CN112258874A - Toll gate passing method, system, device and storage medium for automatically driving vehicle - Google Patents
Toll gate passing method, system, device and storage medium for automatically driving vehicle Download PDFInfo
- Publication number
- CN112258874A CN112258874A CN202011140049.9A CN202011140049A CN112258874A CN 112258874 A CN112258874 A CN 112258874A CN 202011140049 A CN202011140049 A CN 202011140049A CN 112258874 A CN112258874 A CN 112258874A
- Authority
- CN
- China
- Prior art keywords
- toll
- autonomous vehicle
- vehicle
- station
- driving vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems
- G07B15/063—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems using wireless information transmission between the vehicle and a fixed station
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
Abstract
The invention relates to a toll gate passing method, a system, a device and a storage medium for an automatic driving vehicle. The toll station passing method for the automatic driving vehicle comprises the following steps: when the distance between the automatic driving vehicle and the toll station is a preset distance, judging that the automatic driving vehicle enters the region of the toll station; after judging that the vehicle enters the area of the toll station, establishing communication connection between the automatic driving vehicle and the toll station, and sending a station entrance request signal to the toll station; after receiving a station entrance request signal from an automatic driving vehicle, a toll station selects an optimal ETC passage port of the automatic driving vehicle based on currently available ETC passage ports and the current queuing number of each ETC passage port; the toll station sends the position information of the optimal ETC passage port to the automatic driving vehicle; and planning a travel path by the automatic driving vehicle based on the position information of the optimal ETC passage opening and the position of the automatic driving vehicle.
Description
Technical Field
The present invention relates to the field of automated driving, and more particularly, to toll booth passing methods, systems, devices, and storage media for automated driving vehicles.
Background
Along with the development and popularization of the automatic driving automobile, the automatic driving automobile is more intelligent and more widely applied. The toll station is a part of a high-speed full-automatic driving scene, and how to safely and effectively pass through the toll station is a key technical problem for automatically driving the automobile. Based on the condition of the existing toll stations in China, the types of ETC toll stations in all parts of the country are different, and the identification modes of an ETC passage port and an effective/invalid passage are different, so that the accurate position for identifying and positioning the ETC passage port is a technical problem for automatically driving an automobile.
The prior art generally focuses on the position information of an ETC passage port of an automatic driving automobile to be actively identified, the passage port of a toll station is positioned in a high-precision map and image perception mode, the scheme is high in image acquisition training difficulty, high in requirement on an automatic driving vehicle, low in positioning precision and poor in implementation performance at present.
Disclosure of Invention
The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a toll gate passing method, a toll gate passing system, a toll gate passing apparatus, and a storage medium for an automated vehicle, in which the automated vehicle can obtain position information of an ETC passage port with high positioning accuracy without actively recognizing the position information of the ETC passage port.
According to one aspect of the present invention, there is provided a toll booth passing method for an autonomous vehicle, characterized by comprising the steps of: a judging step of judging that the vehicle enters the area of the toll station when the distance between the automatic driving vehicle and the toll station is a preset distance; a communication step of establishing communication connection between the autonomous vehicle and the toll station and transmitting a station entry request signal to the toll station after determining that the autonomous vehicle enters the area of the toll station; an ETC passage port distribution step, wherein after receiving a station entrance request signal from the automatic driving vehicle, the toll station detects the currently effective available ETC passage ports, collects the current queuing number of each ETC passage port, and selects the optimal ETC passage port of the automatic driving vehicle based on the currently effective available ETC passage ports and the current queuing number of each ETC passage port; a position information transmitting step of transmitting, by the toll station, position information of the selected optimal ETC passage to the automated vehicle; and a path planning step in which the autonomous vehicle, after receiving the position information of the optimal ETC passage transmitted from the toll station, plans a travel path based on the position information and the position of the autonomous vehicle.
Preferably, the method further comprises the following steps: a waiting timeout determination step of, after the autonomous vehicle has transmitted the entry request signal, inquiring at a certain time interval whether or not the autonomous vehicle has received the location information from the tollgate, and determining that the vehicle is overtime if the location information has not been received from the tollgate after a predetermined time has elapsed; and under the condition that the time is judged to be overtime, the automatic driving vehicle informs a driver to take over or enter a waiting parking area of the toll station for safe parking.
