CN112799409A - Ground traffic management and control integrated system for airport based on vehicle-road cloud collaborative architecture - Google Patents
Ground traffic management and control integrated system for airport based on vehicle-road cloud collaborative architecture Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
Abstract
The invention relates to a ground traffic control integrated system for an airport based on a vehicle road cloud collaborative architecture, which comprises the following components: the intelligent road side equipment comprises intelligent road side equipment, an on-vehicle sensor, a cloud control platform, an automatic driving control device, a multi-mode communication module and a weather information module. The multimode communication module is respectively in data connection with the intelligent road side equipment, the vehicle-mounted sensor, the cloud control platform, the weather information module and the automatic driving control device; the intelligent road side equipment, the vehicle-mounted sensor and the weather information module transmit the acquired data to the cloud control platform through the multi-mode communication module; the cloud control platform plans an optimal path by using the received data and sends the optimal path to the automatic driving control device through the multi-mode communication module. When the system is used for the ground traffic management and control of the airport, the unified scheduling management and the scientific path planning of the ground traffic in the whole airport range are realized, and safe, efficient and controllable service guarantee is provided for each vehicle using mechanism.
Description
Technical Field
The invention relates to the field of aviation, in particular to a ground traffic control integrated system for an airport based on a vehicle-road cloud collaborative architecture.
Background
At present, a typical automatic driving intelligent vehicle system generally adopts a vehicle-mounted sensor to acquire information such as a road scene, a vehicle posture and the like. And then, determining vehicle body control instructions (such as power, direction, brake and the like) through a path planning and driving behavior decision mechanism, finally relying on real-time information acquired by a sensor in the driving process, combining a feedback mechanism to realize self-adaptive driving control and driving safety, and acquiring information by using a vehicle-mounted sensor to obtain unknown information of the whole vehicle and performing target identification, classification and processing. However, with only a single vehicle sensor, both the sensing capability and processing speed are limited, and each sensor has its own short plate. No matter which kind of sensor of present automatic driving vehicle or fuse the perception can not realize surmounting the barrier and realize the comprehensive perception to the surrounding environment with the space-time restriction, can not solve the field of vision and shelter from the condition and the safe problem of traveling under the perception blind area. These constitute a bottleneck problem that limits the development of autonomous vehicles.
An intelligent networked automobile (ICV) (intelligent Connected vehicle) refers to the organic combination of an internet of vehicles and an intelligent automobile, carries advanced vehicle-mounted sensors, controllers, actuators and other devices, integrates modern communication and network technologies, realizes the exchange and sharing of intelligent information of the automobile, people, the automobile, roads, intelligent traffic cloud control platforms and the like, realizes safe, comfortable, energy-saving and efficient driving, and enables the automobile to be more intelligent. The existing intelligent networked automobile only simply connects the automobile with the network, and deep fusion interaction between the automobile and the network and between the automobile and the environment is not realized, so that the existing intelligent networked automobile still has many safety problems in the process of automatic driving. At present, an intelligent networking automobile technology utilizing a cloud control technology is a way for making up for the insufficiency of an automatic driving technology and solving a safety problem.
The intelligent internet traffic is mostly concentrated on a single vehicle or technology at the present stage, and various problems of incoordination or single function, incapability of resource sharing and the like exist in the aspects of vehicle end, cloud end and intermediate cooperative management and control. At present, accidents caused by distraction and inattention of people are eliminated mainly by means of nearby vehicle detection, road detection and vehicle emergency braking. However, the strategic center of gravity of the global automatic driving industry has been shifted from the single-vehicle intelligence to the connection between the vehicle and the external environment, and the existing cloud control technology only realizes simple connection between the vehicle and the network, does not realize deep fusion between the vehicle and the environment, and does not technically realize utilization of cloud control data.
Therefore, it is necessary to operate the interior vehicle safely and efficiently in a closed area having a specific function, and to make full use of the cloud control system. In particular, a ground traffic control integrated system for an airport based on a vehicle road cloud collaborative architecture does not exist so far. As is well known, airports serve as a special relatively closed environment, and high precision and strict time are basic requirements. The ground traffic control integrated system for the airport based on the vehicle road cloud cooperative architecture is urgently needed in the airport requiring high safety, high timeliness and high precision.
