CN112991795B - Underground intelligent highway system suitable for unmanned vehicle and scheduling method - Google Patents
Underground intelligent highway system suitable for unmanned vehicle and scheduling method Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/02—Reservations, e.g. for tickets, services or events
- G06Q10/025—Coordination of plural reservations, e.g. plural trip segments, transportation combined with accommodation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
- G06Q10/06311—Scheduling, planning or task assignment for a person or group
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/20—Administration of product repair or maintenance
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention discloses an underground intelligent road system suitable for unmanned vehicles and a scheduling method, wherein the underground intelligent road system comprises unmanned automobiles, underground intelligent roads, a power supply and positioning system, a monitoring and communication system and a control center.
Description
Technical Field
The invention relates to the field of traffic roads, in particular to an underground intelligent road system suitable for unmanned vehicles and a scheduling method.
Background
Unmanned technology, also known as autopilot technology, is a major trend in the development of intelligent traffic in the future. At present, unmanned automobile companies such as Google, Baidu, Volvo, Tesla and the like and other research institutions strive to increase the research intensity and the fund investment of unmanned automobiles. If the unmanned automobile makes further breakthrough in the aspect of safety, the development of passenger transport, logistics and the like can be greatly promoted.
The invention provides an underground intelligent highway system suitable for unmanned vehicles, which is fully combined with the current technical development results.
Disclosure of Invention
Aiming at the problems that people are greatly limited to travel under complicated and crowded traffic conditions and the travel time cost is high, the invention provides the underground intelligent highway system and the dispatching method which are suitable for the unmanned vehicles, and the underground intelligent highway system and the dispatching method can reduce the waiting time of people for travel and relieve the pressure of the existing public transport.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an underground intelligent road system suitable for unmanned vehicles comprises,
an unmanned vehicle;
the underground intelligent highway is provided with an electromagnetic induction coil;
the power supply and positioning system comprises a power supply unit and a positioning unit, and when a vehicle runs on an underground intelligent road surface, the power supply and positioning system controls an electromagnetic induction coil to charge in real time according to the electric quantity condition of an unmanned vehicle; meanwhile, when the unmanned automobile runs on the electromagnetic induction coil, the position, speed and direction information of the automobile is acquired in real time;
the monitoring and communication system is used for monitoring the traffic condition of the underground intelligent road and is connected with the control center and the unmanned automobile;
and the control center adopts a control strategy of automatic vehicle grouping and combines the traffic condition information of the monitoring and communication unit to carry out scheduling control on the unmanned vehicle.
Further, the monitoring and communication system comprises a movable cruising camera, a vehicle-road communication unit and a vehicle-vehicle communication unit.
Further, the underground intelligent road is closed.
Further, the control strategy adopting the automatic vehicle grouping specifically includes:
numbering each road section on the road network, judging the arrival time of all vehicles entering a certain road section pairwise at intervals, and if the arrival time meets the conditions, sending a grouping instruction to all vehicles on the road section through a vehicle-road communication unit to form a vehicle group;
when the vehicles in the vehicle group need to drive into other road sections at a certain intersection according to the planned route before departure, a group leaving instruction is sent to the vehicle group at the front road section of the intersection through the vehicle-road communication unit, and the vehicle group is separated from the appointed vehicle group through the vehicle-vehicle communication unit.
Further, the vehicle groups are controlled by the control center at intervals of speed and the vehicle heads.
Further, the numbering is performed on each road section on the road network, the arrival time of all vehicles entering a certain road section is determined at intervals, if the conditions are met, a grouping instruction is sent to all vehicles on the road section through the vehicle-road communication unit to form a vehicle group, and the method specifically comprises the following steps:
the number of the ith vehicle in the road network is C i The jth road section is numbered L j Suppose that two vehicles C corresponding to the planned route of the order itinerary i1 ，C i2 There is an overlapping travel path section L j+1 Whether the vehicle is organized or not is judged by calculating the time difference of the vehicle reaching the repeated road section, and the calculation formula is as follows:
wherein the content of the first and second substances,
is a section of road L j1 Group of vehicles (L) j1 ，C 1 )，...，(L j1 ，C i1 )，...，(L j1 ，C n ) Tail vehicle (L) j1 ，C n ) Arrival section L j+1 The time of (d);
is a section of road L j2 Vehicle set of (L) j2 ，C n+1 )，...，(L j2 ，C i2 )，...，(L j2 ，C 2n ) The first vehicle (L) j2 ，C n+1 ) Arrival section L j+1 The time of (d); t is a unit of 0 Is a groupable critical time interval.
If the judgment is successful, the intelligent dispatching system passes through the road section L j1 ，L j2 Road side sheetFirst vehicle (L) of two vehicle groups j1 ，C 1 )，(L j2 ，C n+1 ) Sending a grouping command on a section L j+1 Form a new vehicle group { (L) j+1 ，C 1 )，...，(L j+1 ，C i1 )，...，(L j+1 ，C n )，(L j+1 ，C n+1 )，...，(L j+1 ，C i2 )，...，(L j+1 ，C 2n )}。
Further, when the vehicles in the vehicle group need to drive into other road sections at a certain intersection according to the planned route before departure, a group leaving instruction is sent to the vehicle group at the road section before the intersection through the vehicle-road communication unit, and the vehicle group leaves the designated vehicle group through the vehicle-vehicle communication unit, specifically:
suppose a vehicle group { (L) j+1 ，C n+1 )，...，(L j+1 ，C i2 ) Get into another road section L according to the planned route of the order journey j3 The intelligent dispatching system passes through the road section L j+1 To the first vehicle (L) of the new vehicle group j+1 ，C 1 ) Sending a directional ungrouping instruction to form { (L) j+1 ，C 1 )，...，(L j+1 ，C i1 )，...，(L j+1 ，C n )}、{(L j+1 ，C n+1 )，...，(L j+1 ，C i2 ) A and { } j+1 ，C 2n ) Three vehicle groups, vehicle group { (L) j+1 ，C n+1 )，...，(L j+1 ，C i2 ) Driving-in section L j3 Update status information to { (L) j3 ，C n+1 )，...，(L j3 ，C i2 ) }, vehicle group { (L) j+1 ，C 1 )，...，(L j+1 ，C i1 )，...，(L j+1 ，C n ) A and { } j+1 ，C 2n ) And carrying out grouping judgment again before reaching the next new road section.
Further, the unmanned vehicle further comprises a vehicle detector.
Furthermore, underground wisdom highway still is equipped with the integration garage parking, and this integration garage parking has the vehicle self-checking function.
A dispatching method of an underground intelligent road system is characterized in that a user generates an order of a special car through a terminal, a control center plans an optimal path according to the current traffic flow situation of an order starting station and an order ending station and the underground intelligent road, and distributes ready unmanned vehicles to arrive at a starting station access passage by taking the shortest distance as an index according to the supply states of all integrated parking garages of the order starting station and the system, and the unmanned passenger vehicles can receive an instruction transmitted to a road side unit from the control center in real time in the running process of the underground intelligent road and carry out fleet grouping and separation with the same type of vehicles with repeated running road sections. After the payment is completed when the unmanned vehicle arrives at the destination, the control center sends a scheduling instruction according to the demand distribution of the remaining passenger orders and the supply and shortage state of the system integrated parking garage, and the unmanned vehicle receives the instruction to move back to the specific integrated parking garage to be on standby or move to the starting station of the next order.
The invention has the beneficial effects that:
(1) as a novel urban passenger and cargo transportation system, urban residents have one more high-efficiency selection with punctuality and comfort when facing negative experiences brought by the defects of the existing urban public transportation such as subway congestion, poor bus comfort, long departure interval and the like, so that the flexibility and accessibility of the urban public transportation are enhanced;
(2) the logistics enterprise utilizes the unmanned freight vehicle depending on the underground intelligent road system to carry out product distribution on the selection of the transportation tool at the logistics chain terminal, and the method is a high-quality selection for balancing cost and efficiency. Commodity transportation and raw material supply between urban individual retail households and the wholesale market are achieved, and the early-stage fixed cost can be lowered in a targeted manner by means of the improvement of traffic capacity through an unmanned underground intelligent highway system;
(3) comparing two sharing automobile business modes of network car booking and time-sharing leasing, and regarding cost, the time-sharing leasing is superior to the network car booking; the theory is convenient, and the network taxi booking is superior to time-sharing leasing. The invention can fully coordinate and share the contradiction between the travel cost and convenience, and adopts a brand-new business mode to fully play the advantages of lower cost of time-sharing lease and convenient and fast network car booking;
(4) the unmanned vehicle adopts electric energy to realize green travel, and has great friendliness to urban environment protection. By adopting the underground highway construction mode, the influence of external factors is greatly reduced, and the road traffic capacity and the driving safety are greatly improved.
Drawings
FIG. 1 is a schematic underground traffic plan view of the present invention;
FIG. 2 is a schematic underground traffic section of the present invention;
FIG. 3 is a schematic side view of underground traffic of the present invention;
fig. 4 is a schematic diagram of an autonomous fleet control strategy of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the embodiments of the present invention are not limited thereto.
Examples
As shown in fig. 1, an underground intelligent road system suitable for unmanned vehicles includes an unmanned vehicle, an underground intelligent road, a power supply and positioning system, a monitoring and communication system, and an intelligent dispatching system.
The unmanned vehicle, in particular to a shared electric unmanned vehicle, adopts a time-sharing leasing operation mode, takes electric energy as power and has complete autonomous driving capability. The shared electric unmanned automobile adopts a shared operation mode, is convenient for unified management and dispatching and has the property of public transportation; the shared electric unmanned automobile is driven by using electric power as power, has the characteristics of cleanness and environmental protection, is provided with wireless induction charging equipment, and supports real-time energy supply during driving; the shared electric unmanned automobile can automatically adjust the running speed according to the real-time traffic condition, is provided with an inertia guiding device and a collision avoidance sensing device which are economic and accurate, and fully ensures the running safety of the automobile.
The underground intelligent highway is specifically provided with a closed road section with an entrance and an exit, the exit and the entrance of the underground intelligent highway can be communicated with a subway entrance, an underground pedestrian passageway, an underground parking lot in a shopping mall or a school zone and the like respectively, the existing infrastructure resources are fully utilized, and a traffic network which is communicated with junction nodes such as a subway station and a bus station is formed, so that people can travel more conveniently.
All highway sections of secret wisdom highway all are laid out in the underground, do not receive outside complicated weather conditions's influence, and have avoided the conflict with ground pedestrian, motor vehicle and non-motor vehicle, can make road traffic ability and driving safety obtain great improvement.
The power supply and positioning system comprises a power supply unit and a positioning unit, as shown in fig. 2 and 3, in order to realize the functions of charging and positioning the unmanned automobile, an electromagnetic induction coil is further buried in the ground of the intelligent underground highway, when the automobile runs on the highway, the power supply unit monitors the electric quantity of the automobile in real time, starts the wireless induction charging equipment in real time, and controls the electromagnetic induction coil to charge the wireless induction charging equipment.
And when the intelligent dispatching system runs on the electromagnetic induction coil according to the automobile, the positioning unit knows the position, speed, direction and other information of the automobile in real time, and the road electromagnetic positioning and the inertial positioning on the automobile are mutually assisted, so that an accurate positioning effect can be achieved.
The monitoring and communication system comprises a movable cruising camera, a vehicle-road communication module and a vehicle-vehicle communication module which are arranged on the top of an underground highway, can acquire data in real time, establishes a data analysis model, automatically evaluates the current traffic situation and situation, automatically diagnoses whether the traffic problem exists or not and the severity, and sends out a scheduling instruction according to the situation; the movable cruising cameras can be distributed according to specific density, the number of the cameras needing to be installed can be reduced due to the mobility of the cameras, and effective real-time information can be obtained while the cost is reduced; the vehicle-road communication module and the vehicle-vehicle communication module can enable the vehicle to timely adjust the speed and correct the track according to the vehicle information and the road condition information in the same direction and opposite direction, so that the vehicle can efficiently and orderly pass through different road sections.
And the control center adopts a control strategy of automatic vehicle grouping and combines the traffic condition information of the monitoring and communication unit to carry out scheduling control on the unmanned vehicle.
As shown in FIG. 4, the control strategy of the automatic grouping, in particular to the embodiment, the control center receives the road section L 1 And L 4 Data of roadside unit: road section L 1 Vehicle set of (L) 1 ,C 1 ),(L 1 ,C 2 ),(L 1 ,C 3 ) Tail vehicle (L) in (1) 1 ,C 3 ) The planned route is used for reaching the next road section L according to the order route 2 For a time of
Road section L 4 Vehicle (L) 4 ,C 4 ) The time for the planned route to reach the next road section according to the order route is
Calculating out
Control center passing road section L 1 And a section L 4 Road side unit to vehicle group { (L) 1 ,C 1 ),(L 1 ,C 2 ),(L 1 ,C 3 ) The first vehicle (L) 1 ,C 1 ) And a vehicle (L) 4 ,C 4 ) Sending a grouping instruction to form a new vehicle group { (L) 2 ,C 1 ),(L 2 ,C 2 ),(L 2 ,C 3 )，(L 2 ,C 4 )}。
Control center receiving road section L 2 Data of the road side unit of (1): vehicle set { (L) 2 ,C 1 ),(L 2 ,C 2 ),(L 2 ,C 3 )，(L 2 ,C 4 ) Vehicles (L) in (C) 2 ,C 2 ) The next road segment of the planned route according to the order route is L 5 To the vehicle group { (L) 2 ,C 1 ),(L 2 ,C 2 ),(L 2 ,C 3 )，(L 2 ,C 4 ) The first vehicle (L) 2 ,C 1 ) Sending directional ungrouping command to form a vehicle (L) 2 ,C 1 )、Vehicle (L) 2 ,C 2 ) And vehicle group { (L) 2 ,C 3 )，(L 2 ,C 4 ) }, vehicle (L) 2 ,C 1 ) And vehicle group { (L) 2 ,C 3 )，(L 2 ,C 4 ) Get to the next road section L 3 Before, the repeated grouping judgment strategy forms a new train set again { (L) 3 ,C 1 ),(L 3 ,C 3 )，(L 3 ,C 4 ) }; vehicle (L) 2 ,C 2 ) Entry section L 5 The status data is updated to (L) 5 ,C 2 )。
And the system adopts a service mode combining respective advantages of network car booking and time-sharing leasing in operation. A user generates a special vehicle order through terminal equipment, a control center plans an optimal path according to the current traffic flow situation of an order starting station and an order ending station and an underground intelligent road, and distributes ready unmanned vehicles to arrive at a starting station access channel by taking the shortest distance as an index according to the supply states of all integrated parking garages of the order starting station and the system, and the unmanned passenger vehicles can receive an instruction transmitted to a roadside unit from the control center in real time and perform fleet grouping and separation with the same type of vehicles with repeated running road sections in the running process of the underground intelligent road. After the destination is reached and the payment is finished, the control center sends a scheduling command according to the demand distribution of the remaining passenger transport orders and the supply and shortage state of the system integrated parking garage, and the unmanned vehicle receives the command and drives back to the specific integrated parking garage to stand by or goes to the starting station of the next order. After the unmanned vehicle returns to the integrated parking, the unmanned vehicle can be subjected to vehicle damage assessment and in-vehicle environment detection and maintained.
The above-mentioned embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above-mentioned embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and they are intended to be included in the scope of the present invention.
Claims (9)
1. An underground intelligent road system suitable for unmanned vehicles is characterized by comprising,
an unmanned vehicle;
the underground intelligent highway is provided with an electromagnetic induction coil;
the power supply and positioning system comprises a power supply unit and a positioning unit, and when a vehicle runs on an underground intelligent road surface, the electromagnetic induction coil is controlled to charge in real time according to the electric quantity condition of an unmanned vehicle; meanwhile, when the unmanned automobile runs on the electromagnetic induction coil, the position, speed and direction information of the automobile is acquired in real time;
the monitoring and communication system is used for monitoring the traffic condition of the underground intelligent road and is connected with the control center and the unmanned automobile;
the control center adopts a control strategy of automatic vehicle grouping and combines the traffic condition information of the monitoring and communication system to carry out scheduling control on the unmanned vehicle;
the control strategy adopting the automatic vehicle grouping specifically comprises the following steps:
numbering each road section on the road network, judging the arrival time of all vehicles entering a certain road section at intervals, and if the arrival time meets the condition, sending a marshalling instruction to all vehicles on the road section through a vehicle-road communication unit to form a vehicle group;
when the vehicles in the vehicle group need to drive into other road sections at a certain intersection according to the planned route before departure, a group leaving instruction is sent to the vehicle group at the front road section of the intersection through the vehicle-road communication unit, and the vehicle group is separated from the appointed vehicle group through the vehicle-vehicle communication unit.
2. The underground intelligent road system according to claim 1, wherein the monitoring and communication system comprises a movable cruise camera, a vehicle-road communication unit and a vehicle-vehicle communication unit.
3. The underground intelligent road system as claimed in claim 1, wherein the underground intelligent road is closed.
4. The underground intelligent road system according to claim 1, wherein the vehicle groups are controlled by a control center for speed and headway.
5. The underground intelligent road system according to claim 1 or 4, wherein each road section on the road network is numbered, the arrival time of all vehicles entering a certain road section is determined at intervals, and if the conditions are met, a grouping instruction is sent to all vehicles in the road section through the vehicle-road communication unit to form a vehicle group, specifically:
the number of the ith vehicle in the road network is C i The j-th road section is numbered L j Suppose that two order routes correspond to vehicle C i1 ，C i2 There is an overlapping travel path section L j+1 Whether the vehicle is organized or not is judged by calculating the time difference of the vehicle reaching the repeated road section, and the calculation formula is as follows:
wherein, the first and the second end of the pipe are connected with each other,
is a section of road L j1 Vehicle set of (L) j1 ，C 1 )，...，(L j1 ，C i1 )，...，(L j1 ，C n ) The tail car (L) j1 ，C n ) Arrival section L j+1 The time of (d);
is a section of road L j2 Vehicle set of (L) j2 ，C n+1 )，...，(L j2 ，C i2 )，...，(L j2 ，C 2n ) The first vehicle (L) j2 ，C n+1 ) Arrival section L j+1 The time of (d); t is a unit of 0 Is a marshallable critical time interval;
if the judgment is successful, the control center passes through the road section L j1 ，L j2 To the first of two vehicle groups (L) j1 ，C 1 )，(L j2 ，C n+1 ) Sending a grouping command on a section L j+1 Forming a new vehicle group { (L) j+1 ，C 1 )，...，(L j+1 ，C i1 )，...，(L j+1 ，C n )，(L j+1 ，C n+1 )，...，(L j+1 ，C i2 )，...，(L j+1 ，C 2n )}。
6. The underground intelligent road system according to claim 1 or 4, wherein when the vehicles in the vehicle group need to enter other road sections at a certain intersection according to the planned route before departure, a group leaving command is sent to the vehicle group at the road section before the intersection through the vehicle-to-road communication unit, and the vehicle group leaves the designated vehicle group through the vehicle-to-vehicle communication unit, specifically:
suppose a vehicle group { (L) j+1 ，C n+1 )，...，(L j+1 ，C i2 ) Get into another road section L according to the planned route of the order journey j3 Control center passing road section L j+1 To the first vehicle (L) of the new vehicle group j+1 ，C 1 ) Sending a directional ungrouping instruction to form { (L) j+1 ，C 1 )，...，(L j+1 ，C i1 )，...，(L j+1 ，C n )}、{(L j+1 ，C n+1 )，...，(L j+1 ，C i2 ) A, and {. a., (L) j+1 ，C 2n ) Three vehicle groups, vehicle group { (L) j+1 ，C n+1 )，...，(L j+1 ，C i2 ) Driving-in section L j3 Update status information to { (L) j3 ，C n+1 )，...，(L j3 ，C i2 ) }, vehicle group { (L) j+1 ，C 1 )，...，(L j+1 ，C i1 )，...，(L j+1 ，C n ) A, and {. a., (L) j+1 ，C 2n ) Make grouping decision again before reaching the next new road section.
7. The underground intelligent highway system according to claim 1 wherein the unmanned vehicle further comprises a vehicle detector.
8. The underground intelligent road system according to claim 1, wherein the underground intelligent road is further provided with an integrated parking garage having a vehicle self-checking function.
9. A method for dispatching the intelligent underground road system as claimed in any one of claims 1-8, the method is characterized in that a user generates an order of a special vehicle through a terminal, a control center plans an optimal path according to the current situation of the traffic flow of an order starting station and a final station and an underground intelligent road, and allocates a ready unmanned vehicle to arrive at a starting station access channel by taking the shortest distance as an index according to the supply states of the order starting station and all integrated parking garages of the system, the unmanned vehicle receives an instruction transmitted to a roadside unit by the control center in real time in the driving process of the underground intelligent road and carries out vehicle fleet marshalling and separation with the same type of vehicles with repeated driving road sections, and after payment is finished when the unmanned vehicle arrives at a destination, and the control center sends a scheduling command according to the demand distribution of the remaining passenger transport orders and the supply and shortage state of the system integrated parking garage, and the unmanned automobile receives the command to drive back to the specific integrated parking garage to stand by or go to the starting station of the next order.
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