CN112735184A

CN112735184A - Intelligent transportation system for realizing high-grade automatic driving and efficient transportation

Info

Publication number: CN112735184A
Application number: CN202011487277.3A
Authority: CN
Inventors: 刘涛; 刘元敏; 贾艳
Original assignee: Shanghai Zuige Technology Co ltd
Current assignee: Jia Yan; Liu Tao; Liu Yuanmin
Priority date: 2020-12-16
Filing date: 2020-12-16
Publication date: 2021-04-30

Abstract

The invention discloses an intelligent transportation system for realizing high-grade automatic driving and efficient transportation, which mainly comprises five subsystems: the system comprises a virtual track subsystem based on a high-precision map, an intelligent traffic command subsystem positioned at an intersection and other cross driving working conditions, an intelligent driving vehicle, motorcade movement and lane change control subsystem positioned at a road section driving working condition, a road section entrance and exit driving-in and driving-out control subsystem and a traffic network global coordination control subsystem. The invention can help the current increasingly mature automatic driving technology to achieve higher-grade automatic driving, and improves the transportation efficiency of the traffic network, controls the whole situation and prevents congestion by means of the controlled property of automatic driving and the macroscopic and microscopic regulation and control of the intelligent traffic network.

Description

Intelligent transportation system for realizing high-grade automatic driving and efficient transportation

Technical Field

The invention relates to an intelligent transportation system for realizing high-grade automatic driving and efficient transportation, in particular to a system for independently controlling the traffic condition of an intelligent driving vehicle at each road section and intersection.

Background

In the mesh traffic network, there are two main types of basic components of the traffic network, namely, intersections on the traffic network and connecting lines between the intersections on the traffic network.

Under the condition of increasingly congested traffic, at present, most of large cities use intelligent traffic systems to manage urban traffic conditions, at present, most of intelligent traffic management is limited by traffic light duration adjustment and the like on a macroscopic level, and the control on a microscopic level such as relative lane positions of vehicles in a road section and target lane selection of crossing traffic is rarely involved.

At present, the automatic driving technology of the L2 grade is mature, namely the movement performance on the connecting line section between the intersections can be basically accepted, but the automatic driving at the intersection has weak traffic capacity due to building shielding, limited single-vehicle perception capacity and the like.

Disclosure of Invention

Aiming at the problems in the related art, the invention provides an intelligent traffic system for realizing high-level automatic driving and efficient transportation.

Therefore, the invention adopts the following specific technical scheme:

an intelligent transportation system for realizing high-level automatic driving and efficient transportation comprises

The virtual track subsystem is used for connecting and completing the actual lane default in the system by using a virtual lane line according to the situation;

the intelligent traffic guidance subsystem of the cross driving working condition is used for monitoring the driving condition of the vehicles at the vehicle shunting position and distributing the vehicles at the intersection to the target lane;

the intelligent driving vehicle, motorcade movement and lane change control subsystem of the road section running working condition is used for monitoring the traffic condition of all vehicles in the road section, controlling the vehicle movement according to the vehicle path planning result and combining the current road section traffic condition, judging the optimal lane change point of the vehicle and reminding or controlling the vehicle to change the lane;

the system comprises a road section entrance and exit driving-in and driving-out control subsystem, a road section entrance and exit driving-out control subsystem and a road section entrance and exit driving-in and driving-out control subsystem, wherein the road section entrance and exit driving-in and driving-out control subsystem is used for receiving vehicles arriving at a destination in a road section and requesting control of the;

and the traffic network global coordination control subsystem is used for independently controlling each road section and intersection from the efficiency of the whole traffic network so as to achieve the aim of efficiently operating the whole traffic network or a local area.

Preferably, the virtual track subsystem may connect a completion in the system by using a virtual lane line at a default of a real lane and/or connect an exit lane with an entry lane by using a virtual lane line at an intersection based on a positioning mode such as a high-precision map or an ultra-wideband, wherein the completion connection includes all possible routes to be used.

Preferably, the intelligent traffic guidance subsystem of the cross-driving working condition is used for reasonably distributing the vehicles at the intersection to target intersection target lanes and distributing the vehicles coming from and going to the intersection at a local lane level.

Preferably, the intelligent traffic guidance subsystem under the cross driving working condition at least follows the following judgment rules, the first-layer switch control is used for outputting a request switch of a vehicle on a current lane of a road junction to three surrounding roads and turning intersections, and the macro path planning of the vehicle determines the state of the first-layer switch; the second layer of switch control, the present vehicle carries on the request to the goal transport lane of the goal crossing, the macroscopic route planning of the vehicle and diversion direction of every lane in the road section of the goal crossing determine the second layer of switch state together, when there are many lanes that accord with the macroscopic route planning in the goal crossing, the switch state can be the multiple choice, but according to the degree of convenience that the crossing passes, there is a priority in the goal lane; the third layer of switch control is used for deciding whether the multi-intersection vehicles collide when meeting a receiving lane or not under the condition of presetting a virtual lane line; and the fourth layer of switch control is used for deciding the collision management when the vehicles in the multiple lanes at the single intersection need to be output to the same receiving lane.

Preferably, the vehicle speed, the lane, and the road entering and exiting control subsystem of the road section driving condition can realize the following functions: when the vehicle is not in the decision lane, judging the optimal lane changing point of the vehicle, and reminding or controlling the vehicle to change the lane; and/or at the entrance and exit in the road section, the vehicle reaching the destination can reasonably suggest or control the lane and the vehicle speed according to the requirements of the vehicle size and the turning radius so that the vehicle can conveniently exit the road section; and/or reasonably determining the driving time, the lane and the vehicle speed control for the newly driven vehicle in the road section; and/or judging the traffic capacity of vehicles in the road section in the current traffic light period under the traffic light scene, and suggesting the vehicle speed and lane change control in advance; and/or under the scene without traffic lights, judging the traffic conditions of the target intersection and the surrounding intersections, and carrying out reasonable acceleration and deceleration and speed reminding or control on the automatically-driven vehicle so as to ensure the traffic safety of the intersections; and/or the system reserves all traffic instructions of the road section, and can reasonably control the vehicle by combining all traffic instructions; and/or when the vehicle encounters an emergency condition that the surrounding influences traffic driving, the obstacle avoidance of the vehicle is finished by a single vehicle, and the obstacle avoidance is automatically taken over by the intelligent traffic network after the obstacle avoidance is finished.

Preferably, the speed, lane, road entrance and exit control subsystem of the road section running condition is used for realizing the speed and lane control of the vehicle on the road section, and controlling the vehicle that arrives at the destination and enters the intelligent traffic network in the road section, and can remind or control the optimal speed and optimal running lane of the vehicle according to the vehicle path planning result and by combining the current road section traffic information and the like.

Preferably, the traffic network global-based coordination control subsystem comprises a global path planning module for shunting all vehicles, a time-interval lane distribution module and/or a time-interval traffic light time ratio adjusting module.

Preferably, the lane allocation module monitors traffic flow conditions of all entrance road sections and exit road sections in the controlled area, dynamically and globally plans all roads by combining the flow direction and the quantity of vehicles in the roads, and allocates the vehicle conveying capacity and the flow guiding vehicles of the road sections to other road sections at the intersection.

Preferably, the traffic light time occupation ratio adjusting module monitors, judges and adjusts the traffic flow conditions of all entrance and exit road sections in the controlled area, comprehensively judges and adjusts the traffic light occupation ratio and the cycle time for the intersection with the traffic light according to the load and the traffic flow conditions of each road section in the controlled area by combining the overall entrance and exit conditions in the area.

Preferably, the global path planning module can monitor and comprehensively judge the traffic flow conditions of all entrance and exit road sections in the controlled area, and performs the global path planning control of shunting all vehicles and guiding the vehicles by combining the overall entrance and exit conditions in the area.

Preferably, the traffic light time-to-time ratio adjusting module follows a strategy of keeping reasonable flow and frequency values of vehicles conveyed to the peripheral road sections at the intersection of the single road section.

Preferably, the global path planning module follows a strategy of planning the link capacity and load in the global or local area of the traffic network, avoiding the area with high road load and preventing overload of a specific road.

Preferably, means are also included for monitoring traffic information within the road section, relating to the proximity of the entry and exit of individual road sections, at intersections and/or the proximity of road section branches.

Preferably, the virtual track subsystem can connect the exit lane with the entry lane by using a virtual lane line at the intersection or complement the intersection passing condition in a number corresponding mode based on a lane numbering system of the intersection.

Preferably, the intelligent traffic guidance subsystem under the cross driving working condition can judge according to the size of the vehicle and dynamically and reasonably distribute the target intersections for the super-long super-wide special automatic driving vehicles and the like.

The invention has the beneficial effects that: the intelligent traffic system can help the automatic driving technology which is mature day by day at present to achieve higher-level automatic driving, and with the help of the controlled property of automatic driving and the macroscopic and microscopic regulation and control of the intelligent traffic network, the transportation efficiency of the traffic network is improved, the overall control is realized, and the congestion is prevented. The coexistence period of the intelligent driving vehicle and the non-intelligent driving vehicle is also applicable, and the intelligent driving vehicle is easy to transform on the basis of the existing intelligent traffic system.

The invention is used as a traffic system, is also mainly placed on a traffic network, and controls the driving in and driving out of the vehicle by a single set point near the driving in and driving out point of the vehicle; the method has the advantages that the complexity and bulkiness of the intelligent traffic system can be reduced, the driving-in and driving-out points are the points which are most clear to the current local road traffic conditions, the driving-in and driving-out points with local characteristics are determined by local facilities, and a set of independent systems is required to determine the driving-in and driving-out points. When the intelligent driving vehicle drives into the road section, the vehicle end sends an application to the intelligent traffic system, the vehicle is instructed to drive into the road section by the local facility after the application is allowed, and the intelligent traffic system takes over the driving; when the intelligent driving vehicle drives out of a road section, a vehicle end sends a receiving request to a nearby receiving point in advance, the receiving point takes over the fact that the vehicle drives out and does not affect the traffic area of the road section after the request is responded, the control is separated, the sub-systems send the request mutually, and smooth handover of the vehicle can be achieved when the two systems are controlled alternately mutually.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic view of a traffic network system consisting of intersections and connecting road segments according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a left-turn virtual line of the S road section 01 lane according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a straight virtual line of an S road section 02 lane according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a straight virtual line of an S road segment 03 lane according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a right-turn virtual route of the S-road segment 03 lane according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of an S road segment outputting a virtual route to a peripheral road segment according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of all virtual routes at a current intersection according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of all virtual routes at a T-junction according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of all virtual routes at a circular intersection according to an embodiment of the present invention;

FIG. 10 shows 8 control modes of the intelligent driving vehicle during lane change to one side of the lane according to the embodiment of the invention;

FIG. 11 is a simplified diagram of a road segment mixing situation of a smart-driving vehicle and a non-smart driving vehicle according to an embodiment of the present invention;

FIG. 12 is a schematic diagram of a time-phased lane assignment module and a traffic light time-duration ratio adjustment module according to an embodiment of the present disclosure;

