CN111882862A - Roadside state monitoring system - Google Patents
Roadside state monitoring system Download PDFInfo
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- CN111882862A CN111882862A CN202010561735.7A CN202010561735A CN111882862A CN 111882862 A CN111882862 A CN 111882862A CN 202010561735 A CN202010561735 A CN 202010561735A CN 111882862 A CN111882862 A CN 111882862A
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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
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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
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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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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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
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Abstract
The invention provides a road side state monitoring system, comprising: the road side monitoring nodes are arranged at the road side positions of the monitoring road sections and are used for acquiring road condition information of the road sections; the road side monitoring host is in communication connection with the road side monitoring node; the road side monitoring host acquires road condition information through the road side monitoring nodes, monitors road condition states of all road sections according to the road condition information, and sends the road condition states to the automatic driving vehicle and/or the overall scheduling system. The road side state monitoring system acquires road conditions of each road section in real time through the road side monitoring node to obtain road condition information; the road side monitoring host analyzes the road condition state based on the collected road condition information; and the road condition state is sent to the global scheduling system, so that the safety of the running path of the automatic driving vehicle is ensured, and accurate and reliable road condition state is provided for the global scheduling system to adjust the running path of the automatic driving vehicle in real time.
Description
Technical Field
The invention relates to the technical field of monitoring systems, in particular to a roadside state monitoring system.
Background
Currently, a Self-driving vehicle (also called a Self-driving vehicle, a computer-driven vehicle, or a wheeled mobile robot) realizes a Self-driving intelligent vehicle through a global Dispatching system (fds). When the passenger uses the automatic driving vehicle, the passenger needs to input a destination, the global scheduling system generates a driving route based on the current position of the intelligent vehicle and the destination, and the intelligent vehicle drives according to the generated driving route.
In order to ensure the safety of the driving path of the autonomous vehicle and to adjust the driving path in real time, it is important to confirm the road condition status on the driving path, and therefore a system for monitoring the road condition of the driving path in real time is needed.
Disclosure of Invention
The invention aims to provide a road side state monitoring system, which acquires road condition information of each road section in real time through a road side monitoring node; the road side monitoring host analyzes the road condition state based on the collected road condition information; the road condition state is sent to the global scheduling system, so that the safety of the running path of the automatic driving vehicle is ensured, and accurate and reliable road condition state is provided for the global scheduling system to adjust the running path of the automatic driving vehicle in real time; in addition, the road condition state can be sent to the automatic driving vehicle, and the automatic driving vehicle automatically adjusts the driving path according to the road condition state.
The embodiment of the invention provides a roadside state monitoring system, which comprises:
the road side monitoring nodes are arranged at the road side positions of the monitoring road sections and are used for acquiring road condition information of the road sections;
the road side monitoring host is in communication connection with the road side monitoring node;
the road side monitoring host acquires road condition information through the road side monitoring nodes, monitors road condition states of all road sections according to the road condition information, and sends the road condition states to the automatic driving vehicle and/or the overall scheduling system.
Preferably, the roadside monitoring node includes:
the information acquisition device is used for acquiring road condition information of a road section set by the road side monitoring node;
and the communication module is electrically connected with the information acquisition device and is used for being in communication connection with the road side monitoring host.
Preferably, the information collecting device includes: one or more of a panoramic camera, a CCD camera and a laser radar sensor.
Preferably, the lidar sensor comprises a one-way lidar and a multiline lidar.
Preferably, the communication module includes: one or more of a WIFI module, an 3/4/5G module, an Ethernet module, an RS-232 module, an RS-485 module, a radio station module and a microwave communication module are combined.
