal Control) and traffic guidance system be usually the characteristics of being directed to artificial driving Car design, do not account for automatic driving vehicle, It also needs to improve in terms of preventing traffic accident, reducing.

Summary of the invention

In view of this, the present invention provides a kind of control method for vehicle and equipment, to improve the efficiency of entire traffic system, Effectively to prevent traffic accident, traffic congestion is reduced.

In a first aspect, providing a kind of control method for an automatic driving vehicle, in this method, the first equipment is obtained First traffic control information, first traffic control information are acquired by the equipment of the automatic driving vehicle side；Described One equipment obtains the second traffic control information, and second traffic control information is centralized control information；The first equipment root It generates first traffic control according to first traffic control information and second traffic control information to instruct, described first Traffic control instructs the traveling for controlling the automatic driving vehicle.

Wherein, centralized control is combined with vehicle autonomous control, controls the traveling of automatic driving vehicle, both considered The traffic conditions of one traffic system part, it is contemplated that traffic conditions whole in the traffic system, can be improved entire friendship The flow and efficiency of way system reduce the probability that traffic accident occurs.

Optionally, first equipment is the equipment of the automatic driving vehicle side, the first traffic control information packet At least one: the first traffic conditions information in following information is included, sensor is passed through by the equipment of the automatic driving vehicle side It is acquired；Second traffic conditions information is obtained by the equipment of the automatic driving vehicle side from other automatic driving vehicles；Institute Stating the second traffic control information is second traffic control for the automatic driving vehicle from a roadside device Instruction.

In the program, traffic conditions information that the equipment of automatic driving vehicle side is acquired according to sensor and/or from other The traffic conditions information that automatic driving vehicle obtains, and the centralized control information from roadside device control itself row It sails, improves current automatic driving vehicle and only rely on inter-vehicular communication to control traveling, lack the centralized control of traffic system The case where.Compared with other optinal plans, traffic conditions information is sent to roadside device without automatic driving vehicle, it is only necessary to receive Central controlled traffic control instruction from roadside device.Usually the included information content of instruction is less, therefore can save Transfer resource between automatic driving vehicle and roadside device, control is more timely, more efficient.

Optionally, first equipment is the equipment of the automatic driving vehicle side, the first traffic control information packet At least one: the first traffic conditions information in following information is included, sensor is passed through by the equipment of the automatic driving vehicle side It is acquired；Second traffic conditions information is obtained by the equipment of the automatic driving vehicle side from other automatic driving vehicles；Institute The second traffic control information is stated from a roadside device, and is used to indicate the traffic conditions near the automatic driving vehicle.

In the program, final traffic control is generated according to various information by the equipment of automatic driving vehicle side and is instructed.Its In, depending on the range of the traffic conditions of the second traffic control information instruction can be according to actual conditions, such as automatic driving vehicle institute In section, section where automatic driving vehicle and the traffic system where adjacent segments or automatic driving vehicle are realized not The centralized control of same level.

Optionally, first equipment is a roadside device, and first traffic control information includes in following information At least one: the first traffic conditions information, acquired by the equipment of the automatic driving vehicle side by sensor；Second hands over Understanding and considerate condition information is obtained by the equipment of the automatic driving vehicle side from other automatic driving vehicles；The second traffic control At least one other roadside device of the information processed near the roadside device and/or the roadside device, and for referring to Show the traffic conditions near the automatic driving vehicle.

In the program, final traffic control is generated according to various information by roadside device and is instructed.Roadside device can be with Other roadside devices easily communicate, and can easily obtain the traffic conditions near automatic driving vehicle, are conducive to generate preferable Traffic control instruction, to improve the efficiency of traffic system.And advanced block chain technology can be used between roadside device Generate traffic control instruction, have the advantages that endlessly attack, information security it is high, and be not necessarily to a center controlling platform progress Centralized control, more simple and flexible in realization.Wherein, the range of the traffic conditions of the second traffic control information instruction can be according to reality Depending on situation, such as section where automatic driving vehicle, section where automatic driving vehicle and adjacent segments or automatic Pilot Traffic system where vehicle realizes the centralized control of different stage.

Optionally, first equipment is a roadside device, and first traffic control information is the automatic Pilot Second traffic control instruction that the equipment of vehicle side generates.Second traffic control information is from the roadside device And/or at least one other roadside device near the roadside device, and be used to indicate near the automatic driving vehicle Traffic conditions.

In the program, the automatic Pilot scheme of existing automatic driving vehicle, automatic driving vehicle can be preferably utilized The algorithm for the generation traffic control instruction that the equipment of side can have been realized according to itself generates the second traffic control and instructs and be sent to Roadside device, then final traffic control is generated according to the second traffic control instruction and the second traffic control information by roadside device System instruction.The program can preferably be compatible with current automatic Pilot scheme.Advanced block chain can be used between roadside device Technology generates traffic control instruction, have the advantages that endlessly to be attacked, information security it is high, and without a center controlling platform Carry out centralized control, more simple and flexible in realization.The range of the traffic conditions of second traffic control information instruction can be according to reality Depending on situation, such as section where automatic driving vehicle, section where automatic driving vehicle and adjacent segments or automatic Pilot Traffic system where vehicle realizes the centralized control of different stage.

Optionally, first equipment is a center controlling platform, and first traffic control information includes following letters At least one: the first traffic conditions information in breath, is acquired by the equipment of the automatic driving vehicle side by sensor；The Two traffic conditions information are obtained by the equipment of the automatic driving vehicle side from other automatic driving vehicles；Described second hands over Logical control information comes from least one roadside device, and is used to indicate the traffic conditions near the automatic driving vehicle.

In the program, various information are collected by a center controlling platform and ultimately generate a traffic control instruction, are used for Control the traveling of automatic driving vehicle.The operational capability of usual center controlling platform is relatively by force, it can be achieved that more complex algorithm, is convenient for Generate a preferable traffic control instruction.

Optionally, first equipment is a center controlling platform, and first traffic control information is described automatic Second traffic control instruction that the equipment for driving vehicle side generates；Second traffic control information comes from least one road Side apparatus, and it is used to indicate the traffic conditions near the automatic driving vehicle.

It further include acquisition one before first equipment generates the first traffic control instruction in above each scheme A weight factor, the weight factor are used to indicate second traffic control information and first traffic control information in life Influence degree when being instructed at first traffic control；First equipment generates the first traffic control instruction, comprising: First equipment generates first traffic control according to the weight factor and instructs.

In the program, by the way that weight factor is arranged, centralized control and automatic Pilot when traffic control instruction can control to generate The ratio that vehicle voluntarily controls.

Second aspect provides a kind of control method for an automatic driving vehicle, comprising: a roadside device determines Second traffic control information, second traffic control information are centralized control information；The roadside device is handed over described second The equipment that logical control information is sent to the automatic driving vehicle side, for the automatic driving vehicle side equipment according to Second traffic control information and the first traffic control information generate the first traffic control instruction, and hand over according to described first Logical control instruction controls the traveling of the automatic driving vehicle, wherein first traffic control information includes in following information At least one: the first traffic conditions information, acquired by the equipment of the automatic driving vehicle side by sensor；Second hands over Understanding and considerate condition information is obtained by the automatic driving vehicle from other automatic driving vehicles.

In the program, the equipment that centralized control information is sent to automatic driving vehicle side by roadside device, automatic Pilot vehicle The traffic conditions information that the equipment of side is acquired according to self-sensor device and/or the traffic feelings obtained from other automatic driving vehicles Condition information, and the centralized control information from roadside device come control traveling, improve current automatic driving vehicle only according to The case where controlling traveling by inter-vehicular communication, lacking the centralized control of traffic system.Equipment without automatic driving vehicle side Traffic conditions information is sent to roadside device, it is only necessary to receive the central controlled traffic control instruction from roadside device.

Optionally, the roadside device determines that the second traffic control information includes: that the roadside device acquisition is described automatic The information for driving the traffic conditions near vehicle, as second traffic control information；Or the roadside device acquires institute The information of the traffic conditions near automatic driving vehicle is stated, and is generated according to collected information and is directed to the automatic driving vehicle Second traffic control instruction, as second traffic control information.

