CN113269961A - Freight vehicle and road cooperative transportation system and method - Google Patents
Freight vehicle and road cooperative transportation system and method Download PDFInfo
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- CN113269961A CN113269961A CN202110533207.5A CN202110533207A CN113269961A CN 113269961 A CN113269961 A CN 113269961A CN 202110533207 A CN202110533207 A CN 202110533207A CN 113269961 A CN113269961 A CN 113269961A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
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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
Abstract
The invention relates to a freight vehicle and vehicle-road cooperative transportation system and a freight vehicle and vehicle-road cooperative transportation method.A freight vehicle divides events into a primary event, a secondary event and a tertiary event according to received event information, wherein the primary event refers to the event that the current running state of the freight vehicle needs to be changed immediately, the secondary event refers to the event that the current running state of the freight vehicle needs to be changed within N seconds, and the tertiary event refers to the event that the current running state of the freight vehicle does not need to be changed within N seconds. According to the invention, the event grading processing is carried out according to the information received by the vehicle, so that the driving safety is effectively improved.
Description
Technical Field
The invention relates to a freight vehicle and road cooperative transportation system and method.
Background
The vehicle-road cooperative system adopts the advanced wireless communication, new generation internet and other technologies, implements vehicle-vehicle and vehicle-road dynamic real-time information interaction in all directions, develops vehicle active safety control and road cooperative management on the basis of full-time dynamic traffic information acquisition and fusion, fully realizes effective cooperation of human and vehicle roads, ensures traffic safety, improves traffic efficiency, and thus forms a safe, efficient and environment-friendly road traffic system.
With the development of a vehicle-road cooperative system, more and more information is received by vehicles, in the existing vehicle-road cooperative system, the received information is not classified or classified by the vehicles, all information needs to be processed by the vehicles at the same time, information congestion is easily caused, and information related to safety cannot be processed in time, so that the driving safety of the vehicles is influenced.
Disclosure of Invention
The invention aims to provide a freight vehicle and vehicle-road cooperative transportation system and method, which can carry out event grading processing according to information received by a vehicle and effectively improve the driving safety.
Based on the same inventive concept, the invention has two independent technical schemes:
1. a freight vehicle ride cooperative transportation system, comprising:
the freight vehicle is in communication connection with the road side equipment, the road collaborative management cloud platform and the vehicle transportation management cloud platform, obtains event information transmitted by the road side equipment, the road collaborative management cloud platform and the vehicle transportation management cloud platform, and classifies events according to the event information to perform decision planning;
the road side equipment is used for detecting road traffic conditions and is in communication connection with a freight vehicle, a vehicle road cooperative management cloud platform and/or a vehicle transportation management cloud platform;
the vehicle-road cooperative management cloud platform is used for calculating and storing vehicle-road cooperative management information and is in communication connection with freight vehicles, road side equipment and/or vehicle transportation management cloud platforms;
the vehicle transportation management cloud platform is used for calculating and storing vehicle transportation management information and is in communication connection with freight vehicles and/or road side equipment and/or a vehicle road cooperative management cloud platform.
Further, the cargo vehicle includes:
a vehicle state module for detecting a current operating state of a vehicle,
a vehicle communication module for the communication connection of the vehicle with the road side equipment, the vehicle road cooperative management cloud platform and the vehicle transportation management cloud platform,
the sensing module is used for detecting the current traffic environment of the vehicle;
the decision planning module is used for grading the events according to the event information, carrying out planning decision and planning a path according to the current traffic environment;
an execution module to execute control of a vehicle.
Further, the vehicle-road cooperative management information comprises road traffic condition data, road condition data, a road maintenance plan and meteorological conditions; the vehicle transportation management information comprises transportation path planning information, transportation path change information and transportation fleet management commands.
The freight vehicle management system further comprises a driver or a safety driver terminal, wherein the driver or the safety driver terminal is used for monitoring the running state of the freight vehicle and remotely controlling the freight vehicle, and the driver or the safety driver terminal is in communication connection with the freight vehicle, the vehicle transportation management cloud platform and/or the vehicle road cooperative management cloud platform.
The pedestrian equipment terminal is used for sending position information to the freight vehicle and receiving collision early warning information of the freight vehicle, and is in communication connection with the freight vehicle.
Further, the cargo vehicle may be in an autonomous driving mode, an assisted driving mode, or a manual driving mode; the freight vehicle comprises a plurality of freight vehicles, and communication connection is formed between the freight vehicles.
