CN112431148A - Directional indication road traffic facility suitable for intelligent vehicle automatic driving - Google Patents
Directional indication road traffic facility suitable for intelligent vehicle automatic driving Download PDFInfo
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- CN112431148A CN112431148A CN202011369834.1A CN202011369834A CN112431148A CN 112431148 A CN112431148 A CN 112431148A CN 202011369834 A CN202011369834 A CN 202011369834A CN 112431148 A CN112431148 A CN 112431148A
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- 238000009434 installation Methods 0.000 claims 7
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/50—Road surface markings; Kerbs or road edgings, specially adapted for alerting road users
- E01F9/506—Road surface markings; Kerbs or road edgings, specially adapted for alerting road users characterised by the road surface marking material, e.g. comprising additives for improving friction or reflectivity; Methods of forming, installing or applying markings in, on or to road surfaces
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/50—Road surface markings; Kerbs or road edgings, specially adapted for alerting road users
- E01F9/576—Traffic lines
- E01F9/582—Traffic lines illuminated
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
- E01F9/50—Road surface markings; Kerbs or road edgings, specially adapted for alerting road users
- E01F9/576—Traffic lines
- E01F9/588—Lane delineators for physically separating traffic lanes and discouraging but not preventing crossing
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
Abstract
The invention discloses a directional indication road traffic facility suitable for automatic driving of intelligent vehicles, which is laid on a road surface of an intersection and used for guiding the intelligent vehicles positioned at one side of the intersection, driving the intelligent vehicles to pass through the intersection according to a preset standard driving track and driving the intelligent vehicles to corresponding driving lanes positioned at different sides of the intersection. The invention ensures that any lane in any direction has the continuous marking indication of the crossing when the vehicle automatically drives passes through the crossing, thereby improving the safety of the automatic driving of the intelligent vehicle.
Description
Technical Field
The invention belongs to the field of road traffic safety, and particularly relates to a directional indication road traffic facility suitable for automatic driving of an intelligent vehicle.
Background
In order to ensure traffic safety, traffic markings are generally arranged on roads, lanes are arranged, vehicles are guided to go on the lanes, and the vehicles are ensured to pass through safely, efficiently and smoothly. Generally, no marking line is arranged in the middle of the road intersection, only a part of left-turn waiting areas exist, and because the continuous intersection of multiple directions and multiple lanes can form a net marking line and cannot effectively indicate, the lane marking line is disconnected at the intersection, and the vehicles cannot be continuously guided and indicated to enter the next section of road in front of or on two sides of the intersection. The developed intelligent automatic driving technology controls vehicles to run along lanes on the basis of recognizing traffic markings, and increases the difficulty of recognition, judgment and control when the traffic markings are discontinuous at intersections, thereby causing potential safety hazards of wrong recognition and wrong judgment.
Disclosure of Invention
The invention aims to solve the problems and provide a traffic marking capable of directionally indicating, which can continuously indicate at an intersection, guide the intelligent vehicle to automatically drive and improve the accuracy and the safety of the intelligent vehicle.
In order to achieve the technical purpose, the technical scheme provided by the invention is as follows:
a directional indication road traffic facility suitable for intelligent vehicle automatic driving is laid on the road surface of an intersection and used for guiding an intelligent vehicle positioned on one side of the intersection, driving through the intersection according to a preset standard driving track and driving into corresponding driving lanes positioned on different sides of the intersection, and is characterized in that:
the orientation indication road traffic facility comprises marking line orientation devices which are arranged aiming at each group of corresponding traffic lanes, each group of corresponding traffic lanes corresponds to one traffic track, and each traffic track corresponds to at least one set of marking line orientation devices;
the marking line orienting device is composed of a plurality of sequentially arranged unit pieces, each unit piece comprises a supporting piece and a display piece, each supporting piece is fixed on the road surface and protrudes out of the road surface, and each display piece is installed on each supporting piece and orients and indicates the direction of the coming vehicle for the detection and identification of the intelligent vehicle to serve as a target for the tracking of the intelligent vehicle;
the driving track comprises a straight track connected with a straight lane and an arc track connected with a turning lane, and the single elements of the same marking line orienting device are laid along the extending direction of the straight track or the arc track, so that the display element can form a continuous marking line for indicating the driving direction of the intelligent vehicle;
meanwhile, in the intersecting or adjacent driving tracks, a part or all of the unit elements of the marking line orienting device of at least one driving track adopt a second unit element or a third display element;
the display part of the second unit element is provided with a plurality of directional light blocking sheets, the directional light blocking sheets are installed on the display part, and the visual angle of the display part is adjusted by shielding the display part from the side face, so that the interference on the detection and identification of the intelligent vehicle on other driving tracks is avoided or reduced;
the projection of the display part of the third unit element in the vertical direction on the road surface has a certain included angle with the current driving track corresponding to the unit element, and the projection is inclined towards the driving direction of the vehicle of another driving track close to the current driving track, so that the interference on the detection and identification of the intelligent vehicle on the other driving track is avoided or reduced.