Disclosure of Invention
Technical problem to be solved
The invention aims to overcome the defects of the prior art and provide a ground traffic control integrated system for an airport, which realizes efficient, orderly and safe traffic control in the highly closed airport and is based on a vehicle road cloud cooperative architecture.
(II) technical scheme
In order to solve the above problems, the present invention provides a ground traffic control integrated system for an airport based on a vehicle-road cloud collaborative architecture, including: the intelligent road side equipment is used for acquiring barrier information and road information; the vehicle-mounted sensor is used for acquiring object information around the vehicle; the cloud control platform is used for constructing a dynamic scene and planning an optimal path; an automatic driving control device for controlling automatic driving of the vehicle; the multimode communication module is used for transmitting data; the weather information module is used for acquiring weather information; the multi-mode communication module is respectively in data connection with the intelligent road side equipment, the vehicle-mounted sensor, the cloud control platform, the weather information module and the automatic driving control device; the intelligent road side equipment, the vehicle-mounted sensor and the weather information module transmit the acquired data to the cloud control platform through the multi-mode communication module; the cloud control platform uses the received data to plan an optimal path and sends the optimal path to the automatic driving control device through the multi-mode communication module.
Optionally, the cloud control platform includes an information processing layer, a map building layer, and a path planning layer; the multi-mode communication module is respectively connected with the information processing layer and the path planning layer; the information processing layer processes data collected by the intelligent road side equipment, the vehicle-mounted sensor and the weather information module and then transmits the processed data to the map building layer; the map construction layer constructs a dynamic scene according to the received data and outputs the dynamic scene information to the path planning layer; the path planning layer plans an optimal path for driving of a target vehicle in the dynamic scene; and the path planning layer sends the optimal path to the automatic driving control device through the multi-mode communication module.
Optionally, the path planning layer includes an algorithm optimization module, and the algorithm optimization module performs analysis based on big data to optimize the driving path of the target vehicle.
Optionally, the intelligent roadside device includes an acquisition unit disposed at a roadside, and the multimode communication module is in data connection with the acquisition unit.
Optionally, the vehicle-mounted sensor includes a laser radar, a millimeter wave radar, a stereo camera, an infrared camera, and an ultrasonic range finder.
Optionally, the system further includes a vehicle positioning module, which is in data connection with the multimode communication module and sends the position information of the vehicle to the multimode communication module. The multi-mode communications include 4G, 5G, C-V2X, and so on.
Optionally, the system further includes a display unit, the display unit is in data connection with the multimode communication module, and is configured to display information received by the multimode communication module.
(III) advantageous effects
According to the ground traffic control integrated system for the airport based on the vehicle road cloud collaborative architecture, the optimal path is selected by acquiring the obstacles on the road, the information of the running periphery of the target vehicle and the nearby weather information, constructing the dynamic scene and simulating the running path of the target vehicle in the dynamic scene, so that the target vehicle can realize automatic driving under the assistance of the optimal path, and the acquired information comprises the information of the obstacles on the road, the information of the periphery of the vehicle, the weather and the like and shares data through the multimode communication technology, so that rich information is provided for automatic driving, and the rapidness and the correctness of the decision of an automatic driving vehicle are ensured. When the system is used for the ground traffic management and control of the airport, the unified scheduling management and the scientific path planning of the ground traffic in the whole airport range are realized, and safe, efficient and controllable service guarantee is provided for each vehicle using mechanism.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic structural diagram of a ground traffic control integrated system for an airport based on a vehicle-road cloud collaborative architecture in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a cloud control platform in a ground traffic control integrated system for an airport based on a vehicle access cloud collaborative architecture in an embodiment of the present invention.
