CN113212453B - Automatic driving vehicle fusion navigation decision method in internet environment - Google Patents
Automatic driving vehicle fusion navigation decision method in internet environment Download PDFInfo
- Publication number
- CN113212453B CN113212453B CN202110523274.9A CN202110523274A CN113212453B CN 113212453 B CN113212453 B CN 113212453B CN 202110523274 A CN202110523274 A CN 202110523274A CN 113212453 B CN113212453 B CN 113212453B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- module
- automatic driving
- decision
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
- B60W40/09—Driving style or behaviour
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
The invention discloses an automatic driving vehicle fusion navigation decision method in an internet environment, which has the technical scheme key points that: the method comprises the following steps: controlling a vehicle by using an automatic driving control system, wherein the automatic driving control system controls the vehicle to comprise a vehicle position positioning module, an external environment recognition module and a remote indication place condition recognition module, and the vehicle position positioning module is used for acquiring the position of the automatic driving vehicle on a map; the external environment identification module is used for identifying the external environment of the vehicle; the remote indication place condition identification module identifies the place condition on the target route based on the preset target route of the automatic driving vehicle; the automatic driving vehicle fusion navigation decision method under the internet environment can exchange information under the internet condition, decision failure and decision deviation are not easy to occur during decision, closed feedback can be formed during driving decision, driving accidents are not easy to cause, and the safety of automatic driving is improved.
Description
Technical Field
The invention belongs to the field of intelligent driving, and particularly relates to an automatic driving vehicle fusion navigation decision method in an internet environment.
Background
An automatic driving automobile is also called an unmanned automobile, a computer driving automobile or a wheeled mobile robot, and is an intelligent automobile which realizes unmanned driving through a computer system. Decades of history have existed in the 20 th century, and the 21 st century shows a trend toward practical use. The automatic driving automobile depends on the cooperation of artificial intelligence, visual calculation, radar, monitoring device and global positioning system, so that the computer can operate the motor vehicle automatically and safely without any active operation of human.
Reference may be made to chinese patent publication No. CN106408983B, which discloses a vehicle automatic driving system, comprising a communication system, a vehicle driving data acquisition system, a data analysis system and a vehicle control system; the vehicle driving data acquisition system is used for acquiring vehicle driving data in real time and transmitting the vehicle driving data to the data analysis system; the data analysis system acquires the navigation driving route of the vehicle by using the communication system, so that the position information of each intersection in the route and the road direction of each road are obtained, the current road direction is corrected according to the driving data of the vehicle, the corrected data is transmitted to the vehicle control system, and the vehicle control system corrects the driving direction of the vehicle by using the corrected road direction.
The automatic vehicle driving system has the advantages of high real-time performance, high reliability and capability of mutually correcting and checking different vehicle driving data acquired by the vehicle driving data acquisition system; however, it still has some disadvantages, such as: information exchange is not carried out under the internet condition, decision failure and decision deviation are easy to occur during decision making, and in addition, closed feedback cannot be formed during driving decision making, so that driving accidents are easy to cause.