Preferably, the position information of the optimal ETC gate is longitude and latitude coordinate values of a center position of the optimal ETC gate.
Preferably, the toll station stores longitude and latitude coordinate values of a center position of each ETC gate in advance.
Preferably, in the ETC channel port allocation step, the toll station acquires a current queuing condition of each ETC channel port through a sensor device installed in the toll station, generates a queuing number of each ETC channel port, and selects one of the effectively available ETC channel ports, of which the queuing number is the smallest, as the optimal ETC channel port of the autonomous vehicle.
Preferably, the method further includes a deceleration step of decelerating the autonomous vehicle when the determination step determines that the vehicle enters the area of the tollgate.
Preferably, in the determining step, the autonomous vehicle acquires a distance between the autonomous vehicle and a toll booth based on its own position information and information of a navigation map.
Preferably, the currently available ETC gates of the toll gate are updated in real time by an operator, and the unavailable ETC gates due to maintenance, vehicle breakdown, traffic control, etc. are set to be closed.
According to another aspect of the present invention, there is provided a toll booth passing system for an autonomous vehicle, comprising: a first module mounted to an autonomous vehicle; and a second module installed at the toll booth,
wherein the first module comprises: a determination unit that determines that the vehicle has entered the area of the toll booth when a distance between the autonomous vehicle and the toll booth is a preset distance; a first communication unit for establishing a communication connection with a second communication unit of the second module after determining that the first communication unit enters the area of the tollgate, and transmitting an entry request signal to the second communication unit and receiving position information of an optimal ETC gate from the second communication unit; and a path planning unit that plans a travel path based on the position information and the self position of the autonomous vehicle after the first communication unit receives the position information of the optimal ETC passage,
the second module includes: a second communication unit for establishing a communication connection with the first communication unit, receiving the entry request signal from the first communication unit, and transmitting the position information of the optimal ETC gate to the first communication unit; and the ETC channel port distribution unit detects the currently effective available ETC channel ports after the second communication unit receives the station-entering request signal, collects the queuing number of each current ETC channel port, selects the optimal ETC channel port of the automatic driving vehicle based on the currently effective available ETC channel ports and the queuing number of each current ETC channel port, and transmits the position information of the optimal ETC channel port to the second communication unit.
Preferably, the first module further comprises: a waiting timeout determining unit configured to query whether location information from the second communication unit is received at a predetermined time interval after the first communication unit transmits the inbound request signal, and determine that the location information is timeout if the location information is not received after a predetermined time has elapsed; and the overtime processing unit is used for informing the driver to take over or enter the waiting area of the toll station to safely stop under the condition that the waiting overtime judging unit judges that the overtime exists.
Preferably, the position information of the optimal ETC gate is longitude and latitude coordinate values of a center position of the optimal ETC gate.
Preferably, the second module further includes a sensor device, the sensor device is configured to obtain a queuing condition of each current ETC gate of the toll station, and in the ETC gate allocation unit, the queuing number of each ETC gate is generated according to the queuing condition of each current ETC gate obtained by the sensor device, and one of the available ETC gates with the smallest queuing number is selected as the optimal ETC gate of the automatically driven vehicle.
Preferably, the vehicle further includes a deceleration unit that decelerates the autonomous vehicle when the determination unit determines that the vehicle enters the area of the tollgate.
According to another aspect of the present invention, there is provided a toll booth passing apparatus for an autonomous vehicle, characterized by comprising: a processor; and a memory having stored therein executable instructions of the processor, the processor configured to perform the toll booth passing method for an autonomous vehicle of any of claims 1 to 8 by executing the executable instructions.
According to another aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a program for causing a computer to execute the toll booth passing method for an automated vehicle according to any one of claims 1 to 8.
Drawings
Fig. 1 is a flow chart of a toll booth passing method for an autonomous vehicle according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an implementation of a toll booth passing method for an autonomous vehicle according to an embodiment of the present invention.