On the basis of the above scheme, a further improved or preferred scheme further comprises:
preferably, the supporting member is made of transparent hard material, the display member is composed of a plurality of display pieces embedded in the supporting member, and all the display pieces are used for indicating the direction of the coming vehicle.
Preferably, the supporting member is made of a non-transparent material and has a truncated pyramid shape, and the display member is mounted on a side facing the incoming direction of the vehicle.
Preferably, the included angle ranges from 0 degree to 25 degrees.
Furthermore, the unit elements of the track marking orienting device of the intersecting traveling vehicles are staggered at the intersection, namely any unit element at the intersection is arranged in the gap between the front unit element and the rear unit element of the other track marking orienting devices.
Preferably, the side surfaces of the supporting piece are both provided with sloping surfaces.
Preferably, the supporting member is made of a material having the same color as the road surface so as to reduce the influence on the indicating effect of the display member.
Furthermore, two sets of marking line orientation devices are arranged on each driving track, correspond to two parallel marking lines and guide the intelligent vehicle to drive between the two parallel marking lines.
Furthermore, the position of the intelligent vehicle wheel on the corresponding current driving track and the marking line orientation device of the driving track intersected with the current driving track are set to be the gap of the unit element of the intelligent vehicle wheel, so that the intelligent vehicle can stably drive through and avoid jolt.
Has the advantages that:
the invention is suitable for the directional indication road traffic facilities of the automatic driving of the intelligent vehicle, when the automatic driving vehicle passes through the intersection, any lane in any direction has the continuous marking indication of the intersection, and can effectively avoid or reduce the conflict and the interference of the net markings of the intersection, so that the guiding signal is clear and accurate, and the safety of the automatic driving of the intelligent vehicle is improved. In addition, the invention has reasonable structure planning, is easy to implement and is suitable for popularization and use.
Drawings
FIG. 1 is a schematic view of a portion of an orientation indicating road traffic facility in accordance with the present invention;
FIG. 2 is an enlarged A unit cell structure and orientation diagram of FIG. 1;
FIG. 3 is a schematic structural diagram of a unit cell of embodiment 1;
FIG. 4 is a schematic structural diagram of a unit cell of embodiment 2;
FIG. 5 is a schematic structural diagram of a unit cell of embodiment 3;
FIG. 6 is a schematic structural view of a second unit piece;
FIG. 7 is a schematic structural diagram of a third unit element;
FIG. 8 is a traffic trajectory grid diagram for a three-lane intersection;
FIG. 9 is a schematic diagram of three driving trajectories and unit direction at a three-lane intersection;
FIG. 10 is the schematic view of FIG. 9 from a perspective of the vehicle;
fig. 11 is a schematic diagram of the arrangement of the single element gaps in the crossing traces.
In the above figure, 1-support, 2-display, 3-LED, 4-directional barrier, 5-wheel position.
Detailed Description
To further clarify the technical solution of the present invention, the following detailed description of the present invention is made with reference to the accompanying drawings.
Example 1:
a directional indication road traffic facility suitable for automatic driving of intelligent vehicles is laid on a road surface of an intersection and used for guiding the intelligent vehicles positioned at one side of the intersection to drive through the intersection according to a preset standard driving track and drive into corresponding driving lanes positioned at different sides of the intersection.
The intersection comprises a common T-shaped intersection, a common crossroad and the like, and lanes on each side of the intersection comprise single lanes, double lanes, three lanes and the like.
The orientation indication road traffic facilities are provided with marking line orientation devices aiming at each group of corresponding traffic lanes. The corresponding traffic lanes generally correspond to each other two by two, as shown in fig. 8, but according to different specific road conditions, sometimes one traffic lane may have more than one corresponding traffic lane at other sides of the intersection, where each group of traffic lanes described herein includes all corresponding combinations. Each group of corresponding lanes corresponds to a lane track, and each lane track corresponds to at least one set of marking line orientation device.