The third aspect provides the control method for an automatic driving vehicle, comprising:

The equipment of the automatic driving vehicle side determines that the first traffic control information, first traffic control information include First traffic conditions information and/or the second traffic conditions information, alternatively, first traffic control information is the automatic Pilot Second traffic control instruction that the equipment of vehicle side generates, wherein the first traffic conditions information is driven automatically by described The equipment for sailing vehicle side is acquired by sensor, the second traffic conditions information, by setting for the automatic driving vehicle side It is standby to be obtained from other automatic driving vehicles；The equipment of the automatic driving vehicle side sends described first to a roadside device Traffic control information；The equipment of the automatic driving vehicle side receives first traffic control from the roadside device and refers to It enables, the traffic control instruction is generated according to first traffic control information and second traffic control information；Institute The equipment for stating automatic driving vehicle side controls the traveling of the automatic driving vehicle according to first traffic control instruction.

In the program, traffic conditions information that the equipment of automatic driving vehicle side acquires sensor and/or from other from The dynamic traffic conditions information for driving vehicle acquisition is sent to roadside device, or second traffic control that itself is generated refers to Order is sent to roadside device, then final the first traffic control instruction is received from roadside device.Certainly by centralized control and vehicle Main control combines, and controls the traveling of automatic driving vehicle, has not only considered the traffic conditions of a traffic system part, but also examines Consider traffic conditions whole in the traffic system, can be improved the flow and efficiency of entire traffic system, reduces traffic accident The probability of generation.

Fourth aspect provides a kind of control method for an automatic driving vehicle, comprising: a roadside device is to one A center controlling platform sends the first traffic control information and the second traffic control information, wherein the first traffic control letter Breath is acquired by the automatic driving vehicle, and second traffic control information is centralized control information；The roadside device from The first traffic control instruction is received at the center controlling platform, wherein the first traffic control instruction is in described Control platform is entreated to be generated according to first traffic control information and second traffic control information；The roadside device to The automatic driving vehicle sends the first traffic control instruction, to control the traveling of the automatic driving vehicle.

In the program, centralized control is combined with vehicle autonomous control, the traveling of automatic driving vehicle is controlled, both examined The traffic conditions of a traffic system part are considered, it is contemplated that traffic conditions whole in the traffic system, can be improved whole The flow and efficiency of a traffic system reduce the probability that traffic accident occurs.

5th aspect, provides a kind of the first equipment controlled for an automatic driving vehicle, comprising: an information Module is obtained, for obtaining the first traffic control information and the second traffic control information, wherein first traffic control information It is acquired by the equipment of the automatic driving vehicle side, second traffic control information is centralized control information；One instruction Generation module, first equipment generate first according to first traffic control information and second traffic control information and hand over Logical control instruction, first traffic control instruct the traveling for controlling the automatic driving vehicle.

Optionally, first equipment is the equipment of the automatic driving vehicle side, what the data obtaining module obtained First traffic control information includes at least one: the first traffic conditions information in following information, by the automatic Pilot The equipment of vehicle side is acquired by sensor；Second traffic conditions information, by the automatic driving vehicle side equipment from its It is obtained at his automatic driving vehicle；Second traffic control information that the data obtaining module obtains is from a trackside Second traffic control for the automatic driving vehicle for equipment instructs.

In the program, traffic conditions information that the equipment of automatic driving vehicle side is acquired according to sensor and/or from other The traffic conditions information that automatic driving vehicle obtains, and the centralized control information from roadside device travel to control, and improve The case where current automatic driving vehicle only relies on inter-vehicular communication to control traveling, lack the centralized control of traffic system. Compared with other optinal plans, the equipment without automatic driving vehicle side sends traffic conditions information to roadside device, it is only necessary to connect Receive the central controlled traffic control instruction from roadside device.Usually the included information content of instruction is less, therefore can save Transfer resource between the equipment and roadside device of province automatic driving vehicle side, control is more timely, more efficient.

Optionally, first equipment is the equipment of the automatic driving vehicle side, what the data obtaining module obtained First traffic control information includes at least one: the first traffic conditions information in following information, by the automatic Pilot The equipment of vehicle side is acquired by sensor；Second traffic conditions information, by the automatic driving vehicle side equipment from its It is obtained at his automatic driving vehicle；Second traffic control information that the data obtaining module obtains is set from a trackside It is standby, and it is used to indicate the traffic conditions near the automatic driving vehicle.

Optionally, first equipment is a roadside device, first traffic that the data obtaining module obtains Control information includes at least one: the first traffic conditions information in following information, by the equipment of the automatic driving vehicle side It is acquired by sensor；Second traffic conditions information, by the equipment of the automatic driving vehicle side from other automatic Pilot vehicles It is obtained at；Second traffic control information that the data obtaining module obtains is from the roadside device and/or institute At least one other roadside device near roadside device is stated, and is used to indicate the traffic feelings near the automatic driving vehicle Condition.

Optionally, first equipment is a roadside device, first traffic that the data obtaining module obtains Controlling information is second traffic control instruction that the automatic driving vehicle generates；The institute that the data obtaining module obtains At least one other trackside of second traffic control information near the roadside device and/or the roadside device is stated to set It is standby, and it is used to indicate the traffic conditions near the automatic driving vehicle.

Optionally, first equipment is a center controlling platform, described the first of the data obtaining module acquisition Traffic control information includes at least one: the first traffic conditions information in following information, by the automatic driving vehicle side Equipment is acquired by sensor；Second traffic conditions information is driven by the equipment of the automatic driving vehicle side from other automatically It sails and is obtained at vehicle；Second traffic control information that the data obtaining module obtains comes from least one roadside device, And it is used to indicate the traffic conditions near the automatic driving vehicle.

Optionally, first equipment is a center controlling platform, described the first of the data obtaining module acquisition Traffic control information is second traffic control instruction that the equipment of the automatic driving vehicle side generates；The acquisition of information Second traffic control information that module obtains comes from least one roadside device, and is used to indicate the automatic driving vehicle Neighbouring traffic conditions.

6th aspect, provides a kind of roadside device, comprising: a message processing module, for determining the second traffic control Information, second traffic control information are centralized control information；One information sending module is used for the second traffic control Information processed is sent to the automatic driving vehicle, for the automatic driving vehicle side equipment according to second traffic control Information and the first traffic control information generate the first traffic control instruction, and instruct and control according to first traffic control Make the traveling of the automatic driving vehicle, wherein first traffic control information includes at least one: the in following information One traffic conditions information is acquired by the equipment of the automatic driving vehicle side by sensor；Second traffic conditions information, by The equipment of the automatic driving vehicle side obtains from other automatic driving vehicles.

In the program, centralized control information is sent to automatic driving vehicle by roadside device, and automatic driving vehicle side is set The standby traffic conditions information according to sensor acquisition and/or the traffic conditions information from the acquisition of other automatic driving vehicles, and Centralized control information from roadside device controls itself traveling, improves current automatic driving vehicle and only relies on vehicle Between communication control traveling, the case where lacking the centralized control of traffic system.Equipment without automatic driving vehicle side is to trackside Equipment sends traffic conditions information, it is only necessary to receive the central controlled traffic control instruction from roadside device.

Optionally, the message processing module is specifically used for: acquiring the traffic conditions near the automatic driving vehicle Information, as second traffic control information；Or the information of the traffic conditions near the acquisition automatic driving vehicle, and Second traffic control instruction for the automatic driving vehicle is generated according to collected information, is handed over as described second Logical control information.

7th aspect, provides a kind of automatic driving vehicle, comprising: a message processing module, for determining the first traffic Information is controlled, first traffic control information includes the first traffic conditions information and/or the second traffic conditions information, alternatively, First traffic control information is second traffic control instruction that the equipment of the automatic driving vehicle side generates, In, the first traffic conditions information is acquired by the equipment of the automatic driving vehicle side by sensor, and described second hands over Understanding and considerate condition information is obtained by the equipment of the automatic driving vehicle side from other automatic driving vehicles；One information transmit-receive mould Block receives one first friendship for sending first traffic control information to a roadside device from the roadside device Logical control instruction, the traffic control instruction are raw according to first traffic control information and second traffic control information At；One vehicle control module, for controlling the traveling of the automatic driving vehicle according to first traffic control instruction.

Eighth aspect provides a kind of roadside device, comprising: an information sending module, for flat to a center control Platform sends the first traffic control information and the second traffic control information, wherein first traffic control information is by described automatic The equipment for driving vehicle side is acquired, and second traffic control information is centralized control information；One information receiving module is used It is instructed in receiving first traffic control from the center controlling platform, wherein the first traffic control instruction is institute State what center controlling platform was generated according to first traffic control information and second traffic control information；The information hair Module is sent, it is described automatic to control for sending the first traffic control instruction to the equipment of the automatic driving vehicle side Drive the traveling of vehicle.