2. The transportation method of the freight vehicle-road cooperative transportation system is characterized in that the freight vehicle divides events into primary events, secondary events and tertiary events according to received event information,
the primary event is an event requiring immediate change of the current operating state of the freight vehicle,
the secondary event is an event that requires the current operating state of the freight vehicle to be changed within N seconds,
the third-level event is an event that the current running state of the freight vehicle does not need to be changed within N seconds, wherein the N seconds are set numerical values, and N is greater than 0.
Further, when the freight vehicle judges that the event is a primary event based on the received event information, the method includes the steps of,
step 1.1: the freight vehicle is subjected to deceleration control through an execution module;
step 1.2: the method comprises the following steps that under an automatic driving mode/an auxiliary driving mode of a freight vehicle, the current traffic environment of the vehicle is verified through a sensing module; if the current traffic environment meets the requirement of executing the instruction, entering the next step;
step 1.3: and sending an execution instruction corresponding to the primary event to an execution module to change the current running state of the freight vehicle.
Further, when the freight vehicle judges that the second-level event is a secondary event based on the received event information, the method includes the steps of,
step 2.1: the method comprises the steps that the speed of a freight vehicle is restrained through an execution module, wherein the speed restraint means that the vehicle cannot be accelerated;
step 2.2: under the automatic driving mode/the auxiliary driving mode, the current traffic environment of the vehicle is verified through a sensing module; if the current traffic environment meets the requirement of executing the instruction, entering the next step;
step 2.3: and sending an execution instruction corresponding to the secondary event to an execution module, and changing the current running state of the freight vehicle.
Further, when the freight vehicle judges that the event is a tertiary event according to the received event information, event reminding is carried out, and the event is recorded.
The invention has the following beneficial effects:
the freight vehicle acquires event information transmitted by road side equipment, a vehicle road cooperative management cloud platform and a vehicle transportation management cloud platform, and classifies the events according to the event information to perform decision planning; the primary event immediately changes the current running state of the freight vehicle, the secondary event changes the current running state of the freight vehicle within N seconds, the tertiary event maintains the current running state of the freight vehicle within N seconds, and the vehicle performs hierarchical processing on event information, so that the problem that safety-related information cannot be processed in time due to congestion of information to be processed is avoided, and the driving safety is effectively improved.
The vehicle-road cooperative transportation system comprises road-side equipment, a vehicle-road cooperative management cloud platform, a vehicle transportation management cloud platform and a driver or safety terminal, wherein freight vehicles can fully obtain various required safety information through all devices of the system, the road-side equipment provides road traffic condition information, the vehicle-road cooperative management cloud platform provides vehicle-road cooperative management information, and the vehicle transportation management cloud platform provides vehicle transportation management information, so that the classification accuracy of the freight vehicles on events is ensured, and the driving safety is further effectively ensured.
Drawings
FIG. 1 is a schematic structural view of a freight vehicle road cooperative transportation system of the present invention;
FIG. 2 is a schematic diagram of the operation of the freight vehicle ride-coordinated transportation system of the present invention;
FIG. 3 is a flow chart of the method for the coordinated transportation of the freight vehicles by the train and the road.
Detailed Description
The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that functional, methodological, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.
The first embodiment is as follows:
freight vehicle and road cooperative transportation system
As shown in fig. 1, the freight vehicle road cooperative transportation system includes:
the freight vehicle 1 and the freight vehicle 1 are in communication connection with the road side equipment 4, the vehicle road cooperative management cloud platform 5 and the vehicle transportation management cloud platform 6, the event information transmitted by the road side equipment 4, the vehicle road cooperative management cloud platform 5 and the vehicle transportation management cloud platform 6 is obtained, and the events are classified according to the event information to carry out decision planning. In the embodiment, the communication connection relationship between the freight vehicle 1 and the other devices of the system is described by taking the freight vehicle 1 as an example, and the communication connection relationship between the freight vehicle 1 and the other devices of the system is described.
The road side equipment 4 is used for detecting road traffic conditions, and the road side equipment 4 is in communication connection with the freight vehicle 1, the vehicle road cooperative management cloud platform 5 and/or the vehicle transportation management cloud platform 6.
The vehicle-road cooperative management cloud platform 5 is used for calculating and storing vehicle-road cooperative management information, and the vehicle-road cooperative management cloud platform 5 is in communication connection with the freight vehicle 1, the road side equipment 4 and/or the vehicle transportation management cloud platform 6. The vehicle-road cooperative management information comprises event information such as road traffic condition data, road condition data, a road maintenance plan, meteorological conditions and the like.