FIG. 13 is a diagram illustrating a minimum control unit of the intelligent transportation system according to an embodiment of the present invention;

FIG. 14 is a schematic diagram of global-based macro path planning for intelligent transportation according to an embodiment of the present invention;

FIG. 15 is a schematic diagram illustrating intelligent transportation global-based regional vehicle capacity control in an embodiment of the present invention;

FIG. 16 is a schematic view of an intersection according to an embodiment of the present invention;

FIG. 17 is a schematic diagram of a junction of a fork in accordance with an embodiment of the present invention;

FIG. 18 is a schematic diagram of a canted circular intersection in accordance with an embodiment of the present invention;

FIG. 19 is a schematic diagram of a single output intersection outputting routes to multiple receiving intersections in accordance with an embodiment of the present invention;

FIG. 20 is a simplified model output from a single output intersection to multiple receiving intersections in accordance with an embodiment of the present invention;

FIG. 21 is a diagram of a single receiving intersection receiving routes from multiple output intersections in an embodiment of the present invention;

FIG. 22 is a simplified model of a single receiving intersection receiving from multiple output intersections in accordance with an embodiment of the present invention;

FIG. 23 is a schematic diagram of lane assignment between an S0 input intersection and an opposite N1 output intersection with a ground navigation mark omitted in accordance with an embodiment of the present invention;

FIG. 24 is a schematic diagram of the E0 input crossing directly facing the W1 output crossing lane line distribution ignoring the ground direction indicator in the embodiment of the present invention;

FIG. 25 is a schematic diagram illustrating the lane line assignment of the N0 input crossing over to the S1 output crossing over to the ground navigation mark according to an embodiment of the present invention;

FIG. 26 is a schematic diagram of the W0 input crossing directly opposing the E1 output crossing lane line distribution with the ground direction indicator omitted in the embodiment of the present invention;

FIG. 27 is a schematic diagram of lane assignment between an S0 input intersection and an opposite N1 output intersection in accordance with an embodiment of the present invention;

FIG. 28 is a schematic diagram of lane assignment between an E0 input intersection and an opposite W1 output intersection in accordance with an embodiment of the present invention;

FIG. 29 is a schematic diagram of lane assignment between an N0 input intersection and an opposite S1 output intersection in accordance with an embodiment of the present invention;

FIG. 30 is a schematic diagram of lane assignment between a W0 input intersection and an opposite E1 output intersection in accordance with an embodiment of the present invention;

FIG. 31 is a simplified model interpretation diagram of the intersection of FIG. 01 in view of the ground navigation mark in an embodiment of the present invention;

FIG. 32 is a simplified model interpretation diagram of the intersection of FIG. 01 with the ground navigation mark omitted in accordance with an embodiment of the present invention;

FIG. 33 is a schematic diagram of a communication topology in an embodiment of the invention.

FIG. 34 is a diagram illustrating a global policy according to an embodiment of the present invention.

Detailed Description

For further explanation of the various embodiments, the drawings which form a part of the disclosure and which are incorporated in and constitute a part of this specification, illustrate embodiments and, together with the description, serve to explain the principles of operation of the embodiments, and to enable others of ordinary skill in the art to understand the various embodiments and advantages of the invention, and, by reference to these figures, reference is made to the accompanying drawings, which are not to scale and wherein like reference numerals generally refer to like elements.

According to the embodiment of the invention, an intelligent transportation system for realizing high-level automatic driving and efficient transportation is provided, and the intelligent transportation system for realizing high-level automatic driving and efficient transportation comprises an A virtual track subsystem; B. the intelligent traffic command subsystem of the cross driving working condition; C. the intelligent driving vehicle, motorcade movement and lane change control subsystem of the road section running working condition; D. the entrance and exit control subsystem of the road section; F. a coordination control subsystem based on a global traffic network;

the virtual track subsystem is connected and completed in the system by using a virtual lane line at the default position of the actual lane according to the situation;

the intelligent driving vehicle, motorcade movement and lane change control subsystem of the road section running working condition is used for monitoring the traffic condition of all vehicles in the road section, judging the optimal lane change point of the vehicle according to the vehicle path planning result and combining the current road section traffic condition, and reminding or controlling the vehicle to change lanes;

In at least one embodiment, the a, high-precision map-based virtual track subsystem (fig. 1) is composed of the virtual lane systems at the intersections as shown in fig. 2 to fig. 7, and the virtual track subsystem may be wholly or partially, and the virtual track subsystem is derived based on the high-precision map or other parts including but not limited to ultra wide band positioning (UWB); the virtual track system reserves lane lines in an actual road, and uses the virtual lane lines to connect completion in the system at the default position of the actual lane, including but not limited to connecting an outgoing lane with a virtual lane line for an incoming lane at a crossing, wherein the completion connection comprises all the routes which can be used; the virtual track connection subsystem is used for assisting an intelligent driving vehicle to achieve higher-level intelligent driving, and the virtual track system is an unnecessary system for intelligent driving vehicles with stronger vision or other perceptions.

As can be seen from the intersection graphs of fig. 2 to 7, there are three lanes at the intersection S, the lane S01 is a left turn lane, the lane S02 is a straight lane, and the lane S03 is a straight and right turn shared lane, and the target lanes that may correspond to vehicles transported from the road section S to the peripheral lanes are shown in fig. 2 to 6.