9th aspect, provides a kind of controller of vehicle, comprising: at least one processor, for storing machine readable finger It enables；At least one processor executes first aspect, second aspect, the third aspect, for calling the machine readable instructions Four aspects, any possible implementation of first aspect, any possible implementation of second aspect, the third aspect Any possible implementation or fourth aspect the method that provides of any possible implementation.

Tenth aspect, provides a kind of machine readable media, is stored with machine readable instructions on the readable readable medium, institute Machine readable instructions are stated when being executed by processor, execute first aspect, second aspect, the third aspect, fourth aspect, first party Any possible implementation in face, any possible implementation of second aspect, the third aspect any possibility Implementation or fourth aspect the method that provides of any possible implementation.

Detailed description of the invention

Fig. 1 is the schematic diagram of vehicle and vehicle (Vehicle to Vehicle, V2V) communication.

Fig. 2A shows the efficiency of one traffic system when carrying out centralized control.

Fig. 2 B shows the efficiency of one traffic system when being based only upon automatic driving vehicle itself decision.

Fig. 3 is the schematic diagram of traffic system provided in an embodiment of the present invention.

Fig. 4 shows the scheme of the first control automatic driving vehicle provided in an embodiment of the present invention.

Fig. 5 shows the scheme of second of control automatic driving vehicle provided in an embodiment of the present invention.

Fig. 6 shows the scheme of the third control automatic driving vehicle provided in an embodiment of the present invention.

Fig. 7 shows the scheme of the 4th kind of control automatic driving vehicle provided in an embodiment of the present invention.

Fig. 8 shows the scheme of the 5th kind of control automatic driving vehicle provided in an embodiment of the present invention.

Fig. 9 shows the scheme of the 6th kind of control automatic driving vehicle provided in an embodiment of the present invention.

Figure 10, Figure 11 are the structural schematic diagram of the first equipment provided in an embodiment of the present invention.

Figure 12 is a kind of structural schematic diagram of roadside device provided in an embodiment of the present invention.

Figure 13 is a kind of structural schematic diagram of the equipment of automatic driving vehicle side provided in an embodiment of the present invention.

Figure 14 is the structural schematic diagram of another roadside device provided in an embodiment of the present invention.

Figure 15 is a kind of schematic diagram of optional protocol stack of roadside device provided in an embodiment of the present invention.

Figure 16~Figure 19 is the schematic diagram of four kinds of traffic scenes of the embodiment of the present invention.

Reference signs list:

10: automatic driving vehicle 20: roadside device 30: center controlling platform

100: traffic system

S401: generate the second traffic control and instruct S402: send the second traffic control and instruct S403: vehicle acquires information

S404: it generates the first traffic control and instructs S405: control 41: the second traffic control of vehicle driving instruction

42: being instructed from the received information 43 of other vehicles: 44: the first traffic control of information that vehicle itself acquires

S501: roadside device acquires information S502: send traffic control information S503: vehicle acquisition receives information

S504: it generates the first traffic control and instructs S505: control 51: the second traffic control information of vehicle driving

52: being instructed from the received information 53 of other vehicles: 54: the first traffic control of information that vehicle itself acquires

S601: roadside device acquires information S602: vehicle acquisition receives information S603: sending traffic control information

S604: it generates the first traffic control and instructs S605: sending the first traffic control and instruct S606: control vehicle driving

61: the second traffic control informations 62: from the received information 63 of other vehicles: the information that vehicle itself acquires

64: the first traffic controls instruction

S701: road measuring device acquisition receives information S702: vehicle acquisition receives information S703: generating the second traffic control System instruction

S704: it sends the second traffic control and instructs S705: generating the first traffic control and instruct S706: sending the first traffic Control instruction

S707: control 71: the second traffic conditions information 72 of vehicle driving: from the received information of other vehicles

73: 74: the second traffic control of information of vehicle itself acquisition instructs 75: the first traffic controls instruction

S801: roadside device acquisition receives information S802: vehicle acquisition receives information S803: sending information 82/83

S804: roadside device sends information S805 to center controlling platform: generating the first traffic control instruction

S806: it sends the first traffic control and instructs S807: sending the first traffic control and instruct S808: control vehicle driving

81: the second traffic control informations 82: from the received information 83 of other vehicles: the information that vehicle itself acquires

84: the first traffic controls instruction

S901: roadside device acquisition receives information S902: vehicle acquisition receives information S903: generating the second traffic control System instruction

S904: it sends the second traffic control and instructs S905: sending instruction, information S906: generating the first traffic control and refer to It enables

S907: it sends the first traffic control and instructs S908: sending the first traffic control and instruct S909: control vehicle driving

91: the second traffic conditions information 92: from the received information 93 of other vehicles: the information that vehicle itself acquires

94: the second traffic controls instruct 95: the first traffic controls instruction

1001: data obtaining module 1002: directive generation module

1101: at least one processor 1102: at least one processor 1103: user interface

1104: at least one communication device

1201: message processing module 1202: information sending module

1301: message processing module 1302: signal dispatcher module 1303: vehicle control module

1401: information sending module 1402: information receiving module

151: operating system layer 152: service layer 153: algorithm layer

154: application layer 1511: radio-frequency module 1512: at least one sensor

1513: camera 1514: real-time clock module 1521: communication service

1522: Data Fusion of Sensor service 1523: image processing services 1531: systematic training module

1532: play-theory module 1533: green wave module 1541: crossroad scene process module

1542: parking lot processing module 1543: alarm module

Specific embodiment

As previously mentioned, for following traffic system, when there are a large amount of automatic driving vehicles, current traffic control side There are many drawbacks for method and traffic guidance system.Currently, the tissues such as some vehicle manufacture companies propose one kind for automatic Pilot The control method of vehicle, as shown in Figure 1, it is communicated using vehicle and vehicle (Vehicle to Vehicle, V2V), certain Enough information is mutually acquired between vehicle in regional scope, each vehicle can use these information to determine Plan controls the traveling of vehicle.

But pass through a large amount of observe and the study found that the best decision of each vehicle can not bring entire traffic system The best decision of system.Because the decision of each vehicle is obtained based on the information of vehicles in the regional area near the vehicle , these information do not represent the global situation of entire traffic system.Fig. 2A shows traffic system when only carrying out centralized control The efficiency of system, Fig. 2 B show the effect for being based only upon traffic system when each automatic driving vehicle itself decision is controlled Rate, in two figures, the longitudinal axis is efficiency, is used to indicate the handling capacity of entire traffic system；Horizontal axis is the time.As it can be seen that even if each A automatic driving vehicle has made the best decision of itself, and the efficiency of entire traffic system can also fluctuate, and can not also reach The attainable efficiency of centralized control institute is carried out to traffic system.

The embodiment of the present invention proposes a kind of control method for vehicle of traffic system for future, device and system, Centralized control is combined with vehicle autonomous control, the traveling of automatic driving vehicle is controlled, by between vehicle and vehicle V2V Communication and vehicle and infrastructure (Vehicle to infrastructure, V2I) between communication, both consider one The traffic conditions of a traffic system part, it is contemplated that traffic conditions whole in the traffic system, can be improved entire traffic The flow and efficiency of system reduce the probability that traffic accident occurs.

In order to make the description of the embodiment of the present invention apparent understandable, below to the present embodiments relate to some descriptions add To explain.It should be noted that these explanations are not construed as limiting the scope of the present invention.

1, autonomous control, centralized control and centralized control information

Autonomous control refers to automatic driving vehicle when controlling vehicle driving, and decision only relies upon self-sensor device and adopts The information of collection and the information obtained from other neighbouring vehicles.

Centralized control, for autonomous control, for vehicle driving control decision for entire traffic system The considerations of efficiency etc., or the relevant traffic conditions information of entire traffic system is provided for decision.

Centralized control information is centralized control information for realizing central controlled information, in various embodiments of the present invention, the One traffic control information is centralized control information.

In the embodiment of the present invention, an automatic driving vehicle itself can realize method provided in an embodiment of the present invention, to vehicle Traveling is controlled, or an equipment by connecting with the automatic driving vehicle, and referred to as " automatic driving vehicle side is set It is standby " realize the method that automatic driving vehicle is realized in the embodiment of the present invention.Therefore, automatic driving vehicle will not hereinafter be distinguished With the equipment of automatic driving vehicle side, it is believed that be any one of two ways.

