CN112435493A - Bus stop arrangement method for automatically driving bus test operation - Google Patents
Bus stop arrangement method for automatically driving bus test operation Download PDFInfo
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- CN112435493A CN112435493A CN202011289765.3A CN202011289765A CN112435493A CN 112435493 A CN112435493 A CN 112435493A CN 202011289765 A CN202011289765 A CN 202011289765A CN 112435493 A CN112435493 A CN 112435493A
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- 238000012360 testing method Methods 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000007613 environmental effect Effects 0.000 claims description 24
- 238000004364 calculation method Methods 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 6
- 238000004148 unit process Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 2
- 238000007726 management method Methods 0.000 description 4
- 238000005192 partition Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 238000011144 upstream manufacturing Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005465 channeling Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
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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
-
- 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
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
Abstract
A bus platform arrangement method for automatic driving bus test operation is characterized in that an automatic driving bus test line platform and a conventional bus platform are arranged at the same cross section position, are arranged near and far from a road center line, are widened in section width, are used for drawing a pedestrian crossing line in a stopping area of the conventional bus for passengers to pass through, are separately managed, are closed by adopting a shielding door, are charged by a station entrance gate machine and are not charged when being loaded, are arranged at the front end of the automatic bus station, are arranged at the automatic driving platform, are networked with the automatic driving bus, and feed back the condition of the stopping area in front of the bus platform to a bus end in real time; the arrangement scheme can effectively improve the waiting safety of passengers and the operation efficiency and the operation safety of a bus system under the assistance of intelligent equipment so as to adapt to the requirements of increasingly developed construction and operation of automatically driven bus lines.
Description
Technical Field
The invention relates to the field of bus operation, in particular to a bus stop arrangement method for automatic driving bus test operation.
Background
With the gradual operation test of the automatic bus above the L3 level, the convenient transfer of the automatic bus and the conventional bus is required to be considered according to the operation test requirement, meanwhile, in order to save road resources, the automatic driving public transport of non-medium traffic volume does not adopt a closed all-weather public transport lane form, on many existing roads, the restriction of developed plots and red-green lines on two sides can not be implemented for road widening, the automatic bus stop stations are properly transformed and utilized at bay type bus stations established on the road sides, on the basis of the method, the automatic bus test lanes are usually selected from lanes on the outer side of the road, and the public transport lane shared by the public transport vehicles and the conventional public transport vehicles is adopted, the social vehicles are allowed to enter the test lane even at the peak-off time, this is beneficial to the accumulation of the autopilot test operation data and management experience, but there are more problems with using a conventional bus stop to stop an autopilot bus.
Because the technology of the automatic driving vehicle at the current stage above the L3 level does not reach the mature operation degree, the bus stop station adopts the shielding door to close the management, thereby being convenient for charging and safety control and reducing the interference of personnel to the automatic driving vehicle. And the conventional bus station is not provided with a shielding door, so that personnel can freely get on and off the bus station, and the management is difficult and conflicts with an automatic driving bus station management mode. And the conventional bus stops and the passengers get on and off at random, and the vehicle path and the passenger path easily form more interweaving conflicts with the automatic driving vehicle, so that the automatic driving vehicle excessively reacts and suddenly stops to start, the comfort level of entering and leaving the bus is reduced, and a certain potential safety hazard exists in the automatic driving vehicle test, so that the automatic driving vehicle is not suitable for being arranged at the same station with the conventional bus.
If the automatic driving bus test line platform and the conventional bus platform are arranged in sequence along the same direction, when the distance is less than 50m, the vehicles going out from the upstream platform and the vehicles going in from the downstream platform are easy to interweave to cause local blockage, potential safety hazards exist for automatic driving tests, when the distance is greater than 50m, the lengths of the platforms and the gradual change sections are added, the length requirement of the intersection channeling section is combined, the length of the road partition of the upstream and downstream intersection needs to exceed more than 250m to be met, small road partition networks are usually arranged in business areas with high bus transfer and travel requirements, the length of the road partition where the line is located cannot be met, the development of the blocks on two sides is mature, the red line is greatly limited in long-distance widening, the practicability is poor, the bus station arrangement is limited, and the transfer and travel distance is too long due to too far station interval arrangement, so that the travel experience is.
