CN111422191A - Automatic driving control system and method and electronic equipment - Google Patents

Automatic driving control system and method and electronic equipment Download PDF

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Publication number
CN111422191A
CN111422191A CN202010288546.7A CN202010288546A CN111422191A CN 111422191 A CN111422191 A CN 111422191A CN 202010288546 A CN202010288546 A CN 202010288546A CN 111422191 A CN111422191 A CN 111422191A
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vehicle
automatic driving
vehicles
driving control
information
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Chinese (zh)
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高明晋
沈茹婧
周一青
石晶林
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Institute of Computing Technology of CAS
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Institute of Computing Technology of CAS
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Priority to CN202010288546.7A priority Critical patent/CN111422191A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/162—Speed limiting therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

Abstract

The embodiment of the invention provides an automatic driving control system, an automatic driving control method and electronic equipment.

Description

Automatic driving control system and method and electronic equipment
Technical Field
The invention relates to the technical field of driving control, in particular to the field of automatic driving or auxiliary driving, and more particularly to an automatic driving control system, an automatic driving control method and electronic equipment.
Background
The actual application of the existing automatic driving technology mainly comprises two types of intelligent vehicles and networked vehicles. The intelligent vehicle is added with a vehicle-mounted sensing system and an automatic control device such as a sensor (radar and image), a controller and an actuator for sensing environmental information on the basis of a common vehicle, so that the vehicle has intelligent environmental sensing capability, can automatically analyze the running safety and dangerous states of the vehicle, and can reach a destination according to the intention of people, and finally realize unmanned driving. The networked vehicle is provided with a vehicle-mounted sensing system and an automatic control device, so that the networked vehicle has autonomous environment sensing capability. In addition, the networked vehicle is a node of a vehicle networking system, and wireless communication and information exchange among vehicles, roads, pedestrians and the cloud are achieved through the vehicle-mounted information terminal.
Above two kinds of automatic driving technique all follow the vehicle angle, do not consider the transformation to infrastructure, mainly based on sensors such as image, radar generate the perception to traffic environment and control the vehicle and travel, but its perception precision is influenced by the shelter easily, it is not accurate enough, and need reform transform the vehicle by a wide margin, carry numerous and expensive on-vehicle equipment of expense on the vehicle, its is with high costs, these costs can shift to the car cost of buying, this is one of the reasons that present automatic driving technique can not obtain large tracts of land and promote, be unfavorable for automatic driving's popularization.
In order to solve the above problems, it is desirable to provide a technique capable of reducing the application cost of the automatic driving technique to promote the application and popularization of the automatic driving technique.
Disclosure of Invention
It is therefore an object of the present invention to overcome the above-mentioned drawbacks of the prior art and to provide an automatic driving control system, method and electronic device.
The purpose of the invention is realized by the following technical scheme:
according to a first aspect of the present invention, there is provided an automatic driving control system comprising:
a plurality of communication tags, spaced apart on all roads within a coverage area, configured to: establishing wireless connection with a vehicle control device on a vehicle entering a communication range of the vehicle;
one or more super base stations, communicatively coupled to the communication tag, configured to: the method comprises the steps that at least a driving task of a vehicle entering a coverage area and traffic environment information in the coverage area are obtained through a communication tag, wherein the traffic environment information comprises position information of the vehicle in the coverage area; and performing trajectory planning for the vehicle at least according to the driving task and the traffic environment information of the corresponding vehicle to generate automatic driving control information and sending the automatic driving control information to the vehicle through a communication sign, wherein the automatic driving control information comprises a virtual guide rail which is selected for the vehicle and used for guiding the vehicle to run and a specified speed, and the virtual guide rail comprises a running route planned for the vehicle;
a vehicle control device mounted on a vehicle, configured to: and controlling the vehicle to run at a specified speed along the virtual guide rail of the vehicle according to the automatic driving control information sent by the super base station.
Preferably, the communication tags include a plurality of communication tags arranged at intervals from each other in the vehicle direction in a middle portion of each lane and a plurality of communication tags arranged at intervals from each other in the vehicle direction on a boundary line between two adjacent lanes.
Preferably, the communication tag disposed in the center of the lane and the communication tag disposed on the boundary are disposed at intervals crossing each other in the traveling direction.
In some embodiments of the invention, the super base station is configured to:
acquiring traffic environment information in a coverage area and driving tasks of vehicles entering the coverage area, wherein the driving tasks of the vehicles comprise starting points and end points of the vehicles;
generating all virtual guideways available to the vehicle at least from communication tags arranged on a path between a starting point and an end point of the vehicle;
based on all virtual guide rails available for the vehicle and traffic environment information around the vehicle, performing trajectory planning on the vehicle to generate automatic driving control information and sending the automatic driving control information to a vehicle control device of the vehicle, wherein the automatic driving control information comprises a virtual guide rail selected for the vehicle and used for guiding the vehicle to run and a specified speed, and the virtual guide rail comprises a running route which is planned for the vehicle and does not collide from a starting point to an end point of the virtual guide rail and a route boundary of the running route; and
and adjusting the automatic driving control information of the vehicle according to the traffic environment information around the vehicle and sending the automatic driving control information to the vehicle control device of the vehicle.
In some embodiments of the invention, the autopilot control system further comprises a vehicle-mounted: an emergency sensing device configured to sense conditions of the vehicle itself and an external environment; and/or the emergency processing device is configured to analyze the driving condition according to the conditions of the vehicle and the external environment sensed by the emergency sensing device, report the information of the emergency condition to the super base station when the vehicle has the emergency condition, and control the vehicle to perform emergency processing so as to reduce or avoid the driving risk of the vehicle caused by the emergency condition.
In some embodiments of the invention, the super base station is further configured to: the method comprises the steps of analyzing the vehicle running states of a current virtual guide rail and adjacent virtual guide rails before a vehicle needing lane changing changes lanes, sending automatic driving control information containing lane changing control information to the vehicle when lane changing conditions are mature, and controlling the vehicle needing lane changing to change lanes through a specific communication tag in a plurality of communication tags on a boundary line according to the lane changing control information.