2, inter-vehicular communication information, automatic driving vehicle are acquired by self-sensor device information, automatic driving vehicle are adopted The information of collection

Inter-vehicular communication information is the information exchanged when being communicated between automatic driving vehicle, using above-mentioned V2V communication mode.The information of exchange includes but is not limited to: the second traffic conditions information in the embodiment of the present invention is between vehicle The communication information.

The information that one automatic driving vehicle is acquired by self-sensor device, including but not limited to: in the embodiment of the present invention The first traffic conditions information be information that an automatic driving vehicle is acquired by self-sensor device.

One automatic driving vehicle acquisition information include above two information, i.e., self-sensor device acquisition information and The information obtained from other automatic driving vehicles.The first traffic control information of the embodiment of the present invention is an automatic driving vehicle The information of acquisition.

3, traffic control instruction, traffic control instruct the traveling for controlling vehicle

One traffic control instructs the traveling for controlling vehicle, and the embodiment of the present invention is for controlling an automatic Pilot vehicle Traveling, such as: driving direction, speed etc..

4, roadside device

Roadside device is also infrastructure equipment or fixed equipment, is used for and vehicle communication optionally can also be with other Roadside device or even center controlling platform are communicated.One roadside device is mountable or connects various sensors, for acquiring Traffic conditions information, such as: road congestion information, Signalized control information, weather condition information etc..One example of roadside device Son is I2CU (Infrastructure to Car Unit).

In the embodiment of the present invention, roadside device realize information transmitting, centralized control and traffic control instruction decision when, It can be there are many optional implementation.

Such as: roadside device according to automatic driving vehicle information collected, itself acquisition traffic conditions information, and The traffic conditions information obtained from other neighbouring roadside devices carries out decision, generates traffic control instruction and is driven automatically with controlling Sail the traveling of vehicle.Wherein, each roadside device constitutes a block chain, is worked in a manner of block chain, generates traffic control System instruction.

For another example: roadside device sends the traffic conditions information of automatic driving vehicle information collected, itself acquisition To a center controlling platform, decision is carried out according to these information by the center controlling platform, generates a traffic control instruction And it is sent to roadside device.Roadside device retransmits the traffic control received instruction to automatic driving vehicle to control its row It sails.

Being discussed in detail for each optional implementation refers to the following examples one to implementation six.

5, center controlling platform

One center controlling platform can be located at cloud, be communicated at least one roadside device, it can be achieved that traffic control instructs Generation.Optionally, center controlling platform can also be communicated directly with automatic driving vehicle, realize that information and/or traffic control refer to The transmission of order.

6, near vehicle

It near vehicle, can refer in the road section scope where a vehicle, or the phase in section where may also include the vehicle Adjacent section in addition when the vehicle where traffic system.

7, at least one other roadside device near a roadside device

At least one other roadside device near one roadside device can refer to other in the roadside device communication range Roadside device.Perhaps refer to the roadside device in same section or may also include the roadside device in adjacent segments, setting is same Roadside device in one traffic system.

Method and apparatus provided in an embodiment of the present invention is described in detail with reference to the accompanying drawing.

As shown in figure 3, the traffic system 100 include at least one roadside device 20, at least one automatic driving vehicle 10, Optionally, it may also include a center controlling platform 30.If the traffic system 100 includes center controlling platform 30, center control Platform 30 processed can be communicated with the one or more at least one roadside device 20.Wherein roadside device 20 and automatic driving vehicle 10 are communicated using wireless mode, carry out the transmission of traffic control information and/or traffic control instruction.Different roadside devices The mode that can be used between 20 wirelessly or non-wirelessly is communicated, for example uses fiber optic communication, long term evolution (Long Term Evolution, LTE) mode etc. communicated.A center controlling platform 30 if it exists, then center controlling platform 30 and trackside Equipment 20 can also be used mode wirelessly or non-wirelessly and be communicated, and if center controlling platform 30 can directly and automatic driving vehicle 10 communications, need not move through the forwarding of roadside device 20, then center controlling platform 30 is using wireless mode and automatic driving vehicle 10 It is communicated.

The embodiment of the present invention realizes the control to an automatic driving vehicle 10 in traffic system 100, specifically, should The first equipment in traffic system 100 obtains the first traffic control information and the second traffic control information respectively, and according to above-mentioned Two kinds of traffic control informations generate the first traffic control instruction, and the first traffic control is instructed for controlling automatic driving vehicle 10 traveling.Wherein, the first traffic control information is acquired by automatic driving vehicle 10, and the second traffic control information is to concentrate control Information processed.

In the embodiment of the present invention, centralized control is combined with vehicle autonomous control, control automatic driving vehicle 10 Traveling, by between vehicle and vehicle V2V communication and vehicle and infrastructure (Vehicle to infrastructure, V2I the communication between) had both considered the traffic conditions of a traffic system part, it is contemplated that whole in the traffic system Traffic conditions can be improved the flow and efficiency of entire traffic system, reduce the probability that traffic accident occurs.

Wherein, the first equipment can be roadside device 20, center controlling platform 30 or automatic driving vehicle 10 (or from The dynamic device for driving a realization vehicle control in vehicle 10, it is simple following for description, it is referred to as " automatic driving vehicle 10").The following examples one to embodiment six gives six examples that vehicle control is carried out in the embodiment of the present invention.First This six embodiments are briefly described by following table, behind can be described in detail respectively in conjunction with Fig. 4~Fig. 9.

[embodiment one]

In embodiment one, the first final traffic control is generated by automatic driving vehicle 10 (color aggravates in figure) and is instructed.

As shown in figure 4, a roadside device 20 (left side) generates one and is directed to automatic driving vehicle 10 in step S401 The second traffic control instruction 41 in (figure left side).Wherein, the traffic feelings which can acquire according to the sensor of itself Condition information generates the second traffic control instruction 41, may be based on the traffic conditions information and the traffic of the sensor acquisition of itself The traffic control information that other roadside devices 20 acquire in system 100 instructs 41 to generate the second traffic control.

In step S402, the second traffic control instruction 41 of generation is sent to automatic driving vehicle 10 by roadside device 20 (left side).

In step S403, automatic driving vehicle 10 (left side) by the sensor of itself acquire information 43 and/or from other Information 42 is received at automatic driving vehicle 10.

The embodiment of the present invention is not limited the sequence between step S403 and step S401 and step S402, can be with It first carries out step S403 and executes step S401 and S402 again, or first carry out step S401 and step S402, then execute step S403 or step S403 and step S401 or S402 are performed simultaneously.

In step S404, automatic driving vehicle 10 is raw according to the information that the second traffic control instructs 41 and step S403 to obtain At the first traffic control instruction 44.

In step S405, automatic driving vehicle 10 controls the traveling of itself according to the first traffic control instruction 44.

Optionally, automatic driving vehicle 10 first can also generate a third traffic control according to the information obtained in step S404 Then system instruction ultimately generates the first traffic control instruction in conjunction with the second traffic control instruction.

[embodiment two]

In embodiment two, the first final traffic control is generated by automatic driving vehicle 10 (color aggravates in figure) and is instructed.

As shown in figure 5, a roadside device 20 (left side) is driven automatically by the sensor acquisition of itself in step S501 It sails the neighbouring traffic conditions information of vehicle 10 (left side) and/or (right side, only illustrates one in figure, real from other roadside devices 20 Traffic conditions information can be obtained on border from other multiple roadside devices 20) at obtain automatic driving vehicle 10 near traffic Situation information, as the second traffic control information 51.

In step S502, the second traffic control information 51 is sent to automatic driving vehicle 10 by roadside device 20 (left side).

In step S503, automatic driving vehicle 10 (left side) by the sensor of itself acquire information 53 and/or from other Information 52 is received at automatic driving vehicle 10.

The embodiment of the present invention is not limited the sequence between step S503 and step S501 and step S502, can be with It first carries out step S503 and executes step S501 and S502 again, or first carry out step S501 and step S502, then execute step S503 or step S503 and step S501 or S502 are performed simultaneously.

In step S504, automatic driving vehicle 10 is raw according to the information that the second traffic control information 51 and step S503 are obtained At the first traffic control instruction 54.

In step S505, automatic driving vehicle 10 controls the traveling of itself according to the first traffic control instruction 54.

[embodiment three]

In embodiment three, the first final traffic control is generated by roadside device 20 (color aggravates in figure) and is instructed.

