CN109537383A - A kind of unmanned road structure based on complicated traffic environment - Google Patents
A kind of unmanned road structure based on complicated traffic environment Download PDFInfo
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- CN109537383A CN109537383A CN201811310264.1A CN201811310264A CN109537383A CN 109537383 A CN109537383 A CN 109537383A CN 201811310264 A CN201811310264 A CN 201811310264A CN 109537383 A CN109537383 A CN 109537383A
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- automatic driving
- sensing device
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C1/00—Design or layout of roads, e.g. for noise abatement, for gas absorption
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F11/00—Road engineering aspects of Embedding pads or other sensitive devices in paving or other road surfaces, e.g. traffic detectors, vehicle-operated pressure-sensitive actuators, devices for monitoring atmospheric or road conditions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The present invention provides a kind of unmanned road structure based on complicated traffic environment, including the dedicated Lanes as automatic driving vehicle travel and several integral sensing devices being embedded on dedicated Lanes, wireless messages are formed between integral sensing device and the vehicle-mounted inductor on automatic driving vehicle exchanges induction, so that vehicle-mounted inductor can obtain the information of integral sensing device transmitting, and gained information is transferred to the intelligent vehicle-mounted system of automatic driving vehicle, so that automatic driving vehicle is perceived ambient enviroment；Integral sensing device includes geographical location information module, ambient condition information module, information receiving module and information transmitting module；Geographical location information module sends the location information of integral sensing device to vehicle-mounted inductor by information transmitting module；Ambient condition information module sends environmental information to vehicle-mounted inductor by information transmitting module.The present invention is to improve automatic driving vehicle in the environment sensing of complicated traffic environment and the road structure of positioning accuracy.
Description
Technical field
The present invention relates to technical field of road engineering, are related to a kind of unmanned road knot based on complicated traffic environment
Structure.
Background technique
Automatic driving vehicle is the developing direction of the following intelligent automobile, is especially suitable for being engaged in tourism, emergency management and rescue, long-distance height
Fast passenger and freight transportation, military use etc. have reliable, safe and convenient and efficient performance advantage, can reduce accident, make up
The deficiency of people's driving.Automatic driving vehicle mainly includes context aware systems, macro-plan and navigation positioning system and determines
Plan control system, context aware systems obtain unmanned vehicle driving environment model, macroscopic view rule using visual sensor, radar sensor
It draws and navigation positioning system is to obtain automatic driving car location information and plan macroscopical path output navigation information, this two systems
It is unmanned crucial and basic link.
Currently, the radar and visual sensor of unpiloted context aware systems, are all disposed on vehicle, using microwave
It with the induction ambient enviroment such as laser, but is influenced by the factors such as atmosphere light transmission effects and geographical relief weather, these light waves are big
Decay in gas serious, makes the reduction of its measurement accuracy, fail to particular surroundings information Perception, in addition using global locations such as GPS
Navigation positioning system is not suitable for there is also certain error and intensively waits complicated traffic environment downward driving in vehicle flowrate.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of automatic driving vehicles that improves in the environment of complicated traffic environment
The road structure of perception and positioning accuracy.
In order to solve the above technical problem, the present invention provides a kind of unmanned road knot based on complicated traffic environment
Structure, including the dedicated Lanes as automatic driving vehicle travel and several integrated sensing dresses being embedded on dedicated Lanes
It sets, forms wireless messages between the integral sensing device and the vehicle-mounted inductor on the automatic driving vehicle and exchange induction,
So that vehicle-mounted inductor can obtain the information of integral sensing device transmitting, and gained information is transferred to automatic driving vehicle
Intelligent vehicle-mounted system makes automatic driving vehicle perceive ambient enviroment；The integral sensing device include geographical location information module,
Ambient condition information module, information receiving module and information transmitting module；The geographical location information module is emitted by information
Module sends the location information of the integral sensing device to the vehicle-mounted inductor；The ambient condition information module passes through
Information transmitting module sends environmental information to the vehicle-mounted inductor.