Preferably, the roadside monitoring host includes:
a vehicle path acquisition unit for acquiring a travel path of an autonomous vehicle;
the system comprises an abnormal obstacle detection unit, a road side monitoring node and a road side monitoring unit, wherein the abnormal obstacle detection unit is used for determining whether an abnormal obstacle exists on a driving path according to road condition information collected by the road side monitoring node, and determining the position, shape and type of the abnormal obstacle when the abnormal obstacle exists;
the system comprises an abnormal disaster detection unit, a road side monitoring node and a road side monitoring unit, wherein the abnormal disaster detection unit is used for determining whether an abnormal disaster exists on a driving path according to road condition information collected by the road side monitoring node, and determining the range, position and type of the abnormal disaster when the abnormal disaster exists;
the vehicle interaction detection unit is used for determining whether a vehicle interaction behavior exists on a driving path according to road condition information collected by the road side monitoring node, and determining the type and the position of the vehicle interaction behavior when the vehicle interaction behavior exists; the type of the vehicle interaction behavior comprises one of left turning, right turning, reversing and parking;
the vehicle running path state determining unit is used for determining the state of the running path of the automatic driving vehicle according to the output results of the abnormal obstacle detecting unit, the abnormal disaster detecting unit and the vehicle interaction detecting unit;
and the warning alarm unit is used for sending a safety warning and/or an abnormal alarm to the automatic driving vehicle and/or the global dispatching system when an abnormal obstacle and/or an abnormal disaster and/or a vehicle interaction behavior exist on the driving path.
Preferably, the roadside monitoring host further includes:
the query feedback unit is used for receiving road condition queries sent by the automatic driving vehicles and/or the global scheduling system and outputting road condition information;
the system comprises a vehicle body, a global dispatching system and a system control module, wherein the vehicle body is used for receiving abnormal barrier inquiry sent by the automatic driving vehicle and/or the global dispatching system and outputting abnormal barrier information; the abnormal obstacle information includes: the location, shape and type of the abnormal obstacle;
the system is used for outputting abnormal disaster information after receiving abnormal disaster inquiry sent by the automatic driving vehicle and/or the global scheduling system; the abnormal disaster information comprises: the range, location and type of the abnormal disaster.
Preferably, the abnormal obstacle detection unit is further configured to number the abnormal obstacle, track the abnormal obstacle, and send a first prompt message for eliminating the abnormal obstacle to the autonomous vehicle and/or the global scheduling system after the abnormal obstacle is eliminated;
the abnormal disaster detection unit is also used for numbering the abnormal disasters and tracking the abnormal disasters; and after the abnormal disaster is eliminated, sending second prompt information for eliminating the abnormal disaster to the automatic driving vehicle and/or the global scheduling system.
Preferably, the vehicle interaction detection unit determines whether a vehicle interaction behavior exists on the driving path according to the road condition information collected by the road side monitoring node, and specifically includes the following operations:
determining the position of the vehicle interaction behavior based on the road condition information acquired by the road side monitoring node;
determining vehicle interaction behavior demand time based on the vehicle interaction behavior;
determining the position of the automatic driving vehicle corresponding to the driving path based on the driving path;
obtaining a first speed of an autonomous vehicle;
determining a travel time for the autonomous vehicle to reach the location of the vehicle interaction behavior according to the first speed, the location of the autonomous vehicle, and the location of the vehicle interaction behavior;
when the driving time is less than or equal to the required time, determining that vehicle interaction behaviors exist on the driving path;
when the travel time is greater than the demand time, it is determined that there is no vehicle interaction behavior on the travel path.
Preferably, determining the time required for the vehicle interaction behavior based on the vehicle interaction behavior specifically includes:
acquiring a second speed of an interactive vehicle sending out an interactive action in the vehicle interactive behavior;
acquiring demand time by contrasting a pre-stored vehicle interaction behavior-second speed-demand time table on the basis of the vehicle interaction behavior and the second speed;
and the vehicle interaction behavior-second speed-demand time table is in one-to-one correspondence with the vehicle interaction behavior, the second speed and the demand time.
Preferably, the roadside monitoring node may be further disposed in a parking lot area of an industrial autonomous vehicle, and configured to collect information of the parking lot area;
the roadside monitoring host is used for determining the number of the inner trays in the tray parking area in the parking lot area and the pose of each tray according to the information in the parking lot, and determining whether fire or dense smoke occurs according to the information in the parking lot area.
Preferably, the roadside monitoring node can be further arranged in the alignment operation area and used for acquiring information of the alignment operation area;
and the roadside monitoring host is used for determining whether the alignment is effectively realized according to the information of the alignment operation area.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a roadside state monitoring system according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a roadside monitoring host according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a roadside state monitoring system applied to a public local road scene according to an embodiment of the present invention;
FIG. 4 is a schematic illustration of a region of a parking lot for an industrial process scenario in an embodiment of the present invention;
FIG. 5 is a schematic view of an operation scenario in which a roadside state monitoring system is applied to an industrial automatic navigation vehicle according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating a scenario of alignment operation according to an embodiment of the present invention;
FIG. 7 is a schematic illustration of an embodiment of the present invention applied to an aircraft berth;
fig. 8 is a schematic diagram of an aircraft berth according to yet another embodiment of the present invention.