As shown in fig. 6, in step s 601, a roadside device 20 (left side) is driven automatically by the sensor acquisition of itself It sails the neighbouring traffic conditions information of vehicle 10 (left side) and/or (right side, only illustrates one in figure, real from other roadside devices 20 Traffic conditions information can be obtained on border from other multiple roadside devices 20) at obtain automatic driving vehicle 10 near traffic Situation information, as the second traffic control information 61.

In step S602, automatic driving vehicle 10 (left side) by the sensor of itself acquire information 63 and/or from other Information 62 is received at automatic driving vehicle 10, as the first traffic control information 62/63.

In step S603, automatic driving vehicle 10 sends the first traffic control information 62/63 obtained in step S602 To roadside device 20 (left side).

The embodiment of the present invention is not limited the sequence between step S601 and step S602 and step S603, can be with It first carries out step S601 and executes step S602 and S603 again, or first carry out step S602 and step S603, then execute step S601 or step S601 and step S602 or S603 are performed simultaneously.

In step S604, roadside device 20 (left side) is according to the second traffic control information 61 and the first traffic control information 62/63 generates the first traffic control instruction 64.

In step S605, the first traffic control instruction 64 is sent to automatic driving vehicle 10 by roadside device 20 (left side) (left side).

In step S606, automatic driving vehicle 10 controls the traveling of itself according to the first traffic control instruction 64.

[example IV]

In example IV, the first final traffic control is generated by roadside device 20 (color aggravates in figure) and is instructed.

As shown in fig. 7, in step s 701, a roadside device 20 (left side) is driven automatically by the sensor acquisition of itself It sails the neighbouring traffic conditions information of vehicle 10 (left side) and/or (right side, only illustrates one in figure, real from other roadside devices 20 Traffic conditions information can be obtained on border from other multiple roadside devices 20) at obtain automatic driving vehicle 10 near traffic Situation information, as the second traffic control information 71.

In step S702, automatic driving vehicle 10 (left side) by the sensor of itself acquire information 73 and/or from other Information 72 is received at automatic driving vehicle 10.

In step S703, automatic driving vehicle 10 (left side) generates second according to the information 72/73 obtained in step S702 Traffic control instruction 74.

In step S704, the second traffic control instruction 74 is sent to roadside device 20 by automatic driving vehicle 10 (left side) (left side).

The embodiment of the present invention is not limited the sequence between step S701 and step S702~step S704, can be with It first carries out step S701 and executes step S702~step S704 again, or first carry out step S702~step S704, then execute step Rapid S701 or step S701 and step S702~S704 are performed simultaneously.

In step S705, roadside device 20 generates one according to the second traffic control instruction 74 and the second traffic conditions information 71 The first traffic control of item instruction 75.

In step S706, the first traffic control instruction 75 is sent to automatic driving vehicle 10 by roadside device 20 (left side) (left side).

In step S707, automatic driving vehicle 10 controls the traveling of itself according to the first traffic control instruction 75.

[embodiment five]

In embodiment five, the first final traffic control is generated by center controlling platform 30 (color aggravates in figure) and is instructed.

As shown in figure 8, a roadside device 20 (left side) is driven automatically by the sensor acquisition of itself in step S801 It sails the neighbouring traffic conditions information of vehicle 10 (left side) and/or (right side, only illustrates one in figure, real from other roadside devices 20 Traffic conditions information can be obtained on border from other multiple roadside devices 20) at obtain automatic driving vehicle 10 near traffic Situation information, as the second traffic control information 81.

In step S802, automatic driving vehicle 10 (left side) by the sensor of itself acquire information 83 and/or from other Information 82 is received at automatic driving vehicle 10.

In step S803, the information 82/83 obtained in step S802 is sent to trackside by automatic driving vehicle 10 (left side) Equipment 20 (left side).

In the information and step from automatic driving vehicle 10 that step S804, roadside device 20 obtain step S803 S801 obtains information and is sent to center controlling platform 30.Optionally, roadside device 20 can be reported in same message from certainly The information of the dynamic information for driving vehicle 10 and itself acquisition, and the information or trackside that are obtained from other roadside devices 20 Equipment 20 can be also to report these information respectively.

In step S805, the information that center controlling platform 30 is received according to step S804 generates first traffic control and refers to Enable 84.

In step S806, the first traffic control instruction 84 of generation is sent to roadside device 20 by center controlling platform 30 (left side).

In step S807, the first traffic control received instruction 84 is sent to automatic driving vehicle 10 by roadside device 20.

In step S808, automatic driving vehicle 10 controls the traveling of itself according to the first traffic control instruction 84.

In foregoing description, it is attached that automatic driving vehicle 10 will be obtained from other roadside devices 20 by the roadside device 20 in left side Close traffic conditions information reporting is to center controlling platform 30.Alternatively, can also will be collected respectively by each roadside device 20 Traffic conditions information reporting near automatic driving vehicle 10 is to center controlling platform 30.Again alternatively, each roadside device 20 will Collected all traffic conditions information reportings carry out information sifting to center controlling platform 30, by center controlling platform 30, really Determine the traffic conditions information near automatic driving vehicle 10, and accordingly generates the first traffic control instruction 84.

In foregoing description, the message between automatic driving vehicle 10 and center controlling platform 30 is realized by roadside device 20 Transmitting, optionally, automatic driving vehicle 10 can also with 30 direct communication of center controlling platform, and without roadside device 20, than Such as: the first traffic control information 82/82 is sent directly to center controlling platform 30 and center controlling platform 30 directly for One traffic control instruction 84 is sent to automatic driving vehicle 10.

[embodiment six]

As shown in figure 9, a roadside device 20 (left side) is driven automatically by the sensor acquisition of itself in step S901 It sails the neighbouring traffic conditions information of vehicle 10 (left side) and/or (right side, only illustrates one in figure, real from other roadside devices 20 Traffic conditions information can be obtained on border from other multiple roadside devices 20) at obtain automatic driving vehicle 10 near traffic Situation information, as the second traffic control information 91.

In step S902, automatic driving vehicle 10 (left side) by the sensor of itself acquire information 93 and/or from other Information 92 is received at automatic driving vehicle 10.

In step S903, automatic driving vehicle 10 (left side) generates one according to the information 92/93 obtained in step S902 Second traffic control instruction 94.

In step S904, the second traffic control instruction 94 is sent to roadside device 20 (left side) by automatic driving vehicle 10.

In step S905, the second traffic control that step S904 is obtained is instructed 94 and step S901 to obtain by roadside device 20 It obtains information and is sent to center controlling platform 30.Optionally, roadside device 20 can report in same message from automatic Pilot The information of the information of vehicle 10 and itself acquisition, and the information or roadside device 20 that are obtained from other roadside devices 20 It can be also to report these information respectively.

In step S906, the information that center controlling platform 30 is received according to step S904 generates first traffic control and refers to Enable 95.

In step S907, the first traffic control instruction 95 of generation is sent to roadside device 20 by center controlling platform 30 (left side).

In step S908, the first traffic control received instruction 95 is sent to automatic driving vehicle 10 by roadside device 20.

In step S909, automatic driving vehicle 10 controls the traveling of itself according to the first traffic control instruction 95.

In foregoing description, it is attached that automatic driving vehicle 10 will be obtained from other roadside devices 20 by the roadside device 20 in left side Close traffic conditions information reporting is to center controlling platform 30.Alternatively, can also will be collected respectively by each roadside device 20 Traffic conditions information reporting near automatic driving vehicle 10 is to center controlling platform 30.Again alternatively, each roadside device 20 will Collected all traffic conditions information reportings carry out information sifting to center controlling platform 30, by center controlling platform 30, really Determine the traffic conditions information near automatic driving vehicle 10, and accordingly generates the first traffic control instruction 95.

In foregoing description, the message between automatic driving vehicle 10 and center controlling platform 30 is realized by roadside device 20 Transmitting, optionally, automatic driving vehicle 10 can also with 30 direct communication of center controlling platform, and without roadside device 20, than Such as: the second traffic control instruction 94 is sent directly to center controlling platform 30 and center controlling platform 30 directly by first Traffic control instruction 95 is sent to automatic driving vehicle 10.