Disclosure of Invention
The invention aims to provide an automatic driving vehicle fusion navigation decision method in an internet environment, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an automatic driving vehicle fusion navigation decision-making method under the networking environment comprises the following steps:
controlling a vehicle by using an automatic driving control system, wherein the automatic driving control system controls the vehicle to comprise a vehicle position positioning module, an external environment recognition module and a remote indication place condition recognition module, and the vehicle position positioning module is used for acquiring the position of the automatic driving vehicle on a map; the external environment identification module is used for identifying the external environment of the vehicle; the remote indication place condition identification module identifies the place condition on the target route based on the preset target route of the automatic driving vehicle;
a central decision-making system is used for making a driving decision, the central decision-making system comprises an environment sensing system and an intelligent decision-making system, the environment sensing system is connected with the intelligent decision-making system, the intelligent decision-making system is connected with an automatic driving system gateway, and the intelligent decision-making system is connected with a human-computer interaction system and the automatic driving system gateway;
sensing the vehicle condition by utilizing an environment sensing system, wherein the environment sensing system comprises an environment sensing unit, a planning control unit and a fault diagnosis unit; the environment sensing unit is used for detecting the state information of the vehicle in real time; the planning control unit is used for planning a vehicle running route and a vehicle running state in real time according to task information issued by an upper vehicle dispatching system and vehicle internal information collected by the environment sensing unit; the fault diagnosis unit is used for detecting the working state of the automatic driving system of the vehicle in real time;
utilizing a map navigation system for providing navigation for a vehicle while the vehicle is traveling;
the method comprises the following steps that a communication module is adopted to carry out vehicle communication control in the driving process, the communication module comprises a wireless network unit, and the wireless network unit is used for realizing data interaction between an unmanned vehicle automatic driving system and an upper vehicle dispatching system;
and in the vehicle driving process, an intelligent decision system is utilized for decision planning, the intelligent decision system carries out secondary planning on a local advancing route in real time according to a driving situation map, and the execution system receives and executes an instruction from the intelligent decision system for full-automatic driving.
Preferably, the external environment recognition module includes an image acquisition module, an image processing module, a comparison module, a matching module and a generation module, the image acquisition module is configured to acquire a road static target and a road dynamic target around the vehicle in real time, the image processing module is configured to recognize the road static target and the road dynamic target according to the acquired environment around the host vehicle, the comparison module is configured to compare the recognized road static target with map information in the map navigation system to determine a target position, the matching module is configured to determine whether a vehicle position is correct, and the generation module is configured to fuse the recognized road static target and the road dynamic target and store the target.
Preferably, the human-computer interaction system comprises an information presetting module for storing preset information related to the system; the man-machine interaction system comprises a judging module for judging whether the driving path of the vehicle is correct or not; the man-machine interaction system is used for confirming the current man-machine interaction level according to preset information after the man-machine interaction system is activated to obtain vehicle related information; the human-computer interaction system is used for enabling the vehicle to automatically react and enabling the vehicle to react according to the selected human-computer interaction level and the vehicle related information.
Preferably, the automatic driving system gateway comprises a central gateway, and the central gateway is connected with both a laser radar and a camera on the vehicle, and is used for receiving radar signals measured by the laser radar and image signals shot by the camera and transmitting the radar signals and the image signals to the automatic driving area controller; the automatic driving area controller realizes control of the vehicle based on radar signals of the laser radar, image signals of the camera, radar signals of the sound wave radar and navigation signals of the combined inertial navigation system.
Preferably, the device also comprises a driving behavior detection module, wherein the driving behavior detection module comprises an automatic driving start-stop unit and a steering wheel behavior switching unit; the automatic driving starting and stopping unit is used for automatically or manually switching an automatic driving mode and a non-automatic driving mode of the vehicle; the steering wheel behavior switching unit is used for receiving and processing rotation data and contact monitoring data of a vehicle steering wheel and automatically switching to an automatic driving state or a non-automatic driving state according to the rotation data and the contact monitoring data.
Preferably, the map navigation system comprises a plurality of subsystems and a map data proxy service system, each subsystem is used for being connected with a plurality of inquiry terminals, the plurality of subsystems are in communication connection with the map data proxy service system, and the map data proxy service system is in communication connection with a map data system of a map service provider; the map data proxy service system also comprises a map position reference server storing local navigation data, and the subsystems are in communication connection with the map position reference server.
Preferably, the vehicle position locating module includes a GNSS differential locating module, a UWB locating module and a location control module, the GNSS differential locating module is configured to locate a vehicle position in an open area away from a terminal building, the UWB locating module is configured to locate a vehicle position in an area close to the terminal building or in an area inside the terminal building, the location control module is configured to control the GNSS differential locating module and the UWB locating module, and the location control module is connected to the GNSS differential locating module and the UWB locating module, respectively.