In the figure:
1. a roadside monitoring node; 2. a road side monitoring host; 21. a vehicle path acquisition unit; 22. an abnormal obstacle detection unit; 23. an abnormal disaster detection unit; 24. a vehicle interaction detection unit; 25. a vehicle travel path state determination unit; 26. and a warning alarm unit.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
An embodiment of the present invention provides a roadside state monitoring system, as shown in fig. 1, including:
the road side monitoring nodes 1 are arranged at road side positions of the monitoring road sections and are used for acquiring road condition information of the road sections;
the road side monitoring host 2 is in communication connection with the road side monitoring node 1;
the road side monitoring host 2 acquires road condition information through the road side monitoring node 1, monitors road condition states of all road sections according to the road condition information, and sends the road condition states to the automatic driving vehicle and/or the global scheduling system.
The road condition states include congestion, accident obstruction, abnormal obstacles and abnormal disasters.
The working principle and the beneficial effects of the technical scheme are as follows:
the road side monitoring host 2 acquires road condition information through the road side monitoring node 1, monitors road condition states of all road sections according to the road condition information, and sends the road condition states to the overall scheduling system. The global scheduling system adjusts the running path of the automatic driving vehicle in real time, so that congestion, accidents, abnormal obstacles and abnormal situations in road conditions are avoided when the automatic driving vehicle runs; the riding experience of the automatic driving vehicle of the passenger is improved.
The road side monitoring host 2 acquires road condition information through the road side monitoring node 1, monitors road condition states of all road sections according to the road condition information, and sends the road condition states to the automatic driving vehicle. The automatic driving vehicle automatically adjusts a driving path according to the road condition state, and avoids congestion, accidents, abnormal obstacles and abnormal disasters in the road condition state; the riding experience of passengers is improved.
The road side state monitoring system acquires road condition information in real time through the road side monitoring nodes 1; the road side monitoring host 2 analyzes the road condition state based on the collected road condition information; the road condition state is sent to the global scheduling system, so that the safety of the running path of the automatic driving vehicle is ensured, and accurate and reliable road condition state is provided for the global scheduling system to adjust the running path of the automatic driving vehicle in real time; in addition, the road condition state can be sent to the automatic driving vehicle, and the automatic driving vehicle automatically adjusts the driving path according to the road condition state.
In one embodiment, the roadside monitoring node 1 includes:
the information acquisition device is used for acquiring road condition information of a road section set by the road side monitoring node 1;
and the communication module is electrically connected with the information acquisition device and is used for being in communication connection with the roadside monitoring host 2.
The working principle and the beneficial effects of the technical scheme are as follows:
the information acquisition device of the roadside monitoring node 1 acquires road condition information of a road section set by the roadside monitoring node 1, and uploads the road condition information to the roadside monitoring host 2 through the communication module.
In order to realize the collection of the traffic information, in one embodiment, the information collecting device includes: one or more of a panoramic camera, a CCD camera and a laser radar sensor.
The working principle and the beneficial effects of the technical scheme are as follows:
the panoramic camera can shoot real-time images of road sections without dead angles, and accuracy of road condition states determined by the road side monitoring host 2 is guaranteed.
The CCD camera has the characteristics of small volume, light weight, no influence of a magnetic field, vibration and impact resistance and the like, and can stably provide image data for the road side monitoring host 2.
The core of the laser radar sensor is laser, which has the advantages of high directivity, high monochromaticity, high power and the like, and the advantages are very critical for measuring the distance, judging the target position, improving the signal-to-noise ratio of a receiving system, ensuring the measurement precision and the like, so that the laser radar can not only measure the distance, but also measure the target position, the movement speed, the acceleration and the like, and is successfully used for the distance measurement and the tracking of artificial satellites, for example, the laser radar adopting a ruby laser device has the distance measurement range of 500-2000 kilometers and the error of only a few meters. In recent years, the LDM series distance measuring sensors developed by the true research and development centers can reach the micrometer level within the measuring range of thousands of meters.
In one embodiment, the lidar sensor includes a one-way lidar and a multiline lidar.
In one embodiment, a communication module comprises: one or more of a WIFI module, an 3/4/5G module, an Ethernet module, an RS-232 module, an RS-485 module, a radio station module and a microwave communication module are combined.
In one embodiment, as shown in fig. 2, the roadside monitoring host 2 includes:
a vehicle path acquisition unit 21 for acquiring a travel path of the autonomous vehicle;
the abnormal obstacle detection unit 22 is used for determining whether an abnormal obstacle exists on a driving path according to the road condition information acquired by the road side monitoring node 1, and determining the position, shape and type of the abnormal obstacle when the abnormal obstacle exists; the abnormal obstacle includes: stones, boxes, etc.;
the abnormal disaster detection unit 23 is configured to determine whether an abnormal disaster exists on the driving path according to the road condition information acquired by the roadside monitoring node 1, and when the abnormal disaster exists, determine a range, a position, and a type of the abnormal disaster; wherein the abnormal situations include fire, dense smoke, etc
The vehicle interaction detection unit 24 is configured to determine whether a vehicle interaction behavior exists on a driving path according to road condition information acquired by the roadside monitoring node 1, and determine the type and the position of the vehicle interaction behavior when the vehicle interaction behavior exists; the type of the vehicle interaction behavior comprises one of left turning, right turning, reversing and parking;
a vehicle travel path state determination unit 25 for determining a state of a travel path of the autonomous vehicle based on output results of the abnormal obstacle detection unit 22 and the abnormal disaster detection unit 23 and the vehicle interaction detection unit 24;
and the warning alarm unit 26 is used for sending a safety warning and/or an abnormal alarm to the automatic driving vehicle and/or the global dispatching system when an abnormal obstacle and/or an abnormal disaster and/or vehicle interaction behavior exists on the driving path.
The working principle and the beneficial effects of the technical scheme are as follows:
the warning alarm unit 26 is used for sending safety warning and abnormal alarm to the automatic driving vehicle and the global dispatching system when abnormal obstacles, abnormal disasters and vehicle interaction behaviors exist on a driving path. Therefore, the automatic driving vehicle can avoid abnormal obstacles, abnormal disasters and vehicle interaction behaviors, and the safety of automatic driving is ensured.
In one embodiment, the roadside monitoring host 2 further includes:
the query feedback unit is used for receiving road condition queries sent by the automatic driving vehicles and/or the global scheduling system and outputting road condition information;
the system comprises a vehicle body, a global dispatching system and a system control module, wherein the vehicle body is used for receiving abnormal barrier inquiry sent by the automatic driving vehicle and/or the global dispatching system and outputting abnormal barrier information; the abnormal obstacle information includes: the location, shape and type of the abnormal obstacle;
the system is used for outputting abnormal disaster information after receiving abnormal disaster inquiry sent by the automatic driving vehicle and/or the global scheduling system; the abnormal disaster information comprises: the range, location and type of the abnormal disaster.
The working principle and the beneficial effects of the technical scheme are as follows:
through the query feedback unit, the worker can know the position of the abnormal obstacle and the position of the abnormal disaster on the global scheduling system and the automatic driving vehicle; the staff can process the treatment in time.
In one embodiment, the abnormal obstacle detecting unit 22 is further configured to number the abnormal obstacle, track the abnormal obstacle, and send a first prompt message for eliminating the abnormal obstacle to the autonomous vehicle and/or the global dispatching system when the abnormal obstacle is eliminated;
the abnormal disaster detection unit 23 is also used for numbering the abnormal disasters and tracking the abnormal disasters; and after the abnormal disaster is eliminated, sending second prompt information for eliminating the abnormal disaster to the automatic driving vehicle and/or the global scheduling system.
The working principle and the beneficial effects of the technical scheme are as follows:
the road side monitoring host 2 can track the abnormal obstacles and the abnormal situations in real time and update the information of the abnormal obstacles and the abnormal situations in time, so that the road side monitoring host 2 can update the road condition state in time.
In one embodiment, the vehicle interaction detecting unit 24 determines whether a vehicle interaction behavior exists on the driving path according to the road condition information collected by the roadside monitoring node 1, and specifically includes the following operations:
determining the position of the vehicle interaction behavior based on the road condition information acquired by the road side monitoring node 1;
determining vehicle interaction behavior demand time based on the vehicle interaction behavior;
determining the position of the automatic driving vehicle corresponding to the driving path based on the driving path;
obtaining a first speed of an autonomous vehicle;
determining a travel time for the autonomous vehicle to reach the location of the vehicle interaction behavior according to the first speed, the location of the autonomous vehicle, and the location of the vehicle interaction behavior;
when the driving time is less than or equal to the required time, determining that vehicle interaction behaviors exist on the driving path;
when the travel time is greater than the demand time, it is determined that there is no vehicle interaction behavior on the travel path.
The working principle and the beneficial effects of the technical scheme are as follows:
in actual operation, vehicle interaction behavior occurs on a running path of the autonomous vehicle, but when the autonomous vehicle runs normally and reaches a vehicle interaction behavior position, the vehicle interaction behavior is already finished; this is the case. In order to avoid the misjudgment of the road side monitoring host 2 on such situations, the accuracy of the road condition state of the road side monitoring host 2 is improved. And judging whether the vehicle interactive behaviors exist on the running path of the automatic driving vehicle or not by comparing the required time of the vehicle interactive behaviors with the running time of the automatic driving vehicle reaching the position of the vehicle interactive behaviors.
In one embodiment, determining the time required for the vehicle interaction behavior based on the vehicle interaction behavior specifically includes:
acquiring a second speed of an interactive vehicle sending out an interactive action in the vehicle interactive behavior;
acquiring demand time by contrasting a pre-stored vehicle interaction behavior-second speed-demand time table on the basis of the vehicle interaction behavior and the second speed;
and the vehicle interaction behavior-second speed-demand time table is in one-to-one correspondence with the vehicle interaction behavior, the second speed and the demand time.
The working principle and the beneficial effects of the technical scheme are as follows:
the required time can be quickly and accurately determined through the vehicle interactive behavior and the second speed, so that the accuracy of judging whether the vehicle interactive behavior exists on the running path of the automatic driving vehicle is ensured.
As shown in fig. 3, the roadside monitoring system is applied to monitoring road conditions and vehicle running conditions of public local roads; the road side monitoring system mainly realizes the following functions:
firstly, monitoring road surfaces of road sections: detecting road flatness changes, such as the occurrence of road surfaces such as collapse and bulge, and reporting abnormal information to an FDS (fully drawn Standard) by a road side monitoring system for road maintenance;
secondly, monitoring road section traffic flow: feeding back the traffic flow of the road section in unit time, and performing global traffic planning on all vehicles by using the auxiliary FDS;
thirdly, monitoring the vehicle state in the road section: whether the running track of the vehicle is normal or not, whether the safe inter-vehicle distance is effectively maintained or not and monitoring of traffic accidents. Any exceptions are reported to the FDS for uniform processing.
In one embodiment, the roadside monitoring node may be further disposed in a parking lot area of an industrial autonomous vehicle for collecting information of the parking lot area;
the roadside monitoring host is used for determining the number of the inner trays in the tray parking area in the parking lot area and the pose of each tray according to the information in the parking lot, and determining whether fire or dense smoke occurs according to the information in the parking lot area.
In industrial operation, the supporting plate and the automatic navigation trolley (automatic driving vehicle) are parked separately; when the autonomous vehicle needs to start working, it is automatically driven to a tray parking place where the vehicle can be mounted as shown in fig. 4. At positions a1 and a2 shown in fig. 4, the autonomous vehicle in the parking lot area will automatically drive there, and mount the tray automatically,
the roadside monitoring system is arranged in the area and used for judging the change of the pose (position coordinate and course) and the quantity of each tray, and the detection and alarm of disasters such as fire and smoke.
When the method is applied to another scene of the operation of the industrial automatic navigation trolley, as shown in fig. 5, the number of the default trays at two positions is 4, but if the number of the trays changes due to human intervention, the roadside monitoring system obtains the variation through a visual deep learning manner, and feeds back the variation to the corresponding automatic driving vehicle and FDS through wireless/wired communication, so that the automatic driving vehicle can know the confirmed mounting number to complete the subsequent operation actions (for example, the specified number of trays are transported to other operation points to perform alignment operation, 4 trays perform 4 alignments, and 3 trays perform 3 alignments to form a data closed loop).
As shown in fig. 5, before the autonomous vehicle mounts the 4 pallets, the autonomous vehicle defaults that the pallets are at the positions shown in the drawing, and mounts the pallets after planning a path, and if the poses of the pallets change, in the application of the fully automated system, the autonomous vehicle must feed back the changed poses of the pallets to the autonomous vehicle through the roadside monitoring system, and the autonomous vehicle can plan a new path again to accurately mount the pallets, so that the roadside monitoring system needs to feed back the poses of the pallets to the autonomous vehicle and the FDS in real time to confirm the path on which the autonomous vehicle mounts the pallets.
In one embodiment, the roadside monitoring node may be further disposed in the alignment operation area, and configured to collect information of the alignment operation area;
and the roadside monitoring host is used for determining whether the alignment is effectively realized according to the information of the alignment operation area.
When the autonomous vehicle is used to mount soft pallets for a transportation task as shown in fig. 6, the most complicated task is to align the autonomous vehicle with target vehicles at different positions, and the number of aligning pallets may vary from 1 to 5 as shown in fig. 6.
In such specific areas, roadside monitoring systems are also required to perform real-time detection.
Monitoring the operation process in the alignment operation area: monitoring whether the alignment of the alignment area is effectively realized, and the second tray shown in fig. 6 has strict data requirements for the type-changing operation, such as the transverse and longitudinal alignment precision of + -5-10 cm;
the method is applied to multi-vehicle interactive operation monitoring: when a plurality of automatic driving vehicles and multi-target vehicles carry out interactive operation in the same area, an optimized operation process is designed in advance and is realized by FDS dispatching vehicles, according to corresponding space configuration and time sequence configuration, a roadside monitoring system serves as an independent third-party eye, whether the operation process meets the design requirement or not is monitored, any abnormal condition needs to be reported to the FDS, and the current operation process is terminated.
As shown in fig. 7 and 8, when the roadside monitoring system is applied to the berth of the aircraft, the aircraft cannot provide accurate pose information of the aircraft to the FDS, in fig. 7, after the aircraft enters the berth, the first cis position is close to the aircraft by the man-made driving platform car, the operation is started, and the automatic driving vehicle can plan a path according to the pose of the platform car to realize the alignment operation of the graphic representation.
If the platform truck is also transformed into an automatic piloting vehicle, the self pose of the platform truck cannot be fed back by the aircraft, the course and the position of the aircraft need to be positioned by means of the vision of a roadside monitoring system, the real-time pose of the aircraft is fed back by adopting depth cameras (information acquisition devices) with 3 different angles in figures 7 and 8, when the condition shown in figure 8 occurs, the pose of the aircraft is fed back by the roadside system, the automatic piloting platform truck can automatically plan a path to be close to a cabin door of the aircraft, and then an automatic piloting tractor can be used for hanging a tray to align the platform truck, so that full-automatic operation is realized.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A roadside state monitoring system, comprising:
the road side monitoring nodes (1) are arranged at the road side positions of the monitoring road sections and are used for acquiring road condition information of the road sections;
the road side monitoring host (2) is in communication connection with the road side monitoring node (1);
the road side monitoring host (2) acquires the road condition information through the road side monitoring node (1), monitors the road condition state of each road section according to the road condition information, and sends the road condition state to an automatic driving vehicle and/or a global scheduling system.
2. The roadside state monitoring system according to claim 1, wherein the roadside monitoring node (1) includes:
the information acquisition device is used for acquiring road condition information of a road section set by the road side monitoring node (1);
the communication module is electrically connected with the information acquisition device and is used for being in communication connection with the roadside monitoring host (2);
wherein, the information acquisition device includes: one or more of a panoramic camera, a CCD camera and a laser radar sensor are combined;
wherein the lidar sensor comprises a unidirectional lidar and a multiline lidar.
3. The roadside state monitoring system of claim 2, wherein the communication module comprises: one or more of a WIFI module, an 3/4/5G module, an Ethernet module, an RS-232 module, an RS-485 module, a radio station module and a microwave communication module are combined.