Fig. 8 is a schematic diagram of a driving track of a three-lane intersection. The specific embodiment takes the intersection shown in fig. 8 and two sets of marking line orientation devices corresponding to each driving track as an example for specific introduction. As shown in the figure, each side of the intersection is provided with a positive direction and a negative direction, and each direction is provided with three lanes including straight running, left turning and right turning. The standard driving track comprises a straight track for connecting straight lanes and an arc track for connecting turning lanes.
As shown in fig. 1 to 3, the reticle orienting device is composed of a plurality of unit pieces arranged in sequence, the unit pieces including a support 1 and a display.
In the invention: the shape of the supporting member 1 includes, but is not limited to, a rectangular body in a strip shape, a frustum of a pyramid, a combination of rectangular bodies in a square shape and frustum of a pyramid, and the like; the materials include, but are not limited to, pressure-resistant and wear-resistant plastics, metals and the like; the dimensions of which may be set with reference to the dimensions of the spike. The display piece can adopt an active luminous body, such as an LED lamp, and also can adopt a passive display piece or a coating directly coated on the support piece, and the color of the indicating surface of the display piece 2 can be selected from colors which are obviously contrasted with the road surface, including the standard colors of white and yellow which are commonly used for roads, and the like.
In this embodiment, preferably, the supporting member 1 is made of a transparent hard material, and is shaped like a long-strip-shaped frustum of a pyramid, the cross section of the frustum of a pyramid is trapezoidal, and four side surfaces of the frustum of a pyramid are slopes. As shown in fig. 2, the display member is composed of a plurality of display sheets 2 embedded in a support member 1, and all the display sheets 2 are arranged in the support member 1 in parallel and perpendicular to the road surface. The front side of the display piece is an indicating surface, the color of the surface layer is obviously contrasted with the road surface, and the rear side of the display piece adopts the same or similar color with the road surface, such as asphalt color, cement gray and the like, so as to avoid being mixed with the indicating surface.
The supporting piece 1 is fixed on the road surface and protrudes out of the road surface, and the display piece is arranged in the supporting piece 1 and indicates the direction of the vehicle, so that the intelligent vehicle can detect and recognize the direction of the vehicle and can be used as a target for tracking the intelligent vehicle.
In fig. 8, the elements of the same set of line-marking orienting device are laid along the direction extending along the straight line track or the arc line track, and the display elements thereof can form a continuous line marking (dotted line in the figure) indicating the driving direction of the intelligent vehicle. Meanwhile, considering that unit elements of different marking orienting devices close to each other can interfere with each other in the crossed or adjacent driving tracks, part or all unit elements of the marking orienting device of at least one driving track adopt the second unit element or the third display element in the crossed or adjacent driving tracks.
As shown in fig. 2, all the display sheets 2 face the coming direction of the vehicle, i.e. the horizontal and vertical directions of the display sheets are parallel to or coincide with the coming direction of the vehicle.
The second unit piece has the same basic structure as the first unit piece as shown in fig. 6, but each display piece is additionally provided with a row of directional light blocking sheets 4 on the front side surface. The directional light blocking sheets 4 are fixedly arranged on the indication surface of the display piece, vertically arranged and perpendicular to the display piece, and all the directional light blocking sheets are transversely arranged in front of the display piece and arranged from one side to the other side. The existing common mark line is directly printed on the road surface, 360 degrees are arranged in the horizontal direction when the visible angle is increased, in the embodiment, the display piece 2 is erected, the horizontal direction visible angle is 180 degrees, and after the display piece is shielded from the side surface through the light blocking sheet 4, the horizontal direction visible angle can be further reduced, the interference on the detection and identification of intelligent vehicles on other driving tracks can be avoided, or the interference degree is reduced to the range which can be identified by an automatic driving controller, and meanwhile, the detection of the front driving automobile on the display piece is not influenced. The shape, number and size of the directional light-blocking sheet 4 can be adjusted according to the position relationship between the body unit piece and the adjacent unit piece and the acquisition angle of the intelligent automobile vision detection device, and generally, the longer the length of the light-blocking sheet protruding out of the display sheet is, the smaller the directional angle is.