Disclosure of Invention
The invention aims to provide a bus stop arrangement method for automatic driving bus test operation, which can effectively improve the safety of passenger waiting and the operation efficiency and the operation safety of a bus system with the assistance of intelligent equipment.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a bus station arrangement method for automatic driving bus test operation is characterized in that an automatic driving bus test line station and a conventional bus station are arranged at the same cross section position, a pedestrian crossing line is drawn in the area crossing the conventional bus stop for passengers to pass through, the automatic driving bus test line platform is separately managed from the conventional platform, the automatic driving bus test line platform is closed by adopting a shielding door, the automatic driving bus test line platform implements station entrance gate charging, arranging an intelligent high-definition camera and a radar at the front end of an automatic bus station, arranging an intelligent network connection side terminal and an intelligent edge computing unit at an automatic driving platform, the intelligent network connection side terminal and the intelligent edge computing unit are in communication connection with the automatic driving bus, and the intelligent network connection side terminal and the intelligent edge computing unit feed back parking area conditions in front of the bus stop to the bus in real time.
Further, the conventional bus station entering comprises the following steps:
step S101) when a rear vehicle is about to drive into a conventional bus station, a first conventional bus vehicle-mounted unit of the rear vehicle sends a signal of arrival to an intelligent network connection side terminal;
step S102), the intelligent network connection side terminal is linked with a radar and an intelligent high-definition camera to carry out detection;
step S103) the radar and the intelligent high-definition camera send real-time pedestrian position, vehicle and surrounding road environment state information to the intelligent edge calculation unit;
step S104), the intelligent edge calculation unit processes and fuses the original data of the sensor to obtain the environmental state information of the pedestrian position, the vehicle and the surrounding road and feeds the information back to the intelligent network connection side terminal;
step S105) the intelligent network connection side terminal broadcasts the feedback result to the second conventional bus vehicle-mounted unit and the first conventional bus vehicle-mounted unit of the front vehicle, prompts drivers of the front vehicle and the rear vehicle, and timely avoids when the rear vehicle enters the station;
step S106) after the bus stops at the platform, passengers get on or off the bus, and the bus is closed.
Further, the automatic bus-driving arrival comprises the following steps:
step S201) when the rear vehicle is about to drive into the automatic bus station, the second automatic bus vehicle-mounted unit of the rear vehicle sends a signal of arriving to the intelligent network connection side terminal;
step S202), the intelligent network connection side terminal is linked with a radar and an intelligent high-definition camera to carry out detection;
step S203) the radar and the intelligent high-definition camera send the real-time environmental state information of motor vehicles, pedestrians and surrounding roads to the intelligent edge computing unit;
step S204), the intelligent edge computing unit processes and fuses the original data of the sensor to obtain environmental state information of motor vehicles, pedestrians and surrounding roads, and feeds the environmental state information back to the intelligent network connection side terminal;
step S205) the intelligent network connection side terminal broadcasts the feedback result to the second automatic driving bus vehicle-mounted unit and the first automatic driving bus vehicle-mounted unit of the front vehicle, and the vehicle-mounted unit controls the front vehicle and the rear vehicle to automatically avoid;
step S206), after the bus enters the station, the infrared transmitter of the safety door body transmits a signal to the infrared receiver of the vehicle-mounted unit of the automatic driving bus, and the intelligent high-definition camera at the station platform monitors the waiting passengers;
step S207) ensuring that the doors of the bus and the safety door body are opened simultaneously after passengers safely wait;
step S208) passengers get on or off the bus, and the bus is closed.
