CN111785027B - Automatic driving closed-loop information system - Google Patents
Automatic driving closed-loop information system Download PDFInfo
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- CN111785027B CN111785027B CN202010725240.3A CN202010725240A CN111785027B CN 111785027 B CN111785027 B CN 111785027B CN 202010725240 A CN202010725240 A CN 202010725240A CN 111785027 B CN111785027 B CN 111785027B
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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
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
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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
- G08G1/0125—Traffic data processing
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- 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
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Abstract
The invention discloses an automatic driving closed-loop information system, which comprises at least more than two groups of decision-making sensing information, a wireless communication module, a vehicle-mounted sensing device and a road sensing device, wherein at least one group of decision-making sensing information is used as control decision-making information, the other group of decision-making sensing information is used as automatic driving feedback information, and at least one group of decision-making sensing information is non-video image sensing information; the closed-loop information system is communicated with a network through a wireless communication module, multi-parameter sensing data information of an automobile and a road is simultaneously acquired through a vehicle-mounted sensing device and a road sensing device, the vehicle-mounted sensing device and the road sensing device actively provide multi-parameter sensing information for automatic driving, and the automatic driving is optimized through feedback information; the closed-loop information system optimizes changeable road information, road condition information and vehicle and road cooperative effect control information on line. The invention is provided with a terminal feedback closed-loop information system, which can realize automatic driving more safely and improve the efficiency of automatic driving.
Description
Technical Field
The invention relates to the technical field of automobile driving, in particular to an automatic driving closed-loop information system.
Background
In recent years, the number of people died due to traffic accidents in China is on a small-scale increasing trend year by year, which is closely related to the increasing number of motor vehicles in China. The rapid growth of motor vehicles makes China face more severe traffic safety situation. The severe traffic situation forces people to continuously strive for solutions, and intelligent traffic systems are in force. The key technologies needed to overcome by the intelligent traffic system are many, and the intelligent vehicle system is one of the main research contents and the key technologies. The core of the intelligent vehicle is the autonomous driving of the vehicle, and in order to realize the autonomous driving of the vehicle, the vehicle must be capable of accurately sensing and understanding various information in an external driving environment in real time like a human, such as sensing states of other vehicles, obstacles, pedestrians, traffic lights and the like, so that various sensors need to be equipped for the vehicle. The number and the types of sensors needed for sensing the driving environment of the autonomous driving automobile are very large, the commonly used sensors comprise a millimeter wave radar, a laser radar, an ultrasonic radar, a machine vision system and an infrared sensor, the sensors respectively have own characteristics and advantages and disadvantages, and each sensor has the most suitable occasion.
The rise of the internet of things provides a perceived data source solution for the automatic driving of automobiles. And the arrival of 5G provides a necessary communication means for realizing automatic driving. The automatic driving scheme relying on the visual image recognition technology tends to be practical day by day, and the sensing information support is provided for the automatic driving of the automobile by relying on a positioning system or an image recognition mode. In fact, an automobile is a vehicle. Any traffic task moving from a starting point to a terminal point is completed by the road and the automobile together. Only if the road and the automobile are connected into a whole, the real unmanned automatic driving can be realized.
Road traffic signs are a set of visual information in order to meet the visual needs of the driver. For the machine world with richer sensing parameters, the sensing capability far exceeds the five senses of human. The automatic driving mode based on vision as a decision basis is very original, and the road resource information and the automobile are not integrated. For automobiles, both lane markings and isolation zones may be equipped with sensing devices that provide driving location identification for the automobile. All information of road traffic should be presented in the virtual information world as resource type information as possible. The information system for driving decision depending on vision is an open-loop information system, and cannot be improved much in efficiency compared with the method for driving an automobile by people.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic driving closed-loop information system. The invention can realize automatic driving more safely and improve the efficiency of automatic driving.
The invention is realized by the following technical scheme:
an automatic driving closed-loop information system comprises at least more than two groups of decision-level sensing information, a wireless communication module, a vehicle-mounted sensing device and a road sensing device, wherein at least one group of decision-level sensing information is used as control decision information, the other group of decision-level sensing information is used as automatic driving feedback information, and at least one group of decision-level sensing information is non-video image sensing information; the closed-loop information system is communicated with a network through a wireless communication module, multi-parameter sensing data information of an automobile and a road is acquired simultaneously through a vehicle-mounted sensing device and a road sensing device, the vehicle-mounted sensing device and the road sensing device actively provide multi-parameter sensing information for automatic driving, and the automatic driving is optimized through feedback information; the closed-loop information system optimizes changeable road information, road condition information and vehicle and road cooperative effect control information on line, and realizes dynamic optimal update of a resource utilization scheme.
