CN110428619A - A kind of intelligent driving method based on bus or train route cooperative system - Google Patents
A kind of intelligent driving method based on bus or train route cooperative system Download PDFInfo
- Publication number
- CN110428619A CN110428619A CN201910680923.9A CN201910680923A CN110428619A CN 110428619 A CN110428619 A CN 110428619A CN 201910680923 A CN201910680923 A CN 201910680923A CN 110428619 A CN110428619 A CN 110428619A
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- train route
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
Abstract
The invention discloses a kind of intelligent driving methods based on bus or train route cooperative system, the drive manner is based on the realization of automatic sensing, decision and the intelligent vehicle of executing agency, the bus or train route cooperative system includes the vehicle-mounted end being mounted on target vehicle and several road surface transmitting terminals for being arranged at intervals on target road side, between vehicle-mounted end and road surface transmitting terminal and is in communication with each other networking by wireless network between adjacent vehicle-mounted end and forms bus or train route cooperative system；The method includes intelligent vehicles by road surface transmitting terminal, adjacent vehicle-mounted end and traffic signal control system, and adjusts traffic route in real time in conjunction with the information of itself, guarantees to arrive at the destination on the basis of safety.The present invention is applied in unmanned technical field, it is relatively low to smart machine requirement, independent of high environment sensing sensor, intelligent vehicle can be allowed to realize any road, any scene, the adaptability of intelligent vehicle is improved, normally upper road provides basis for intelligent vehicle.
Description
Technical field
The present invention relates to intelligent driving technical field, especially a kind of intelligent driving method of bus or train route combination.
Background technique
With the development of artificial intelligence, more and more products start to send out towards net connectionization, intelligence, unmanned direction
Exhibition, especially automobile industry, automobile are defined as intelligent mobile terminal again, turn to electronic product from engineering goods, wrap
Including national relevant policies proposition will be up to 50% to the year two thousand twenty China intelligent automobile new car accounting.Under so strong background, intelligence
It can drive vehicle and its relevant ecological system obtains unprecedented development, but it is unmanned nor accomplish in one move, it needs
Technology ceaselessly accumulates, iteration gradually develops, still there are many core technology it is urgently to be resolved.
At this stage and using conditional automatic Pilot as mainstream, most intelligent driving scheme is based on closed area
Fixed route, need intelligent driving vehicle travel one time on fixed road surface in advance, capture path location information, and by position
Confidence breath is stored in intelligent driving controller, is ceaselessly read relevant location information when vehicle travels, is reached the mesh to track
's.It is all the awareness apparatus by vehicle itself in addition, not interconnecting between vehicle and environment between vehicle and vehicle
Such as laser radar, camera sensor realize that the functions such as positioning, avoidance, which are with high costs.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of intelligent driving methods based on vehicle-subgrade system system, can
It allows intelligent vehicle to realize any road, any scene, improves the adaptability of intelligent vehicle, normally upper road provides base for intelligent vehicle
Plinth.
In order to solve the above technical problems, the technical solution used in the present invention is as follows.
A kind of intelligent driving method based on bus or train route cooperative system, the drive manner be based on automatic sensing, decision with
And the intelligent vehicle of executing agency is realized, between the bus or train route cooperative system includes the vehicle-mounted end being mounted on target vehicle and is several
Every the road surface transmitting terminal that target road side is arranged in, pass through between vehicle-mounted end and road surface transmitting terminal and between adjacent vehicle-mounted end wireless
Network is in communication with each other networking and forms bus or train route cooperative system；The intelligent driving method specifically includes the following steps:
A. vehicle launch, vehicle-mounted end position current vehicle location, input destination information, and intelligent vehicle carries out path rule
It draws；
B. road surface transmitting terminal automatic network-building of the target vehicle when walking in target road and in its radiation scope obtains
The location information of current road segment；The current road segment location information that the vehicle-mounted end of target vehicle is obtained according to step A, and combine itself
Location information makes corrections to current vehicle location, and plans walking path again；
C. simultaneously and its radiation scope in other vehicle-mounted end automatic network-buildings, obtain nearby vehicle information, calculate minimum between
Away from making corrections to current vehicle location, and plan walking path again；
D. when vehicle driving is to intersection, current the traffic light status is obtained, plans walking road again according to traffic marking
Diameter, until arriving at the destination.
A kind of above-mentioned intelligent driving method based on bus or train route cooperative system, the location information of the current road segment includes longitude and latitude
Spend information, course angle information, red street lamp information, traffic condition, pedestrian information；Nearby vehicle information include nearby vehicle position,
Speed, course information.
A kind of above-mentioned intelligent driving method based on bus or train route cooperative system, the road surface send end memory and contain target road
Detailed location information and road safety traffic information.
A kind of above-mentioned intelligent driving method based on bus or train route cooperative system, the road surface transmitting terminal are built-in with real time scan institute
In the laser radar and camera of road section information.
A kind of above-mentioned intelligent driving method based on bus or train route cooperative system, positioned at the road surface transmitting terminal of intersection and traffic
Whistle control system is in communication with each other, and obtains the traffic lights information of current intersection, and is sent to periphery online vehicles.
A kind of above-mentioned intelligent driving method based on bus or train route cooperative system, the smart phone of the road surface transmitting terminal and pedestrian
Networking obtains pedestrian position information.
A kind of above-mentioned intelligent driving method based on bus or train route cooperative system, the radiation areas overlapping between adjacent road surface transmitting terminal
Partial width is not less than road width.
Due to using above technical scheme, the invention technological progress is as follows.
Present invention arrangement is simple, securely and reliably, is applied in unmanned technical field, requires relatively smart machine
It is low, independent of high environment sensing sensor, intelligent vehicle can be allowed to realize any road, any scene, greatly improved
The adaptability of intelligent vehicle, for intelligent vehicle, normally upper road provides reliable basis.
Detailed description of the invention
Fig. 1 is bus or train route cooperative system of the present invention arrangement and application schematic diagram；
Networking schematic diagram of the Fig. 2 between vehicle-mounted end of the present invention and road surface transmitting terminal.
Wherein: P. vehicle-mounted end, the road surface L. transmitting terminal.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be described in further detail.
A kind of intelligent driving method based on bus or train route cooperative system, the drive manner be based on automatic sensing, decision with
And the intelligent vehicle of executing agency is realized, the bus or train route cooperative system includes the vehicle-mounted end P being mounted on target vehicle and several
It is arranged at intervals on the road surface transmitting terminal L of target road side, is passed through between vehicle-mounted end and road surface transmitting terminal and between adjacent vehicle-mounted end
Wireless network is in communication with each other networking and forms bus or train route cooperative system.
Vehicle-mounted end P is mounted on intelligent vehicle, is networked by wireless and road surface transmitting terminal, and road surface position information is obtained,
Front traffic lights information, road congestion information, periphery section pedestrian information.Vehicle-mounted end and vehicle intelligent driving on intelligent vehicle
Controller communication, obtains the information such as vehicle real time position, speed, steering, and send such information to periphery online vehicles, together
When the vehicle-mounted end can also obtain the similar information of nearby vehicle, feedback arrives this vehicle intelligent driving controller.
The detailed location information and speed limit of target road where being stored in the transmitting terminal L of road surface, the traffic such as no turns
Security information；If road surface transmitting terminal is in intersection, and traffic signal control system is communicated, and obtains traffic lights letter
Breath；Road surface transmitting terminal can also obtain pedestrian position information with the smart phone networking of pedestrian, realize people's car networking.Road surface is sent
Also it is built-in with the laser radar and camera of road section information where real time scan in end, and by the information such as temporary obstructions, row
The feedbacks such as people promote intelligent driving safety to nearby vehicle.
Road surface transmitting terminal will send information to periphery online vehicles by safety wireless network；Periphery online vehicles phase intercommunication
Letter, so that intelligent vehicle can may determine that the distance between vehicle according to the position between vehicle, vehicle speed information and can
The collision situation that can occur, that is to say, that as long as intelligent vehicle can intelligently mutually equipped with the road of bus or train route cooperative system
Connection, information exchange, to achieve the purpose that track, the intelligent drivings such as avoidance, anti-collision warning.
In the present invention, road surface transmitting terminal is provided with multiple, is generally arranged at the side of target road, adjacent road surface transmitting terminal
Between radiation areas lap width be not less than road width, guarantee guarantee signal do not lose.Fig. 2 shows a kind of bus or train route associations
Homologous ray, including two road surface transmitting terminals and six intelligent vehicles are mounted on vehicle-mounted end on each intelligent vehicle；As shown in the figure
1 transmitting terminal 1 is connected automatically to according to the power of wireless signal to vehicle 4, vehicle 5, vehicle 6 are connected to transmitting terminal 2.Vehicle
Between networking use point-to-point mode, by taking vehicle 2 as an example, vehicle 2 receive originator 1 data while, overseas broadcast from
The status informations such as position, speed, the course of body, vehicle 1, vehicle 3, vehicle 4 are in the broadcasting area of vehicle 2, so can receive
The information sent to vehicle 2, equally, vehicle 1 and vehicle 3 can also interact information, work as vehicle between vehicle 3 and vehicle 4
Between beyond after a certain range, then disconnect, as vehicle 5 can only be communicated with closer vehicle 4 and vehicle 6.Due to vehicle
Between in ceaselessly interaction data, so vehicle can very easily judge the vehicle nearest from oneself, and may occur
Collision etc..
Intelligent driving method of the present invention based on above-mentioned bus or train route cooperative system realize, specifically includes the following steps:
A. vehicle launch, vehicle-mounted end position current vehicle location, input destination information, and intelligent vehicle carries out path rule
It draws.
B. road surface transmitting terminal automatic network-building of the target vehicle when walking in target road and in its radiation scope obtains
The location information of current road segment, the location information of current road segment include latitude and longitude information, course angle information, red street lamp information, hand over
Logical situation, pedestrian information；The current road segment location information that the vehicle-mounted end of target vehicle is obtained according to step A, and combine itself fixed
Position information, makes corrections to current vehicle location, and plan walking path again.
C. simultaneously and its radiation scope in other vehicle-mounted end automatic network-buildings, obtain nearby vehicle information, calculate minimum between
Away from making corrections to current vehicle location, and plan walking path again；Nearby vehicle information includes nearby vehicle position, vehicle
Speed, course information.
D. when vehicle driving is to intersection, current the traffic light status is obtained, plans walking road again according to traffic marking
Diameter, until arriving at the destination.
Claims (7)
1. a kind of intelligent driving method based on bus or train route cooperative system, which is characterized in that the drive manner is based on having from dynamic
Know, the intelligent vehicle of decision and executing agency is realized, the bus or train route cooperative system include be mounted on it is vehicle-mounted on target vehicle
(P) and several road surface transmitting terminals (L) for being arranged at intervals on target road side are held, it is between vehicle-mounted end and road surface transmitting terminal and adjacent
Networking is in communication with each other by wireless network between vehicle-mounted end and forms bus or train route cooperative system；The intelligent driving method specifically includes following
Step:
A. vehicle launch, vehicle-mounted end position current vehicle location, input destination information, and intelligent vehicle carries out path planning；
B. road surface transmitting terminal automatic network-building of the target vehicle when walking in target road and in its radiation scope obtains current
The location information in section；The current road segment location information that the vehicle-mounted end of target vehicle is obtained according to step A, and combine self poisoning
Information makes corrections to current vehicle location, and plans walking path again；
C. simultaneously and its radiation scope in other vehicle-mounted end automatic network-buildings, obtain nearby vehicle information, calculating minimum spacing, it is right
Current vehicle location makes corrections, and plans walking path again；
D. when vehicle driving is to intersection, current the traffic light status is obtained, walking path is planned according to traffic marking again, directly
Reach destination.
2. a kind of intelligent driving method based on bus or train route cooperative system according to claim 1, which is characterized in that described to work as
The location information in preceding section includes latitude and longitude information, course angle information, red street lamp information, traffic condition, pedestrian information；Periphery vehicle
Information includes nearby vehicle position, speed, course information.
3. a kind of intelligent driving method based on bus or train route cooperative system according to claim 1, which is characterized in that the road
Face sends the detailed location information and road safety traffic information that end memory contains target road.
4. a kind of intelligent driving method based on bus or train route cooperative system according to claim 3, which is characterized in that the road
The laser radar and camera of road section information where face transmitting terminal is built-in with real time scan.
5. a kind of intelligent driving method based on bus or train route cooperative system according to claim 1, which is characterized in that be located at and hand over
Road surface transmitting terminal and the traffic signal control system of cross road mouth are in communication with each other, and obtain the traffic lights information of current intersection, and
It is sent to periphery online vehicles.
6. a kind of intelligent driving method based on bus or train route cooperative system according to claim 1, which is characterized in that the road
The smart phone networking of face transmitting terminal and pedestrian obtains pedestrian position information.
7. a kind of intelligent driving method based on bus or train route cooperative system according to claim 1, which is characterized in that adjacent road
Radiation areas lap width between the transmitting terminal of face is not less than road width.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910680923.9A CN110428619A (en) | 2019-07-26 | 2019-07-26 | A kind of intelligent driving method based on bus or train route cooperative system |
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| CN201910680923.9A CN110428619A (en) | 2019-07-26 | 2019-07-26 | A kind of intelligent driving method based on bus or train route cooperative system |
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Cited By (7)
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| CN111210647A (en) * | 2020-01-18 | 2020-05-29 | 杭州后博科技有限公司 | Intelligent lamp pole-based traveling control method and system |
| CN111402598A (en) * | 2020-03-17 | 2020-07-10 | 北京百度网讯科技有限公司 | Vehicle control method and device and electronic equipment |
| CN111547053A (en) * | 2020-05-12 | 2020-08-18 | 江铃汽车股份有限公司 | Automatic driving control method and system based on vehicle-road cooperation |
| CN111787481A (en) * | 2020-06-17 | 2020-10-16 | 北京航空航天大学 | Road-vehicle coordination high-precision sensing method based on 5G |
| CN113160553A (en) * | 2021-01-28 | 2021-07-23 | 上海同仕交通科技有限公司 | Driverless direction-based vehicle-road cooperative information communication method and system |
| CN113192317A (en) * | 2021-01-27 | 2021-07-30 | 浙江同仕工程科技有限公司 | Wisdom traffic vehicle road coordination management and control system |
| CN113706912A (en) * | 2021-08-27 | 2021-11-26 | 北京万集科技股份有限公司 | Auxiliary driving method and system for vehicle, terminal device and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111210647A (en) * | 2020-01-18 | 2020-05-29 | 杭州后博科技有限公司 | Intelligent lamp pole-based traveling control method and system |
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Effective date of registration: 20200608 Address after: 518000 Huafeng mansion 2701, Bauhinia community, Shennan Road, Futian District, Shenzhen, Guangdong, China, 2701 Applicant after: SHENZHEN HAYLION TECHNOLOGIES Co.,Ltd. Address before: 518000 room 6006, Huafeng building, 1806 Shennan Avenue, Lianhua street, Guangdong, Shenzhen, Futian District Applicant before: Alfaba Artificial Intelligence (Shenzhen) Co.,Ltd. |
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Application publication date: 20191108 |