4. The roadside state monitoring system according to claim 1, wherein the roadside monitoring host (2) includes:
a vehicle path acquisition unit (21) for acquiring a travel path of the autonomous vehicle;
the road side monitoring node comprises an abnormal obstacle detection unit (22) for determining whether an abnormal obstacle exists on the driving path according to road condition information collected by the road side monitoring node (1), and determining the position, shape and type of the abnormal obstacle when the abnormal obstacle exists;
the abnormal disaster detection unit (23) is used for determining whether an abnormal disaster exists on the driving path according to the road condition information collected by the road side monitoring node (1), and determining the range, the position and the type of the abnormal disaster when the abnormal disaster exists;
the vehicle interaction detection unit (24) is used for determining whether a vehicle interaction behavior exists on the driving path according to the road condition information collected by the road side monitoring node (1), and determining the type and the position of the vehicle interaction behavior when the vehicle interaction behavior exists; the type of the vehicle interaction behavior comprises one of left turning, right turning, reversing and parking;
a vehicle travel path state determination unit (25) for determining a state of a travel path of the autonomous vehicle based on output results of the abnormal obstacle detection unit (22), the abnormal disaster detection unit (23), and the vehicle interaction detection unit (24);
and the warning alarm unit (26) is used for sending a safety warning and/or an abnormal alarm to the automatic driving vehicle and/or the global scheduling system when the abnormal barrier and/or the abnormal disaster and/or the vehicle interaction behavior exist on the driving path.
5. The roadside state monitoring system according to claim 4, wherein the roadside monitoring host (2) further comprises:
the query feedback unit is used for receiving the road condition query sent by the automatic driving vehicle and/or the global scheduling system and outputting the road condition information;
the system comprises a vehicle body, a global dispatching system and a driver, wherein the vehicle body is used for receiving abnormal obstacle inquiry sent by the automatic driving vehicle and/or the global dispatching system and then outputting abnormal obstacle information; the abnormal obstacle information includes: the location, shape and type of the abnormal obstacle;
the system is used for outputting the abnormal disaster information after receiving the abnormal disaster query sent by the automatic driving vehicle and/or the global scheduling system; the abnormal disaster information comprises: the range, location and type of the abnormal disaster.
6. The roadside state monitoring system according to claim 4, wherein the abnormal obstacle detection unit (22) is further configured to number the abnormal obstacle, track the abnormal obstacle, and send a first prompt message for eliminating the abnormal obstacle to the autonomous vehicle and/or a global dispatching system when the abnormal obstacle is eliminated;
the abnormal disaster detection unit (23) is also used for numbering the abnormal disasters and tracking the abnormal disasters; and after the abnormal disaster is eliminated, sending second prompt information for eliminating the abnormal disaster to the automatic driving vehicle and/or the global scheduling system.
7. The roadside state monitoring system according to claim 4, wherein the vehicle interaction detection unit (24) determines whether a vehicle interaction behavior exists on the driving path according to the road condition information collected by the roadside monitoring node (1), and specifically includes the following operations:
determining the position of the vehicle interaction behavior based on the road condition information collected by the road side monitoring node (1);
determining the vehicle interaction behavior demand time based on the vehicle interaction behavior;
determining the position of an autonomous vehicle corresponding to the travel path based on the travel path;
obtaining a first speed of the autonomous vehicle;
determining a travel time for the autonomous vehicle to reach the location of the vehicle interaction behavior according to the first speed, the location of the autonomous vehicle, and the location of the vehicle interaction behavior;
determining that the vehicle interaction behavior exists on the driving path when the driving time is less than or equal to the required time;
determining that the vehicle interaction behavior is not present on the travel path when the travel time is greater than the demand time.
8. The roadside state monitoring system of claim 7, wherein the determining the vehicle interaction behavior required time based on the vehicle interaction behavior specifically comprises:
acquiring a second speed of an interactive vehicle sending out an interactive action in the vehicle interactive behavior;
acquiring the required time by contrasting a pre-stored vehicle interaction behavior-second speed-required time table on the basis of the vehicle interaction behavior and the second speed;
the vehicle interaction behavior-second speed-demand time table is in one-to-one correspondence with the vehicle interaction behavior, the second speed and the demand time.
9. The roadside state monitoring system of claim 1, wherein the roadside monitoring node is further disposed within a parking lot area of an industrial work autonomous vehicle for collecting information of the parking lot area;
the roadside monitoring host is used for determining the number of the inner trays in the tray parking area in the parking lot area and the pose of each tray according to the information in the parking lot, and determining whether fire or dense smoke occurs according to the information in the parking lot area.
10. The roadside state monitoring system of claim 1, wherein the roadside monitoring node is further disposed in an alignment operation area for collecting information of the alignment operation area;
and the roadside monitoring host is used for determining whether the alignment is effectively realized according to the information of the alignment operation area.
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