It is preferred that the vehicle-mounted inductor is mounted on the vehicle body four corners position of automatic driving vehicle.
It is preferred that the clipping room of the adjacent integral sensing device away from L no more than adjacent integral sensing device it
Between distance sensing.
It is preferred that the geographic coordinate information include the coordinate information being pre-stored in geographical location information module,
The accurate coordinates calculated by three sides or triangulation.
It is preferred that the environmental information includes the road information being pre-stored in ambient condition information module, passes through
It is stored in the information of ambient condition information module after the Real-time Traffic Information that monitoring device directly monitors, mould is received by information
Block receives the information that ambient condition information module is stored in after the Real-time Traffic Information of extraneous transmission.
The present invention relates to a kind of unmanned road structures based on complicated traffic environment, breach and only pacify on vehicle
Fill the unmanned conventional thought in relation to equipment, and along the complicated traffic environment of automatic driving vehicle traveling lane and around
Lay integral sensing device, can precise acquisition and receive road peripherally manage location information and traffic environment information, and and road
The onboard sensor of the automatic driving vehicle of road traveling carries out information transmitting induction, greatly improves automatic driving vehicle to ring
Border perception and location information precision, efficiently solve automatic driving vehicle self poisoning and context aware systems in the prior art and adopt
Collect the insufficient defect of precision of information, make automatic driving vehicle vehicle flowrate intensively and the traffic environments realization security row such as road conditions complexity
It sails.
Detailed description of the invention
Fig. 1 is the unmanned road structure schematic diagram the present invention is based on complicated traffic environment.
Fig. 2 is that integral sensing device of the present invention constitutes schematic diagram.
Fig. 3 is integral sensing device coordinate information flow chart of the present invention.
Fig. 4 is that automatic driving car of the present invention is accurately positioned flow chart.
1- onboard sensor, 2- automatic driving car, 3- travel, 4- integral sensing device, 5- information receiving module, 6-
Geographical location information module, 7- ambient enviroment sensing module, 8- information transmitting module.
Specific embodiment
The technical solution in the present invention is described in detail in 1-4 with reference to the accompanying drawing.
The present invention provides a kind of unmanned road structure based on complicated traffic environment, including has vehicle-mounted inductor 1
Automatic driving vehicle 2, as 2 travel of automatic driving vehicle dedicated Lanes 3 and be embedded in several on dedicated Lanes 3
Integral sensing device 4, shape between the integral sensing device 4 on vehicle-mounted inductor 1 and dedicated Lanes 3 on automatic driving vehicle 2
It exchanges and incudes at wireless messages, so that vehicle-mounted inductor 1 can obtain the information of the transmitting of integral sensing device 4, and gained is believed
Breath is transferred to the intelligent vehicle-mounted system of automatic driving vehicle 2, makes the accurately perception ambient enviroment of automatic driving vehicle 2, realizes simultaneously
Accurate positioning on dedicated Lanes 3 guarantees that driving safety is reliable to make correct decision and control.In addition, integrated pass
Induction device 4 includes geographical location information module 6, ambient condition information module 7, information receiving module 5 and information transmitting module 8.
The vehicle-mounted inductor 1 is mounted on the vehicle body four corners position of automatic driving vehicle 2, can receive and be embedded in special-purpose vehicle
The location information and environmental information that integral sensing device 4 on road 3 emits, and gained information is transferred to automatic driving vehicle
Decision control system, the intelligent vehicle-mounted system of automatic driving vehicle 2 according to acquired information adjust the driving path of vehicle with
Speed etc..
The integral sensing device 4 be embedded in dedicated Lanes 3 roadside, significant structures (such as direction board and
Indicator light), at the complicated traffic environment such as crossing, have the function of receiving and acquisition road geographical location and environmental information, and can
These information to be sent to the onboard sensor 1 being mounted on automatic driving vehicle 2.The installation of adjacent integral sensing device 4
Spacing L guarantees that automatic driving vehicle can connect in the process of moving no more than the distance sensing between adjacent integral sensing device 4
By three and the transmitting signal of the above integral sensing device 4.Specifically, the sensor of the integral sensing device 4 can use
Radio frequency sensor, when installation, a part is mounted in the waterproof mounting groove in soil, and a part exposure in air, can be independent
Power supply, can also power together with the other equipment on road.