Fig. 3 is a schematic block diagram showing the structure of a toll booth passing system for an automated vehicle according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
Fig. 1 is a flowchart of a toll booth passing method for an autonomous vehicle according to an embodiment of the present invention. Fig. 2 is a schematic diagram of an implementation of the toll booth passing method for an autonomous vehicle of the present invention. A toll booth passage method for an autonomous vehicle according to an embodiment of the present invention will be described with reference to fig. 1 and 2.
When the automatic driving vehicle a runs on the expressway, the current position information of the automatic driving vehicle a and the position information of the upcoming toll station B are acquired through a global positioning system and a map module of the automatic driving vehicle a at a certain period. In step S101, it is determined whether the distance between the autonomous vehicle a and the toll booth B is a predetermined distance, which is 300 meters in this embodiment, based on the current position information of the autonomous vehicle a and the position information of the toll booth B.
If it is determined that the distance between the autonomous vehicle a and the toll booth B is 300 meters (yes in step S101), the process proceeds to step S102, where the autonomous vehicle a is decelerated.
In step S103, the autonomous vehicle a obtains the identification code of the current toll station B through map matching, establishes communication connection with the toll station through the identification code, and then transmits an entry request signal to the toll station B. Each toll station needs to be assigned with a unique communication identification code for the automatic driving vehicle to accurately find the toll station and pair with the toll station. Then, the process proceeds to step S104 and step S105 at the same time.
In step S105, the toll station B detects a currently available ETC gate after receiving the entry request signal from the automatically driven vehicle a. As shown in fig. 2, the toll booth B of the present embodiment includes two artificial gates 1, 2 and 4 ETC gates 3, 4, 5, 6. Generally, detecting an ETC gate that is currently available efficiently includes two steps, 1) detecting the ETC gate, which may be set in advance in the toll station B; and 2) detecting the ETC channel port which is effectively available at present. This can be manually intervened, for example, by the operator of the toll station B setting the currently active ETC gate in real time, for example, if a gate is not available due to maintenance, vehicle breakdown, or traffic control, the operator sets the ETC gate to closed. In fig. 2, the etc. lane 5 is set to be closed, and thus currently available ETC lane 3, 4, 6 are detected.
In the embodiment, the ETC is an English abbreviation at the ETC channel port and is called an Electronic Toll Collection system. The ETC special lane is a full electronic toll collection system which utilizes the vehicle automatic identification technology to complete wireless data communication between vehicles and toll stations, carries out vehicle automatic identification and related toll collection data exchange, processes toll collection data through a computer network and realizes automatic toll collection without stopping.
In step S106, the toll station B images the current queuing conditions of the vehicles at each ECT lane gate by using the sensor device (camera in the present embodiment) 320 installed in the toll station, and generates the queuing number of the vehicles at each ETC lane gate.
In step S107, one ETC gate having the smallest queuing number among currently available ETC gates is selected as the optimal ETC gate of the autonomous vehicle a. As shown in fig. 2, in the present embodiment, the currently available ETC gates are 3, 4, and 6, and the queuing numbers of the ETC gates 3, 4, and 6 are 2, 0, and 1, respectively, so the ETC gate 4 is selected as the optimum ETC gate of the autonomous vehicle a.
In step S108, the toll booth B transmits the position information of the optimal ETC passage selected in step S107 to the automated vehicle a. Here, the toll station B may store position information of each ETC gate in advance, and may transmit the position information of the corresponding ETC gate to the automatic guided vehicle a after the optimal ETC gate is selected. The positional information of the port is the longitude and latitude coordinate values of the center position of the port.
In step S104, after the entry request signal is transmitted from the autonomous vehicle a to the toll station B, the autonomous vehicle a inquires at regular time intervals whether or not the position information of the optimal ETC gate is received from the toll station B within a predetermined time (timeout determination). The predetermined time interval and the predetermined time can be set by the user or the automobile manufacturer according to the requirement.
If the automatically driven vehicle a receives the position information of the optimal ETC passage from the toll booth B within the predetermined time (yes in step S104), the process proceeds to step S110. If the automatic driving vehicle a does not receive the position information of the optimal ETC gate from the tollgate B within the predetermined time (no in step S104), it indicates that the information transmission has failed, and the process proceeds to step S109.
In step S109, it is determined that timeout occurs, and a timeout response is triggered, for example, a driver is notified to take over or enter a waiting area of a toll station to perform safe parking.