The reference numbers in the drawings are, in order:
10. the intelligent road side equipment comprises intelligent road side equipment, an intelligent road side equipment 20, an on-board sensor 30, a weather information module 40, a multi-mode communication module 50, a cloud control platform 51, an information processing layer 52, a map building layer 53, a path planning layer 531, an algorithm optimization module 60 and an automatic driving control device.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the examples and the accompanying drawings. The following examples of the present invention are merely illustrative of the present invention and are not intended to limit the scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a ground traffic control integrated system for an airport based on a vehicle-road cloud collaborative architecture, including: the intelligent road side equipment comprises intelligent road side equipment 10, an on-board sensor 20, a cloud control platform 50, a multi-mode communication module 40, a weather information module 30 and an automatic driving control device 60.
The intelligent roadside device 10 is used for acquiring barrier information and road information; the intelligent roadside apparatus 10 includes a collection unit disposed at the roadside for collecting road information and obstacle information on the road, and collecting information of the intersection where the indicator light is located and obstacle information. The multimode communication module 40 is in data connection with the acquisition unit and collects data acquired by the acquisition unit.
An in-vehicle sensor 20 for acquiring information of objects around the vehicle; for example, the distance from the vehicle, the absolute movement speed and the movement speed relative to the vehicle of the object around the vehicle, the shape and volume of the object around the vehicle, and the like. The vehicle-mounted sensor 20 includes a laser radar, a millimeter wave radar, a stereo camera, an infrared camera, and an ultrasonic range finder. The embodiment of the present invention is not particularly limited thereto.
The cloud control platform 50 is used for constructing a dynamic scene and planning an optimal path; as shown in fig. 2, the cloud control platform 50 includes an information processing layer 51, a map building layer 52, and a path planning layer 53; the multimode communication module 40 is respectively in data connection with the information processing layer 51 and the path planning layer 53; the cloud control platform 50 is used to perform task scheduling, path planning, resource management and information coordination.
The information processing layer 51 processes data collected by the intelligent roadside device 10, the vehicle-mounted sensor 20 and the weather information module 30 and transmits the processed data to the map building layer 52; the map construction layer 52 constructs a dynamic scene from the received data and outputs dynamic scene information into the path planning layer 53; the path planning layer 53 plans an optimal path for driving the target vehicle in a dynamic scene; the route planning layer 53 transmits the optimal route to the automatic driving control device 60 through the multimode communication module 40.
As shown in fig. 2, the path planning layer 53 further includes an algorithm optimization module 531, and the algorithm optimization module 531 analyzes based on the big data to optimize the driving path of the target vehicle.
An automatic driving control means 60 for controlling automatic driving of the vehicle;
a weather information module 30, configured to obtain weather information;
a multimode communication module 40 for data transmission; the intelligent roadside device 10, the vehicle-mounted sensor 20 and the weather information module 30 transmit the acquired data to the cloud control platform 50 through the multimode communication module 40; the cloud control platform 50 plans an optimal path by using the received data, and sends the optimal path to the automatic driving control device 60 through the multimode communication module 40, so that the target vehicle runs according to the planned optimal path under the control of the automatic driving control device 60.
Further, the management and control system further comprises a vehicle positioning module, wherein the vehicle positioning module is in data connection with the multimode communication module 40 and sends the position information of the vehicle to the multimode communication module 40.
Further, the management and control system further includes a display unit, which is in data connection with the multimode communication module 40 and is used for displaying the information received by the multimode communication module 40.
When the airport ground traffic control system based on the vehicle-road cloud collaborative architecture is used, the intelligent road side device 10 and the weather information module 30 continuously send the obstacle information, the road information and the weather information collected at the position of the intelligent road side device to the multimode communication module 40. The in-vehicle sensor 20 continuously transmits the object information around the vehicle it collects to the multimode communication module 40. The multimodal communication module 40 sends the received information to the cloud control platform 50. The cloud control platform 50 constructs a dynamic scene according to the received information, plans an optimal path for the vehicle according to the destination of the vehicle, and sends the optimal path to the automatic driving control device 60 through the multimode communication module 40, so that the vehicle runs according to the optimal path under the control of the automatic driving control device 60. When the external conditions change so that the current optimal path is not the optimal choice, the cloud control platform 50 replans the optimal path according to the received real-time data, and sends the optimal path to the automatic driving control device 60, so that the vehicle runs according to the latest optimal path.