The geographical location information module 6 is the geographic coordinate information stored at 4 position of integral sensing device and can handle
Dependent coordinate data, geographic coordinate information, which can be, to be pre-stored in geographical location information module 6, is also possible to by accurately measuring
The accurate coordinates of calculating；Geographical location information in geographical location information module 6 can send edge to by information transmitting module 8
The vehicle-mounted inductor 1 of the automatic driving vehicle 2 of line traveling, vehicle-mounted inductor 1 and then the decision control for sending automatic driving vehicle to
System processed, to accurately calculate current geographic position.
The ambient condition information module 7 is for storing the environmental information that integral sensing device 4 buries section, and by environment
Information is sent to the onboard sensor 1 of automatic driving vehicle 2 by information transmitting module 8, makes the decision control of automatic driving vehicle
System processed makes corresponding Decision Control according to provided precise information.Environmental information, which can be, is pre-stored in ambient condition information
The road informations such as traffic lane line, traffic lights, lane line style and lane speed limit value in module 7, are also possible to pass through prison
Equipment, such as the camera being mounted in integral sensing device are controlled, is stored after the information such as real-time traffic condition directly monitored
In ambient condition information module 7, it is also possible to receive the real-time weather information of extraneous transmission by information receiving module 5, hands over
It is stored in ambient condition information module 7 after the information such as logical situation, nobody travelled along the line is sent to by information transmitting module 8
The vehicle-mounted inductor 1 of vehicle 2, vehicle-mounted inductor 1 and then the decision control system for sending automatic driving vehicle to are driven, so as to essence
The really environmental information of perception current location.
The information receiving module 5 is that integrated induction system 4 is enable to receive in traffic scheduling control by radio wave
The extraneous real-time traffic condition sent such as heart or weather information or other notification informations artificially sent, this information preservation is being collected
At the ambient condition information module 7 or geographical location information module 6 of sensing device 4, and can integral sensing device 4 be received and be adopted
The information of collection is sent to the automatic driving vehicle of road driving.
The information transmitting module 8 is by the geographical location information module 6 of integrated induction system 4, ambient condition information mould
The information that block 7 stores sends the onboard sensor 1 of all automatic driving vehicles 2 of road driving to, enables automatic driving vehicle
Geographical location and the road environment information for enough obtaining 2 position of automatic driving vehicle, make the intelligent vehicle-carried of automatic driving vehicle
System makes corresponding Decision Control according to provided precise information.
As shown in figure 3, integral sensing device accurate coordinate position obtaining step are as follows:
1.1 determine three and the above integral sensing device accurate coordinate position first, and the accurate coordinate position is by artificial
Precise measurement obtains existing location information, and has previously been stored in the geography information module of integral sensing device.
After the integral sensing device installation of 1.2 unknown geographic coordinate informations, pass through transmitting wave measurement and known geographic coordinate
The distance of information integration sensing device is calculated by three sides or triangulation to obtain its corresponding geographical co-ordinate system.
As shown in figure 4, automatic driving vehicle geographical coordinate position obtaining step are as follows:
2.1 install onboard sensor, the known essence of roadside surrounding installation in the vehicle body quadrangle of automatic driving vehicle respectively
The integral sensing device of true geographic coordinate information, onboard sensor can receive integral sensing device transmitting signal.
2.2 integral sensing devices packing density along dedicated Lanes guarantees that automatic driving car can connect in the process of moving
Emitted signal by three and the above integral sensing device.
The onboard sensor of 2.3 automatic driving vehicles by receive integral sensing device emit signal measurement between the two away from
Walk-off angle degree calculates each onboard sensor precise geographical coordinates through trilateration, to obtain the seat of automatic driving vehicle
Cursor position.
