CN113706892A - Specific scene library serving low-speed unmanned logistics vehicle - Google Patents
Specific scene library serving low-speed unmanned logistics vehicle Download PDFInfo
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- CN113706892A CN113706892A CN202110984064.XA CN202110984064A CN113706892A CN 113706892 A CN113706892 A CN 113706892A CN 202110984064 A CN202110984064 A CN 202110984064A CN 113706892 A CN113706892 A CN 113706892A
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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
- G08G1/056—Detecting movement of traffic to be counted or controlled with provision for distinguishing direction of travel
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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
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- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
- G06Q10/0836—Recipient pick-ups
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/081—Plural intersections under common control
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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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- 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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/148—Management of a network of parking areas
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- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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Abstract
The invention relates to the technical field of car networking and vehicle road cooperation, in particular to a specific scene library serving a low-speed unmanned logistics car, wherein the related scenes comprise: crossing signal lamp real-time reception scene: when the low-speed unmanned logistics vehicle loaded with the vehicle-mounted unit approaches the intersection, the low-speed unmanned logistics vehicle receives real-time light state information; reporting and managing scenes of abnormal road conditions of the slow traffic lane: in the running process of the low-speed unmanned logistics vehicle, abnormal road conditions or illegal behaviors can be captured, the captured abnormal road conditions or illegal behaviors are uploaded to a cloud platform, and the platform performs subsequent processing; the method comprises the following steps that parking space function scenes are intelligently guided and searched by roadside facilities at a doorway of a community, and an unmanned logistics vehicle is intelligently guided to search a proper parking space by the aid of the roadside facilities at the view angle of the god; road type detection and identification scene: when the low-speed unmanned logistics vehicle enters the intersection, the slow lane is identified, and the vehicle enters the correct lane to run; entering and exiting station scenes: when the low-speed unmanned logistics vehicles enter and exit the station according to the preset route, if the low-speed unmanned logistics vehicles meet obstacles, the traveling route is intelligently optimized.
Description
Technical Field
The invention relates to the technical field of vehicle-road cooperative intelligent network connection, in particular to a specific scene library serving a low-speed unmanned logistics vehicle.
Background
In recent years, as people shop online more frequently, the express logistics industry develops rapidly, but at the same time, logistics flux with an excessively rapid expansion speed also brings huge impact to the express industry, and express logistics operators have to expand distribution scales to balance distribution time, and even then, a large amount of manpower, material resources and time are still consumed to distribute each object to a correct address when logistics distribution is carried out in the last kilometer.
With the rapid development of the automatic driving technology, the automatic driving technology is applied to the logistics industry, and under the background, the low-speed unmanned logistics vehicles are produced at the same time, and the appearance of the low-speed unmanned logistics vehicles saves a large amount of manpower and material resources for the logistics distribution industry, and greatly improves the logistics distribution efficiency.
Disclosure of Invention
The invention aims to provide a specific scene library for a low-speed unmanned logistics vehicle, so that the low-speed unmanned logistics vehicle can adapt to more various actual environments and road conditions.
To achieve the above object, the present invention provides the following scenario library solutions:
crossing signal lamp real-time reception scene: when a low-speed unmanned logistics vehicle loaded with an on-vehicle unit approaches to an intersection with signal lamps, information interaction is carried out between the on-vehicle OBU device and the roadside RSU device, the OBU matches with a path of the low-speed unmanned logistics vehicle after receiving a map message issued by the RSU, and therefore direction information of the low-speed unmanned logistics vehicle at the intersection is determined, the RSU transmits corresponding signal lamp information to the OBU according to the driving direction of the low-speed unmanned logistics vehicle, and the low-speed unmanned logistics vehicle judges whether the low-speed unmanned logistics vehicle can directly pass through a front intersection according to the signal lamp information received by the OBU, so that the crossing passing efficiency and the logistics distribution efficiency are improved.