Further, the decision-level sensing information refers to a group of sensing information that can be used as a basis for control decision, the group of sensing information can independently complete automatic driving control, and the feedback information and the control decision information are independent of each other.
Further, the set of sensing information refers to a set of sensing information constructed by combining one or more parameters.
Furthermore, the multi-parameter sensing data information is respectively led into the respective independent local simulation models through the simulation models, the local simulation models realize dynamic simulation according to the real-time multi-parameter sensing data information, two adjacent and related local simulation models are mutually boundary and mutually coupled according to the boundary relationship to construct the wide-area simulation model.
Further, the multi-parameter sensing data information includes, but is not limited to, video images, positions, speeds, accelerations, gradients, road friction coefficients, humidity, vehicle distances, vehicle speeds, vehicle conditions, tire pressures, steering coefficients, acceleration action coefficients, local simulation model derived data, and wide-area simulation model derived data.
Furthermore, the effect control information refers to deviation between the control target data and the fed back actual data and deviation reasons, and visualization and data measurement of the effect evaluation information are achieved.
Further, the at least one set of decision-level sensing information is non-video image sensing information, which means that the decision-level sensing information at least includes one other sensing parameter than sensing parameters using image recognition as the decision-level sensing information.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention can simultaneously acquire the multi-parameter sensing data information of the automobile and the multi-parameter sensing data information of the road through multiple ways, the road actively provides other sensing devices except visual information for the running automobile, the sensing devices comprise position, speed, acceleration, gradient, road surface friction coefficient, humidity, wind speed and other information on-line sensing devices, only effective parts in the sensing information are extracted as the basis of control decision, and the running automobile actively provides the distance, the speed, the condition, the tire pressure, the steering coefficient, the acceleration action coefficient, the running simulation model, the vehicle-road collaborative simulation model and the like of the vehicle for the wireless communication base station, thereby laying a foundation for realizing vehicle-vehicle collaboration.
2. The invention at least uses more than two groups of sensing information which can provide control decision to construct a closed-loop information automatic driving system, at least uses one group as control decision information, and uses the other group as automatic driving feedback information, the feedback information is reliable and complete sensing information required by the automatic driving control decision level, and the closed-loop information system is constructed by more than two groups of sensing information of the automatic driving control decision level.
3. The closed-loop information provided by the invention is not only information required by automatic driving of the automobile, but also a method for coordinating vehicle road resources; the automatic driving model is optimized through two groups of mutually independent sensing information according to inevitable causal relationship, and meanwhile, changeable road information, road condition information and vehicle and road cooperative actual effect information are optimized on line, so that dynamic optimal updating of a resource utilization scheme is achieved.
4. The invention is the premise of realizing the unified driving control decision of a plurality of automobiles which are connected in series in the same lane, and is also the premise of realizing vehicle-vehicle cooperation and vehicle-road cooperation; only on the premise that automatic driving of the automobile does not need human intervention at all, the decision of a more efficient resource planning utilization scheme can be realized.
Detailed Description
The present invention will be described in further detail in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the embodiment, a closed-loop information system is constructed, and the lane, the traffic sign, the traffic signal facility and the automobile are all provided with sensing devices for sensing corresponding parameters. The automobile depends on more accurate and sensitive cooperation of the automobile road sensing information to make driving control decision, and feedback of decision effect is carried out through visual image recognition, and the feedback information is used for guaranteeing the driving decision effect and can also be used for correcting a mathematical model. Or, the driving control decision can be made through visual image recognition; and the decision effect feedback is carried out through the cooperation of the vehicle road sensing information, the information is fed back, the driving decision effect guarantee is ensured, and the method can also be used for correcting a mathematical model. The efficiency of a closed-loop information system with a feedback function is much higher than that of a human driver. The traffic signs interact with the automobiles running on the road through various sensing means, not only provides sensing information for automatic driving control during running of the automobiles, but also constructs a vehicle-road cooperative integrated network through a communication network, and the information is unified programmable resources.