FIG. 2 is two possible trajectory lines for the exit of section S01 to turn left on section W; FIG. 3 is two possible trajectory lines for the exit of road segment S02 going straight to the N road segment; FIG. 4 is two possible trajectory lines for the exit of road segment S03 going straight to the N road segment; fig. 5 shows two possible trajectory lines for the exit of the section S03 to turn to the right of the section E. Fig. 6 shows a set of trajectories for conveying vehicles from three lanes S01 to S03 to three road segments around W, N, E, and fig. 7 shows a set of trajectories for conveying vehicles from all road segments S, W, N, E at intersection, which is not only applicable to intersections, but also applicable to intersections such as three-way intersections and roundabouts.

In at least one embodiment, the intelligent traffic guidance subsystem (fig. 2 to 9) of the B, cross-driving condition is a facility for monitoring the driving condition of vehicles at the intersection and reasonably allocating the vehicles at the intersection to target lanes, that is, a local path planning system for performing local lane-level intersection allocation on vehicles coming from and going to the intersection; the facility is mainly used for dynamically distributing the lane levels at the intersection or the shunt of vehicles at the intersection and the branch road, and reasonably shunting the vehicles according to the running path and the road traffic condition. The shunting process can consider the requirements of vehicle size and turning radius and reasonably distribute the target lanes.

In at least one embodiment, as shown in fig. 16-34, the intelligent traffic guidance subsystem in the cross driving condition provides intelligent guidance service for lane-level intersection traffic for the intelligent driving vehicle at the intersection or other cross driving conditions (fig. 16-18), the intersection traffic illustrated in fig. 16 is used, and when the ground guidance signs of E0, W0, S0 and N0 in fig. 16, fig. 19 and fig. 21 are not considered, three lanes (01, 02 and 03) of each output intersection (E0, W0, S0 and N0) convey vehicles to two lanes (05 and 04) of the rest receiving intersections (E1, W1, S1 and N1) containing the u-turn driving, the lanes corresponding to the driving types of the vehicles are mainly 4 × 3 × 4 × 2 — 96 types, and 96 types are all listed as shown in fig. 27-30; simplifying the lane passing direction and the receiving lane receiving direction control into a switch model, so as to obtain four layers of switch control in the intersection passing simplified model, wherein the four layers of switch control are generally adopted, including but not necessarily limited to the four layers of switch control (as shown in fig. 32); when other special road sections have special requirements, the number of switch layers is not specifically limited.

The intelligent switch combination control principle is as follows:

the first layer of switch control is used for outputting a request switch of a vehicle on a current lane of a road junction to three surrounding road junctions and a turning road junction, namely, the macro path planning of the vehicle determines the state of a first layer of switch; the second layer of switch control, the current vehicle carries on the request to the goal transport lane of the goal crossing, namely the macroscopic route planning of the vehicle and diversion direction of every lane in the highway section of the goal crossing determine the second layer of switch state together, when there are many lanes that accord with the macroscopic route planning in the goal crossing, the switch state can be the multiple choice, but according to the degree of convenience that the crossing passes, there is a priority to the goal lane; the third layer of switch control is used for deciding whether the multi-intersection vehicles collide when meeting a receiving lane or not under the condition of presetting a virtual lane line; and the fourth layer of switch control is used for deciding the collision management when the vehicles in the multiple lanes at the single intersection need to be output to the same receiving lane. The first layer switch and the second layer switch are mainly determined by vehicle macro path planning and road guidance, and the vehicle requests a target lane of a target intersection according to the path planning; the third layer switch and the fourth layer switch are determined by the receiving intersection, and the receiving intersection determines whether to respond to the vehicle request according to the intersection passing condition and whether the vehicles on each lane collide when meeting. When multiple vehicle requests conflict or potential collision exists at a cross point of a passing track, optimal decisions such as allowing vehicles to pass, slowing down vehicles to give way, stopping vehicles to give way and the like are made according to the passing sequence of the vehicles, the influence on road section loads, the influence of region conformity and the like.

When not all intelligent driving vehicles in the intelligent traffic, namely non-intelligent driving vehicles and intelligent driving vehicles coexist, the intelligent traffic system obeys a common traffic light system and a current lane distribution system aiming at a command system of an intelligent driving single vehicle at an intersection; when the intelligent driving vehicles occupy a larger proportion in the traffic system, the traffic light system gives a passing instruction to the non-intelligent driving vehicles, and simultaneously gives passing guidance to the intersections of the intelligent driving vehicles under the condition of not influencing the passing of the non-intelligent driving vehicles, the intelligent driving vehicles do not obey the signal guidance of the traffic light system, and the intelligent traffic system decides target lanes at the intersections of the intelligent driving vehicles; when all vehicles in the intelligent traffic system are intelligent driving vehicles, the control of the four-layer switch can replace a traffic light system and a dynamic lane distribution system in the existing traffic system.

When the vehicles do not have traffic lights at the intersection of the same-way, the intelligent traffic command subsystem of the cross driving working condition only needs to judge whether a potential intersection exists according to the potential passing track for deciding whether a third-layer switch and a fourth-layer switch makes a current request for intelligently driving the vehicles to pass through the intersection.

Taking fig. 13 as an example, assuming that an intelligent driving vehicle stopped at the intersection E0 is to drive to the intersection N3 based on global path planning, the traffic control of the intelligent driving vehicle at the intersection E0 should be as follows:

the switch control of the layer 1, the vehicle chooses the goal receiving crossing of W1, the purpose is for the straight-ahead operation;

under the control of a layer 2 switch, a vehicle selects a lane 04 on the right side of the intersection to be received by the W1, and the purpose is to enter a road N3 at the E2 right turn;

under the control of a layer 3 switch, no collision danger exists at which the W1 intersection receiving lane receives the vehicle from in the current intersection traffic state;

and (4) controlling a switch at a layer 4, wherein the W1 intersection receiving lanes sequentially receive vehicles from all lanes of the target receiving intersection under the condition of current intersection traffic, so that the intelligent driving vehicles do not need to be arranged on the lanes conforming to the current road guidance when the intelligent driving vehicles pass through the intersection, when the intelligent driving vehicles cannot change lanes to the target lanes in a normal mode in a road section, the intelligent driving vehicles are allowed to run on other lanes, and the vehicles are guided to the target intersection through the switch control when the intersection passes through.