Further, the outbound of the conventional bus and the automatic driving bus comprises the following steps:
step S301) when a conventional bus and an automatic bus are driven away from corresponding platforms and enter a main road, a conventional bus onboard unit of the conventional bus and an automatic bus onboard unit of the automatic bus send out an off-station signal to an intelligent network connection side terminal;
step S302), the intelligent network connection side terminal links the radar and the intelligent high-definition camera to detect real-time environmental state information of motor vehicles, non-motor vehicles and surrounding roads;
step S303) real-time environmental state information of motor vehicles, non-motor vehicles and surrounding roads is sent to an intelligent edge computing unit;
step S304), the intelligent edge computing unit processes and fuses the original data of the sensor to obtain the environmental state information of motor vehicles, non-motor vehicles and surrounding roads in front of the automatic driving bus and feeds the environmental state information back to the intelligent network connection side terminal;
step S305), the intelligent network connection side terminal feeds back information to be broadcast to the automatic bus;
step S306), automatically driving the bus to automatically avoid the conventional bus and the social bus, and determining the priority of entering the main road;
step S307), the automatic bus is driven into the main road in order.
The invention provides a common arrangement method of a conventional bus station and an automatic bus station, which has stronger practicability, can be landed and popularized, and the arrangement scheme can effectively improve the waiting safety of passengers and the operation efficiency and the operation safety of a bus system under the assistance of intelligent equipment so as to adapt to the requirements of increasingly developed construction and operation of automatic bus lines.
Drawings
FIG. 1 is a plan view of a conventional bus and autopilot bus station arrangement;
FIG. 2 is a cross section of a conventional bus and an autopilot bus station;
FIG. 3 is a schematic view of a traffic station traffic sample and a pedestrian crossing line;
FIG. 4 is a schematic diagram of a conventional bus arriving at a station;
FIG. 5 is a flow chart of a conventional bus arrival process;
FIG. 6 is a schematic view of an approach flow of an autonomous bus;
FIG. 7 is a flow chart of a pre-arrival process of an autonomous bus;
FIG. 8 is a flow chart of an outbound flow of an autonomous bus, a conventional bus;
FIG. 9 is a flow chart of a pre-arrival process of an autonomous bus.
Reference numerals:
1 radar
2 intelligent high definition camera
3 intelligent high definition camera
4GPS/BD differential positioning base station
5 intelligent network connection side terminal
6 Intelligent edge calculation unit
7 safety door body
8 Infrared emitter
9 first conventional bus on-board unit
10 radar
11 intelligent high definition camera
12 second conventional bus on-board unit
13 first autonomous bus on-board unit
14 second autonomous bus onboard unit
15 infrared receiver
16 conventional bus on-board unit
17 autonomous bus on-board unit.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention discloses a bus stop arrangement method for automatic driving bus test operation, which is characterized in that as shown in figures 1 and 2, an automatic driving bus test line stop and a conventional bus stop are arranged at the same cross section position, are arranged at a position close to or far from a road center line, and have widened section width.
As shown in fig. 2, a is a pedestrian road, B is a non-motor vehicle lane, C is a conventional bus station, D is a conventional bus lane, E is an autopilot station, and F is a motor vehicle lane, wherein an autopilot lane is arranged on one side of the motor vehicle lane close to the autopilot station.
As shown in fig. 3, a pedestrian crossing line is drawn in a stopping area crossing a conventional bus for passengers to pass through, an automatic driving bus test line platform and the conventional platform are separately managed, the automatic driving bus test line platform is closed by adopting a shielding door, the automatic driving bus test line platform implements station entrance gate charging and getting on the bus without charging, an intelligent high-definition camera 2 and a radar 1 are arranged at the front end of the automatic bus station, an intelligent network connection side terminal 5 and an intelligent edge calculation unit 6 are arranged at the automatic driving platform, the intelligent network connection side terminal 5 and the intelligent edge calculation unit 6 are networked with the automatic driving bus, the condition of the stopping area in front of the bus platform is fed back to the bus end in real time, the bus can sense the state of the stopping area of the bus, and the intelligent network connection side terminal 5 is provided with a GPS/BD differential positioning base station 4.