In some embodiments of the invention, the super base station is further configured to: the method is used for optimizing the inter-vehicle distance of the vehicles so as to keep a safe distance between the vehicles in the coverage range, and/or optimizing the distance between the vehicles on one virtual guide rail and the vehicles in the other virtual guide rail before the vehicles on the virtual guide rail in the coverage range need to be merged or change lanes and drive into the other virtual guide rail, and a gap is reserved for merging or changing lanes of the merged vehicles.
In some embodiments of the invention, the super base station is further configured to: when planning a track for a vehicle to generate automatic driving control information, dividing a space between a starting point and an end point of the vehicle into one or more control stages, wherein each control stage is provided with a staged target position and a specified time range for reaching the staged target position; and guiding the vehicle to travel from the current position to the staged target position at a predetermined speed within a predetermined time range along the virtual guide rail in the control stage.
In some embodiments of the invention, the super base station is further configured to: and managing the queues of partial vehicles in the coverage range so as to arrange the partial vehicles which originally run independently into an orderly running vehicle fleet according to the staged target positions of the vehicles.
In some embodiments of the invention, the automatic driving control system further comprises: the positioning labels are configured on the outline of the vehicle, and at least one positioning label is arranged at each point and used for positioning the outline of the vehicle;
the communication tag is further configured to:
when a vehicle passes through the communication tag, acquiring positioning information of the outline of the vehicle through interaction of the communication tag and the plurality of positioning tags, and taking coordinate information of the communication tag as position information of the vehicle;
the super base station is further configured to:
determining an actual running route of the vehicle according to the position information of the vehicle and acquiring a vehicle body running posture of the vehicle according to the positioning information of the outline of the vehicle;
comparing the actual running route of the vehicle with the running route limited in the virtual guide rail of the current control stage of the vehicle to obtain the running error of the vehicle; and
and updating the automatic driving control information of the vehicle according to the vehicle body running posture and the running error of the vehicle so as to correct the speed, the running route and the vehicle body running posture of the vehicle and adjust the vehicle to be within the route boundary of the speed and the running route specified in the automatic driving control information.
Preferably, the correcting the speed, the driving route and the running posture of the vehicle body comprises correcting by controlling the steering angle, the lateral acceleration, the longitudinal acceleration and the braking of the vehicle in real time.
According to a second aspect of the present invention, there is provided an automatic driving method based on the automatic driving control system according to the first aspect, the method including:
acquiring traffic environment information in a coverage area and driving tasks of vehicles entering the coverage area, wherein the driving tasks of the vehicles comprise starting points and end points of the vehicles;
generating all virtual guideways available to the vehicle at least from communication tags arranged on a path between a starting point and an end point of the vehicle;
based on all the virtual guide rails available for the vehicle and traffic environment information around the vehicle, performing trajectory planning on the vehicle to generate automatic driving control information, and sending the automatic driving control information to a vehicle control device of the vehicle, wherein the automatic driving control information comprises the virtual guide rails selected for the vehicle to guide the vehicle to run and a specified speed; and
and adjusting the automatic driving control information of the vehicle according to the traffic environment information around the vehicle and sending the automatic driving control information to the vehicle control device of the vehicle.
According to a third aspect of the present invention, there is provided an electronic apparatus comprising:
one or more processors; and
a memory, wherein the memory is to store one or more executable instructions;
the one or more processors are configured to implement the method of the second aspect via execution of the one or more executable instructions.
Compared with the prior art, the invention has the advantages that:
the invention improves the road infrastructure, arranges a plurality of communication tags on the road within the coverage area, creates a virtual guide rail for guiding the vehicle to run, acquires the driving task of the vehicle and accurately acquires the traffic environment information within the coverage area by using the communication tags, and sends the automatic driving control information generated according to the traffic environment information and the driving task to the vehicle by the wireless signal of the communication tags to control the vehicle to run on the virtual guide rail, thereby transferring the cost from the vehicle to the infrastructure, reducing the vehicle purchasing cost and improving the driving safety.
Drawings
Embodiments of the invention are further described below with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a network system of a super base station and a communication tag of an automatic driving control system according to an embodiment of the invention;
FIG. 2 is a schematic diagram of the installation positions of the location tag, the emergency sensing device, the vehicle control device and the emergency processing device of the automatic driving control system on the vehicle according to the embodiment of the invention;
FIG. 3 is a schematic diagram of a steering model's predicted trajectory in radians when the automatic driving control system optimizes the following distance according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a conflict point for predicting trajectory preview when the automatic driving control system optimizes the following distance according to the embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the calculation of the minimum safe distance of the vehicle when the automatic driving control system optimizes the following distance according to the embodiment of the invention;
FIG. 6 is a schematic diagram of queue management by an autopilot control system according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of an initialization state and an operation state in which an autopilot control system guides a vehicle through a virtual guideway for autopilot according to an embodiment of the present invention;
fig. 8 is a schematic view of a communication tag located on a boundary between two adjacent lanes of an automatic driving control system according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a lane change in a scene for a vehicle in an autopilot control system in accordance with an embodiment of the present invention;
FIG. 10 is a schematic diagram of a lane change in another scenario for a vehicle in an autopilot control system according to an embodiment of the present invention;
fig. 11 is a functional diagram of an automatic driving control system according to an embodiment of the present invention when controlling a vehicle to travel on a road covering a range.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail by embodiments with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As mentioned in the background art, the existing automatic driving technology mainly starts from the perspective of vehicles, does not consider the improvement of infrastructure, is mainly based on the perception of the generation of sensors such as images and radars to the traffic environment, and the perception precision is easily affected by shelters, is not accurate enough, and needs to greatly improve the vehicles, so that the vehicle purchasing cost is too high, and the popularization of automatic driving is not facilitated. In order to solve the problems, the invention improves the road infrastructure, arranges a plurality of communication tags on the road within the coverage area, creates a virtual guide rail for guiding the vehicle to run, acquires the driving task of the vehicle and accurately acquires the traffic environment information within the coverage area by using the communication tags, and sends the automatic driving control information generated according to the traffic environment information and the driving task to the vehicle by the wireless signal of the communication tags to control the vehicle to run on the virtual guide rail, thereby transferring the cost from the vehicle to the infrastructure, reducing the vehicle purchasing cost and improving the driving safety.