The layer 1 and layer 2 switches are controlled to be vehicle end requests, and the layer 3 and layer 4 switches are controlled to be collision-free passing decisions made by the road end aiming at the current traffic condition.

In at least one embodiment, the C, intelligent driving vehicle of the road section running condition, the fleet motion and lane change control subsystem is used for realizing the vehicle speed and lane control of the vehicle and the fleet on the road section, and controlling the vehicle which enters the intelligent traffic network newly in the road section and the vehicle which arrives at the destination and runs out of the road section; reminding or controlling the optimal speed and the optimal driving lane of the vehicle according to the vehicle path planning result and by combining the current road traffic information and the like; when the vehicle is not in the decision lane, judging the optimal lane changing point of the vehicle, and reminding or controlling the vehicle to change the lane; at an entrance and an exit in the road section, vehicles arriving at a destination can reasonably suggest or control lanes and vehicle speed according to the requirements of vehicle size and turning radius so that the vehicles can conveniently exit the road section; reasonably determining the driving time, lane and vehicle speed control of a newly-driven vehicle in a road section; judging the periodic traffic capacity of vehicles at the current traffic light in the road section under the scene of the traffic light, and suggesting the vehicle speed and lane change control in advance; under the scene without traffic lights, the traffic conditions of a target intersection and peripheral intersections are judged, and reasonable acceleration and deceleration and speed reminding or control are carried out on an automatic driving vehicle so as to ensure the traffic safety of the intersections; the system reserves all traffic instructions of the road section and can reasonably control the vehicle by combining all the traffic instructions; due to the fact that the intelligent traffic system is huge, all working conditions cannot be considered, when the vehicle encounters an emergency working condition that the surrounding influences traffic driving, obstacle avoidance of the vehicle is completed by a single vehicle, and the intelligent traffic network takes over automatically after obstacle avoidance is completed.

Taking the lane change from the single vehicle to the right as an example, as shown in fig. 10, the thin solid line in the figure is an intelligent driving vehicle, the number of vehicles which can affect the lane change of the intelligent driving vehicle at the periphery is 3, the number of vehicles in front of the intelligent driving vehicle and the number of vehicles in front of and behind the target lane of the intelligent driving vehicle are 8, and the number of control modes is 8 when the intelligent driving vehicle changes the lane to one side of the lane; as shown in a-h in FIG. 10, the thin solid line is the intelligent driving vehicle, the thick solid line is the non-intelligent driving vehicle quantity, the point is the irrelevant vehicle, the middle thin solid line vehicle is the intelligent driving vehicle needing lane changing, the switches (i) to (iii) are the condition switches influencing the right lane changing of the middle intelligent driving vehicle, and the condition (i) is the right front vehicleJudging whether the right lane change of the intelligent driving vehicle is influenced, judging whether a right rear vehicle influences the right lane change of the intelligent driving vehicle, judging whether a front vehicle influences the right lane change of the intelligent driving vehicle, and allowing the lane change of the vehicles when the conditions are met; wherein in the figure (a) case: three vehicles influencing lane changing of the intelligent driving vehicle are all intelligent driving vehicles, and the situations (b) to (d) in the graph are as follows: one of three vehicles influencing lane changing of the intelligent driving vehicle is a non-intelligent driving vehicle, and the situations in (e) to (g) in the figure are as follows: influence two intelligent driving cars in three cars that intelligent driving car traded the lane, the (h) situation in the picture: the three vehicles which influence the intelligent driving vehicle to change are all non-intelligent driving vehicles; vehicle in the figure

And a vehicle

A certain gap exists between the two vehicles, the fact that a certain gap needs to exist between the vehicles at the initial stage of actually changing the lane is not represented, and the fact that the intelligent driving vehicle needs to drive the vehicle from the vehicle is only represented

And a vehicle

The lane change is completed.

The conditions are opened (first) to (third) for explaining the closing instruction, the safe vehicle distance is kept between the front and the rear, the time distance is different from the ACC, the ACC relates to the reaction time of the rear vehicle for detecting the front vehicle, the intelligent internet motorcade system based on V2X uniformly receives and transmits the motion information of all intelligent driving vehicles in a road section, and the intelligent driving vehicles based on the motorcade can achieve uniform coordination and allocation.

Three vehicles affecting the lane change of the intermediate intelligent driving vehicle as in the case (a) of fig. 10

Are intelligent driving vehicles: at this time, due to

All controlled vehicles are accessed into the intelligent traffic system, and the influence factors of the three vehicles on lane changing are controlled factors, so that the lane changing is most easily and completely controllable.

Three vehicles affecting the lane change of the intermediate intelligent driving vehicle as in the case of (b) in fig. 10

For non-intelligent driving

For intelligent driving car: at this time, due to

In order to access the controlled vehicle of the intelligent transportation system,

is an uncontrolled vehicle; the condition (II) is a directly controllable condition, and the condition (I) is an indirectly controllable condition (aiming at a lane-changing vehicle and an intelligent driving vehicle at the same time)

And (4) performing longitudinal control and indirect control on the condition I), and changing the channel into a completely controllable channel.

Three vehicles affecting the lane change of the intermediate intelligent driving vehicle as in the case of (c) in fig. 10

For non-intelligent driving

For intelligent driving car: at this time, due to

is an uncontrolled vehicle; (iii) is directlyControl condition, condition II is indirect controllable condition (for lane changing vehicle and intelligent driving vehicle at the same time)

Longitudinal control is carried out, and conditions are indirectly controlled II), and the lane changing is completely controllable.

Three vehicles affecting the lane change of the intermediate intelligent driving vehicle as in the case of (d) in fig. 10

For non-intelligent driving

For intelligent driving car: at this time, due to

is an uncontrolled vehicle; the condition (I) is directly controllable, and the condition (II) is indirectly controllable (aiming at the lane-changing vehicle and the intelligent driving vehicle at the same time)

Longitudinal control and indirect control conditions are carried out), and the lane changing is completely controllable.

Three vehicles affecting the lane change of the intermediate intelligent driving vehicle as in the case of (e) in fig. 10

For non-intelligent driving

For intelligent driving car: at this time, due to

is an uncontrolled vehicle; the condition II is a directly controllable condition, and the condition III is an indirectly controllable condition (aiming at a lane-changing vehicle and an intelligent driving vehicle at the same time)

Longitudinal control and indirect control are carried out (c), only the vehicle is required

The movement process is maintained at all times, in which case a completely controlled lane change is likewise possible.

Three vehicles affecting the lane change of the intermediate intelligent driving vehicle as in the case (f) of fig. 10

For non-intelligent driving

For intelligent driving car: at this time, due to

is an uncontrolled vehicle; the condition (c) is directly controllable, the condition (c) is linkage condition, and the intelligent driving vehicle and the non-intelligent driving vehicle are regulated by regulating the condition (c)

Relative position therebetween, if not, the amount of the vehicle driving intelligently

And

and a safe lane changing distance exists between the two vehicles, so that the intelligent driving vehicle is allowed to change lanes.

(g) situation in FIG. 10, affect intermediate Intelligent Driving vehicle ChangeThree vehicles on the road

For non-intelligent driving

For intelligent driving car: at this time, due to

is an uncontrolled vehicle; the condition is directly controllable, the condition is linked, and the intelligent driving vehicle and the non-intelligent driving vehicle are adjusted

If the condition II and the condition III can be met simultaneously, the intelligent driving vehicle is allowed to change lanes.

As in the case of (h) in fig. 10, three vehicles affecting the lane change of the intermediate intelligent driving vehicle

Are non-intelligent driving vehicles: at this time, due to

The intelligent traffic system can only control the intelligent driving bicycle needing lane changing to assist lane changing, the intelligent driving vehicle monitors and feeds back motion information of non-intelligent driving vehicles which cannot be identified by the intelligent traffic system to the traffic system, the intelligent traffic system decides whether to execute lane changing, and the dynamic control of the intelligent driving vehicles in the lane changing process is controlled by the intelligent traffic system.

The lane change of a single vehicle is expanded into a vehicle fleet lane change, each lane consists of vehicle fleets with different sections of sizes, the vehicle fleets are separated by non-intelligent driving vehicles, the vehicle fleets which are in the same lane and are not separated by the non-intelligent driving vehicles in the middle are regarded as an intelligent driving vehicle fleet, one intelligent driving vehicle fleet is regarded as integral control, namely, each lane is controlled by a plurality of intelligent driving vehicle fleets separated by the non-intelligent driving vehicles; and each individual intelligent driving fleet responds to the lane change auxiliary request of the intelligent driving vehicle and the non-intelligent driving vehicle in the adjacent lane and performs corresponding motion adjustment to cooperate with the adjacent lane vehicle to change lanes, as shown in fig. 11. The intelligent driving motorcade control separated by non-intelligent driving vehicles is carried out by taking each lane as a unit under the road section running condition, and the vehicles are exchanged and recombined by changing lanes during the road section running, so that a new intelligent driving motorcade separated by the non-intelligent driving vehicles is finally formed to convey the vehicles to other road sections through the intersection. And giving out road section control to the vehicles arriving at the destination in the road section, and taking over the intelligent driving vehicle to the road section to form the in-road fleet control by the intelligent driving vehicle fleet.

According to the intelligent transportation system for realizing high-level automatic driving and efficient transportation, all intelligent driving controlled vehicles in a road section can be limited only in the road section (figure 13), namely the vehicle flow in a single road section or the vehicle holding capacity in a single traffic light can be controlled, through F, the system comprises a global path planning system (figure 14) for shunting all vehicles, a lane distribution module (figure 12) comprising time intervals and a traffic light time length ratio regulation module (figure 12) comprising time intervals, from the efficiency of the whole transportation network, the system is controlled independently for each road section and intersection, and finally the efficient operation target of the whole transportation network or a local area is achieved.

The lane distribution module (fig. 12 and 13) in different time periods can monitor the traffic flow conditions of all entrance road sections and exit road sections in a controlled area, and dynamically and globally plan all roads by combining the flow direction and the quantity of vehicles in the roads, so that the total capacity of the road sections is fully utilized, the vehicle conveying capacity of the road sections to other road sections at intersections is reasonably distributed, and vehicles are reasonably guided.

The time duration ratio adjusting module (figures 12 and 13) of the traffic lights at different time intervals can monitor, judge, regulate and control the traffic flow conditions of all entrance and exit road sections in a controlled area (figures 12 to 14), comprehensively judge, regulate and control intersections with the traffic lights according to the load and traffic flow conditions of each road section in the controlled area by combining the integral entering and exiting conditions (figure 15) in the area, reasonably adjust the time duration ratio and the cycle duration of the traffic lights and adjust the vehicles conveyed to the peripheral road sections at the intersection of a single road section to keep reasonable flow and frequency values.