The conventional bus station-entering is shown in fig. 4 and 5, and comprises the following steps:
step S101), when the latter conventional bus is to drive into the conventional bus station, the second conventional bus vehicle-mounted unit 12 of the latter conventional bus sends a station-arrival signal to the intelligent network connection side terminal 5;
step S102), the intelligent network connection side terminal 5 is linked with the radar 10 and the intelligent high-definition camera 11 to carry out detection;
step S103) the radar 10 and the intelligent high-definition camera 11 send the real-time pedestrian position, vehicle and surrounding road environment state information to the intelligent edge calculation unit 6;
step S104), the intelligent edge calculation unit 6 processes and fuses the original data of the sensor to obtain the environmental state information of the pedestrian position, the vehicle and the surrounding road, and feeds the information back to the intelligent network connection side terminal 5;
step S105) the intelligent network connection side terminal 5 broadcasts the feedback result to the second conventional bus vehicle-mounted unit 12 and the first conventional bus vehicle-mounted unit 9 of the previous conventional bus, and prompts drivers of the front bus and the rear bus to avoid in time when the rear bus enters the station;
and S106) after the latter conventional bus stops at the station, the passengers get on or off the bus, and the bus is closed.
As shown in fig. 6 and 7, the automatic bus comprises the following steps:
step S201), when the next automatic bus is about to drive into the automatic bus station, the second automatic bus vehicle-mounted unit 14 sends a signal of arriving to the intelligent network connection side terminal 5;
step S202), the intelligent network connection side terminal 5 is linked with the radar 1 and the intelligent high-definition camera 2 to carry out detection;
step S203) the radar 1 and the intelligent high-definition camera 2 send the real-time environmental state information of motor vehicles, pedestrians and surrounding roads to the intelligent edge calculation unit 6;
step S204), the intelligent edge calculation unit 6 processes and fuses the original data of the sensors to obtain environmental state information of motor vehicles, pedestrians and surrounding roads and feeds the environmental state information back to the intelligent network connection side terminal 5;
step S205) the intelligent network connection side terminal 5 broadcasts the feedback result to the second automatic driving bus vehicle-mounted unit 14 and the first automatic driving bus vehicle-mounted unit 13 of the previous automatic driving bus, and the vehicle-mounted units control the front and the rear vehicles to automatically avoid;
step S206), after the next automatic bus arrives, the infrared emitter 8 of the safety door body 7 emits a signal to the infrared receiver 15 of the vehicle-mounted unit of the automatic bus, so as to ensure that the bus stops accurately; meanwhile, an intelligent high-definition camera 2 of the platform monitors the safety situation of the waiting passengers;
step S207) ensuring that the door of the automatic driving bus and the safety door body 7 are opened simultaneously after the passengers safely wait;
step S208) passengers get on or off the bus and the bus is automatically driven to close the door.
The conventional bus and the automatic driving bus are out of the station as shown in fig. 8 and 9, and the method comprises the following steps:
step S301) when the conventional bus and the automatic bus are driven away from the corresponding platform and enter the main road, the vehicle-mounted unit 16 of the conventional bus and the vehicle-mounted unit 17 of the automatic bus send out an off-station signal to the intelligent network connection side terminal 5;
step S302), the intelligent network connection side terminal 5 is linked with the radar 1 and the intelligent high-definition camera 2 to detect real-time environmental state information of motor vehicles, non-motor vehicles and surrounding roads;
step S303) real-time environmental state information of motor vehicles, non-motor vehicles and surrounding roads is sent to the intelligent edge calculation unit 6;
step S304), the intelligent edge computing unit 6 processes and fuses the original data of the sensor to obtain the environmental state information of motor vehicles, non-motor vehicles and surrounding roads in front of the automatic driving bus and feeds the environmental state information back to the intelligent network connection side terminal 5;
step S305), the intelligent network connection side terminal 5 feeds back information to be broadcast to the automatic bus;
step S306), automatically driving the bus to automatically avoid the conventional bus and the social bus, and determining the priority of entering the main road;
step S307), the automatic bus is driven into the main road in order.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (4)
1. A bus station arrangement method for automatic driving bus test operation is characterized in that an automatic driving bus test line station and a conventional bus station are arranged at the same cross section position, a pedestrian crossing line is drawn in the area crossing the conventional bus stop for passengers to pass through, the automatic driving bus test line platform is separately managed from the conventional platform, the automatic driving bus test line platform is closed by adopting a shielding door, the automatic driving bus test line platform implements station entrance gate charging, arranging an intelligent high-definition camera and a radar at the front end of an automatic bus station, arranging an intelligent network connection side terminal and an intelligent edge computing unit at an automatic driving platform, the intelligent network connection side terminal and the intelligent edge computing unit are in communication connection with the automatic driving bus, and the intelligent network connection side terminal and the intelligent edge computing unit feed back parking area conditions in front of the bus stop to the bus in real time.