In the various embodiments described above, unicast, broadcast or multicast can be used between roadside device 20 and automatic driving vehicle 10 Mode is communicated.For mode of unicast, a roadside device 20, can be when sending information to an automatic driving vehicle 10 The mark of the automatic driving vehicle 10 is specified in message, or using established dedicated wireless channel and the automatic driving vehicle 10 are communicated.For multicast, a roadside device 20 can be when sending information to automatic driving vehicle 10, in same The information for issuing multiple automatic driving vehicles 10, and the corresponding mark for identifying each automatic driving vehicle 10 are carried in message. For broadcast mode, a roadside device 20 can be sent out when sending information to automatic driving vehicle 10 using broadcast mode It sending, all automatic driving vehicles 10 in range for wireless communication can receive the message, such as: a roadside device 20 will be handed over Traffic congestion information in way system 100 is sent with broadcast mode, all automatic driving vehicles 10 in range for wireless communication The message can be received and therefrom obtain the traffic congestion information of traffic system 100.

Similarly, for mode of unicast, an automatic driving vehicle 10, can when sending information to a roadside device 20 The mark of the roadside device 20 is specified in the message, or is carried out using established dedicated wireless channel and the roadside device 20 Communication.For multicast, an automatic driving vehicle 10 can be when sending information to roadside device 20, in same message Carry the information for issuing multiple roadside devices 20, and the corresponding mark for identifying each roadside device 20.For broadcast mode, one A automatic driving vehicle 10 can be sent when sending information to roadside device 20 using broadcast mode, in wireless communication model All roadside devices 20 in enclosing can receive the message, such as: an automatic driving vehicle 10 is by the geographical location of itself, row It sails the information such as speed, driving direction to send with broadcast mode, all roadside devices 20 in range for wireless communication can be received To the message and therefrom obtain the information of the automatic driving vehicle 10.

In the various embodiments described above, centralized control and autonomous control can be set by a weight factor and is ultimately generating One traffic control weight shared when instructing, the weight factor are used to indicate second traffic control information and described first and hand over Influence degree of the logical control information when generating first traffic control instruction.In this way, the first equipment is according to the weight factor Generate the first traffic control instruction.Such as: it can be by the way that the weight factor be arranged, so that the first traffic control instruction relies only on In centralized control, traffic accident occurs suitable for traffic system 100 in this, when there is large area congestion, can place one's entire reliance upon The centralized control of control platform 30 is entreated to realize traffic control.

It should be noted that the development based on Moore's Law and block chain (blockchain) technology, one can be real Existing central controlled cloud platform is not limited only to above-mentioned center controlling platform 30, can be a distributed system, by each 20 cooperative achievement centralized control of roadside device, without the communication between roadside device 20 and center controlling platform 30, time delay is smaller.

Various embodiments of the present invention realize the control to an automatic driving vehicle 10, this just look like be can not there are one The traffic light seen is used to control the form of vehicle.The sightless traffic light as described by previous embodiments can be with It is present in roadside device 20, in automatic driving vehicle 10 or in center controlling platform 30.

More than, describe the various schemes provided in an embodiment of the present invention for realizing vehicle control.It is described below of the invention real Apply the optional implementation of each equipment in example.

Figure 10 is a kind of schematic diagram of structure of the first equipment provided in an embodiment of the present invention.As shown in Figure 10, it first sets It is standby can include:

One data obtaining module 1001, for obtaining the first traffic control information and the second traffic control information, In, first traffic control information is acquired by the automatic driving vehicle 10, and second traffic control information is to concentrate Control information；

One directive generation module 1002, for being believed according to first traffic control information and second traffic control Breath generates the first traffic control instruction, and first traffic control instructs the row for controlling the automatic driving vehicle 10 It sails.

Wherein, the first equipment is roadside device 20 above-mentioned, center controlling platform 30 or automatic driving vehicle 10.According to before For the embodiment one stated to the various optional implementations of embodiment six, data obtaining module 1001 can accordingly realize information It obtains, and directive generation module 1002 can accordingly realize the generation of the first traffic control instruction.

Figure 11 is the schematic diagram of another structure of the first equipment provided in an embodiment of the present invention.As shown in figure 11, first Equipment can include:

At least one processor 1101, for storing machine readable instructions；

At least one processor 1102 realizes in any embodiment of the present invention for calling above-mentioned machine readable instructions The function of one equipment.

Wherein, structure shown in Figure 11 can be considered a kind of hardware implementation mode of structure shown in Figure 10.Wherein, acquisition of information Module 1001 and directive generation module 1002 can be considered a part of above-mentioned machine readable instructions, be stored at least one processor In 1101, at least one processor 1102, for calling the instruction in above-mentioned two module to realize the function of the first equipment.

In addition, the first equipment may also include a user interface 1103, for realizing the interaction with user, such as: if the One equipment is automatic driving vehicle 10, then the user interface 1103 realizes the interaction of automatic driving vehicle 10 and driver.If the One equipment is roadside device 20, then the user interface 1103 can realize the interaction between roadside device 20 and plant maintenance personnel. If the first equipment is center controlling platform 30, which can realize traffic administration personnel and center controlling platform 30 Between interaction.

When the first equipment needs to carry out message transmission between other equipment, it is logical that the first equipment may also include at least one T unit 1104, for realizing the communication between other equipment.Such as: if the first equipment is automatic driving vehicle 10, until A few communication device 1104 realizes the communication between automatic driving vehicle 10, and the communication between roadside device 20, can Selection of land can also be achieved the communication between center controlling platform 30 in some embodiments.If the first equipment is roadside device 20, then the realization of at least one communication device 1104 and the communication between automatic driving vehicle 10 and/or other roadside devices 20 can Selection of land can also be achieved the communication between center controlling platform 30 in some embodiments.If the first equipment is center, control is flat Platform 30, then at least one communication device 1104 can realize the communication between roadside device 20, optionally, in section Example In, it can also be achieved the communication between automatic driving vehicle 10.

In first equipment shown in Figure 11, each component part can be connected in a manner of bus, be realized between component part Message transmission.

Figure 12 is a kind of schematic diagram of a kind of structure of roadside device 20 provided in an embodiment of the present invention.As shown in figure 12, The roadside device 20 can include:

One message processing module 1201, for determining that the second traffic control information, the second traffic control information are to concentrate Control information；

One information sending module 1202, for the second traffic control information to be sent to automatic driving vehicle 10, for Automatic driving vehicle 10 generates first traffic control according to the second traffic control information and the first traffic control information and refers to It enables, and instructs the traveling of control automatic driving vehicle 10 according to the first traffic control, wherein under the first traffic control information includes At least one: the first traffic conditions information in information is stated, is acquired by automatic driving vehicle 10 by self-sensor device；Second Traffic conditions information is obtained by automatic driving vehicle 10 from other automatic driving vehicles 10.

Optionally, message processing module 1201 is specifically used for: the letter of the traffic conditions near acquisition automatic driving vehicle 10 Breath, as the second traffic control information；Or the information of the traffic conditions near acquisition automatic driving vehicle 10, and according to acquisition The information arrived generates second traffic control instruction for automatic driving vehicle 10, as the second traffic control information.

Other optional implementations of the roadside device 20 can refer to the trackside in embodiment one and embodiment two above-mentioned The realization of equipment 20, which is not described herein again.

Figure 13 is a kind of schematic diagram of a kind of structure of automatic driving vehicle 10 provided in an embodiment of the present invention.Such as Figure 13 institute Show, the automatic driving vehicle 10 can include:

One message processing module 1301, for determining the first traffic control information, the first traffic control information includes the One traffic conditions information and/or the second traffic conditions information, alternatively, the first traffic control information is the generation of automatic driving vehicle 10 Second traffic control instruction, wherein the first traffic conditions information by automatic driving vehicle 10 pass through self-sensor device institute Acquisition, the second traffic conditions information are obtained by automatic driving vehicle 10 from other automatic driving vehicles 10；

One signal dispatcher module 1302, for sending the first traffic control information to a roadside device 20, from trackside The first traffic control instruction is received at equipment 20, traffic control instruction is according to the first traffic control information and the second traffic Control what information generated；

One vehicle control module 1303, for instructing the row of control automatic driving vehicle 10 according to the first traffic control It sails.

Other optional implementations of the automatic driving vehicle 10 can refer in three~embodiment of embodiment six above-mentioned The realization of automatic driving vehicle 10, which is not described herein again.