In step S110, the automatic driving vehicle a plans an optimal path by using a path planning function of its own based on the position information of the optimal ETC passage received from the toll gate B and in combination with its own current position, thereby queuing to pass through the toll gate. As shown in fig. 2, the autonomous vehicle a plans an optimal path shown by a dotted arrow in combination with the position information of the optimal ETC passage and its own current position, thereby being able to pass through the toll booth B quickly and safely.
Steps S102, S104, S109 in the present embodiment may also be omitted. If steps S104 and S109 are omitted, step S108 directly proceeds to step S110.
Fig. 3 is a schematic block diagram showing the structure of a toll booth passing system for an automated vehicle according to an embodiment of the present invention.
The invention relates to a toll booth passing system for an autonomous vehicle, which relates to both an autonomous vehicle end and a toll booth end. The toll booth passing system for an autonomous vehicle according to an embodiment of the present invention includes a first module 20 installed at an autonomous vehicle a; and a second module 30 installed at the tollgate B.
The first module 20 includes: a determination unit 210 that determines whether the distance between the autonomous vehicle a and the toll booth B is a preset distance (300 meters in the present embodiment) based on the position of the autonomous vehicle a and the position information of the toll booth B to be reached, the determination unit 210 determining that the autonomous vehicle a enters the area of the toll booth B when the distance between the autonomous vehicle a and the toll booth B is 300 meters; a deceleration unit 260 that decelerates the autonomous vehicle a when the determination unit 210 determines that the vehicle enters the area of the toll booth B; a first communication unit 220, wherein after determining that the first communication unit 220 enters the area of the toll station B, the first communication unit 220 establishes a communication connection with a second communication unit 310 of the second module 30 of the toll station B, and transmits an entry request signal to the second communication unit 310 and receives position information of an optimal ETC gate from the second communication unit 310; a waiting timeout determining unit 230 configured to query whether location information is received from the second communication unit 310 at a predetermined time interval after the first communication unit 220 transmits the inbound request signal, and determine that the time is timeout if the location information is not received after a predetermined time elapses; a timeout processing unit 240, in case that the waiting timeout determining unit 230 determines that the timeout is exceeded, the timeout processing unit 240 notifies the driver to take over or enter the waiting parking area of the toll station B for safe parking; and a route planning unit 250 that plans a travel route based on the position information and the self position of the autonomous vehicle a after the first communication unit 220 receives the position information of the optimal ETC gate.
The second module 30 includes: a second communication unit 310, wherein the second communication unit 310 is used for establishing communication connection with the first communication unit 220, receiving the inbound request signal from the first communication unit 220 and sending the position information of the optimal ETC channel port to the first communication unit 220; the sensor device 320 is used for acquiring the current queuing conditions of each ETC passage of the toll station B, in this embodiment, the sensor device 320 is a camera, and the camera 320 is used for shooting the current queuing conditions of vehicles at each ECT passage; and an ETC gate allocating unit 330, wherein after the second communication unit 310 receives the inbound request signal, the ETC gate allocating unit 330 detects currently available ETC gates, generates the queuing number of each ETC gate according to the current queuing condition of each ETC gate captured by the camera 320, selects one of the available ETC gates having the smallest queuing number as an optimal ETC gate of the automatically driven vehicle a, and then transmits the position information of the optimal ETC gate to the second communication unit 310.
The currently available ETC gate may be manually intervened, for example, an interface is set at the toll gate B, and then an operator of the toll gate B sets the currently available ETC gate in real time through the interface, for example, if a gate is unavailable due to maintenance, vehicle breakdown, or traffic control, the operator sets the ETC gate to be closed.
In addition, the deceleration unit, the waiting timeout determination unit, and the timeout processing unit in the toll booth passing system for the automated driving vehicle according to the present embodiment may be omitted.
In all the embodiments described above, when the distance between the autonomous vehicle a and the toll booth B is 300 meters, it is determined that the vehicle enters the area of the toll booth B.
In all the embodiments described above, the sensor device 320 is a camera, but the present invention is not limited to this, and other sensor devices, such as a radar device, a pressure sensor buried in the ground, and the like, may be used.