According to the ground traffic control integrated system for the airport based on the vehicle road cloud collaborative architecture, the optimal path is selected by acquiring the obstacles on the road, the information of the running periphery of the target vehicle and the nearby weather information, constructing the dynamic scene and simulating the running path of the target vehicle in the dynamic scene, so that the target vehicle can realize automatic driving under the assistance of the optimal path, and the acquired information comprises the information of the obstacles on the road, the information of the periphery of the vehicle, the weather and the like and shares data through the multimode communication technology, so that rich information is provided for automatic driving, and the rapidness and the correctness of the decision of an automatic driving vehicle are ensured. When the method is used for the ground traffic control of the airport, the unified scheduling management and the scientific path planning of the ground traffic in the whole airport range are realized, and the safe, efficient and controllable service guarantee is provided for each vehicle using mechanism.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience of describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. To those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific cases and should not be construed as limiting the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The above embodiments are merely illustrative of the present invention and are not to be construed as limiting the invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications or equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and the technical solution of the present invention is covered by the claims of the present invention.
Claims (7)
1. A ground traffic management and control integrated system for an airport based on a vehicle road cloud collaborative architecture, comprising:
the intelligent road side equipment is used for acquiring barrier information and road information;
the vehicle-mounted sensor is used for acquiring object information around the vehicle;
the cloud control platform is used for constructing a dynamic scene and planning an optimal path;
an automatic driving control device for controlling automatic driving of the vehicle;
the multimode communication module is used for transmitting data;
the weather information module is used for acquiring weather information;
the multi-mode communication module is respectively in data connection with the intelligent road side equipment, the vehicle-mounted sensor, the cloud control platform, the weather information module and the automatic driving control device;
the intelligent road side equipment, the vehicle-mounted sensor and the weather information module transmit the acquired data to the cloud control platform through the multi-mode communication module;
the cloud control platform uses the received data to plan an optimal path and sends the optimal path to the automatic driving control device through the multi-mode communication module.
2. The management and control system according to claim 1, wherein the cloud control platform includes an information processing layer, a map building layer, and a path planning layer;
the multi-mode communication module is respectively connected with the information processing layer and the path planning layer;
the information processing layer processes data collected by the intelligent road side equipment, the vehicle-mounted sensor and the weather information module and then transmits the processed data to the map building layer;
the map construction layer constructs a dynamic scene according to the received data and outputs the dynamic scene information to the path planning layer;
the path planning layer plans an optimal path for driving of a target vehicle in the dynamic scene;
and the path planning layer sends the optimal path to the automatic driving control device through the multi-mode communication module.
3. The management and control system according to claim 2, wherein the path planning layer includes an algorithm optimization module that optimizes the target vehicle driving path based on big data analysis.
4. The management and control system according to claim 1, wherein the intelligent road side device comprises a collection unit arranged on a roadside, and the multimode communication module is in data connection with the collection unit.
5. The management and control system according to claim 1, wherein the vehicle-mounted sensors include laser radar, millimeter wave radar, stereo camera, infrared camera, and ultrasonic range finder.
6. The management and control system according to claim 1, further comprising a vehicle location module in data connection with the multi-mode communication module for sending location information of a vehicle to the multi-mode communication module.
7. The management and control system according to claim 1, further comprising a display unit in data connection with the multi-mode communication module for displaying information received by the multi-mode communication module.
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| CN113625710A (en) * | 2021-07-22 | 2021-11-09 | 江苏天一机场专用设备股份有限公司 | Aviation 5G automatic driving system |
| CN113791619A (en) * | 2021-09-14 | 2021-12-14 | 北京航空航天大学 | Dispatching navigation system and method for airport automatic driving tractor |
| CN115440028A (en) * | 2022-07-22 | 2022-12-06 | 中智行(苏州)科技有限公司 | Traffic road scene classification method based on labeling |
| CN115861958A (en) * | 2023-02-23 | 2023-03-28 | 中科大路(青岛)科技有限公司 | Vehicle-mounted FOD identification method, electronic equipment and storage medium |
| CN116013074A (en) * | 2023-01-05 | 2023-04-25 | 北京清丰智行科技有限公司 | Intelligent travel system based on car Lu Yun cooperation in park |
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