As shown in fig. 7, the third unit element has the same structure as the first unit element, but the indication direction of the display sheet has a certain angle with the indication direction of the first unit element, or the projection of the third unit element display sheet in the vertical direction on the road surface has a certain angle with the current driving track corresponding to the unit element, and the third unit element is inclined toward the vehicle driving direction of another driving track intersecting or adjacent to the current driving track, so as to avoid or reduce the interference with the intelligent vehicle detection and identification on another driving track. The included angle can be generally selected from 0-25 degrees.
The second unit piece and the third unit piece are used at the positions close to the marking line orienting devices with different tracks, and the purposes of use of the second unit piece and the third unit piece are the same. The "close" can be understood as appearing in the vehicle vision inspection equipment picture together, wherein the unit element corresponding to the correct marked line is the effective unit element, and the unit elements and the display elements thereof in other appeared pictures are interference. The specific unit of which unit is specifically selected at a specific position is specifically arranged according to the staggered condition, and the first unit, the second unit and the third unit can be combined for use.
Meanwhile, as shown in fig. 8, if the line marking and orienting devices of different driving tracks are staggered, when laying the unit elements, the unit elements of the line marking and orienting devices of the crossed driving tracks can be staggered at the crossed positions, that is, any unit element at the crossed position is installed in the gap between the front unit element and the rear unit element of other line marking and orienting devices. The gaps among the unit elements of the marking orienting device are not required to be all equal, and the gaps can be long or short without influencing the marking indication continuity.
As shown in fig. 11, in this embodiment, two sets of marking line orientation devices on each driving track correspond to two parallel marking lines, and the intelligent vehicle can drive from the middle of the two parallel marking lines according to a preset program. At the position 5 corresponding to the intelligent vehicle wheel on the current driving track, the marking line orientation device of the driving track intersected with the current driving track sets the position as the clearance of the unit element of the marking line orientation device, so that the vehicle can stably drive through and bump is avoided. And the gap width of the single element for allowing the wheel to pass through and the number of the single elements spanned by the two wheels can be set according to the wheel tread and the tire width of the type of the vehicle allowed to pass through at the intersection. The small vehicle and the large vehicle can pass through different unit piece gaps.
The working principle is as follows:
when the intelligent vehicle passes through the intersection, the image in front of the intelligent vehicle is detected by the visual detection equipment and is transmitted to the automatic running controller of the vehicle, the controller identifies the display element in the image and the marked line formed by the connecting lines of the display element according to a preset image identification program, and the correct marked line formed by the effective element is judged. The correct reticle in this embodiment is a reticle that coincides with the right and left extending directions closest to the current position of the vehicle. The automatic driving controller controls the vehicle body to drive between the two marked lines according to the guidance of the marked lines and passes through the intersection according to the preset standard driving track.
Example 2:
as shown in fig. 4, unlike embodiment 1, in this embodiment, the support of the unit element of the line-positioning device is composed of a row of long-strip-shaped prismatic stages, and the display element adopts an indicator light array composed of LED lights 3. In this embodiment, the supporting member is made of a non-transparent hard material, and the LED lamp 3 is mounted in an embedded manner on a side of each prism table facing the incoming direction of the vehicle. The instruction direction of unit spare receives the influence of 3 irradiation directions of LED lamps, through the restriction of structures such as lamp shade, compares in passive display piece, and directional effect of instructing is better, can further reduce visual scope, avoids the interference to the vehicle on other trails. Meanwhile, the LED lamp has higher indicating intensity and is particularly suitable for being used at night.
Example 3:
as shown in fig. 5, unlike embodiment 1, in this embodiment, the support of the unit piece of the reticle-orienting device is composed of two rows of square-shaped prismatic tables, each row including a plurality of rows of square-shaped prismatic tables. The front side of each square terrace is provided with a display part for directing the indication towards the driving direction of the vehicle.
In this embodiment, the supporting member 1 is preferably made of a material having the same color as the road surface, such as asphalt, cement gray, etc. The display member is a white plastic sheet.
The above-described embodiments 1 and 3 employ a passive display member, which may be provided as a colored reflector in consideration of the night driving situation. The display parts of the embodiment 2 and the embodiment 3 can also refer to the third unit element of the embodiment 1, and the display part of the display part can adjust the display direction between 0 and 25 degrees by rotating the support part frustum aiming at the unit elements of different reticle orientation devices which are close to each other, such as the third unit element shown in figure 7.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the foregoing description only for the purpose of illustrating the principles of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims, specification, and equivalents thereof.