Before describing embodiments of the present invention in detail, some of the terms used therein will be explained as follows:
the virtual guide rail is a virtual track used for guiding a vehicle to run along a running route planned for the vehicle, and a plurality of communication tags are arranged along the running route so that the vehicle can realize interaction with the super base station when passing through the corresponding communication tags in the running process within the coverage range of the super base station according to the running route. Therefore, the super base station can conveniently acquire traffic environment information in a coverage area, analyze whether the vehicle runs according to a running route defined in the virtual guide rail, analyze the running error of the vehicle and the like. The virtual guide rail is distinguished from a physical guide rail (rail) in the railway industry, which has no specific shape, and guides a vehicle to realize automatic driving by a travel route defined in the form of data. For example, in the travel route, a specific lane in which the vehicle travels and route information of the lane are defined.
And the communication tag refers to a wireless communication node arranged in the coverage area of the super base station and used for interaction between a vehicle and the super base station. The communication tag is, for example, a wireless transponder. The communication tag is internally stored with automatic driving control information generated for a corresponding vehicle, the automatic driving control information comprises a virtual guide rail selected for the vehicle to guide the vehicle to run, and the virtual guide rail comprises a running route planned for the vehicle. The communication tags are located on the planned driving route, and when the vehicles drive on the road according to the planned driving route, the communication tags pass through the corresponding communication tags on the driving route and perform data interaction with the communication tags, so that the super base station can acquire traffic environment information in a coverage area, and therefore the driving of each vehicle is regulated and controlled to avoid collision.
According to an embodiment of the present invention, referring to fig. 1 and 2, an automatic driving control system includes:
a plurality of communication tags spaced apart to be mounted on roads within a coverage area, configured to: establishing wireless connection with a vehicle control device on a vehicle entering a communication range of the vehicle;
one or more super base stations, communicatively coupled to the communication tag, configured to: the method comprises the steps that at least a driving task of a vehicle entering a coverage area and traffic environment information in the coverage area are obtained through a communication label, wherein the traffic environment information comprises position information of the vehicle in the coverage area; and performing trajectory planning for the vehicle at least according to the driving task and the traffic environment information of the corresponding vehicle to generate automatic driving control information and sending the automatic driving control information to the vehicle through a communication sign, wherein the automatic driving control information comprises a virtual guide rail which is selected for the vehicle and used for guiding the vehicle to run and a specified speed, and the virtual guide rail comprises a running route planned for the vehicle;
a vehicle control device mounted on a vehicle, configured to: and controlling the vehicle to run at a specified speed along the virtual guide rail of the vehicle according to the automatic driving control information sent by the super base station.
Preferably, the communication tags include a plurality of communication tags arranged at intervals from each other in the vehicle direction in a middle portion of each lane and a plurality of communication tags arranged at intervals from each other in the vehicle direction on a boundary line between two adjacent lanes. Preferably, the communication tag disposed in the center of the lane and the communication tag disposed on the boundary are disposed at intervals crossing each other in the traveling direction. The invention modifies road infrastructure, sets communication tags on all roads in a coverage area, and takes the communication tags as communication nodes for communication between vehicles and the super base station to realize the full-section coverage of the communication nodes. The arrangement of the communication tags can be schematically referred to as blocks in the road and on the road boundary in fig. 1, 4, 6, 8, 11. Coverage refers to the range within a road controlled by the autopilot control system of the present invention. The communication tag can be pre-buried in a road in a coverage area, or a hole is formed in the road and arranged in the hole of the road, so that the communication tag can be repaired later. The automatic driving control information comprises a virtual guide rail which is selected for the vehicle and used for guiding the vehicle to run and a corresponding specified speed when the vehicle runs on the virtual guide rail, and the communication tag sends the automatic driving control information to the vehicle when the vehicle reaches the communication range of the corresponding communication tag. For example, the super base station generates the automatic driving control information for the vehicle and sends the automatic driving control information to one or more communication tags of a road section which the super base station will pass through, when the vehicle passes through a certain communication tag, the communication tag establishes wireless communication with the vehicle to obtain I D of the vehicle, the corresponding automatic driving control information is sent to the vehicle according to I D of the vehicle, and after the vehicle control device of the vehicle receives the automatic driving control information, the vehicle is controlled to run at a specified speed along the virtual guide rail according to the automatic driving control information. The technical scheme of the embodiment can at least realize the following beneficial technical effects: the invention realizes the full-section coverage of the communication tags in the roads in the coverage area so as to generate a set of all passable roads of vehicles and generate all available virtual guide rails, and can acquire traffic environment information in the coverage area through the wireless communication between the communication tags and the vehicles so as to integrally control the running of the covered vehicles; the communication tags are arranged at intervals, so that the cost can be saved; the communication tags arranged in the middle of the lane and the communication tags arranged on the boundary are arranged at intervals in a crossing manner along the driving direction, so that the vehicles can pass through the corresponding communication tags arranged on the boundary when changing lanes, the lane changing of the vehicles can be accurately controlled, the driving condition of the lane changing vehicles can be mastered in time, and the driving safety is improved.
According to one embodiment of the invention, a super base station is configured to: acquiring traffic environment information in a coverage area and driving tasks of vehicles entering the coverage area, wherein the driving tasks of the vehicles comprise starting points and end points of the vehicles; generating all virtual guideways available to the vehicle at least from communication tags arranged on a path between a starting point and an end point of the vehicle; based on all virtual guide rails available for the vehicle and traffic environment information around the vehicle, performing trajectory planning on the vehicle to generate automatic driving control information and sending the automatic driving control information to a vehicle control device of the vehicle, wherein the automatic driving control information comprises a virtual guide rail selected for the vehicle and used for guiding the vehicle to run and a specified speed, and the virtual guide rail comprises a running route which is planned for the vehicle and does not collide from a starting point to an end point of the virtual guide rail and a route boundary of the running route; and a vehicle control device for adjusting the automatic driving control information of the vehicle according to the traffic environment information around the vehicle and transmitting the information to the vehicle.
Preferably, the available virtual guideway means a virtual guideway on which the vehicle can travel. The super base station can shield or close part of communication tags influenced by the road condition event according to the reported road condition event. For example, when some road sections have corresponding road condition events (e.g., accidents, landslides, or road collapse) to cause traffic incapability, a traffic manager (e.g., a traffic police or an employee of a highway) or other personnel (e.g., surrounding owners) may report the road condition events, and the super base station masks communication tags affected by the road condition events according to the reported events, and does not generate available virtual guide rails via the masked communication tags. The technical scheme of the preferred embodiment can at least realize the following beneficial technical effects: the available virtual guide rails can be adjusted in time conveniently according to corresponding road condition events, the driving route of each vehicle can be adjusted conveniently according to the reported road condition information, and the driving safety is improved.
Preferably, the driving route planned for the vehicle from the starting point to the end point of the vehicle without collision is a geometric curve planned from the starting point to the end point of the vehicle without collision according to a certain evaluation index according to the driving task of the vehicle and the surrounding real-time traffic environment information.
Preferably, when the super base station performs trajectory planning for the vehicle to generate the automatic driving control information, some existing models, such as a vehicle dynamics model and a vehicle longitudinal and transverse motion control model, may be combined to ensure vehicle stability and comfort when controlling the vehicle according to the automatic driving control information. Vehicle dynamics models are typically used to analyze vehicle ride comfort and vehicle handling stability. For vehicles, the vehicle dynamics is mainly researched, and the stress condition of vehicle tires and related components is mainly researched. The main function of the vehicle longitudinal and transverse movement control model is to control the speed of the vehicle according to different road sections so as to maintain the proper distance. The steering system (transverse control) mainly has the functions of controlling the vehicle to run along the center of a road and ensuring the running safety, the stability and the riding comfort of the vehicle.
According to one embodiment of the invention, the super base station is further configured to: when planning a track for a vehicle to generate automatic driving control information, dividing a space between a starting point and an end point of the vehicle into one or more control stages, wherein each control stage is provided with a staged target position and a specified time range for reaching the staged target position; and guiding the vehicle to travel from the current position to the staged target position at a predetermined speed within a predetermined time range along the virtual guide rail in the control stage. The driving route is divided into a plurality of sections, and each section is provided with a staged target position. For example, the distance between the starting point and the ending point of the vehicle is divided into one or more control stages so as to divide the driving route between each two communication tags into one control stage, and the communication tag relatively close to the ending point in each two communication tags is used as the staged target position. Thus, the super base station can define the condition of the driving route and the speed on the driving route of the control phase in the automatic driving control information of the vehicle to guide the driving of the vehicle. The technical scheme of the embodiment can at least realize the following beneficial technical effects: the staged guidance is helpful for accurately controlling the vehicle according to the staged target positions of each control stage of the vehicle, so that the driving safety is improved.
Preferably, the super base station may designate a communication tag as the staged target location, and when the vehicle reaches the communication tag, the communication tag acquires I D of the vehicle, and then the vehicle is considered to have reached the staged target location. One or more communication tags may be provided between the staged target location and the current location of the vehicle, and the specific number of communication tags may be set as needed by the operator of the road covering the range.
Preferably, for phased guidance, the trajectory planning can be divided into global trajectory planning and local trajectory planning. Global trajectory planning generates a relatively rough driving trajectory, dynamic barrier constraints on roads are generally not considered, and a related static trajectory planning algorithm can be utilized. The local trajectory planning usually considers the dynamic constraint and the state constraint of the vehicle and the dynamic barrier constraint in the road environment, and can utilize a related dynamic trajectory planning algorithm and combine real-time traffic environment information around the vehicle to reasonably plan the vehicle trajectory, optimize the driving distance and improve the driving safety.
According to one embodiment of the invention, the super base station is further configured to: the method is used for optimizing the inter-vehicle distance of the vehicles so as to keep a safe distance between the vehicles in the coverage range, and/or optimizing the distance between the vehicles on one virtual guide rail and the vehicles in the other virtual guide rail before the vehicles on the virtual guide rail in the coverage range need to be merged or change lanes and drive into the other virtual guide rail, and a gap is reserved for merging or changing lanes of the merged vehicles. The technical scheme of the embodiment can at least realize the following beneficial technical effects: the invention can keep a safe distance between vehicles to avoid collision by optimizing the distance between vehicles, and the reasonable distance between vehicles can ensure the safety of vehicles and improve the road passing efficiency. Preferably, the trajectory prediction is performed on each vehicle according to the position information of all vehicles within the coverage area, the virtual guide rail of each vehicle and the specified speed to predict the driving conflict, and the automatic driving control information of the corresponding vehicle is updated according to the predicted driving conflict to avoid the driving conflict.
When optimizing the inter-vehicle distance of a vehicle, the possible traffic conflicts need to be estimated. At this time, the driving track of the vehicle can be previewed to predict the driving conflict, and then the predicted driving conflict can be avoided by optimizing the driving distance of the vehicle.
For a lane-changing vehicle, the trajectory prediction may use a corresponding trajectory model to predict the driving trajectory, for example, an arc steering model, see fig. 3, which shows an example of predicting the trajectory by the arc steering model, and the formula of the arc steering model is as follows:
Figure BDA0002449496440000101
in the formula, t represents t time, x (t) represents the longitudinal running distance (parallel to the running direction) of the vehicle at t time, y (t) represents the transverse running distance (perpendicular to the running direction) of the vehicle at t time, v represents the vehicle speed, theta represents the expected yaw angle of the vehicle, and the vehicle speed can be decomposed into two speeds, namely v and transverse speed, in a global coordinate systemxAnd vyAnd has vx＝vcosθ，vyτ is the integral variable in the integral formula and is eventually integrated.
When the trajectory is previewed, it is found that some traffic conflicts may occur in the driving process of the vehicle, for example, at the dot points shown in fig. 4, if the vehicle 1 and the vehicle 2 are driven according to the current vehicle speed, collision may occur at the dot points, and at this time, the inter-vehicle distance may be optimized through the super base station, for example, the auto-driving control information of the vehicle 2 is updated to control the vehicle 2 to decelerate so as to increase the inter-vehicle distance between the two vehicles, so as to avoid the predicted traffic conflicts.