In the vehicle-road cooperation integrated network, the information of road facilities and automobiles is presented in a virtual information world by one resource. And a large number of functions are realized through the application function development of information resources. The front and the rear vehicles running on the road are networked, so that the distance between the front and the rear vehicles can be greatly shortened even in a high-speed state, and the distance is calculated by taking the current safe distance of 50 meters and the vehicle body length of 5 meters, and the excavated space is 10 times. The rear vehicle and the front vehicle are integrated, any braking decision is unified in advance, and no reaction time is needed at all. In the case where the preceding and following vehicle information have been integrated, it is entirely possible to regard a plurality of fleets of vehicles connected in series on a single lane as a single vehicle. With more sensitive response speed, the space which can be excavated by the vehicle speed is also large. If the distance between the vehicles and the speed of the vehicles are improved, the production capacity of the road is greatly improved. Because the information of road facilities and automobiles is presented in the virtual information world by one resource, all the resources can be more reasonably planned in order to improve the operation efficiency of the whole traffic system. Each time the vehicle transportation task is finished, accurate coordination can be obtained before departure. Even when passing through 100 red street light intersections, red lights are rarely encountered. We may start five minutes later but arrive earlier. Before each automobile goes out, the automobile is required to request for obtaining the right of way in advance. Of course, we do not have to wait for exactly five minutes in the case of "right of way" resources being abundant.
The system structure and the using method specifically adopted by the embodiment are as follows:
the automatic driving closed-loop information system comprises at least two groups of decision-level sensing information, a wireless communication module, a vehicle-mounted sensing device and a road sensing device, wherein at least one group of decision-level sensing information is used as control decision information, the other group of decision-level sensing information is used as automatic driving feedback information, and at least one group of decision-level sensing information is non-video image sensing information which is decision-level sensing information at least containing other sensing parameters which are not decision-level sensing information by using image recognition. The closed-loop information system is communicated with a network through a wireless communication module, multi-parameter sensing data information of an automobile and a road is simultaneously acquired through a vehicle-mounted sensing device and a road sensing device, the vehicle-mounted sensing device and the road sensing device actively provide multi-parameter sensing information for automatic driving, and the automatic driving is optimized through feedback information; the closed-loop information system optimizes the changeable road information, road condition information and vehicle road cooperative effect control information on line, and realizes the dynamic optimal update of the resource utilization scheme.
The decision-level sensing information is a group of sensing information which can be used as a basis for control decision, the group of sensing information can independently complete automatic driving control, and the feedback information and the control decision information are independent. The set of sensing information refers to a set of sensing information constructed by combining one or more parameters. The multi-parameter sensing data information is respectively led into the respective independent local simulation models through the simulation models, the local simulation models realize dynamic simulation according to the real-time multi-parameter sensing data information, two adjacent and related local simulation models are mutually boundary, and the two adjacent and related local simulation models are mutually coupled according to the boundary relationship to construct a wide-area simulation model. The multi-parameter sensing data information comprises but is not limited to video images, positions, speeds, accelerations, gradients, road friction coefficients, humidity, vehicle distances, vehicle speeds, vehicle conditions, tire pressures, steering coefficients, acceleration action coefficients, local simulation model derived data and wide area simulation model derived data. The effect control information refers to deviation between control target data and feedback actual data and deviation reasons, and visualization and data metering of effect evaluation information are achieved.
The automatic driving system also comprises a vehicle information acquisition device, a vehicle control system, a vehicle positioning device, a surrounding object identification module, a driving environment identification module, a driving path identification module and the like.
The vehicle information acquisition device is installed on a vehicle, is connected with the vehicle-mounted sensor and acquires data such as the position, the speed, the acceleration or the deceleration, the course angle and the like of the vehicle. The vehicle position and the heading angle are obtained through a GPS, and the acceleration or the deceleration of the vehicle is obtained through a gyroscope.
The vehicle control system is used for controlling the starting, speed change, direction change and stopping of the automobile according to the environmental information around the automobile and the positioning of the automobile, and realizes safe and efficient automatic driving of the automobile.
The vehicle positioning device comprises a repeated positioning module and an accuracy evaluation module, wherein the repeated positioning module acquires a first position of the vehicle based on a global positioning system, acquires a second position of the vehicle based on a laser range finder, determines the positioning of the vehicle according to the first position and the second position, and the accuracy evaluation module is used for evaluating the positioning accuracy. The automobile is positioned through the position information acquired by the global satellite positioning system and the laser range finder, and the positioning precision of the automobile is improved. The precision evaluation module ensures the positioning precision and lays a foundation for the accurate control of subsequent automobiles.
The surrounding object identification module is installed on a vehicle, and comprises identification of vehicles, pedestrians, other various moving or static objects on the ground, which can affect the passing and safety of the vehicle, and identification of various traffic signs. The driving environment recognition module recognizes the road condition, the road traffic jam condition and the weather condition, collects the surrounding road condition information, judges whether the road jam occurs or not and can recommend a route. The driving path identification module is installed on a vehicle and comprises the identification of a driving line, a road edge, a road partition and a bad road condition for a structured road. The unstructured road comprises recognition of the environmental condition of the road surface in front of which the vehicle is to run and confirmation of a travelable path.