Claims (9)
1. A directional indication road traffic facility suitable for intelligent vehicle automatic driving is laid on the road surface of an intersection and used for guiding an intelligent vehicle positioned on one side of the intersection, driving through the intersection according to a preset standard driving track and driving into corresponding driving lanes positioned on different sides of the intersection, and is characterized in that:
the orientation indication road traffic facility comprises marking line orientation devices which are arranged aiming at each group of corresponding traffic lanes, each group of corresponding traffic lanes corresponds to one traffic track, and each traffic track corresponds to at least one set of marking line orientation devices;
the marking line orientation device is composed of a plurality of sequentially arranged unit pieces, each unit piece comprises a support piece (1) and a display piece, the support pieces (1) are fixed on the road surface and protrude out of the road surface, and the display pieces are installed on the support pieces (1) and are used for orientation indication towards the driving direction of the vehicle, so that the intelligent vehicle can detect and identify the marking line and can be used as the tracking target of the intelligent vehicle;
the driving track comprises a straight track connected with a straight lane and an arc track connected with a turning lane, and the single elements of the same marking line orienting device are laid along the extending direction of the straight track or the arc track, so that the display element can form a continuous marking line for indicating the driving direction of the intelligent vehicle;
meanwhile, in the intersecting or adjacent driving tracks, a part or all of the unit elements of the marking line orienting device of at least one driving track adopt a second unit element or a third display element;
the display part of the second unit element is provided with a plurality of directional light blocking sheets (4), the directional light blocking sheets (4) are installed on the display part, and the display part is shielded from the side surface to adjust the visual angle of the display part, so that the interference on the detection and identification of intelligent vehicles on other driving tracks is avoided or reduced;
the projection of the display part of the third unit element in the vertical direction on the road surface has a certain included angle with the current driving track corresponding to the unit element, and the projection is inclined towards the driving direction of the vehicle of another driving track close to the current driving track, so that the interference on the detection and identification of the intelligent vehicle on the other driving track is avoided or reduced.
2. An orientation indicating road traffic installation adapted for intelligent vehicle autonomous driving according to claim 1, characterized in that:
the supporting piece (1) is made of transparent hard materials, the display piece is composed of a plurality of display pieces (2) embedded in the supporting piece (1), and all the display pieces (2) face the direction indication of the coming vehicle.
3. An orientation indicating road traffic installation adapted for intelligent vehicle autonomous driving according to claim 1, characterized in that:
the supporting piece (1) is made of non-transparent materials and is in a frustum pyramid shape, and the display piece is installed on one surface of the supporting piece facing the driving direction of the vehicle.
4. An orientation indicating road traffic installation adapted for intelligent vehicle autonomous driving according to claim 1, characterized in that:
the included angle ranges from 0 degree to 25 degrees.
5. An orientation indicating road traffic installation adapted for intelligent vehicle autonomous driving according to claim 1, characterized in that:
the unit pieces of the track marking orienting device of the intersecting traveling vehicles are staggered at the intersection, namely any unit piece at the intersection is arranged in the gap between the front unit piece and the rear unit piece of the other track marking orienting devices.
6. An orientation indicating road traffic installation adapted for intelligent vehicle autonomous driving according to claim 1, characterized in that:
the side surfaces of the supporting piece (1) are all set to be slope surfaces.
7. An orientation indicating road traffic installation adapted for intelligent vehicle autonomous driving according to claim 1, characterized in that:
the supporting piece (1) is made of a material with the same color as the road surface.
8. An orientation indicating road traffic installation adapted for intelligent vehicle autonomous driving according to any of claims 1-7, characterized in that:
two sets of marking line orientation devices are arranged on each driving track, correspond to two parallel marking lines and guide the intelligent vehicle to run between the two parallel marking lines.
9. The orientation indicating road traffic facility suitable for intelligent vehicle autonomous driving of claim 8, wherein:
and at the position corresponding to the intelligent vehicle wheel on the current driving track, the marking line orientation device of the driving track intersected with the current driving track sets the position as the clearance of the unit element of the marking line orientation device, so that the vehicle can stably drive through and bump is avoided.
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| CN202011369834.1A CN112431148B (en) | 2020-11-30 | 2020-11-30 | Directional indication road traffic facility suitable for intelligent vehicle automatic driving |
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