Reporting and managing scenes of abnormal road conditions of the slow traffic lane: the low-speed unmanned logistics vehicle carries the omnibearing laser radar and the video camera, when the low-speed unmanned logistics vehicle detects or encounters abnormal road conditions in the driving process, the vehicle-mounted camera shoots live pictures or records live videos and transmits the live pictures or videos back to the cloud platform in real time, and the returned data are processed differently according to different types of conditions. For the conditions of illegal parking and illegal driving of the slow lane, the picture or video data is sent to the traffic police platform through the cloud platform, so that a punishment basis is provided for the traffic police, and the road condition is favorably improved; for the road construction condition, after being confirmed by background workers, the construction site is marked on a map and is issued to the low-speed unmanned logistics vehicle OBU, so that the low-speed unmanned logistics vehicle is favorable for optimizing a driving route in real time; for the congestion condition of the slow lane, the cloud platform collects the congestion information of the intersection, and if the congestion condition frequently occurs at a certain intersection or at certain intersections in a certain time period, the related information is sent to the traffic police platform, so that the traffic police can be helped to carry out on-site command on the specific intersection, and the traffic efficiency of the intersection is improved.
Road type detection and identification scene: the low-speed unmanned logistics vehicle carries the omnibearing laser radar, the full-angle camera and the OBU, when the low-speed unmanned logistics vehicle drives into a new road section, MAP information in the OBU is combined, the radar and the camera are used for distinguishing a road motor lane from a non-motor lane through recognition of factors such as road width, environmental characteristics and the like, so that the vehicle enters a correct lane, unnecessary traffic accidents are avoided, and if the vehicle does not have the non-motor lane, the vehicle runs on the rightmost side.
Entering and exiting station scenes: the low-speed unmanned logistics vehicle carries on all-round laser radar, full angle camera and OBU, and when the low-speed unmanned logistics vehicle passed in and out the station according to predetermined route, laser radar monitored and detected the place ahead road conditions with the camera in real time, when having the barrier on detecting the place ahead road conditions, combined MAP information in the OBU, utilized radar and camera, found nearest on every side, the best space that can pass through, walked around the barrier to get back to on the predetermined route.
Parking stall scene is sought in district gate roadside facility intelligence guide: the method comprises the steps that a laser radar and a video camera are installed at a community gate to form a visual angle for overlooking the community gate, the visual angle completely covers a road at the community gate, an RSU is installed to store high-precision map information and communication, 3-4 low-speed unmanned logistics vehicle parking spaces are preset in the range of the road at the community gate, the parking spaces do not influence other vehicles to normally pass, and priority is set. When the low-speed unmanned logistics vehicle carrying the OBU equipment runs to a community gate, the OBU is connected with the RSU, the RSU sends the position of the parking space with the highest priority to the OBU, a high-precision running route is generated, and the low-speed unmanned logistics vehicle is guided to accurately stop in the parking space.
Compared with the traditional logistics distribution, the invention has the beneficial effects that:
according to the invention, the automatic driving and car networking technologies are combined with the logistics industry in combination with the needs of car networking, car road cooperation and automatic driving technology application and development, the goal of express semi-automatic delivery is realized through a car, road and cloud combined framework, the manpower and material resources of logistics distribution are greatly reduced, the manpower and material resource cost is reduced, the logistics distribution efficiency is improved, the distribution pressure brought by the daily expanded logistics distribution amount is relieved, the logistics distribution is intelligent and automatic, the development trend of smart cities is met, and the basis is laid for the development of the smart cities in the logistics industry.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without any creative work based on the embodiments of the present invention belong to the protection scope of the present invention.
The first embodiment is as follows:
crossing signal lamp real-time reception scene library: when a low-speed unmanned logistics vehicle loaded with an on-vehicle unit approaches to an intersection with signal lamps, information interaction is carried out between the on-vehicle OBU device and the roadside RSU device, the OBU matches with a path of the low-speed unmanned logistics vehicle after receiving a map message issued by the RSU, and therefore direction information of the low-speed unmanned logistics vehicle at the intersection is determined, the RSU transmits corresponding signal lamp information to the OBU according to the driving direction of the low-speed unmanned logistics vehicle, and the low-speed unmanned logistics vehicle judges whether the low-speed unmanned logistics vehicle can directly pass through a front intersection according to the signal lamp information received by the OBU, so that the crossing passing efficiency and the logistics distribution efficiency are improved.