In summary, in this embodiment, the multi-parameter sensing data information of the vehicle and the multi-parameter sensing data information of the road can be obtained simultaneously through multiple ways, the road actively provides other sensing devices except visual information for the running vehicle, including information on-line sensing devices of position, speed, acceleration, gradient, road friction coefficient, humidity, wind speed, and the like, only effective parts of the sensing information are extracted as bases of control decisions, the running vehicle actively provides the vehicle distance, the vehicle speed, the vehicle condition, the tire pressure, the steering coefficient, the acceleration action coefficient, the running simulation model, the vehicle-road collaborative simulation model, and the like of the vehicle for the wireless communication base station, and a foundation is laid for realizing vehicle-vehicle collaboration. In the embodiment, at least more than two groups of sensing information capable of providing control decisions are utilized to construct a closed-loop information automatic driving system, at least one group is utilized as control decision information, the other group is utilized as automatic driving feedback information, the feedback information is reliable and complete sensing information required by an automatic driving control decision level, and the closed-loop information system is constructed by the sensing information of more than two automatic driving control decision levels. The closed-loop information provided by the embodiment is not only information required by automatic driving of the automobile, but also a method for coordinating vehicle road resources; the automatic driving model is optimized through two groups of mutually independent sensing information according to inevitable causal relationship, and meanwhile, changeable road information, road condition information and vehicle and road cooperative actual effect information are optimized on line, so that dynamic optimal updating of a resource utilization scheme is achieved. The embodiment is a premise for realizing the unified driving control decision of a plurality of automobiles which are connected in series in the same lane, and is a premise for realizing vehicle-vehicle cooperation and vehicle-road cooperation; the decision of the resource planning and utilizing scheme with higher efficiency can be realized only under the premise that the automatic driving of the automobile does not need human intervention at all
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (5)
1. An autonomous driving closed loop information system, characterized by: the system comprises at least more than two groups of decision-making level sensing information, a wireless communication module, a vehicle-mounted sensing device and a road sensing device, wherein at least one group of decision-making level sensing information is used as control decision-making information, the other group of decision-making level sensing information is used as automatic driving feedback information, and at least one group of decision-making level sensing information is non-video image sensing information; the closed-loop information system is communicated with a network through a wireless communication module, multi-parameter sensing data information of an automobile and a road is acquired simultaneously through a vehicle-mounted sensing device and a road sensing device, the vehicle-mounted sensing device and the road sensing device actively provide multi-parameter sensing information for automatic driving, and the automatic driving is optimized through feedback information; the closed-loop information system optimizes changeable road information, road condition information and vehicle and road cooperative effect control information on line, and realizes dynamic update of a resource utilization scheme;
the multi-parameter sensing data information is respectively led into respective independent local simulation models through simulation models, the local simulation models realize dynamic simulation according to the real-time multi-parameter sensing data information, two adjacent and related local simulation models are mutually boundary, and are mutually coupled according to the boundary relationship to construct a wide-area simulation model;
the effect control information refers to deviation between control target data and feedback actual data and deviation reasons, and visualization and data metering of effect evaluation information are achieved.
2. An autonomous driving closed loop information system as claimed in claim 1, wherein: the decision-level sensing information refers to a group of sensing information which can be used as a basis for control decision, the group of sensing information can independently complete automatic driving control, and the feedback information and the control decision information are independent of each other.
3. An autonomous driving closed loop information system as claimed in claim 2, wherein: the set of sensing information refers to a set of sensing information constructed by combining one or more parameters.
4. An autonomous driving closed loop information system as claimed in claim 1, characterized in that: the multi-parameter sensing data information comprises video images, positions, speeds, accelerations, slopes, road surface friction coefficients, humidity, vehicle distances, vehicle speeds, vehicle conditions, tire pressures, steering coefficients, acceleration action coefficients, local simulation model derived data and wide-area simulation model derived data.
5. An autonomous driving closed loop information system as claimed in claim 1, wherein: the at least one group of decision-level sensing information is non-video image sensing information, which means that the decision-level sensing information at least comprises one other sensing parameter which is not image recognition used as decision-level sensing information.
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| CN112347558B (en) * | 2020-10-26 | 2023-12-01 | 上海感探号信息科技有限公司 | Closed loop optimization method, system, electronic equipment and medium based on probability wave |
| CN112896170B (en) * | 2021-01-30 | 2022-09-20 | 同济大学 | Automatic driving transverse control method under vehicle-road cooperative environment |
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