For the vehicles running in a straight line, the safe distance between the vehicles can be kept by optimizing the distance between the vehicles so as to avoid collision, and the road passing efficiency can be improved while the safety of the vehicles is ensured by the reasonable distance between the vehicles. For example, for two vehicles traveling back and forth on a straight track, the rear vehicle needs to maintain a safe distance from the front vehicle by adjusting the vehicle speed. Assuming that vehicles 1 and 2 are traveling on a straight track, they need to maintain a safe distance, as shown in fig. 5, the minimum safe distance between the two vehicles is calculated as follows:
suppose that the constant speed traveling speeds of the vehicle 1 and the vehicle 2 are v, respectively1And v2Their emergency braking acceleration is-a1And-a2Wherein the delay time caused by communication and the like before the emergency braking of the vehicle 2 is t2；
Thus, the inter-vehicle distance safety condition:
Figure BDA0002449496440000111
vehicle minimum safe distance:
Figure BDA0002449496440000112
speed adjustment based on minimum safe distance:
assuming that the initial distance between the rear vehicle and the front vehicle is x, in order to keep the safe distance, the rear vehicle is accelerated by the acceleration a'2Uniformly decelerating for a certain time delta t, and keeping constant speed running, wherein the acceleration a'2The duration delta t can be obtained by solving the following quadratic equation:
Figure BDA0002449496440000113
after the time period Δ t is calculated as described above, the vehicle 2 as the following vehicle has an acceleration a'2The uniform deceleration period deltat is performed to reach the minimum safe distance from the vehicle 1 as the preceding vehicle. Subsequently, the vehicle 2 may adjust its speed to again reach the speed specified in the autopilot control message, e.g., the vehicle 2 reacceleratesTo its pre-deceleration speed and to maintain that speed.
According to an embodiment of the invention, referring to fig. 6, the super base station is further configured to: and managing the queues of partial vehicles in the coverage range so as to arrange the partial vehicles which originally run independently into an orderly running vehicle fleet according to the staged target positions of the vehicles. Preferably, when the super base station performs queue management on a part of vehicles within the coverage area, the corresponding vehicles are arranged at positions of the queue relatively closer to the direction of the staged target positions according to the staged target positions of different vehicles. Therefore, adjustment of the queue can be reduced when the vehicle needs to change lanes, get at a high speed and the like. For example, referring to fig. 6, the directions of the staged target positions of M-labeled vehicles M1, M2, M3 and M4 are the left side of the road, and the directions of the staged target positions of N1, N2 and N3 of N-labeled vehicles are the right side of the road, in which case, the M-labeled vehicles are arranged at positions (left side of the road) in the queue relatively closer to the directions of the staged target positions, and the N-labeled vehicles are arranged at positions (right side of the road) in the queue relatively closer to the directions of the staged target positions. The technical scheme of the embodiment can at least realize the following beneficial technical effects: different from the existing single-vehicle management based on limited information in unmanned technology, the invention can manage the vehicles in a queue by virtue of the acquisition capability of the invention on the traffic environment information in the coverage area and the overall control on the vehicles, namely, the originally scattered vehicles are arranged into a motorcade running in order according to the stage destination of each vehicle, thereby effectively avoiding the occurrence of traffic accidents while improving the traffic efficiency of the expressway.
It should be noted that the orderly driving fleet is not necessarily the side-by-side driving fleet shown in fig. 6, but is only schematically shown in fig. 6, and the orderly driving fleet merely means that all vehicles in the fleet can keep a certain formation. In an actual scene, two vehicles in adjacent lanes in a fleet running orderly can keep a certain running interval in the running direction so as to guarantee the running safety. In addition, the invention does not manage all vehicles in a queue, and discrete vehicles can exist on the road. This is because the situation of each vehicle is different, and all vehicles cannot be driven in a queue. Meanwhile, the queuing management can also take the emergency into consideration and vacate available lanes for other vehicles.
According to an embodiment of the present invention, referring to fig. 2, the automatic driving control system further includes: the positioning labels are configured on the contour of the vehicle, for example, four vertex positions, and at least one positioning label is arranged at each point and used for positioning four points of the contour of the vehicle. The communication tag is further configured to: when a vehicle passes through the communication tag, the positioning information of the outline of the vehicle is acquired through the interaction of the communication tag and the plurality of positioning tags, and the coordinate information of the communication tag is used as the position information of the vehicle. The super base station is further configured to: determining an actual running route of the vehicle according to the position information of the vehicle and acquiring a vehicle body running posture of the vehicle according to the positioning information of the outline of the vehicle; comparing the actual running route of the vehicle with the running route limited in the virtual guide rail of the current control stage of the vehicle to obtain the running error of the vehicle; and updating the automatic driving control information of the vehicle according to the vehicle body running posture and the running error of the vehicle so as to correct the speed, the running route and the vehicle body running posture of the vehicle and adjust the vehicle to be within the route boundary of the speed and the running route specified in the automatic driving control information. Preferably, the automatic driving control information of the vehicle is updated according to the vehicle body running posture and the running error of the vehicle to correct the speed, the running route and the vehicle body running posture of the vehicle so that the vehicle runs within the allowable deviation range of the virtual guide rail. The technical scheme of the embodiment can at least realize the following beneficial technical effects: because positioning error, communication delay and other uncontrollable errors exist, the actual running track of the vehicle is possibly inconsistent with the planned track, which brings hidden danger to a wireless virtual guide rail, the super base station can collect traffic environment information in a coverage range, and generates automatic driving control information according to the traffic environment information to control the vehicle to run on the virtual guide rail, if the vehicle is only treated as one point, the form information of the vehicle cannot be obtained, unreasonable path planning is easy to form, and collision between the vehicle and an obstacle is caused, therefore, the invention obtains the running posture of the vehicle body of the vehicle according to the positioning information of the outline of the vehicle, then updates the automatic driving control information of the vehicle according to the running posture and the running error of the vehicle, corrects the speed, the running route and the running posture of the vehicle body of the vehicle, and can effectively reduce or avoid traffic accidents such as collision, the driving safety is improved.