Preferably, the fault diagnosis module reads a fault code of the vehicle through a standard interface provided by the OBD-II and transmits the fault code to the host unit; the host unit is responsible for navigating and analyzing the fault codes, and the vehicle fault diagnosis unit reads the vehicle fault codes and comprises the following two conditions: one is to read the vehicle fault code regularly; the other is that the vehicle fault code is read at the request of the host unit, when the vehicle fault diagnosis unit reads the vehicle fault code regularly, whether the read fault code contains a serious fault code is firstly judged, if so, the read fault code is immediately transmitted to the host unit, otherwise, the fault code is temporarily stored and the vehicle fault code is continuously read regularly.
Preferably, the monitoring system further comprises a pressure parameter monitoring unit, wherein the pressure parameter monitoring unit comprises a preset steering wheel pressure threshold, a preset vehicle front-end collision force threshold and a preset safety belt acceleration threshold; the pressure parameter monitoring unit further comprises a pressure sensor arranged at the steering wheel, an impact force sensor arranged at the front end of the vehicle and an acceleration sensor arranged at the seat belt.
Compared with the prior art, the invention has the beneficial effects that:
the automatic driving vehicle fusion navigation decision method in the internet environment can automatically acquire the position of the automatic driving vehicle on a map, identify the external environment of the vehicle and identify the position condition on a target route by controlling the vehicle by using an automatic driving control system; a central decision-making system is used for making a driving decision, a man-machine interaction system is used for realizing man-machine interaction, and an automatic driving system gateway and a communication module are used for realizing data interaction between an automatic unmanned vehicle driving system and an upper vehicle dispatching system; in addition, the environment sensing system is used for sensing the vehicle condition, so that the vehicle running route and the running state can be planned in real time, and the working state of the automatic vehicle driving system can be detected in real time; the map navigation system can be used for providing navigation for the vehicle when the vehicle travels; receiving and executing the instruction from the intelligent decision system by using an execution system to carry out full-automatic driving; therefore, the automatic driving vehicle fusion navigation decision method under the internet environment can carry out information exchange under the internet condition, decision failure and decision deviation are not easy to occur in decision making, in addition, closed feedback can be formed in driving decision making, driving accidents are not easy to cause, and the safety of automatic driving is improved.
Drawings
Fig. 1 is a schematic view of a work flow of an automated driving vehicle fusion navigation decision method in an internet environment.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
As shown in fig. 1, an automated driving vehicle fusion navigation decision method in an internet environment is provided, in which an automated driving control system controls a vehicle to include a vehicle position locating module, an external environment recognition module, and a remote indication location condition recognition module, and the vehicle position locating module is used to obtain a position of the automated driving vehicle on a map; the external environment identification module is used for identifying the external environment of the vehicle; the remote indication place condition identification module identifies the place condition on the target route based on the preset target route of the automatic driving vehicle;
a central decision-making system is used for making a driving decision, the central decision-making system comprises an environment sensing system and an intelligent decision-making system, the environment sensing system is connected with the intelligent decision-making system, the intelligent decision-making system is connected with an automatic driving system gateway, and the intelligent decision-making system is connected with a human-computer interaction system and the automatic driving system gateway;
sensing the vehicle condition by utilizing an environment sensing system, wherein the environment sensing system comprises an environment sensing unit, a planning control unit and a fault diagnosis unit; the environment sensing unit is used for detecting the self state information of the vehicle in real time; the planning control unit is used for planning a vehicle running route and a vehicle running state in real time according to task information issued by an upper vehicle dispatching system and vehicle internal information collected by the environment sensing unit; the fault diagnosis unit is used for detecting the working state of the automatic vehicle driving system in real time;
utilizing a map navigation system for providing navigation for a vehicle while the vehicle is traveling;
the communication module is used for controlling vehicle communication in the driving process and comprises a wireless network unit, and the wireless network unit is used for realizing data interaction between an unmanned vehicle automatic driving system and an upper vehicle dispatching system;
and in the driving process of the vehicle, an intelligent decision system is used for decision planning, the intelligent decision system carries out secondary planning on a local advancing route in real time according to a driving situation map, and an execution system receives and executes an instruction from the intelligent decision system to carry out full-automatic driving.