The vehicle transportation management cloud platform 6 is used for calculating and storing vehicle transportation management information, and the vehicle transportation management cloud platform 6 is in communication connection with the freight vehicle 1 and/or the road side equipment 4 and/or the vehicle road collaborative management cloud platform 5. The vehicle transportation management information comprises event information such as transportation path planning information, transportation path change information, transportation fleet management commands and the like.
The driver or security personnel terminal 7 is used for monitoring the running state of the freight vehicle 1 and remotely controlling the freight vehicle 1, and the driver or security personnel terminal 7 is in communication connection with the freight vehicle 1, the vehicle transportation management cloud platform 5 and/or the vehicle road cooperative management cloud platform 6.
And the pedestrian equipment terminal 8 is used for sending position information to the freight vehicle 1 and receiving collision early warning information of the freight vehicle 1, and the pedestrian equipment terminal 8 is in communication connection with the freight vehicle 1.
In practice, other vehicles 3 may be included, and the other vehicles 3 are in communication with the freight vehicle 3.
As shown in fig. 2, the cargo vehicle 1 includes:
the vehicle state module 101, the vehicle state module 101 is configured to detect a current operating state of the vehicle, where the vehicle state includes, but is not limited to, a current vehicle speed, a current oil amount, a current oil consumption, an engine temperature, a battery level, a vehicle model, a vehicle allowable load weight, a current load weight, a turn signal, a brake signal, a steering wheel angle, a steering wheel angular velocity, an acceleration, a deceleration, vehicle failure information, and the like.
A vehicle communication module 102, wherein the vehicle communication module 102 is used for the communication connection of the vehicle and the road side equipment 4, the vehicle road cooperative management cloud platform 5 and the vehicle transportation management cloud platform 6,
the sensing module 103 is used for detecting the current traffic environment of the vehicle; the hardware devices may include, but are not limited to, cameras, lidar, millimeter wave radar, ultrasonic radar, etc. for sensing road conditions.
A decision planning module 104, wherein the decision planning module 104 is used for grading the events according to the event information and planning decisions according to the current traffic environment, and the hardware devices include but are not limited to a domain controller, an on-board computer, an industrial personal computer and other execution modules 105,
an execution module 105, the execution module 105 being configured to execute control of a vehicle. The hardware devices include, but are not limited to, a steer-by-wire system, a brake-by-wire system, a throttle-by-wire system, a shift-by-wire, etc., for executing vehicle lateral-longitudinal (throttle, brake, steering) control commands.
The cargo vehicle 1 may implement an automatic driving mode, an assist driving mode, or a manual driving mode.
As shown in fig. 2, the cargo vehicle 2 of the present embodiment can only realize the manual driving mode, and therefore, has no sensing module including:
a vehicle status module 201, the vehicle status including but not limited to current vehicle speed, location information, current oil quantity, current oil consumption, engine temperature, battery level, vehicle model, vehicle allowable load weight, current load weight, turn signal, brake signal, steering wheel angle, steering wheel angular velocity, acceleration, deceleration, vehicle fault information, etc.,
and a vehicle communication module 202 for communicating with the host vehicle communication module 101. If the vehicle is an autonomous driving or driving-assistant vehicle, the vehicle 1 further includes a sensing module 203 in addition to the vehicle state module 201 and the vehicle communication module 202, and the hardware devices may include but are not limited to a camera, a laser radar, a millimeter wave radar, an ultrasonic radar, etc. for sensing the road state,
the decision planning module 204, the hardware devices including but not limited to a domain controller, a vehicle-mounted computer, an industrial personal computer, etc., is mainly used for calculating an optimal driving decision plan according to the environmental status,
and an execution module 205, wherein hardware devices include, but are not limited to, a steer-by-wire system, a brake-by-wire system, a throttle-by-wire system, a shift-by-wire, and the like, and are used for executing a vehicle transverse and longitudinal (throttle, brake, steering) control command.
As shown in fig. 2, the roadside apparatus 4 includes a sensing module 401, and the hardware devices include, but are not limited to, a laser radar, a camera, a millimeter wave radar, etc., for sensing the road environment status within the coverage of the roadside apparatus,
the purpose of the edge computing unit 402 includes, but is not limited to, processing and computing information according to the sensing data provided by the sensing module 401,
the storage unit 403, for purposes including, but not limited to, storing road status information, such as lane width, road grade, road curvature, road construction information, etc.,
a communication module 404 for communicating with the vehicle communication module 102 of the cargo vehicle 1.