Figure 14 is a kind of schematic diagram of structure of another roadside device 20 provided in an embodiment of the present invention.Such as Figure 14 institute Show, the roadside device 20 can include:

One information sending module 1401, for sending the first traffic control information and the to center controlling platform 30 Two traffic control informations, wherein the first traffic control information is acquired by automatic driving vehicle 10, and the second traffic control information is Centralized control information；

One information receiving module 1402, for receiving the first traffic control instruction from center controlling platform 30, Wherein, the first traffic control instruction is that center controlling platform 30 is raw according to the first traffic control information and the second traffic control information At；

Information sending module 1401, it is automatic to control for sending the first traffic control instruction to automatic driving vehicle 10 Drive the traveling of vehicle 10.

Other optional implementations of the roadside device 20 can refer to the trackside in embodiment five or embodiment six above-mentioned The realization of equipment 20, which is not described herein again.

Another structure of equipment shown in Figure 12~Figure 14 also can be as shown in figure 11.Structure shown in Figure 11 also can be considered A kind of hardware implementation mode of structure shown in Figure 10.Wherein, each module can be considered a part of above-mentioned machine readable instructions, storage In at least one processor 1101, at least one processor 1102, for calling the instruction in above-mentioned each module to realize equipment Function.

In addition, also may include a user interface 1103 in the structure, for realizing the friendship with user as shown in figure 11 Mutually；And at least one communication device 1104, for realizing the communication between other equipment.Each composition portion in the structure Dividing can also be connected in a manner of bus, realize the message transmission between component part.

Figure 15 is a kind of schematic diagram of optional protocol stack of roadside device 20 provided in an embodiment of the present invention.Such as Figure 15 institute Show, the Software Protocol Stack of the roadside device 20 may include following four layers:

Operating system layer 151, service layer 152, algorithm layer 153 and application layer 154.

Wherein, operating system layer 151 realizes wireless communication, positioning etc. for supporting hardware capability.It for example may include as follows Component part:

Radio-frequency module 1511 can be used for realization and the communication between automatic driving vehicle 10 and/or center controlling platform 30. Adoptable communication mode includes but is not limited to: short-distance wireless communication (Dedicated Short Range Communications, DSRC), Wireless Fidelity (Wireless Fidelity, WiFi), long term evolution-vehicle (Long Term Evolution-Vehicle, LTE-V).It may also include global positioning system (Global in radio-frequency module 1511 Positioning System, GPS) module.

At least one sensor 1512 can be used for acquiring the traffic conditions information near automatic driving vehicle 10, such as: road Road congestion information, Signalized control information, weather condition information etc..

Camera 1513 can be used for monitoring traffic conditions in real time, obtain visual traffic conditions information.

Real-time clock (Real time Clock, RTC) module 1514 etc..

Service layer 152, for integrated data and to serve upper layers.Can include: it can provide basis and be implemented into other and set The service 1521, Data Fusion of Sensor service 1522 and image procossing clothes of standby (Infrastructure to X, I2X) communication Business 1523 etc..

Algorithm layer 153, for realizing algorithm process.For embodiment one, three, four above-mentioned, these need roadside device 20 The embodiment of traffic control instruction is generated, which can carry out best decision based on the traffic control information of acquisition, optional Ground has self study and adaptive ability.The algorithm layer 153 can include: systematic training module 1531, for according to acquisition Traffic control information carries out self study；Various algorithms realize module, such as: play-theory module 1532, green wave (Green Wave) module 1533 etc..

Application layer 154, for realizing service logic based on different traffic scenes.Such as: can include: crossroad scene Processing module 1541, parking lot processing module 1542, alarm module 1543 etc..

Figure 16~Figure 19 is the schematic diagram of four kinds of traffic scenes of the embodiment of the present invention.Wherein scene one is automatic Pilot vehicle 10 by crossroad, and scene two is 10 automatic parking of automatic driving vehicle, and scene three is in emergency circumstances to automatic Pilot Vehicle 10 is indicated that scene four is that the exchange of roadside device 20 information controls automatic driving vehicle 10 to cooperate with, with excellent Change the efficiency of entire traffic system 100.

An example in each scene using I2CU as roadside device 20 generates the first traffic control above-mentioned by I2CU and refers to It enables, automatic driving vehicle 10 is controlled.

[scene one]

Scene shown in Figure 16 once, sensor of each I2CU by itself, infrastructure to infrastructure (Infrastructure to Infrastructure, I2I) communication, vehicle to infrastructure (Vehicle to Infrastructure, V2I) communication, the various traffic informations of continuous collecting, it may include the first traffic control information above-mentioned and the Two traffic control informations.

One automatic driving vehicle 10 is transmitted through the request of crossroad to an I2CU.I2CU is after receiving the request According to travel pattern (can be realized by weight factor above-mentioned focus control mode, autonomous control mode and centralized control and The binding pattern of autonomous control), according to the information of acquisition, decision is carried out based on preset algorithm, generates the first traffic above-mentioned Control instruction.

It may be needed there are also other automatic driving vehicles 10 near the crossroad by the crossroad, I2CU difference It generates the first traffic control instruction and is sent to corresponding automatic driving vehicle 10, to control the driving direction and speed of vehicle.Respectively A automatic driving vehicle 10 passes through the crossroad according to the first traffic control instruction traveling received.

I2CU can record these historical datas and be trained to realize optimization.

[scene two]

Under scene two shown in Figure 17, I2CU realizes sightless movable parking field, and dotted line frame is each parking in figure Position, each automatic driving vehicle 10 can instruct parking (acceleration or deceleration) based on the first traffic control of I2CU.

[scene three]

Under scene three shown in Figure 18, although being configured with thousands of sensor, an automatic driving vehicle 10 It cannot find that in the case, I2CU can indicate automatic Pilot in street corner or the subsequent vehicles or pedestrians of certain barriers Vehicle 10 slows down, to avoid the people of the cycling bumped against in figure.

[scene four]

Under scene four shown in Figure 19, traffic congestion has occurred a crossroad, can mutually cooperate with, hold between I2CU The green wave algorithm of row prevents more vehicles from entering the region of the traffic congestion, and rapid recovery traffic congestion.

In above-mentioned each scene, I2CU can communicate the best decision for realizing entire traffic system 100 based on V2I, I2I, V2V, Rather than just based on 10 autonomous control of automatic driving vehicle.Block chain technology can be used between I2CU to cooperate, it is real Efficient traffic control is showed.

Based on the same technical idea, the embodiment of the invention also provides a kind of machine readable media, machine readable Jie It stores in matter for making a machine execute the machine readable instructions such as method described previously herein.Specifically, it can provide equipped with the machine The system or device of device readable medium store on the machine readable media and realize any embodiment in above-described embodiment The software program code of function, and make computer (or central processing unit (the Central Processing of the system or device Unit, CPU) or microprocessor (Micro Processor Unit, MPU)) read and execute the journey being stored in a storage medium Sequence code.

In this case, it is real that any one of above-described embodiment can be achieved in the program code itself read from storage medium The function of example is applied, therefore the storage medium of program code and storage program code constitutes a part of the embodiment of the present invention.

Storage medium embodiment for providing program code includes floppy disk, hard disk, magneto-optic disk, CD (such as CD-ROM Driver (Compact Disc Read-Only Memory, CD-ROM), compact disc recordable (Compact Disk- Recordable, CD-R), erasable optical disk (Compact Disk-ReWritable, CD-RW), digital video disk (Digital Video Disc-Read Only Memory, DVD-ROM), digital versatile disc random access memory (Digital Versatile Disc-Random Access Memory, DVD-RAM), rewritable digital versatile disc (Digital Versatile Disc ± ReWritable, DVD ± RW) etc.), tape, non-volatile memory card and read-only memory (Read- Only Memory, ROM).Selectively, can by communication network download program code from server computer or on cloud.

Further, it should be apparent that not only can be by executing program code read-out by computer, but also can pass through Operating system for calculating hands- operation etc. is set to complete partly or completely practical operation based on the instruction of program code, thus Realize the function of any one of above-described embodiment embodiment.

Further, it is to be appreciated that the program code read by storage medium is write the expansion board in insertion computer In in set memory or write in the memory being arranged in the expanding element being connected to a computer, be then based on journey The instruction of sequence code makes the CPU etc. being mounted on expansion board or expanding element come execution part and whole practical operations, thus Realize the function of any embodiment in above-described embodiment.

It should be noted that step and module not all in above-mentioned each process and each equipment structure chart is all necessary , certain steps or module can be ignored according to the actual needs.Each step execution sequence be not it is fixed, can be according to need It is adjusted.Device structure described in the various embodiments described above can be physical structure, be also possible to logical construction, that is, have A little modules may be realized by same physical entity, be realized alternatively, some modules may divide by multiple physical entities, alternatively, can be with It is realized jointly by certain components in multiple autonomous devices.