2.4 obtain each onboard sensor coordinate position of automatic driving car, available automatic driving car traveling by 2.3
Pose and motion state, and combining environmental information and driving task make corresponding decision and control.
Claims (5)
1. a kind of unmanned road structure based on complicated traffic environment, it is characterised in that: including as automatic driving vehicle
(2) dedicated Lanes (3) of travel and several integral sensing devices (4) being embedded on dedicated Lanes (3), the integrated biography
Wireless messages are formed between induction device (4) and the vehicle-mounted inductor (1) on the automatic driving vehicle (2) exchanges induction, so as to
Vehicle-mounted inductor (1) can obtain the information of integral sensing device (4) transmitting, and gained information is transferred to automatic driving vehicle
(2) intelligent vehicle-mounted system makes automatic driving vehicle (2) to perceive ambient enviroment；The integral sensing device (4) includes geographical position
Set information module (6), ambient condition information module (7), information receiving module (5) and information transmitting module (8)；The geography position
Set information module (6) location information of the integral sensing device (4) is sent to by information transmitting module (8) it is described vehicle-mounted
Inductor (1)；The ambient condition information module (7) is sent to environmental information by information transmitting module (8) described vehicle-mounted
Inductor (1).
2. a kind of unmanned road structure based on complicated traffic environment according to claim 1, it is characterised in that: institute
State the vehicle body four corners position that vehicle-mounted inductor (1) is mounted on automatic driving vehicle (2).
3. a kind of unmanned road structure based on complicated traffic environment according to claim 1, it is characterised in that: phase
The clipping room of the adjacent integral sensing device (4) is away from L no more than the distance sensing between adjacent integral sensing device (4).
4. a kind of unmanned road structure based on complicated traffic environment according to claim 1, it is characterised in that: institute
Stating geographic coordinate information includes the coordinate information being pre-stored in geographical location information module (6), by three sides or triangulation
The accurate coordinates of calculating.
5. a kind of unmanned road structure based on complicated traffic environment according to claim 1, it is characterised in that: institute
Environmental information is stated to include the road information being pre-stored in ambient condition information module (7), directly monitor by monitoring device
It is stored in the information of ambient condition information module (7) after Real-time Traffic Information, receives extraneous hair by information receiving module (5)
The information of ambient condition information module (7) is stored in after the Real-time Traffic Information sent.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811310264.1A CN109537383A (en) | 2018-11-06 | 2018-11-06 | A kind of unmanned road structure based on complicated traffic environment |
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| CN201811310264.1A CN109537383A (en) | 2018-11-06 | 2018-11-06 | A kind of unmanned road structure based on complicated traffic environment |
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| CN109537383A true CN109537383A (en) | 2019-03-29 |
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| CN201811310264.1A Pending CN109537383A (en) | 2018-11-06 | 2018-11-06 | A kind of unmanned road structure based on complicated traffic environment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110554702A (en) * | 2019-09-30 | 2019-12-10 | 重庆元韩汽车技术设计研究院有限公司 | Unmanned automobile based on inertial navigation |
| CN110553668A (en) * | 2019-09-30 | 2019-12-10 | 重庆元韩汽车技术设计研究院有限公司 | Error correction system and method for inertial navigation of intelligent driving |
| CN110796024A (en) * | 2019-10-09 | 2020-02-14 | 武汉光庭信息技术股份有限公司 | Automatic driving visual perception test method and device for failure sample |
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Patent Citations (5)
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| KR20100120381A (en) * | 2009-05-06 | 2010-11-16 | (주)로보센스 | Automatic driving guidance system using magnets |
| CN105717939A (en) * | 2016-01-20 | 2016-06-29 | 李万鸿 | Informatization and networking implementation method of road pavement supporting automobile unmanned automatic driving |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110553668A (en) * | 2019-09-30 | 2019-12-10 | 重庆元韩汽车技术设计研究院有限公司 | Error correction system and method for inertial navigation of intelligent driving |
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Application publication date: 20190329 |