It will be particularly noted that although the queuing method of the present invention is described herein as being applied to an automated driven vehicle passing through an ETC toll gate, the queuing method of the present invention is not limited to application to automated driven vehicles, and may also be applied to manually driven vehicles as an Advanced Driving Assistance System (ADAS) to assist the driver in passing through an ETC gate or a manual gate.
The communication between the autonomous vehicle and the toll station proposed in the present invention is a communication form of a vehicle and a road-based device, and is not limited to various communication technologies, such as 5G communication, WIFI communication, cellular mobile communication system-based C-V2X (cellular to electronic) technology, short range communication (DSRC) technology, and the like.
Embodiments of the present invention also provide a toll booth passing apparatus for an autonomous vehicle, including a processor and a memory storing executable commands of the processor. Wherein the processor is configured to perform the steps of the toll booth passing method for an autonomous vehicle of any of the above embodiments via execution of the executable commands.
Embodiments of the present invention also provide a computer-readable storage medium having stored thereon a computer program for causing a computer to execute the steps of the toll booth passing method for an autonomous vehicle of any of the above-described embodiments.
Although the present invention has been described with reference to the present specific embodiments, it will be appreciated by those skilled in the art that the scope of the invention herein involved is not limited to the specific combination of the above features, but also encompasses other embodiments formed by any combination of the above features or their equivalents without departing from the inventive concept. For example, the above features and (but not limited to) features having similar functions disclosed in the present invention are mutually replaced to form the technical solution.
Claims (15)
1. A toll booth passing method for an autonomous vehicle, comprising the steps of:
a judging step of judging that the vehicle enters the area of the toll station when the distance between the automatic driving vehicle and the toll station is a preset distance;
a communication step of establishing communication connection between the autonomous vehicle and the toll station and transmitting a station entry request signal to the toll station after determining that the autonomous vehicle enters the area of the toll station;
an ETC passage port distribution step, wherein after receiving a station entrance request signal from the automatic driving vehicle, the toll station detects the currently effective available ETC passage ports, collects the current queuing number of each ETC passage port, and selects the optimal ETC passage port of the automatic driving vehicle based on the currently effective available ETC passage ports and the current queuing number of each ETC passage port;
a position information transmitting step of transmitting, by the toll station, position information of the selected optimal ETC passage to the automated vehicle; and
and a path planning step in which the autonomous vehicle plans a travel path based on the position information and the position of the autonomous vehicle after receiving the position information of the optimal ETC passage transmitted from the toll station.
2. The toll booth pass method for autonomous vehicles according to claim 1, further comprising the steps of:
a waiting timeout determination step of, after the autonomous vehicle has transmitted the entry request signal, inquiring at a certain time interval whether or not the autonomous vehicle has received the location information from the tollgate, and determining that the vehicle is overtime if the location information has not been received from the tollgate after a predetermined time has elapsed; and
and under the condition that the time is judged to be overtime, the automatic driving vehicle informs a driver to take over or enter a waiting parking area of the toll station for safe parking.
3. The toll booth passing method for the automated driving vehicle according to claim 1 or 2,
the position information of the optimal ETC passage is longitude and latitude coordinate values of the center position of the optimal ETC passage.
4. The toll booth pass method for an autonomous vehicle as claimed in claim 3,
the toll station stores longitude and latitude coordinate values of the central position of each ETC passage port in advance.
5. The toll booth passing method for the automated driving vehicle according to claim 1 or 2,
in the ETC passage port distribution step, the toll station acquires the current queuing condition of each ETC passage port through the sensor equipment installed in the toll station, generates the queuing quantity of each ETC passage port, and selects the ETC passage port with the minimum queuing quantity in each effective and available ETC passage port as the optimal ETC passage port of the automatic driving vehicle.
6. The toll booth passing method for the automated driving vehicle according to claim 1 or 2,
further comprising a deceleration step of decelerating the autonomous vehicle when the determination step determines that the autonomous vehicle enters the area of the tollgate.
7. The toll booth passing method for the automated driving vehicle according to claim 1 or 2,
in the determining step, the autonomous vehicle obtains a distance between the autonomous vehicle and the toll booth based on its own position information and information of a navigation map.