The external environment recognition module comprises an image acquisition module, an image processing module, a comparison module, a matching module and a generation module, wherein the image acquisition module is used for acquiring road static targets and road dynamic targets around the vehicle in real time, the image processing module is used for recognizing the road static targets and the road dynamic targets according to the acquired environment around the host vehicle, the comparison module is used for comparing the recognized road static targets with map information in a map navigation system to determine target positions, the matching module is used for judging whether the vehicle positions are correct, and the generation module is used for fusing the recognized road static targets and the road dynamic targets and storing the target positions.
The human-computer interaction system comprises an information presetting module for storing preset information related to the system; the man-machine interaction system comprises a judging module for judging whether the driving path of the vehicle is correct or not; the man-machine interaction system is used for confirming the current man-machine interaction level according to preset information after the man-machine interaction system is activated to obtain vehicle related information; and the human-computer interaction system is used for enabling the vehicle to automatically react and enabling the vehicle to react according to the selected human-computer interaction level and the vehicle related information.
The automatic driving system gateway comprises a central gateway, wherein the central gateway is connected with a laser radar and a camera on a vehicle, and is used for receiving radar signals measured by the laser radar and image signals shot by the camera and transmitting the radar signals and the image signals to the automatic driving area controller; the automatic driving area controller realizes the control of the vehicle based on the radar signal of the laser radar, the image signal of the camera, the radar signal of the sound wave radar and the navigation signal of the combined inertial navigation system.
The driving behavior detection module comprises an automatic driving start-stop unit and a steering wheel behavior switching unit; the automatic driving starting and stopping unit is used for automatically or manually switching an automatic driving mode and a non-automatic driving mode of the vehicle; the steering wheel behavior switching unit is used for receiving and processing rotation data and contact monitoring data of a vehicle steering wheel and automatically switching to an automatic driving state or a non-automatic driving state according to the rotation data and the contact monitoring data.
The map navigation system comprises a plurality of subsystems and a map data proxy service system, wherein each subsystem is used for being connected with a plurality of inquiry terminals, the subsystems are in communication connection with the map data proxy service system, and the map data proxy service system is in communication connection with a map data system of a map service provider; the map data proxy service system also comprises a map position reference server storing local navigation data, and a plurality of subsystems are in communication connection with the map position reference server.
The vehicle position positioning module comprises a GNSS differential positioning module, a UWB positioning module and a positioning control module, the GNSS differential positioning module is used for positioning the vehicle position in an open area far away from the terminal building, the UWB positioning module is used for positioning the vehicle position in an area close to the terminal building or in an area inside the terminal building, the positioning control module is used for controlling the GNSS differential positioning module and the UWB positioning module, and the positioning control module is respectively connected with the GNSS differential positioning module and the UWB positioning module.
The fault diagnosis module reads a fault code of the vehicle through a standard interface provided by the OBD-II and transmits the fault code to the host unit; the main machine unit is responsible for navigation and fault code analysis, and the vehicle fault diagnosis unit reads the vehicle fault code and comprises the following two conditions: one is to read the vehicle fault code regularly; the other is that the vehicle fault code is read at the request of the host unit, when the vehicle fault diagnosis unit reads the vehicle fault code regularly, whether the read fault code contains a serious fault code is firstly judged, if so, the read fault code is immediately transmitted to the host unit, otherwise, the fault code is temporarily stored and the vehicle fault code is continuously read regularly.
The safety monitoring system comprises a pressure parameter monitoring unit, a safety monitoring system and a safety monitoring system, wherein the pressure parameter monitoring unit comprises a steering wheel bearing pressure preset threshold, a vehicle front end collision force preset threshold and a safety belt acceleration preset threshold; the pressure parameter monitoring unit further comprises a pressure sensor arranged at the steering wheel, an impact force sensor arranged at the front end of the vehicle and an acceleration sensor arranged at the seat belt.