Example two:
a scene library for reporting and treating the abnormal road conditions of the slow traffic lane: the low-speed unmanned logistics vehicle carries the omnibearing laser radar and the video camera, when the low-speed unmanned logistics vehicle detects or encounters abnormal road conditions in the driving process, the vehicle-mounted camera shoots live pictures or records live videos and transmits the live pictures or videos back to the cloud platform in real time, and the returned data are processed differently according to different types of conditions. For the conditions of illegal parking and illegal driving of the slow lane, the picture or video data is sent to the traffic police platform through the cloud platform, so that a punishment basis is provided for the traffic police, and the road condition is favorably improved; for the road construction condition, after being confirmed by background workers, the construction site is marked on a map and is issued to the low-speed unmanned logistics vehicle OBU, so that the low-speed unmanned logistics vehicle is favorable for optimizing a driving route in real time; for the congestion condition of the slow lane, the cloud platform collects the congestion information of the intersection, and if the congestion condition frequently occurs at a certain intersection or at certain intersections in a certain time period, the related information is sent to the traffic police platform, so that the traffic police can be helped to carry out on-site command on the specific intersection, and the traffic efficiency of the intersection is improved.
Example three:
road type detection and identification scene library: the low-speed unmanned logistics vehicle carries the omnibearing laser radar, the full-angle camera and the OBU, when the low-speed unmanned logistics vehicle drives into a new road section, MAP information in the OBU is combined, the radar and the camera are used for distinguishing a road motor lane from a non-motor lane through recognition of factors such as road width, environmental characteristics and the like, so that the vehicle enters a correct lane, unnecessary traffic accidents are avoided, and if the vehicle does not have the non-motor lane, the vehicle runs on the rightmost side.
Example four:
entering and exiting a station scene library: the low-speed unmanned logistics vehicle carries on all-round laser radar, full angle camera and OBU, and when the low-speed unmanned logistics vehicle passed in and out the station according to predetermined route, laser radar monitored and detected the place ahead road conditions with the camera in real time, when having the barrier on detecting the place ahead road conditions, combined MAP information in the OBU, utilized radar and camera, found nearest on every side, the best space that can pass through, walked around the barrier to get back to on the predetermined route.
Example five:
parking stall is sought in district gate roadside facility intelligence guide: the method comprises the steps that a laser radar and a video camera are installed at a community gate to form a visual angle for overlooking the community gate, the visual angle completely covers a road at the community gate, an RSU is installed to store high-precision map information and communication, 3-4 low-speed unmanned logistics vehicle parking spaces are preset in the range of the road at the community gate, the parking spaces do not influence other vehicles to normally pass, and priority is set. When the low-speed unmanned logistics vehicle carrying the OBU equipment runs to a community gate, the OBU is connected with the RSU, the RSU sends the position of the parking space with the highest priority to the OBU, a high-precision running route is generated, and the low-speed unmanned logistics vehicle is guided to accurately stop in the parking space.
The functions need to transform the low-speed unmanned logistics vehicle, intelligently transform or replace road side equipment, carry out interface butt joint and synchronization on all the equipment, and carry out intelligent construction and platform butt joint on all cloud platforms.