In the above various embodiments, hardware cell mechanically or can be realized electrically.For example, a hardware list Member may include permanent dedicated circuit or logic (such as special processor, FPGA or ASIC) to complete corresponding operating.Firmly Part unit can also include programmable logic or circuit (such as general processor or other programmable processors), can by software into The interim setting of row is to complete corresponding operating.Concrete implementation mode (mechanical system or dedicated permanent circuit or is faced When the circuit that is arranged) can be determined based on cost and temporal consideration.

Detailed displaying and explanation carried out to the present invention above by attached drawing and preferred embodiment, however the present invention is not limited to These embodiments having revealed that, base could be aware that with above-mentioned multiple embodiment those skilled in the art, can combine above-mentioned difference Code audit means in embodiment obtain the more embodiments of the present invention, these embodiments also protection scope of the present invention it It is interior.

Claims

1. for the control method of an automatic driving vehicle (10) characterized by comprising

First equipment obtains the first traffic control information, and first traffic control information is by the automatic driving vehicle (10) side Equipment acquired；

First equipment obtains the second traffic control information, and second traffic control information is centralized control information；

First equipment generates one first friendship according to first traffic control information and second traffic control information Logical control instruction, first traffic control instruct the traveling for controlling the automatic driving vehicle (10).

2. the method as described in claim 1, which is characterized in that first equipment is the automatic driving vehicle (10) side Equipment,

First traffic control information includes at least one in following information:

First traffic conditions information is acquired by the equipment of the automatic driving vehicle (10) by sensor；

Second traffic conditions information is obtained by the equipment of the automatic driving vehicle (10) from other automatic driving vehicles (10) It takes；

Second traffic control information be from roadside device (20) for the automatic driving vehicle (10) one The second traffic control of item instruction.

3. the method as described in claim 1, which is characterized in that first equipment is the automatic driving vehicle (10) side Equipment,

First traffic conditions information is acquired by the equipment of the automatic driving vehicle (10) side by sensor；

Second traffic conditions information is obtained by the equipment of the automatic driving vehicle (10) side from other automatic driving vehicles (10) It takes；

Second traffic control information comes from a roadside device (20), and it is attached to be used to indicate the automatic driving vehicle (10) Close traffic conditions.

4. the method as described in claim 1, which is characterized in that first equipment is a roadside device (20),

Second traffic control information from the roadside device (20) and/or the roadside device (20) nearby at least One other roadside device (20), and it is used to indicate the traffic conditions of the automatic driving vehicle (10) nearby.

5. the method as described in claim 1, which is characterized in that first equipment is a roadside device (20),

First traffic control information is second traffic control instruction that the automatic driving vehicle (10) generate；

6. the method as described in claim 1, which is characterized in that first equipment is a center controlling platform (30),

Second traffic control information comes from least one roadside device (20), and is used to indicate the automatic driving vehicle (10) traffic conditions nearby.

7. the method as described in claim 1, which is characterized in that first equipment is a center controlling platform (30),

First traffic control information is second traffic control that the equipment of the automatic driving vehicle (10) side generates Instruction；

8. method as described in any one of claims 1 to 7,

It further include obtaining a weight factor, the power before first equipment generates the first traffic control instruction Repeated factor is used to indicate second traffic control information and first traffic control information and is generating the first traffic control Influence degree when system instruction；

First equipment generates the first traffic control instruction, comprising: first equipment is raw according to the weight factor It is instructed at first traffic control.

9. for the control method of an automatic driving vehicle (10) characterized by comprising

One roadside device (20) determines that the second traffic control information, second traffic control information are centralized control information；

The equipment that second traffic control information is sent to the automatic driving vehicle (10) side by the roadside device (20), For the automatic driving vehicle (10) side equipment according to second traffic control information and the first traffic control information The first traffic control instruction is generated, and controls the automatic driving vehicle (10) according to first traffic control instruction Traveling, wherein first traffic control information includes at least one in following information:

Second traffic conditions information is obtained by the equipment of the automatic driving vehicle (10) side from other automatic driving vehicles (10) It takes.

10. for the control method of an automatic driving vehicle (10) characterized by comprising

The equipment of automatic driving vehicle (10) side determines that the first traffic control information, first traffic control information include First traffic conditions information and/or the second traffic conditions information, alternatively, first traffic control information is the automatic Pilot Second traffic control instruction that the equipment of vehicle (10) side generates, wherein the first traffic conditions information by it is described from The dynamic equipment for driving vehicle (10) side is acquired by sensor, the second traffic conditions information, by the automatic Pilot vehicle The equipment of (10) side obtains at other automatic driving vehicles (10)；

The equipment of automatic driving vehicle (10) side sends first traffic control information to a roadside device (20)；

The equipment of automatic driving vehicle (10) side receives the first traffic control instruction at the roadside device (20), The traffic control instruction is generated according to first traffic control information and second traffic control information；

The equipment of automatic driving vehicle (10) side controls the automatic driving vehicle according to first traffic control instruction (10) traveling.

11. for the control method of an automatic driving vehicle (10) characterized by comprising

One roadside device (20) sends the first traffic control information and the second traffic control to a center controlling platform (30) Information, wherein first traffic control information is acquired by the automatic driving vehicle (10), the second traffic control letter Breath is centralized control information；

The roadside device (20) receives the first traffic control instruction at the center controlling platform (30), wherein institute Stating the first traffic control instruction is that the center controlling platform (30) is handed over according to first traffic control information and described second What logical control information generated；

The equipment of roadside device (20) Xiang Suoshu automatic driving vehicle (10) side sends the first traffic control instruction, with Control the traveling of the automatic driving vehicle (10).

12. the first equipment controlled for an automatic driving vehicle (10) characterized by comprising

One data obtaining module, for obtaining the first traffic control information and the second traffic control information, wherein described first Traffic control information is acquired by the equipment of the automatic driving vehicle (10) side, and second traffic control information is to concentrate control Information processed；

One directive generation module, for generating one according to first traffic control information and second traffic control information A first traffic control instruction, first traffic control instruct the traveling for controlling the automatic driving vehicle (10).

13. roadside device (20) characterized by comprising

One message processing module (1201), for determining that the second traffic control information, second traffic control information are collection Middle control information；

One information sending module (1202), for second traffic control information to be sent to the automatic driving vehicle (10) equipment of side, for the automatic driving vehicle (10) side equipment according to second traffic control information and first Traffic control information generates the first traffic control instruction, and drives automatically according to first traffic control instruction control is described Sail the traveling of vehicle (10), wherein first traffic control information includes at least one in following information:

14. automatic driving vehicle (10) characterized by comprising

One message processing module (1301), for determining that the first traffic control information, first traffic control information include First traffic conditions information and/or the second traffic conditions information, alternatively, first traffic control information is the automatic Pilot Second traffic control instruction that the equipment of vehicle (10) side generates, wherein the first traffic conditions information by it is described from The dynamic equipment for driving vehicle (10) side is acquired by sensor, the second traffic conditions information, by the automatic Pilot vehicle The equipment of (10) side obtains at other automatic driving vehicles (10)；

One signal dispatcher module (1302), for sending first traffic control information to a roadside device (20), from The first traffic control instruction is received at the roadside device (20), the traffic control instruction is according to first traffic What control information and second traffic control information generated；

One vehicle control module (1303), for controlling the automatic driving vehicle according to first traffic control instruction (10) traveling.

15. roadside device (20) characterized by comprising

One information sending module (1401), for sending the first traffic control information and the to center controlling platform (30) Two traffic control informations, wherein first traffic control information is acquired by the equipment of the automatic driving vehicle (10) side, Second traffic control information is centralized control information；

One information receiving module (1402) refers to for receiving first traffic control at the center controlling platform (30) Enable, wherein first traffic control instruction be the center controlling platform (30) according to first traffic control information and What second traffic control information generated；

The information sending module (1401), for sending first traffic to the equipment of the automatic driving vehicle (10) side Control instruction, to control the traveling of the automatic driving vehicle (10).

16. controller of vehicle characterized by comprising

At least one processor (1101), for storing machine readable instructions；

At least one processor (1102) is executed for calling the machine readable instructions such as any one of claim 1~11 institute The method stated.

17. a kind of machine readable media, which is characterized in that machine readable instructions are stored on the readable readable medium, it is described Machine readable instructions make the processor perform claim require 1~11 described in any item methods when being executed by processor.