In at least one embodiment, the E-shaped section shown in fig. 13 constitutes the minimum control unit of the intelligent transportation system, and the minimum control unit includes vehicle acceleration and deceleration control, vehicle driving lane control, road dynamic lane control, intelligent traffic light control (traffic light intersection), intersection traffic control (intersection without traffic light), vehicle exit control when arriving at the destination, and vehicle entrance control when entering a new vehicle. All traffic networks are composed of basic constituent elements of intersections and road sections, and the differences of all intersections and road sections are small, and more common. The system uses a set of general evaluation parameters to monitor the road vehicle driving condition of the minimum control unit of the intelligent traffic system, also uses a set of general control parameters to control the minimum control unit, and distinguishes instructions by numbering roads and intersections; and customized monitoring parameters and control parameters are also reserved for special road sections and intersections.

In at least one embodiment, the global path planning system (fig. 14 and 15) can monitor and comprehensively judge traffic flow conditions of all entrance and exit road sections in a controlled area, and perform global path planning control of shunting all vehicles by combining the overall entrance and exit conditions in the area, that is, perform control on all minimum control unit maps 13 in fig. 14 and 15, use general monitoring and control instruction parameters for control, reasonably guide the vehicles, avoid high road load areas, and prevent overload of specific roads (fig. 14); further preventing the congested road sections in the global or local area of the traffic network, and reasonably planning the road section capacity and load in the global or local area of the traffic network. In the mesh traffic network, there are two main types of basic elements of the traffic network, namely, intersections on the traffic network and connecting line segments between the intersections on the traffic network. Through a reasonable control strategy, 1, ensuring that the outlet flow of each road section reaches the maximum flow; 2. vehicles which can not pass through the intersection in the current traffic light period change the lane to the optimal lane before reaching the intersection through a reasonable combination strategy, and prepare for the next road section of the vehicles, the passing of the intersection, the driving-in road section from the starting point or the driving-out road section to reach the destination.

Therefore, the efficient speed and lane change control of the vehicle running on the corresponding road section is ensured, and the efficient intelligent command control of the vehicle running out of the road section is also ensured. The exit of each road section and the entrance of other road sections are corresponding, the only movement of the automatic driving vehicle in the road section can be determined by B and C, and the aim of efficient transportation without congestion of the whole traffic system is finally achieved by independently controlling B and C of all road sections and intersections in the traffic network.

D. The system comprises a road section entrance and exit driving-in and driving-out control subsystem, a road section entrance and exit driving-out control subsystem and a road section entrance and exit driving-in and driving-out control subsystem, wherein the road section entrance and exit driving-in and driving-out control subsystem is used for receiving vehicles arriving at a destination in a road section and requesting control of the; by the design, the road section control is more focused on the motion control of the vehicle, and the local vehicle turning-out and turning-in are controlled by the sub-system which is more aware of the characteristics of the local road section.

The intelligent traffic system can help the automatic driving technology which is mature day by day at present to achieve higher-level automatic driving, and with the help of the controlled property of automatic driving and the macroscopic and microscopic regulation and control of the intelligent traffic network, the transportation efficiency of the traffic network is improved, the overall control is realized, and the congestion is prevented. The coexistence period of the intelligent driving vehicle and the non-intelligent driving vehicle is also applicable, and the intelligent driving vehicle is easy to transform on the basis of the existing intelligent traffic system.

While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one skilled in the art. Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention. The various illustrative logical blocks, modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal. In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disc), as used herein, includes Compact Disc (CD), laser disc, optical disc, Digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disks) usually reproduce data magnetically, while discs (discs) reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

The invention is not limited to a traffic system, and is also suitable for the global control scheduling of the automatic driving vehicles or the intelligent robots in the closed or non-closed factory or factory buildings and other non-limited specific areas.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. An intelligent transportation system for realizing high-level automatic driving and efficient transportation is characterized by comprising

the intelligent driving vehicle, motorcade movement and lane change control subsystem of the road section running working condition is used for monitoring the traffic condition of all vehicles in the road section, controlling the movement of the vehicles and the motorcade according to the vehicle path planning result and combining the current road section traffic condition, judging the optimal lane change point of the vehicles and reminding or controlling the lane change of the vehicles;

2. The intelligent transportation system for realizing high-level automatic driving and efficient transportation according to claim 1, wherein the virtual track subsystem can use a virtual lane line to complete the connection in the system at the default of the actual lane and/or use a virtual lane line to connect the outgoing lane with the incoming lane at the intersection based on a positioning mode such as a high-precision map or an ultra-wideband, and the complete connection comprises all the possible routes.

3. The intelligent transportation system for realizing high-level automatic driving and efficient transportation according to claim 1 or 2, wherein the intelligent transportation command subsystem of the cross driving condition is used for reasonably allocating vehicles at the intersection to target lanes at the intersection and allocating vehicles coming from and going to the intersection at a local lane level.

4. The intelligent transportation system for realizing high-level automatic driving and efficient transportation according to claim 1 or 2, wherein the sub-system for controlling the speed, the lane, the road entrance and the exit of the vehicle under the road section running condition is used for realizing the speed and the lane control of the vehicle on the road section, responding to the receiving of the vehicle reaching the destination and the request of newly accessing the intelligent transportation network system, and reminding or controlling the optimal speed and the optimal lane of the vehicle according to the vehicle path planning result and the current road section traffic information and the like; the vehicle speed control follows the control strategy, and the vehicle capable of passing through the intersection in the current traffic light period keeps the highest vehicle speed of the road speed limit as long as possible under the condition of ensuring the driving safety.