8. The toll booth passing method for the automated driving vehicle according to claim 1 or 2,
and updating the currently available ETC passage port of the toll station in real time by an operator, and setting the unavailable ETC passage port to be closed due to maintenance, vehicle breakdown, traffic control and the like.
9. A toll booth pass-through system for autonomous vehicles, comprising:
a first module mounted to an autonomous vehicle; and
a second module installed at the toll booth,
wherein the first module comprises:
a determination unit that determines that the vehicle has entered the area of the toll booth when a distance between the autonomous vehicle and the toll booth is a preset distance;
a first communication unit for establishing a communication connection with a second communication unit of the second module after determining that the first communication unit enters the area of the tollgate, and transmitting an entry request signal to the second communication unit and receiving position information of an optimal ETC gate from the second communication unit; and
a route planning unit that plans a travel route based on the position information and the self position of the autonomous vehicle after the first communication unit receives the position information of the optimal ETC lane,
the second module includes:
a second communication unit for establishing a communication connection with the first communication unit, receiving the entry request signal from the first communication unit, and transmitting the position information of the optimal ETC gate to the first communication unit; and
and the ETC channel port distribution unit detects the currently effective available ETC channel ports after the second communication unit receives the station-entering request signal, collects the queuing number of each current ETC channel port, selects the optimal ETC channel port of the automatic driving vehicle based on the currently effective available ETC channel ports and the queuing number of each current ETC channel port, and transmits the position information of the optimal ETC channel port to the second communication unit.
10. The toll booth pass system for an autonomous vehicle as claimed in claim 9,
the first module further comprises:
a waiting timeout determining unit configured to query whether location information from the second communication unit is received at a predetermined time interval after the first communication unit transmits the inbound request signal, and determine that the location information is timeout if the location information is not received after a predetermined time has elapsed; and
and the overtime processing unit is used for informing the driver to take over or enter the waiting area of the toll station to safely stop under the condition that the waiting overtime judging unit judges that the overtime exists.
11. The toll booth pass system for an autonomous vehicle according to claim 9 or 10,
the position information of the optimal ETC passage is longitude and latitude coordinate values of the center position of the optimal ETC passage.
12. The toll booth pass system for an autonomous vehicle according to claim 9 or 10,
the second module further comprises a sensor device for acquiring the current queuing condition of each ETC passage port of the toll station,
in the ETC passage port distribution unit, the queuing number of each ETC passage port is generated according to the current queuing condition of each ETC passage port acquired by the sensor equipment, and the ETC passage port with the minimum queuing number in each effective available ETC passage port is selected as the optimal ETC passage port of the automatic driving vehicle.
13. The toll booth pass system for an autonomous vehicle according to claim 9 or 10,
the vehicle further includes a deceleration unit that decelerates the autonomous vehicle when the determination unit determines that the vehicle enters the area of the tollgate.
14. A toll booth passing apparatus for an autonomous vehicle, comprising:
a processor; and
a memory having stored therein executable commands of the processor,
the processor is configured to perform the toll booth passing method for an autonomous vehicle of any of claims 1 to 8 by executing the executable command.