As shown in fig. 2, the vehicle-road cooperative management cloud platform 5 includes a server 501 for calculating and storing road conditions, road events, calculating traffic flow, and the like, and a communication module 502 for communicating with the vehicle communication module 102 of the freight vehicle 1.
As shown in fig. 2, the vehicle transportation management cloud platform 6 includes a server 601, and the purpose includes but is not limited to transportation vehicle management, transportation line delivery, vehicle scheduling, vehicle status data storage, vehicle sensing, decision making, data storage, vehicle status monitoring, vehicle remote software upgrading, and the like. A communication module 602 for communicating with the vehicle communication module 102 of the cargo vehicle 1.
The other vehicles 3 include a vehicle status module 301 including, but not limited to, a current vehicle speed, position information, turn signal, brake signal, etc., and a communication module 302 for communicating with the vehicle communication module 102 of the cargo vehicle 1.
The driver or security terminal 7 contains driver/security application software/APP 701 for purposes including, but not limited to, receiving transportation tasks, transportation routes, vehicle status, etc., and a communication module 702 for communicating with the vehicle communication module 102 of the freight vehicle 1.
The pedestrian device terminal 8 comprises a safety application software/APP 801, the purpose of which includes but is not limited to obtaining current position information, receiving early warning information and the like, and a communication module 802 for communicating with the vehicle communication module 102 of the freight vehicle 1.
The event information received by the cargo vehicle 1 includes, but is not limited to, the following information:
the cargo vehicle 2: position information, speed information, braking information, steering information, throttle information, perception information, vehicle state information, vehicle fault information, travel intention information, and the like.
The other vehicle 3: position information, speed information, vehicle out-of-control broadcast, lane change intention information, dangerous road condition information, blind zone dangerous condition information, special vehicle information broadcast, front road accident broadcast, secondary accident early warning prompt and the like.
The roadside apparatus 4: curve warning, guide sign, direction sign, temporary exclusive lane, lane direction, number of lanes, lane closure, lane speed limit, road infrastructure information, road visibility, traffic flow, traffic congestion, traffic accident, road obstacle, road construction, etc., road smoothness, road irregularity change, dangerous road, etc., road weather information, ramp collection traffic information, server announcement information, etc.
Vehicle road cooperative management cloud platform 5: traffic condition data, road maintenance plans, weather condition data information, and the like.
Vehicle transportation management cloud platform 6: vehicle software updates, path planning information, (origin, stop, destination), path change information, fleet management commands, and the like.
Driver/safer device 7: vehicle status viewing request information, vehicle remote control information, and the like.
The pedestrian device terminal 8: pedestrian location information, speed information, etc.
The freight vehicle 1 externally transmits the event information including, but not limited to, the following information:
the cargo vehicle 2: position information, speed information, braking information, steering information, throttle information, perception information, vehicle state information, vehicle fault information, travel intention information, and the like.
The other vehicle 3: location information, speed information, vehicle out-of-control broadcasts, lane change intention information, autodrive/manual drive information notifications, emergency brake warnings, dangerous road conditions, preceding slow vehicle information alerts, emergency lane vehicle information alerts, special vehicle information broadcasts, preceding road accident broadcasts, secondary accident warning alerts, and the like.
The roadside apparatus 4: vehicle speed, vehicle lane change intent, vehicle location, vehicle out of control broadcast, autodrive/manual drive information notification, road accident broadcast, dangerous road broadcast, and the like.
Vehicle road cooperative management cloud platform 5: departure time, arrival time, operating conditions, dynamic freight trip planning information, vehicle remote diagnosis, vehicle data update, emergency rescue, vehicle and driver identity data, vehicle driving data, vehicle basic data, vehicle-mounted sensor data, commercial transportation service data, fleet operation data, and the like.
Vehicle transport management cloud platform 66: commercial vehicle type and specification, cargo type, quantity, weight information, vehicle speed information, accumulated mileage information, driver identification information, automatic driving level information, body sensor configuration information, destination information, travel path planning information, transportation vehicle quantity information, request for preferential passage of a fleet of freight vehicles, and the like.
Driver or security terminal 7: vehicle status information, etc.
The pedestrian device terminal 8: collision warning information, etc.
Example two:
transportation method using freight vehicle and vehicle-road cooperative transportation system
The freight vehicle classifies the event into a primary event, a secondary event and a tertiary event according to the received event information.