2. The method of claim 1, wherein the conventional bus arrival comprises the steps of:
step S101) when a rear vehicle is about to drive into a conventional bus station, a first conventional bus vehicle-mounted unit of the rear vehicle sends a signal of arrival to an intelligent network connection side terminal;
step S102), the intelligent network connection side terminal is linked with a radar and an intelligent high-definition camera to carry out detection;
step S103) the radar and the intelligent high-definition camera send real-time pedestrian position, vehicle and surrounding road environment state information to the intelligent edge calculation unit;
step S104), the intelligent edge calculation unit processes and fuses the original data of the sensor to obtain the environmental state information of the pedestrian position, the vehicle and the surrounding road and feeds the information back to the intelligent network connection side terminal;
step S105) the intelligent network connection side terminal broadcasts the feedback result to the second conventional bus vehicle-mounted unit and the first conventional bus vehicle-mounted unit of the front vehicle, prompts drivers of the front vehicle and the rear vehicle, and timely avoids when the rear vehicle enters the station;
step S106) after the bus stops at the platform, passengers get on or off the bus, and the bus is closed.
3. The method of bus stop layout for an autonomous bus test operation of claim 1,
the automatic bus-driving station-entering method comprises the following steps:
step S201) when the rear vehicle is about to drive into the automatic bus station, the second automatic bus vehicle-mounted unit of the rear vehicle sends a signal of arriving to the intelligent network connection side terminal;
step S202), the intelligent network connection side terminal is linked with a radar and an intelligent high-definition camera to carry out detection;
step S203) the radar and the intelligent high-definition camera send the real-time environmental state information of motor vehicles, pedestrians and surrounding roads to the intelligent edge computing unit;
step S204), the intelligent edge computing unit processes and fuses the original data of the sensor to obtain environmental state information of motor vehicles, pedestrians and surrounding roads, and feeds the environmental state information back to the intelligent network connection side terminal;
step S205) the intelligent network connection side terminal broadcasts the feedback result to the second automatic driving bus vehicle-mounted unit and the first automatic driving bus vehicle-mounted unit of the front vehicle, and the vehicle-mounted unit controls the front vehicle and the rear vehicle to automatically avoid;
step S206), after the bus enters the station, the infrared transmitter of the safety door body transmits a signal to the infrared receiver of the vehicle-mounted unit of the automatic driving bus, and the intelligent high-definition camera at the station platform monitors the waiting passengers;
step S207) ensuring that the doors of the bus and the safety door body are opened simultaneously after passengers safely wait;
step S208) passengers get on or off the bus, and the bus is closed.
4. The method of bus stop layout for an autonomous bus test operation of claim 3,
the conventional bus and the automatic driving bus are outbound and comprise the following steps:
step S301) when a conventional bus and an automatic bus are driven away from corresponding platforms and enter a main road, a conventional bus onboard unit of the conventional bus and an automatic bus onboard unit of the automatic bus send out an off-station signal to an intelligent network connection side terminal;
step S302), the intelligent network connection side terminal links the radar and the intelligent high-definition camera to detect real-time environmental state information of motor vehicles, non-motor vehicles and surrounding roads;
step S303) real-time environmental state information of motor vehicles, non-motor vehicles and surrounding roads is sent to an intelligent edge computing unit;
step S304), the intelligent edge computing unit processes and fuses the original data of the sensor to obtain the environmental state information of motor vehicles, non-motor vehicles and surrounding roads in front of the automatic driving bus and feeds the environmental state information back to the intelligent network connection side terminal;
step S305), the intelligent network connection side terminal feeds back information to be broadcast to the automatic bus;
step S306), automatically driving the bus to automatically avoid the conventional bus and the social bus, and determining the priority of entering the main road;
step S307), the automatic bus is driven into the main road in order.
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| CN112435493B CN112435493B (en) | 2024-02-23 |
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| CN112435493B (en) | 2024-02-23 |
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