Preferably, the coordinate information of the communication tag as the position information of the vehicle is, for example, the coordinate of the communication tag as the position information of the vehicle passing through the communication tag when the vehicle travels over the communication tag. Thereby, an accurate position of the vehicle within the coverage area can be obtained.
Preferably, the correcting the speed, the traveling route, and the traveling posture of the vehicle body includes correcting by controlling a steering angle, a lateral acceleration, a longitudinal acceleration, and a braking of the vehicle in real time.
Preferably, the correction may be performed in a manner including:
the first correction mode is as follows: modeling the error, estimating the error during planning, such as simulating the positioning error of the vehicle through a Gaussian error model, establishing a communication delay model to simulate the communication error, and the like. Namely, a Gaussian model is used for simulating the positioning error, namely, a Gaussian probability density function (normal distribution curve) is used for accurately quantizing the positioning error, and then correction is carried out according to the quantized positioning error;
and (2) correcting mode two: and tracking and feedback controlling the actual running track. A feedback control system based on lateral and longitudinal deviations between the current position of the vehicle and the desired trajectory is designed. The system monitors the running speed, the position and the attitude information of the vehicle in real time, compares the running speed, the position and the attitude information with the planning information (target speed and target position) of the automatic driving control information in real time, and controls the steering angle, the transverse/longitudinal acceleration and the braking of the vehicle in real time through wireless signals to correct deviation. For example, when the vehicle running speed, the position and the posture information do not accord with the target speed and the target position, the vehicle is controlled to be accelerated/decelerated and the steering wheel is rotated to adjust so as to eliminate deviation, or the speed, the running route and the vehicle body running posture of the vehicle are corrected.
Referring to fig. 7, the state of the present invention for guiding a vehicle through a virtual guide rail to achieve autonomous driving may be roughly divided into an initialization state and an operation state. In the initialization state, the vehicle firstly enters the coverage area and is controlled by the super base station, and then the super base station generates automatic driving control information for the vehicle, wherein the automatic driving control information comprises a virtual guide rail and guides (rail position guide) the vehicle to run on a road in the coverage area through a running route defined in the virtual guide rail. In the running state, the super base station acquires the position information and the body posture information (accurate positioning) of the vehicle through the communication tag, guides the vehicle to run on a road within a coverage range through a running route defined in the virtual guide rail (rail position guide), and dynamically updates the automatic driving control information when errors occur in the body posture information of the running route of the vehicle according to the position information and the body posture information of the vehicle so as to correct the running route and the body running posture of the vehicle. Therefore, a closed-loop control system is formed, and the driving safety of the vehicle in the coverage area is guaranteed.
Preferably, the estimated vehicle position may also be used to adjust the autonomous driving control information. For example, when a vehicle enters the communication range of one or more communication tags, the super base station calculates the estimated position of the vehicle through the interaction time delay between the one or more communication tags and the vehicle, and adjusts the automatic driving control information of the vehicle or other vehicles within the coverage area according to the estimated position of the vehicle, so as to reduce the probability of collision between vehicles.
According to one embodiment of the invention, the super base station is further configured to: the method comprises the steps of analyzing the vehicle running states of a current virtual guide rail and adjacent virtual guide rails before a vehicle needing lane changing changes lanes, sending automatic driving control information containing lane changing control information to the vehicle when lane changing conditions are mature, and controlling the vehicle needing lane changing to change lanes through a specific communication tag in a plurality of communication tags on a boundary line according to the lane changing control information. During driving, the vehicle may encounter situations that require lane changing, such as overtaking, high-speed descending, etc. Before lane changing, the super base station needs to control the vehicle to change lanes when lane changing conditions are mature according to the vehicle running states of the current lane and the adjacent lanes. In the present invention, the communication tag located between two lanes can realize positioning and wireless control of the vehicle, and referring to fig. 8, the function is similar to that of a turnout on a railway, and for convenience of positioning and wireless control of the vehicle, the vehicle needs to change lanes according to a specified track to change lanes via a specific communication tag.
According to an example of the invention, referring to fig. 9, if the vehicle 1 is driving in front of the vehicle 2 and located in the adjacent lane of the vehicle 2, the vehicle 1 is to change lane to the lane in which the vehicle 2 is located, assuming that the vehicle 1 and the vehicle 2 are each driven at v during the lane change1And v2The constant speed driving:
Figure BDA0002449496440000141
in the formula, x0Indicates the initial distance, theta, between the vehicle 1 and the vehicle 21The representation indicates the desired yaw angle, x, of the vehicle 1aThe distance between the front vehicle and the rear vehicle after lane changing, namely the distance between the vehicle 1 and the vehicle 2 after lane changing is shown;
for ensuring the safety of the road, the distance x between the vehicle after changing the road and the rear vehicleaA minimum safety distance greater than straight travel is required:
Figure BDA0002449496440000142
therefore, the minimum initial distance before lane changing between the front vehicle and the rear vehicle on the target lane is as follows:
Figure BDA0002449496440000151
in the formula, t2Indicating a pre-braking delay time of the vehicle 2;
referring to fig. 10, if the vehicle 1 is traveling behind the vehicle 2 and located in an adjacent lane of the vehicle 2, the vehicle 1 is to change lane to the lane in which the vehicle 2 is located, assuming that the vehicle 1 and the vehicle 2 are changing lanesIn the process, v is respectively1And v2The constant speed driving:
Figure BDA0002449496440000152
to ensure road safety, the distance x between the front vehicle and the rear vehicle after changing laneaA minimum safety distance greater than straight travel is required:
Figure BDA0002449496440000153
therefore, the minimum initial distance before lane change between the rear vehicle and the front vehicle on the target lane is as follows:
Figure BDA0002449496440000154
t1indicating the pre-braking delay time of the vehicle 1.