A primary event is an event that requires an immediate change in the current operating state of the freight vehicle. The primary event is defined as whether the vehicle must operate the brakes, throttle, steering immediately (whether in manual or assisted or autonomous driving mode), a safety accident will occur or a safety hazard exists. For example, the time to collision TTC ═ k is defined as a primary event, and k is an artificially defined value. If two vehicles continue to travel at the current speed and path, a collision will occur, and the time required for the collision is TTC. In the study of traffic conflict technology, TTC has proven to be an effective means to measure the severity of traffic conflicts and to distinguish critical behavior from normal behavior. For example, if a pedestrian suddenly crosses the road in front, the vehicle will decelerate immediately, defining a primary event. Similar primary event information has a critical impact on vehicle safety.
The secondary event is an event that requires the current operating state of the freight vehicle to be changed within N seconds. The definition of the secondary event is that the vehicle needs to operate the brake, the accelerator and the steering (no matter in a manual driving mode or an auxiliary driving mode or an automatic driving mode) within N seconds (N is artificially defined time and can be an integer or a decimal), otherwise, a safety accident occurs or potential safety hazards exist. For example, the vehicle needs to decelerate at the red light of 100 meters ahead, but the vehicle does not need to decelerate immediately, and can be decelerated immediately, or can be decelerated after 1 second, but the vehicle cannot stop before the stop line without decelerating for more than N seconds, so that the potential safety hazard exists. Such information has some impact on vehicle safety.
The third-level event is an event that the current running state of the freight vehicle does not need to be changed within N seconds, wherein the N seconds are set values, and N is greater than 0. The definition of a tertiary event is that the vehicle does not need to operate braking, throttle, steering (whether in manual or assisted or autonomous driving mode) within N seconds. For example, when a road is constructed at a position 5 kilometers ahead, a lane is changed from a lane 3 to a lane 2, the current lane is the road construction lane, and the lane needs to be changed, but the vehicle can change lanes without needing to change the lane, and the vehicle can change lanes at a position 3 kilometers and change lanes at a position 4 kilometers, so that the information has no influence on the current safety of the vehicle.
As shown in fig. 3, when the freight vehicle determines that the event is a primary event based on the received event information, the method includes the steps of,
step 1.1: the freight vehicle is subjected to deceleration control through an execution module; in the auxiliary driving/automatic driving mode, the freight vehicle automatically decelerates, and in the manual driving mode, the driver is prompted to decelerate.
Step 1.2: the method comprises the following steps that under an automatic driving mode/an auxiliary driving mode of a freight vehicle, the current traffic environment of the vehicle is verified through a sensing module; if the current traffic environment meets the requirement of executing the instruction, entering the next step; in the manual driving mode, the driver further verifies the surrounding environment.
Step 1.3: and sending an execution instruction corresponding to the primary event to an execution module to change the current running state of the freight vehicle. In the auxiliary driving/automatic driving mode, the vehicle decision-making module 204 makes a decision on the driving behavior and sends an execution command to the execution module 205, and the execution module 205 executes the driving command, so that the vehicle continues to run. In the manual driving mode, a driver makes a decision on the driving behavior of the vehicle, operates an accelerator, a brake, a gear, a steering wheel and the like, and releases the current event.
When the freight vehicle judges that the second-level event is the second-level event according to the received event information, the method comprises the following steps,
step 2.1: the method comprises the steps that the speed of a freight vehicle is restrained through an execution module, wherein the speed restraint means that the vehicle cannot be accelerated; in the auxiliary driving/automatic driving mode, the vehicle restrains driving, namely, the vehicle cannot accelerate in the current state, and in the manual driving mode, the vehicle reminds the driver to remind the driver not to accelerate.
Step 2.2: under the automatic driving mode/the auxiliary driving mode, the current traffic environment of the vehicle is verified through a sensing module; if the current traffic environment meets the requirement of executing the instruction, entering the next step; in the manual driving mode, the driver further verifies the surrounding environment.
Step 2.3: and sending an execution instruction corresponding to the secondary event to an execution module, and changing the current running state of the freight vehicle. In the auxiliary driving/automatic driving mode, the vehicle decision-making module 204 makes a decision on the driving behavior and sends an execution command to the execution module 205, and the execution module 205 executes the driving command, so that the vehicle continues to run. In the manual driving mode, a driver makes a decision on the driving behavior of the vehicle, operates an accelerator, a brake, a gear, a steering wheel and the like, and releases the current event.