The automatic driving vehicle fusion navigation decision method under the local networking environment can automatically acquire the position of the automatic driving vehicle on a map, identify the external environment of the vehicle and identify the position condition on a target route by controlling the vehicle by using an automatic driving control system; a central decision-making system is used for making a driving decision, a man-machine interaction system is used for realizing man-machine interaction, and an automatic driving system gateway and a communication module are used for realizing data interaction between an automatic unmanned vehicle driving system and an upper vehicle dispatching system; in addition, the environment sensing system is used for sensing the vehicle condition, so that the vehicle running route and the running state can be planned in real time, and the working state of the automatic vehicle driving system can be detected in real time; the map navigation system can be used for providing navigation for the vehicle when the vehicle travels; receiving and executing the instruction from the intelligent decision system by using an execution system to carry out full-automatic driving; therefore, the automatic driving vehicle fusion navigation decision method under the internet environment can carry out information exchange under the internet condition, decision failure and decision deviation are not easy to occur in decision making, in addition, closed feedback can be formed in driving decision making, driving accidents are not easy to cause, and the safety of automatic driving is improved.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. An automatic driving vehicle fusion navigation decision-making method under the networking environment is characterized in that: the method comprises the following steps:
controlling a vehicle by using an automatic driving control system, wherein the automatic driving control system controls the vehicle to comprise a vehicle position positioning module, an external environment recognition module and a remote indication place condition recognition module, and the vehicle position positioning module is used for acquiring the position of the automatic driving vehicle on a map; the external environment identification module is used for identifying the external environment of the vehicle; the remote indication place condition identification module identifies the place condition on the target route based on the preset target route of the automatic driving vehicle;
a central decision-making system is used for making a driving decision, the central decision-making system comprises an environment sensing system and an intelligent decision-making system, the environment sensing system is connected with the intelligent decision-making system, the intelligent decision-making system is connected with an automatic driving system gateway, and the intelligent decision-making system is connected with a human-computer interaction system and the automatic driving system gateway;
sensing the vehicle condition by utilizing an environment sensing system, wherein the environment sensing system comprises an environment sensing unit, a planning control unit and a fault diagnosis unit; the environment sensing unit is used for detecting the state information of the vehicle in real time; the planning control unit is used for planning a vehicle running route and a vehicle running state in real time according to task information issued by an upper vehicle dispatching system and vehicle internal information collected by the environment sensing unit; the fault diagnosis unit is used for detecting the working state of the automatic driving system of the vehicle in real time;
utilizing a map navigation system for providing navigation for a vehicle while the vehicle is traveling;
the method comprises the following steps that a communication module is adopted to carry out vehicle communication control in the driving process, the communication module comprises a wireless network unit, and the wireless network unit is used for realizing data interaction between an unmanned vehicle automatic driving system and an upper vehicle dispatching system;
and in the driving process of the vehicle, an intelligent decision system is utilized for decision planning, the intelligent decision system carries out secondary planning on a local advancing route in real time according to a driving situation map, and an execution system receives and executes an instruction from the intelligent decision system for full-automatic driving.
2. The method for automated vehicle fusion navigation decision making in an online environment according to claim 1, wherein: the external environment recognition module comprises an image acquisition module, an image processing module, a comparison module, a matching module and a generation module, wherein the image acquisition module is used for acquiring road static targets and road dynamic targets around the vehicle in real time, the image processing module is used for recognizing the road static targets and the road dynamic targets according to the acquired environment around the host vehicle, the comparison module is used for comparing the recognized road static targets with map information in a map navigation system to determine target positions, the matching module is used for judging whether the vehicle positions are correct, and the generation module is used for fusing the recognized road static targets and the recognized road dynamic targets and storing the road static targets and the road dynamic targets.
3. The method for automated vehicle fusion navigation decision making in an online environment according to claim 1, wherein: the man-machine interaction system comprises an information presetting module for storing preset information related to the system; the man-machine interaction system comprises a judging module for judging whether the driving path of the vehicle is correct or not; the man-machine interaction system is used for confirming the current man-machine interaction level according to preset information after the man-machine interaction system is activated to obtain vehicle related information; the human-computer interaction system is used for enabling the vehicle to automatically react and enabling the vehicle to react according to the selected human-computer interaction level and the vehicle related information.