Example six:
in order to realize the real-time scene receiving of the signal lamp of the low-speed unmanned logistics vehicle intersection, firstly, the low-speed unmanned logistics vehicle is intelligently transformed in the aspect of vehicle-road cooperation, vehicle-mounted OBU equipment is installed on the low-speed unmanned logistics vehicle, the OBU can acquire basic vehicle information and real-time vehicle position information of the low-speed unmanned logistics vehicle and realize communication with a road end and a cloud end, and meanwhile, the road side RSU, the edge computing unit, the fusion sensing equipment and the intelligent signal machine structural data are interacted and synchronized with the vehicle-mounted OBU by utilizing the built V2X intersection or the newly-built V2X intersection in combination with high-precision map information of the intersection. When a low-speed unmanned logistics vehicle carrying a vehicle-mounted OBU drives into a V2X intersection, a communication connection is established between the RSU and the OBU, the RSU and the OBU determine the driving direction and the high-precision position of the vehicle and the traveling route when the vehicle passes through a road by combining the interaction of information such as MAP information and the driving track of the vehicle, then the RSU sends the V2X intersection fusion structural data of sensing equipment, annunciator and other equipment to the OBU, the OBU determines to pass through the road or wait in place after acquiring the correct light state information of the current direction and the current position, meanwhile, the complete information of the intersection, including the driving state of the vehicle at the intersection, the position of a road obstacle, the congestion degree of the intersection and the like can be acquired in real time by fusing the structural data of the sensing equipment, the low-speed unmanned logistics vehicle returns to a cloud platform after acquiring the information through the OBU, and the cloud platform can optimize the driving route of the low-speed unmanned logistics vehicle in real time according to the real-time data, when the road junction is blocked or the road surface is blocked, the cloud platform can optimize the driving route and broadcast the low-speed unmanned logistics vehicle carrying the OBU unit in real time, the driving route is changed in real time, and the distribution efficiency is improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. A library of special scenes serving a low-speed unmanned logistics vehicle, comprising:
crossing signal lamp real-time reception scene: when a low-speed unmanned logistics vehicle loaded with the vehicle-mounted unit enters the range of a signal lamp intersection, the signal lamp state and countdown in the current direction are received, and whether the low-speed unmanned logistics vehicle can directly pass through the front intersection or not is judged.
2. The specific scene library serving a low-speed unmanned logistics vehicle as claimed in claim 1, wherein the vehicle-mounted unit comprises a vehicle-mounted OBU device, and the vehicle-mounted OBU device is in information interaction with a road-side RSU device.
3. The specific scene library serving the low-speed unmanned logistics vehicle as claimed in claim 1, further comprising:
reporting and managing scenes of abnormal road conditions of the slow traffic lane: the low-speed unmanned logistics vehicle carries an omnibearing laser radar and a video camera, and when abnormal road conditions are met in the driving process of the low-speed unmanned logistics vehicle, a scene picture is shot and reported to the cloud platform.
4. The specific scene library serving the low-speed unmanned logistics vehicle as claimed in claim 3, wherein the abnormal road condition comprises: the traffic information of the slow traffic lane is illegal to park and illegal to run, the road construction condition and the traffic congestion condition of the slow traffic lane.
5. The specific scene library serving the low-speed unmanned logistics vehicle as claimed in claim 1, further comprising:
parking stall functional scene is sought in district gate roadside facility intelligence guide: by means of roadside facilities, the unmanned logistics vehicles are intelligently guided to find suitable parking spaces.
6. The specific scene library serving the low-speed unmanned logistics vehicle as claimed in claim 1, further comprising:
road type detection and identification scene: the low-speed unmanned logistics vehicle carries an omnibearing laser radar, a full-angle camera and vehicle-mounted OBU equipment and is used for identifying the type of a lane for the low-speed unmanned logistics vehicle so as to drive the low-speed unmanned logistics vehicle on the low-speed lane.
7. The specific scene library serving the low-speed unmanned logistics vehicle as claimed in claim 1, further comprising:
entering and exiting station scenes: the low-speed unmanned logistics vehicle carries the all-dimensional laser radar, the full-angle camera and the vehicle-mounted OBU equipment, enters and exits the station for the low-speed unmanned logistics vehicle through the preset route, and when the obstacle exists on the route, the obstacle needs to be searched for the space which can pass around to bypass the obstacle and return to the preset route.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115457786A (en) * | 2022-09-05 | 2022-12-09 | 白犀牛智达(北京)科技有限公司 | Method for passing unmanned low-speed vehicle through intersection |
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