And when the freight vehicle judges that the event is a third-level event according to the received event information, the automatic driving system carries out event reminding on the driver or records the event.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention. It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (10)
1. A freight vehicle ride coordinated transportation system, comprising:
the freight vehicle is in communication connection with the road side equipment, the road collaborative management cloud platform and the vehicle transportation management cloud platform, obtains event information transmitted by the road side equipment, the road collaborative management cloud platform and the vehicle transportation management cloud platform, and classifies events according to the event information to perform decision planning;
the road side equipment is used for detecting road traffic conditions and is in communication connection with a freight vehicle, a vehicle road cooperative management cloud platform and/or a vehicle transportation management cloud platform;
the vehicle-road cooperative management cloud platform is used for calculating and storing vehicle-road cooperative management information and is in communication connection with freight vehicles, road side equipment and/or vehicle transportation management cloud platforms;
the vehicle transportation management cloud platform is used for calculating and storing vehicle transportation management information and is in communication connection with freight vehicles and/or road side equipment and/or a vehicle road cooperative management cloud platform.
2. The freight vehicle road cooperative transportation system according to claim 1, wherein the freight vehicle includes:
a vehicle state module for detecting a current operating state of a vehicle,
a vehicle communication module for the communication connection of the vehicle with the road side equipment, the vehicle road cooperative management cloud platform and the vehicle transportation management cloud platform,
the sensing module is used for detecting the current traffic environment of the vehicle;
the decision planning module is used for grading the events according to the event information, carrying out planning decision and planning a path according to the current traffic environment;
an execution module to execute control of a vehicle.
3. The transportation system of claim 1, wherein the transportation vehicle and road coordination management information comprises road traffic condition data, road maintenance plans, weather conditions; the vehicle transportation management information comprises transportation path planning information, transportation path change information and transportation fleet management commands.
4. The freight vehicle road cooperative transportation system according to claim 1, characterized in that: the freight vehicle management system comprises a driver or a security driver terminal, wherein the driver or security driver terminal is used for monitoring and remotely controlling the running state of the freight vehicle, and is in communication connection with the freight vehicle, a vehicle transportation management cloud platform and/or a vehicle road cooperative management cloud platform.
5. The freight vehicle road cooperative transportation system according to claim 1, characterized in that: the pedestrian equipment terminal is used for sending position information to the freight vehicle and receiving collision early warning information of the freight vehicle, and is in communication connection with the freight vehicle.
6. The freight vehicle-road cooperative transportation system according to any one of claims 1 to 5, characterized in that: the freight vehicle may be in an autonomous driving mode, an assisted driving mode or a manual driving mode; the freight vehicle comprises a plurality of freight vehicles, and communication connection is formed between the freight vehicles.
7. A transportation method using the freight vehicle-road cooperative transportation system according to any one of claims 1 to 6, characterized in that: the freight vehicle classifies the event into a primary event, a secondary event and a tertiary event according to the received event information,
the primary event is an event requiring immediate change of the current operating state of the freight vehicle,
the secondary event is an event that requires the current operating state of the freight vehicle to be changed within N seconds,
the third-level event is an event that the current running state of the freight vehicle does not need to be changed within N seconds, wherein the N seconds are set numerical values, and N is greater than 0.
8. The method of claim 7, wherein: when the freight vehicle judges that the first-class event is the first-class event according to the received event information, the method comprises the following steps,
step 1.1: the freight vehicle is subjected to deceleration control through an execution module;
step 1.2: the method comprises the following steps that under an automatic driving mode/an auxiliary driving mode of a freight vehicle, the current traffic environment of the vehicle is verified through a sensing module; if the current traffic environment meets the requirement of executing the instruction, entering the next step;
step 1.3: and sending an execution instruction corresponding to the primary event to an execution module to change the current running state of the freight vehicle.
9. The method of claim 7, wherein: when the freight vehicle judges that the second-level event is the second-level event according to the received event information, the method comprises the following steps,
step 2.1: the method comprises the steps that the speed of a freight vehicle is restrained through an execution module, wherein the speed restraint means that the vehicle cannot be accelerated;
step 2.2: under the automatic driving mode/the auxiliary driving mode, the current traffic environment of the vehicle is verified through a sensing module; if the current traffic environment meets the requirement of executing the instruction, entering the next step;
step 2.3: and sending an execution instruction corresponding to the secondary event to an execution module, and changing the current running state of the freight vehicle.
10. The method of claim 7, wherein: and when the freight vehicle judges that the event is a third-level event according to the received event information, event reminding is carried out, and the event is recorded.
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| Publication number | Priority date | Publication date | Assignee | Title |
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