4. The method for automated vehicle fusion navigation decision making in an online environment according to claim 1, wherein: the automatic driving system gateway comprises a central gateway, and the central gateway is connected with a laser radar and a camera on a vehicle, is used for receiving radar signals measured by the laser radar and image signals shot by the camera, and transmits the radar signals and the image signals to the automatic driving area controller; the automatic driving area controller realizes control of the vehicle based on radar signals of the laser radar, image signals of the camera, radar signals of the sound wave radar and navigation signals of the combined inertial navigation system.
5. The method for automated vehicle fusion navigation decision making in an online environment according to claim 1, wherein: the driving behavior detection module comprises an automatic driving start-stop unit and a steering wheel behavior switching unit; the automatic driving starting and stopping unit is used for automatically or manually switching an automatic driving mode and a non-automatic driving mode of the vehicle; the steering wheel behavior switching unit is used for receiving and processing rotation data and contact monitoring data of a vehicle steering wheel and automatically switching to an automatic driving state or a non-automatic driving state according to the rotation data and the contact monitoring data.
6. The method for automated vehicle fusion navigation decision making in an online environment according to claim 1, wherein: the map navigation system comprises a plurality of subsystems and a map data proxy service system, wherein each subsystem is used for being connected with a plurality of inquiry terminals, the subsystems are in communication connection with the map data proxy service system, and the map data proxy service system is in communication connection with a map data system of a map service provider; the map data proxy service system also comprises a map position reference server storing local navigation data, and the subsystems are in communication connection with the map position reference server.
7. The method for automated vehicle fusion navigation decision making in an online environment according to claim 1, wherein: the vehicle position positioning module comprises a GNSS differential positioning module, a UWB positioning module and a positioning control module, the GNSS differential positioning module is used for positioning the vehicle position in an open-air open area far away from a terminal building, the UWB positioning module is used for being close to the area of the terminal building or positioning the vehicle position in the area inside the terminal building, the positioning control module is used for controlling the GNSS differential positioning module and the UWB positioning module, and the positioning control module is respectively connected with the GNSS differential positioning module and the UWB positioning module.
8. The method for automated vehicle fusion navigation decision making in an online environment according to claim 1, wherein: the fault diagnosis module reads a fault code of the vehicle through a standard interface provided by the OBD-II and transmits the fault code to the host unit; the host unit is responsible for navigating and analyzing the fault codes, and the vehicle fault diagnosis unit reads the vehicle fault codes and comprises the following two conditions: one is to read the vehicle fault code regularly; the other is that the vehicle fault code is read at the request of the host unit, when the vehicle fault diagnosis unit reads the vehicle fault code regularly, whether the read fault code contains a serious fault code is firstly judged, if so, the read fault code is immediately transmitted to the host unit, otherwise, the fault code is temporarily stored and the vehicle fault code is continuously read regularly.