Preferably, before the vehicles on one virtual guide rail in the coverage area need to merge or change lanes and drive into another virtual guide rail, the super base station calculates in advance the minimum initial distance between the vehicle merging or changing lanes and the front and rear vehicles on the other virtual guide rail in the safety situation, and optimizes the distance between the vehicle on the other virtual guide rail and the vehicle merging or changing lanes according to the calculated minimum initial distance so that the distance between the vehicle on the other virtual guide rail and the vehicle merging or changing lanes is respectively greater than or equal to the minimum initial distance.
According to one embodiment of the invention, the super base station is further configured to: and acquiring weather environment information of a coverage area, performing track planning on the vehicle at least according to the driving task, the traffic environment information and the weather environment information of the corresponding vehicle to generate automatic driving control information, and sending the automatic driving control information to the vehicle through a communication beacon. For example, when the braking distance of the vehicle within the current coverage area is analyzed and obtained to be increased due to the influence of weather, the regulated speed of the vehicle is reduced and/or the driving distance of the vehicle is increased in the automatic driving control information to guarantee driving safety.
It should be noted that, in some embodiments of the present invention, the vehicle control device of the present invention may be modified based on the existing vehicle control device of the vehicle itself, for example, by adding a guideway control receiving module; or may be a new device independent of the existing vehicle control device of the vehicle itself, for example, a new guideway control receiving device is added to the vehicle to be suitable for controlling the vehicle of the present invention.
According to an embodiment of the present invention, referring to fig. 2, the automatic driving control system further includes: an emergency sensing device configured to sense conditions of the vehicle itself and an external environment; and the emergency processing device is configured to analyze the driving condition according to the conditions of the vehicle and the external environment sensed by the emergency sensing device, report the information of the emergency condition to the super base station when the vehicle has the emergency condition, and control the vehicle to perform emergency processing so as to reduce or avoid the driving risk of the vehicle caused by the emergency condition. The emergency sensing device can sense whether the vehicle has a traffic accident or not or whether the vehicle has a fault or not. The specific working principle is to sense the conditions of the vehicle and the external environment by a series of sensors, such as a distance sensor, a temperature sensor and a speed sensor. When the vehicle has an emergency, the emergency processing device can report the information of the emergency to the super base station, and perform emergency processing, such as automatic braking, turning on of double-jump lamps, and automatic driving to a safety zone. The control principle of the emergency sensing device is similar to that of a vehicle control device, and the emergency sensing device is mainly responsible for handling emergency accidents.
According to an embodiment of the invention, in the automatic driving control system of the invention, one or more super base stations are arranged, so that the road can be managed in a segmented manner when the coverage area is large or the road is long, and one super base station is arranged in each road section to manage the automatic driving of vehicles in the road section. Therefore, communication and calculation time delay are reduced, automatic driving control information of each vehicle is planned and adjusted quickly, and driving safety is guaranteed. Preferably, in the present invention, the super base station and the communication tag may communicate through a terrestrial communication transmission cable or a wireless signal. Preferably, in some implementation scenarios, the super base station may also be replaced by a server or a server cluster.
According to an embodiment of the present invention, in the automatic driving control system of the present invention, in addition to the communication tag, the present invention may also provide other redundant standby wireless communication modes. For example, an internet of things card is arranged on the vehicle, and when the wireless communication mode with the vehicle through the communication tag is invalid, standby control information is acquired from the super base station through the internet of things card. The technical scheme of the embodiment can at least realize the following beneficial technical effects: when part of communication tags are in fault or a receiving and sending component of a vehicle control device on a vehicle is in fault, standby control information is acquired from the super base station through the Internet of things card, so that the driving safety is improved.
Referring to fig. 11, in general, the main functions of the automatic driving control system of the present invention include: the method comprises the following steps of generating a guide rail (generating all available guide rails available for a vehicle), planning a track (selecting a virtual guide rail containing a running route for the vehicle), optimizing a clearance (optimizing the inter-vehicle distance of the vehicle), changing lanes (changing lanes), guiding and correcting a track position (guiding the vehicle to run by using the running route set in the virtual guide rail) and correcting a running error.
According to an embodiment of the present invention, there is provided an automatic driving method based on the automatic driving control system of the foregoing embodiment, the method including: acquiring traffic environment information in a coverage area and driving tasks of vehicles entering the coverage area, wherein the driving tasks of the vehicles comprise starting points and end points of the vehicles; generating all virtual guideways available to the vehicle at least from communication tags arranged on a path between a starting point and an end point of the vehicle; based on all the virtual guide rails available for the vehicle and traffic environment information around the vehicle, performing trajectory planning on the vehicle to generate automatic driving control information, and sending the automatic driving control information to a vehicle control device of the vehicle, wherein the automatic driving control information comprises the virtual guide rails selected for the vehicle to guide the vehicle to run and a specified speed; and a vehicle control device for adjusting the automatic driving control information of the vehicle according to the traffic environment information around the vehicle and transmitting the information to the vehicle.
According to an embodiment of the present invention, there is provided an electronic apparatus including: one or more processors; and a memory, wherein the memory is to store one or more executable instructions; the one or more processors are configured to implement the autopilot method of the foregoing embodiments via execution of the one or more executable instructions.
It should be noted that, although the steps are described in a specific order, the steps are not necessarily performed in the specific order, and in fact, some of the steps may be performed concurrently or even in a changed order as long as the required functions are achieved.
The present invention may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention.
The computer readable storage medium may be a tangible device that retains and stores instructions for use by an instruction execution device. The computer readable storage medium may include, for example, but is not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (13)

1. An automatic driving control system, characterized by comprising:
a plurality of communication tags, spaced apart on all roads within a coverage area, configured to: establishing wireless connection with a vehicle control device on a vehicle entering a communication range of the vehicle;
one or more super base stations, communicatively coupled to the communication tag, configured to: the method comprises the steps that at least a driving task of a vehicle entering a coverage area and traffic environment information in the coverage area are obtained through a communication tag, wherein the traffic environment information comprises position information of the vehicle in the coverage area; and performing trajectory planning for the vehicle at least according to the driving task and the traffic environment information of the corresponding vehicle to generate automatic driving control information and sending the automatic driving control information to the vehicle through a communication sign, wherein the automatic driving control information comprises a virtual guide rail which is selected for the vehicle and used for guiding the vehicle to run and a specified speed, and the virtual guide rail comprises a running route planned for the vehicle;
a vehicle control device mounted on a vehicle, configured to: and controlling the vehicle to run at a specified speed along the virtual guide rail of the vehicle according to the automatic driving control information sent by the super base station.