5. The intelligent transportation system for realizing high-level automatic driving and efficient transportation according to claim 1 or 2, wherein the coordination control subsystem based on the global traffic network comprises a global path planning module for shunting all vehicles, a time-interval lane distribution module and/or a time-interval traffic light time ratio adjusting module.

6. The intelligent transportation system for realizing high-level automatic driving and efficient transportation according to claim 5, wherein the lane allocation module monitors traffic flow conditions of all entrance and exit road sections in a controlled area, dynamically and globally plans all roads by combining the flow direction and the number of vehicles in the roads, and allocates vehicle conveying capacity and guide vehicles of the road sections to other road sections at intersections.

7. The intelligent transportation system for realizing high-level automatic driving and efficient transportation according to claim 5, wherein the traffic light time occupancy adjusting module monitors, judges and adjusts the traffic flow conditions of all entrance and exit road sections in the controlled area, comprehensively judges and adjusts the traffic light occupancy and the cycle time according to the load and the traffic flow conditions of each road section in the controlled area for intersections with traffic lights by combining the overall entrance and exit conditions in the area.

8. The intelligent transportation system capable of achieving high-level automatic driving and efficient transportation according to claim 5 or 7, wherein the global path planning module is capable of monitoring and comprehensively judging traffic flow conditions of all entrance and exit road sections in a controlled area, and performing global path planning control for shunting all vehicles and guiding the vehicles by combining the overall entrance and exit conditions in the area.

9. The intelligent transportation system for realizing high-level automatic driving and efficient transportation of claim 7, wherein the traffic light time-to-time ratio adjusting module follows a strategy of keeping reasonable flow and frequency values of vehicles transported from a single road junction to a surrounding road.

10. The intelligent transportation system for realizing high-level automatic driving and efficient transportation of claim 5, wherein the global path planning module follows a strategy of planning the link capacity and load in the global or local area of the transportation network, avoiding the area with high road load and preventing overload of a specific road.

11. An intelligent transportation system for realizing high-level automatic driving and efficient transportation according to any one of claims 1, 2, 6, 7, 9 or 10, further comprising a device for monitoring traffic information in the road section, wherein the traffic information relates to the vicinity of the entrance and exit of the single road section, the vicinity of the intersection and/or the vicinity of the branch of the road section.

12. The intelligent transportation system for realizing high-level automatic driving and efficient transportation according to any one of claims 1, 2, 6, 7, 9 or 10, wherein the virtual track subsystem can connect the outgoing lane with the incoming lane by using a virtual lane line at the intersection or complement the intersection traffic situation by a number corresponding mode based on a lane number system of the intersection.

13. The intelligent transportation system for realizing high-grade automatic driving and efficient transportation according to claim 3, wherein the intelligent transportation command subsystem under the cross driving condition can perform judgment by combining the size of the vehicle, and dynamically and reasonably allocates target intersections for special automatic driving vehicles with super-long and super-wide characteristics and the like.

14. The intelligent transportation system for realizing high-level automatic driving and efficient transportation according to claim 4, wherein the vehicle speed, lane, road entering and exiting control subsystem of the road section driving condition can realize the following functions: when the vehicle is not in the decision lane, judging the optimal lane changing point of the vehicle, and reminding or controlling the vehicle to change the lane; and/or at the entrance and exit in the road section, the vehicle reaching the destination can reasonably suggest or control the lane and the vehicle speed according to the requirements of the vehicle size and the turning radius so that the vehicle can conveniently exit the road section; and/or reasonably determining the driving time, the lane and the vehicle speed control for the newly driven vehicle in the road section; and/or judging the traffic capacity of vehicles in the road section in the current traffic light period under the traffic light scene, and suggesting the vehicle speed and lane change control in advance; and/or under the scene without traffic lights, judging the traffic conditions of the target intersection and the surrounding intersections, and carrying out reasonable acceleration and deceleration and speed reminding or control on the automatically-driven vehicle so as to ensure the traffic safety of the intersections; and/or the system reserves all traffic instructions of the road section, and can reasonably control the vehicle by combining all traffic instructions; and/or when the vehicle encounters an emergency condition that the surrounding influences traffic driving, the obstacle avoidance of the vehicle is finished by a single vehicle, and the obstacle avoidance is automatically taken over by the intelligent traffic network after the obstacle avoidance is finished.

15. The intelligent transportation system for realizing high-grade automatic driving and efficient transportation according to claim 1 or 2, characterized in that the intelligent transportation command subsystem for the cross driving condition at least follows the following judgment rules, the first-layer switch control is used for outputting the request switch of the vehicle on the current lane of the road junction to the peripheral three-road junctions and the turning intersection, and the vehicle macro path planning determines the first-layer switch state; the second layer of switch control, the present vehicle carries on the request to the goal transport lane of the goal crossing, the macroscopic route planning of the vehicle and diversion direction of every lane in the road section of the goal crossing determine the second layer of switch state together, when there are many lanes that accord with the macroscopic route planning in the goal crossing, the switch state can be the multiple choice, but according to the degree of convenience that the crossing passes, there is a priority in the goal lane; the third layer of switch control is used for deciding whether the multi-intersection vehicles collide when meeting a receiving lane or not under the condition of presetting a virtual lane line; and the fourth layer of switch control is used for deciding the collision management when the vehicles in the multiple lanes at the single intersection need to be output to the same receiving lane.