15. A computer-readable storage medium having stored thereon a program for causing a computer to execute the toll booth passing method for an automated vehicle according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011140049.9A CN112258874A (en) | 2020-10-22 | 2020-10-22 | Toll gate passing method, system, device and storage medium for automatically driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011140049.9A CN112258874A (en) | 2020-10-22 | 2020-10-22 | Toll gate passing method, system, device and storage medium for automatically driving vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112258874A true CN112258874A (en) | 2021-01-22 |
Family
ID=74264122
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011140049.9A Pending CN112258874A (en) | 2020-10-22 | 2020-10-22 | Toll gate passing method, system, device and storage medium for automatically driving vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112258874A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113034713A (en) * | 2021-03-31 | 2021-06-25 | 北京万集科技股份有限公司 | Deduction processing method and system, intelligent terminal and roadside communication equipment |
| CN117104265A (en) * | 2023-08-25 | 2023-11-24 | 广州小鹏自动驾驶科技有限公司 | Automatic driving processing method and device, vehicle and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108116413A (en) * | 2016-11-29 | 2018-06-05 | 株式会社斯巴鲁 | Automatic Pilot control device |
| CN109993960A (en) * | 2018-01-02 | 2019-07-09 | 奥迪股份公司 | Driving assistance system and method |
| CN110132259A (en) * | 2019-05-27 | 2019-08-16 | 爱驰汽车有限公司 | Autonomous driving vehicle passes through the method for charge station, system, equipment and storage medium |
| CN110281948A (en) * | 2019-06-12 | 2019-09-27 | 戴姆勒股份公司 | Queuing strategy of the automatic driving vehicle before exit of charging |
| JP2019175097A (en) * | 2018-03-28 | 2019-10-10 | 株式会社Ｓｕｂａｒｕ | Driving support system for vehicle |
-
2020
- 2020-10-22 CN CN202011140049.9A patent/CN112258874A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108116413A (en) * | 2016-11-29 | 2018-06-05 | 株式会社斯巴鲁 | Automatic Pilot control device |
| CN109993960A (en) * | 2018-01-02 | 2019-07-09 | 奥迪股份公司 | Driving assistance system and method |
| JP2019175097A (en) * | 2018-03-28 | 2019-10-10 | 株式会社Ｓｕｂａｒｕ | Driving support system for vehicle |
| CN110132259A (en) * | 2019-05-27 | 2019-08-16 | 爱驰汽车有限公司 | Autonomous driving vehicle passes through the method for charge station, system, equipment and storage medium |
| CN110281948A (en) * | 2019-06-12 | 2019-09-27 | 戴姆勒股份公司 | Queuing strategy of the automatic driving vehicle before exit of charging |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113034713A (en) * | 2021-03-31 | 2021-06-25 | 北京万集科技股份有限公司 | Deduction processing method and system, intelligent terminal and roadside communication equipment |
| CN113034713B (en) * | 2021-03-31 | 2023-04-14 | 北京万集科技股份有限公司 | Fee deduction processing method and system, intelligent terminal and roadside communication equipment |
| CN117104265A (en) * | 2023-08-25 | 2023-11-24 | 广州小鹏自动驾驶科技有限公司 | Automatic driving processing method and device, vehicle and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP3644296A1 (en) | Vehicle positioning method, apparatus and terminal device | |
| US10810807B2 (en) | Data collection system and data center | |
| US6337637B1 (en) | Collision with pedestrian prevention system | |
| CA2794990C (en) | Method for determining traffic flow data in a road network | |
| US20120253646A1 (en) | Real time estimation of vehicle traffic | |
| US11941975B2 (en) | Driving assistance system, onboard device, method, and computer program | |
| CN112071063A (en) | Roadside sensing system | |
| CN112258874A (en) | Toll gate passing method, system, device and storage medium for automatically driving vehicle | |
| KR101496544B1 (en) | Speeding enforcement method of vehicle using wireless communications | |
| KR102335557B1 (en) | Traffic information delivery system designating direction and distance | |
| CN111319631A (en) | Vehicle control device and vehicle control method | |
| CN112002139A (en) | Unmanned intelligent parking method and system based on V2X technology | |
| EP3813035A1 (en) | Vehicle control method and device | |
| CN110853360A (en) | Vehicle positioning system and method | |
| CN113099529A (en) | Indoor vehicle navigation method, vehicle-mounted terminal, field terminal server and system | |
| CN112689241B (en) | Vehicle positioning calibration method and device | |
| CN110969858B (en) | Traffic accident processing method and device, storage medium and electronic equipment | |
| CN112305499A (en) | Method and device for positioning according to light source | |
| CN116704748A (en) | Method for providing lane positioning for a motor vehicle in the region of an infrastructure device | |
| CN113619598B (en) | Control device, vehicle distribution system and vehicle distribution method for automatic driving vehicle | |
| EP3923017A1 (en) | Positioning method, device, system, terminal for position of internet of vehicles apparatus and storage medium | |
| EP3965395A1 (en) | Apparatus, method, and computer program for a first vehicle and for estimating a position of a second vehicle at the first vehicle, vehicle | |
| CN209842070U (en) | Indoor positioning system based on intelligent equipment | |
| CN112581640A (en) | ETC charging method, vehicle-mounted communication device and ETC platform | |
| US20230400316A1 (en) | Server selection device and server selection system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210122 |