2. The automatic driving control system according to claim 1, wherein the communication tag includes a plurality of communication tags arranged at intervals from each other in the vehicle direction in a middle portion of each lane and a plurality of communication tags arranged at intervals from each other in the vehicle direction on a boundary line between two adjacent lanes.
3. The automatic driving control system according to claim 2, wherein the communication tag disposed in the center of the lane and the communication tag disposed on the boundary line are disposed at intervals across from each other in the traveling direction.
4. The autopilot control system of claim 2 wherein the super base station is configured to:
acquiring traffic environment information in a coverage area and driving tasks of vehicles entering the coverage area, wherein the driving tasks of the vehicles comprise starting points and end points of the vehicles;
generating all virtual guideways available to the vehicle at least from communication tags arranged on a path between a starting point and an end point of the vehicle;
based on all virtual guide rails available for the vehicle and traffic environment information around the vehicle, performing trajectory planning on the vehicle to generate automatic driving control information and sending the automatic driving control information to a vehicle control device of the vehicle, wherein the automatic driving control information comprises a virtual guide rail selected for the vehicle and used for guiding the vehicle to run and a specified speed, and the virtual guide rail comprises a running route which is planned for the vehicle and does not collide from a starting point to an end point of the virtual guide rail and a route boundary of the running route; and
and adjusting the automatic driving control information of the vehicle according to the traffic environment information around the vehicle and sending the automatic driving control information to the vehicle control device of the vehicle.
5. The autopilot control system of claim 4 further comprising a vehicle mounted:
an emergency sensing device configured to sense conditions of the vehicle itself and an external environment;
and the emergency processing device is configured to analyze the driving condition according to the conditions of the vehicle and the external environment sensed by the emergency sensing device, report the information of the emergency condition to the super base station when the vehicle has the emergency condition, and control the vehicle to perform emergency processing so as to reduce or avoid the driving risk of the vehicle caused by the emergency condition.
6. The autopilot control system of any one of claims 1 to 5 wherein the super base station is further configured to:
the method comprises the steps of analyzing the vehicle running states of a current virtual guide rail and adjacent virtual guide rails before a vehicle needing lane changing changes lanes, sending automatic driving control information containing lane changing control information to the vehicle when lane changing conditions are mature, and controlling the vehicle needing lane changing to change lanes through a specific communication tag in a plurality of communication tags on a boundary line according to the lane changing control information.
7. The autopilot control system of any one of claims 1 to 5 wherein the super base station is further configured to:
the method is used for optimizing the inter-vehicle distance of the vehicles so as to keep a safe distance between the vehicles in the coverage range, and/or optimizing the distance between the vehicles on one virtual guide rail and the vehicles in the other virtual guide rail before the vehicles on the virtual guide rail in the coverage range need to be merged or change lanes and drive into the other virtual guide rail, and a gap is reserved for merging or changing lanes of the merged vehicles.
8. The autopilot control system of any one of claims 1 to 5 wherein the super base station is further configured to:
when planning a track for a vehicle to generate automatic driving control information, dividing a space between a starting point and an end point of the vehicle into one or more control stages, wherein each control stage is provided with a staged target position and a specified time range for reaching the staged target position;
and guiding the vehicle to travel from the current position to the staged target position at a predetermined speed within a predetermined time range along the virtual guide rail in the control stage.
9. The autopilot control system of claim 8 wherein the super base station is further configured to:
and managing the queues of partial vehicles in the coverage range so as to arrange the partial vehicles which originally run independently into an orderly running vehicle fleet according to the staged target positions of the vehicles.
10. The autopilot control system of claim 8 wherein the autopilot control system further comprises: the positioning labels are configured on the outline of the vehicle, and at least one positioning label is arranged at each point and used for positioning the outline of the vehicle;
the communication tag is further configured to:
when a vehicle passes through the communication tag, acquiring positioning information of the outline of the vehicle through interaction of the communication tag and the plurality of positioning tags, and taking coordinate information of the communication tag as position information of the vehicle;
the super base station is further configured to:
determining an actual running route of the vehicle according to the position information of the vehicle and acquiring a vehicle body running posture of the vehicle according to the positioning information of the outline of the vehicle;
comparing the actual running route of the vehicle with the running route limited in the virtual guide rail of the current control stage of the vehicle to obtain the running error of the vehicle; and
and updating the automatic driving control information of the vehicle according to the vehicle body running posture and the running error of the vehicle so as to correct the speed, the running route and the vehicle body running posture of the vehicle and adjust the vehicle to be within the route boundary of the speed and the running route specified in the automatic driving control information.
11. The autopilot control system of claim 10 wherein correcting the speed, travel path and body travel attitude of the vehicle includes correcting by real time control of the vehicle's steering angle, lateral acceleration, longitudinal acceleration and braking.
12. An automatic driving method based on the automatic driving control system according to any one of claims 1 to 11, characterized by comprising:
acquiring traffic environment information in a coverage area and driving tasks of vehicles entering the coverage area, wherein the driving tasks of the vehicles comprise starting points and end points of the vehicles;
generating all virtual guideways available to the vehicle at least from communication tags arranged on a path between a starting point and an end point of the vehicle;
based on all the virtual guide rails available for the vehicle and traffic environment information around the vehicle, performing trajectory planning on the vehicle to generate automatic driving control information, and sending the automatic driving control information to a vehicle control device of the vehicle, wherein the automatic driving control information comprises the virtual guide rails selected for the vehicle to guide the vehicle to run and a specified speed; and
and adjusting the automatic driving control information of the vehicle according to the traffic environment information around the vehicle and sending the automatic driving control information to the vehicle control device of the vehicle.
13. An electronic device, comprising:
one or more processors; and
a memory, wherein the memory is to store one or more executable instructions;
the one or more processors are configured to implement the method of claim 12 via execution of the one or more executable instructions.
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