9. The method for automated vehicle fusion navigation decision making in an online environment according to claim 1, wherein: the monitoring system comprises a pressure parameter monitoring unit, wherein the pressure parameter monitoring unit comprises a steering wheel bearing pressure preset threshold, a vehicle front end collision force preset threshold and a safety belt acceleration preset threshold; the pressure parameter monitoring unit further comprises a pressure sensor arranged at the steering wheel, an impact force sensor arranged at the front end of the vehicle and an acceleration sensor arranged at the seat belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110523274.9A CN113212453B (en) | 2021-05-13 | 2021-05-13 | Automatic driving vehicle fusion navigation decision method in internet environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110523274.9A CN113212453B (en) | 2021-05-13 | 2021-05-13 | Automatic driving vehicle fusion navigation decision method in internet environment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113212453A CN113212453A (en) | 2021-08-06 |
| CN113212453B true CN113212453B (en) | 2022-04-29 |
Family
ID=77095384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110523274.9A Active CN113212453B (en) | 2021-05-13 | 2021-05-13 | Automatic driving vehicle fusion navigation decision method in internet environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113212453B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635905B (en) * | 2021-08-24 | 2023-04-18 | 桂林航天工业学院 | Real-time risk prompting system and device for driving behavior insurance |
| CN113954866A (en) * | 2021-09-28 | 2022-01-21 | 英博超算(南京)科技有限公司 | Method for realizing automatic driving under condition of no lane line |
| CN113997952A (en) * | 2021-11-15 | 2022-02-01 | 长春一汽富晟集团有限公司 | Automobile automatic driving domain control system |
| CN114415688A (en) * | 2022-01-24 | 2022-04-29 | 广州佩誉电子科技有限公司 | Automatic driving remote control system for automobile |
| CN114460971B (en) * | 2022-04-07 | 2022-07-12 | 山东欧龙电子科技有限公司 | Interactive platform integrating aircraft control and platform data identification processing method |
| CN116016578B (en) * | 2022-11-22 | 2024-04-16 | 中国第一汽车股份有限公司 | Intelligent voice guiding method based on equipment state and user behavior |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104697533A (en) * | 2015-03-30 | 2015-06-10 | 小米科技有限责任公司 | Navigation method and device |
| CN106774291B (en) * | 2016-12-26 | 2020-07-31 | 清华大学苏州汽车研究院（吴江） | Electric control system for automatically driving electric automobile |
| CA3026666C (en) * | 2017-06-30 | 2021-10-12 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for switching driving mode of vehicle |
| CN108482366A (en) * | 2018-03-23 | 2018-09-04 | 重庆长安汽车股份有限公司 | Valet parking system and method based on Vehicular automatic driving |
| CN108445885A (en) * | 2018-04-20 | 2018-08-24 | 鹤山东风新能源科技有限公司 | A kind of automated driving system and its control method based on pure electric vehicle logistic car |
-
2021
- 2021-05-13 CN CN202110523274.9A patent/CN113212453B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113212453A (en) | 2021-08-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113212453B (en) | Automatic driving vehicle fusion navigation decision method in internet environment | |
| CN106354141B (en) | A kind of Ride Control System and method | |
| CN107003673B (en) | Method and device for operating a plurality of vehicles | |
| US20170364083A1 (en) | Local trajectory planning method and apparatus for smart vehicles | |
| US11427213B2 (en) | Method for operating an autonomous vehicle, and autonomous vehicle | |
| CN108027615B (en) | Method and device for operating a vehicle | |
| CN114270143A (en) | Lateral guidance of a vehicle by means of environmental data detected by other vehicles | |
| CN108958237A (en) | For unpiloted mobile terminal, vehicle and Unmanned Systems | |
| US10417905B2 (en) | Method for providing result data that depend on a motor vehicle environment | |
| CN110712647A (en) | Remote vehicle control system | |
| WO2019180765A1 (en) | Autonomous traveling work machine | |
| CN113734201B (en) | Vehicle redundancy control method, device, electronic equipment and medium | |
| CN113610280A (en) | Obstacle-detouring planning system and method for unmanned transportation of surface mine | |
| KR102586331B1 (en) | System and method for checking lane keeping performance | |
| US20200361330A1 (en) | Method for establishing a communication connection between a stationary electric charging station and a motor vehicle, controller and charging system | |
| CN114265303A (en) | Automatic driving control system and vehicle | |
| CN115237121A (en) | Scene reconstruction-based remote calling method and system and readable storage medium | |
| CN114489004A (en) | Unmanned driving test method and system | |
| CN116481541A (en) | Vehicle autonomous return control method, device and medium without satellite navigation | |
| CN113899307B (en) | Processing device, processing method, and storage medium | |
| CN115343729A (en) | Real-time GPS signal anti-spoofing detection alarm method, vehicle-mounted TBOX and system | |
| CN114625164A (en) | Unmanned aerial vehicle intelligent return method based on unmanned aerial vehicle mother vehicle | |
| CN116324338A (en) | Determining a starting position of a vehicle for positioning | |
| CN114475634A (en) | Method for controlling a vehicle along a route section by means of a controller and storage medium | |
| CN112612276A (en) | Steering wheel control system, method and device, computer equipment and AGV |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |