CN113744523A - Automatic driving vehicle and road cooperative management and control system and method - Google Patents

Automatic driving vehicle and road cooperative management and control system and method Download PDF

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Publication number
CN113744523A
CN113744523A CN202110932681.5A CN202110932681A CN113744523A CN 113744523 A CN113744523 A CN 113744523A CN 202110932681 A CN202110932681 A CN 202110932681A CN 113744523 A CN113744523 A CN 113744523A
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China
Prior art keywords
vehicle
ground
information
coil
signal processing
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CN202110932681.5A
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Chinese (zh)
Inventor
杨少华
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KUNMING SHIPBUILDING EQUIPMENT CO Ltd
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KUNMING SHIPBUILDING EQUIPMENT CO Ltd
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Priority to CN202110932681.5A priority Critical patent/CN113744523A/en
Publication of CN113744523A publication Critical patent/CN113744523A/en
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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
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0808—Diagnosing performance data
    • 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
    • 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
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • 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
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

Abstract

The invention relates to a management and control system and method for vehicle-road cooperation of an automatic driving vehicle, and belongs to the technical field of automatic driving vehicle management and control. The system includes a vehicle management system; the system also comprises a vehicle-mounted controller, a ground wire coil, a signal processing device, a modem, ground communication equipment and a vehicle-mounted antenna; the vehicle-mounted controller is connected with the vehicle-mounted antenna; the vehicle-mounted controller is mounted in the vehicle or on the surface of the vehicle; the vehicle-mounted antenna is mounted on the bottom surface of the vehicle; the ground lead coil is connected with the signal processing device; the signal processing device is connected with the modem; the modem is connected with the vehicle management system through ground communication equipment; the ground lead coil is paved below the running road surface of the vehicle; the invention realizes the functions of positioning the automatic driving vehicle, correcting the speed, early warning for multiple vehicle following, occupying the driving area, monitoring the area and the like based on the electromagnetic coupling technology, the wireless communication technology, the signal modulation technology and the network communication technology.

Description

Automatic driving vehicle and road cooperative management and control system and method
Technical Field
The invention belongs to the technical field of automatic driving vehicle management and control, particularly relates to a management and control system and method for automatic driving vehicle road cooperation, and particularly relates to a management and control system and method for automatic driving vehicle road cooperation with a special line similar to PRT, AGV, RGV and the like.
Background
The existing manned automatic driving technology mainly focuses on operations of man-vehicle cooperation, constant-speed cruising, automatic parking and the like, is an auxiliary driving mode without intervention of a driver, and generally acquires road information based on a vehicle-mounted camera, a laser radar and the like and multi-sensor fusion between the vehicle-mounted camera, the laser radar and the like. These methods all use vehicles as sources to detect roads, and the roads and the vehicles cannot communicate. Therefore, in the mode, a lot of road information which cannot be detected by the vehicle-mounted sensors exists, the influence of calculation force of the vehicle-mounted controller and sensor transmission exists, great delay exists in response of driving decision, and the dangerous situation cannot be timely and effectively processed.
At present, in unmanned vehicles such as AGV and RGV in the freight industry, the positioning and speed control of the vehicles realize the functions of electronic road signs by means of bar code bands, magnetic nails, address sheets, RFID tags, two-dimensional codes and the like, and the modes have the conditions of poor dynamic scanning effect, low identification and analysis speed during scanning and the like, so that the identification rate of the vehicles on the electronic road signs in the motion process of more than 5m/s is very low, the motion speed of the vehicles is severely restricted, and the method can only be used in occasions with low requirements on the running speed of the vehicles. Therefore, how to overcome the defects of the prior art is a problem which needs to be solved urgently in the technical field of automatic driving vehicle management and control at present.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a cooperative management and control system and method for an automatic driving vehicle.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a management and control system for cooperating vehicle and road of an automatic driving vehicle comprises a vehicle management system; the system also comprises a vehicle-mounted controller, a ground wire coil, a signal processing device, a modem, ground communication equipment and a vehicle-mounted antenna;
the vehicle-mounted controller is connected with the vehicle-mounted antenna; the vehicle-mounted controller is mounted in the vehicle or on the surface of the vehicle; the vehicle-mounted antenna is mounted on the bottom surface of the vehicle;
the ground lead coil is connected with the signal processing device;
the signal processing device is connected with the modem;
the modem is connected with the vehicle management system through ground communication equipment;
the ground lead coil is paved below the running road surface of the vehicle;
the vehicle-mounted controller is used for controlling the vehicle and sending vehicle information to the ground lead coil of the area through the vehicle-mounted antenna;
the ground lead coil is used for receiving vehicle information of the vehicle in the ground lead coil, and the vehicle information is sent from the vehicle-mounted controller through the vehicle-mounted antenna; the control device is also used for receiving the control information processed by the signal processing device and sending the control information to the vehicle-mounted controller through the vehicle-mounted antenna;
the signal processing device is used for amplifying and filtering the vehicle information received by the ground lead coil or the control information converted by the modem;
the modem is used for carrying out analog-to-digital conversion on the signals processed by the signal processing device and then sending the signals to a vehicle management system through ground communication equipment; and the system is also used for carrying out digital-to-analog conversion on control information sent by the vehicle management system through the ground communication equipment.
Further, it is preferable that the vehicle information includes a vehicle speed, a license plate number, a health condition, and a fuel and electricity inventory.
Further, it is preferable that the control information includes speed information and following distance information.
Further, preferably, when the ground is a straight line section, the ground wire coil is rectangular; when the ground is a turning road section, the ground wire coil is in a fan-shaped belt shape; when the ground is a road section with a branched and converged route, the ground wire coil is a parallelogram, a rhombus or a trapezoid with a radian;
further, it is preferable that the ground wire coil has a long side of 5m to 300m in a vehicle traveling direction and a short side of 1m to 2m in a width perpendicular to the vehicle traveling direction.
Further, it is preferable that the effective coverage radius of the vehicle-mounted antenna is controlled within a range of 0.2m to 0.5 m.
Further, it is preferable that the distance between the vehicle-mounted antenna and the ground wire coil in the vertical direction is not more than 100 mm.
Further, it is preferable that no metal magnetizer is available within a range of 200mm below the ground lead coil; the ground lead coil has a sectional area of 1.0mm or more2The copper core wire of (1).
A control method for cooperation of automatic driving vehicles and roadways adopts the control system for cooperation of automatic driving vehicles and roadways, and comprises the following steps:
the ground wire coil of the automatic driving vehicle V1 driving into the lane 1 is set as an area A1, because the vehicle-mounted controller always sends vehicle information in a broadcasting mode according to a set frequency through the vehicle-mounted antenna, the ground wire coil receives the information, amplifies, filters and analyzes the information, encodes the information again and sends the information to the vehicle management system; the vehicle management system acquires that the position of the vehicle V1 is in the A1 area, judges whether the distance between the vehicle and the front and rear vehicles needs to be controlled by adjusting the speed of the vehicle or the vehicle needs to be switched to an adjacent lane area according to the current speed information of the vehicle, so that the vehicle is dispatched and managed, and the control information is sent to the vehicle V1 and the vehicle related to the V1 through ground lead coils with certain characteristic data.
Further, it is preferred that the area of each ground conductor coil is occupied by only one vehicle.
The invention realizes the functions of positioning the automatic driving vehicle, correcting the speed, early warning for multiple vehicle following, monitoring the interval occupation and the area and the like based on the electromagnetic coupling technology, the wireless communication technology, the signal modulation technology and the network communication technology.
Compared with the prior art, the invention has the beneficial effects that:
the system and the method can timely and fully acquire the information of the vehicle condition and the road condition and realize effective matching and cooperation on the driving function, thereby ensuring the traffic safety and improving the traffic efficiency. The premise of vehicle-road cooperation is that the road has the capability of sensing vehicles and interacting with the vehicles in real time, and the vehicles running on the road are realized as follows: and management functions of overspeed following, lane changing, intersection avoidance, vehicle speed guidance, emergency vehicle priority passing and the like are achieved, and finally the goal of vehicle-road cooperation is achieved. The vehicle road can be used for making up scenes such as vision and the like which cannot be judged in time by a sensor, so that the driving speed and the efficiency can be remarkably improved, and the vehicle can safely and reliably drive on a given road.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an example of the present invention;
FIG. 2 is a schematic view of the vehicle elevation structure of the example of FIG. 1;
FIG. 3 is a schematic diagram of the shape of a single terrestrial antenna;
FIG. 4 is a schematic diagram of the sequential arrangement of multi-lane normal-driving road surface ground antennas;
FIG. 5 is a schematic diagram of the ground antennas arranged in sequence at a bend;
FIG. 6 is a schematic diagram of an intersection ground antenna arrangement;
FIG. 7 is a circuit schematic of one embodiment of the present invention;
in the figure: 1: a vehicle-mounted controller; 2: a ground wire coil; 3: a signal processing device; 4: a modem; 5: a ground communication device; 6: a vehicle management system; 7: vehicle mounted antenna.
Detailed Description
The present invention will be described in further detail with reference to examples.
It will be appreciated by those skilled in the art that the following examples are illustrative of the invention only and should not be taken as limiting the scope of the invention. The examples do not specify particular techniques or conditions, and are performed according to the techniques or conditions described in the literature in the art or according to the product specifications. The materials or equipment used are not indicated by manufacturers, and all are conventional products available by purchase.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Further, "connected" as used herein may include wirelessly connected. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, "a plurality" means two or more unless otherwise specified. The terms "inner," "upper," "lower," and the like, refer to an orientation or a state relationship based on that shown in the drawings, which is for convenience in describing and simplifying the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "provided" are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. To those of ordinary skill in the art, the specific meanings of the above terms in the present invention are understood according to specific situations.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
As shown in fig. 1-7, a management and control system for cooperating with an autonomous vehicle comprises a vehicle management system 6; the system also comprises a vehicle-mounted controller 1, a ground wire coil 2, a signal processing device 3, a modem 4, ground communication equipment 5 and a vehicle-mounted antenna 7;
the vehicle-mounted controller 1 is connected with the vehicle-mounted antenna 7; the onboard controller 1 is mounted in a vehicle or on a vehicle surface; the vehicle-mounted antenna 7 is mounted on the vehicle bottom surface;
the ground lead coil 2 is connected with the signal processing device 3;
the signal processing device 3 is connected with the modem 4;
the modem 4 is connected with a vehicle management system 6 through a ground communication device 5;
the ground lead coil 2 is paved below the running road surface of the vehicle;
the vehicle-mounted controller 1 is used for controlling a vehicle and sending vehicle information to the ground lead coil 2 of the area through the vehicle-mounted antenna 7;
the ground lead coil 2 is used for receiving vehicle information of the vehicle in the ground lead coil 2, which is transmitted from the vehicle-mounted controller 1 through the vehicle-mounted antenna 7; the control device is also used for receiving the control information processed by the signal processing device 3 and sending the control information to the vehicle-mounted controller 1 through the vehicle-mounted antenna 7;
the signal processing device 3 is used for amplifying and filtering the vehicle information received by the ground lead coil 2 or the control information converted by the modem 4;
the modem 4 is used for performing analog-to-digital conversion on the signals processed by the signal processing device 3 and then sending the signals to the vehicle management system 6 through the ground communication equipment 5; and is also used for performing digital-to-analog conversion on control information sent by the vehicle management system 6 through the ground communication equipment 5.
Preferably, the vehicle information includes vehicle speed, license plate number, health condition, and fuel and electricity stock.
Preferably, the control information includes speed information and following distance information.
Preferably, when the ground is a straight line section, the ground lead coil 2 is rectangular; when the ground is a turning road section, the ground lead coil 2 is in a fan-shaped belt shape; when the ground is a road section with a branched and converged route, the ground lead coil 2 is a parallelogram, a rhombus or a trapezoid with a radian;
preferably, the ground wire coil 2 has a long side of 5m to 300m in the vehicle traveling direction and a short side of 1m to 2m in width perpendicular to the vehicle traveling direction.
Preferably, the effective coverage radius of the vehicle-mounted antenna is controlled within the range of 0.2m to 0.5 m.
Preferably, the distance between the vehicle-mounted antenna and the ground wire coil 2 in the vertical direction is not more than 100 mm.
Preferably, no metal magnetizer can be arranged in the range of 200mm below the ground lead coil 2; the ground lead coil 2 has a sectional area of 1.0mm or more2The copper core wire of (1).
A control method for cooperation of automatic driving vehicles and roadways adopts the control system for cooperation of automatic driving vehicles and roadways, and comprises the following steps:
the ground wire coil of the automatic driving vehicle V1 driving into the lane 1 is set as an area A1, because the vehicle-mounted controller always sends vehicle information in a broadcasting mode according to a set frequency through the vehicle-mounted antenna, the ground wire coil receives the information, amplifies, filters and analyzes the information, encodes the information again and sends the information to the vehicle management system; the vehicle management system acquires that the position of the vehicle V1 is in the A1 area, judges whether the distance between the vehicle and the front and rear vehicles needs to be controlled by adjusting the speed of the vehicle or the vehicle needs to be switched to an adjacent lane area according to the current speed information of the vehicle, so that the vehicle is dispatched and managed, and sends control information to the vehicle V1 and the vehicle related to the V1 through a ground lead coil.
Preferably, the area of each ground conductor coil 2 can only be occupied by one vehicle.
The ground communication device 5 preferably employs an industrial personal computer equipped with an ethernet communication network card or a PLC equipped with an ethernet communication module.
The signal processing device 3 is built by adopting a common filtering and amplifying circuit, and the amplifier is built by adopting NCS6550 and NCS6551 chips, but the invention is not limited to the above, as long as the aim of the invention can be achieved; the modem 4 preferably uses an ami-49587 or NCN-49597 chip building circuit, but is not limited thereto as long as the object of the present invention can be achieved.
The key technology of the invention is that a ground lead coil 2 is used as an antenna, the antenna is sequentially connected with a signal processing device 3 (comprising a wireless receiving and transmitting circuit, a signal amplifying circuit and a filtering transmission circuit), a modem 4 and the like, the information of the ground and the vehicle is amplified and decoded when the vehicle passes through a long strip lead area and is sent to a vehicle management system 6, and meanwhile, the vehicle management system 6 also sends the speed information and the following distance information of the current area to the vehicle through the ground lead coil 2. Meanwhile, in order to not influence adjacent lanes nearby, the effective coverage radius of the vehicle-mounted antenna 7 and the ground lead coil 2 is controlled to be 0.2-0.5 m.
The ground lead coil 2 is made of a lead bent into a long quadrangle, is laid under a driving road surface, and has a long side 5-300 m long in the vehicle traveling direction and a short side 1-2 m wide; the signal processing device 3 and the modem 4 can be placed at the side of the road. When a vehicle running at a high speed passes through any one area on a road surface, the vehicle-mounted controller 1 sends information such as the speed, the license plate number and the like from the vehicle-mounted controller 1 through a vehicle-mounted antenna at the passing moment, the information is received by the ground lead coil 2, processed by the signal processing device 3 and demodulated by the modem 4, and then the information is sent to the vehicle management system 6 of the central control system control room server through the Ethernet or the optical fiber by using a TCP protocol. Meanwhile, the vehicle receives speed information and following distance information transmitted from the vehicle management system 6 through the ground wire coil 2 via the ground communication device 5 while passing.
The ground signal processing device 3 of the invention sends information such as area ID, area speed requirement and the like to all vehicles passing through the area through the wire coil 2, and sends scheduling information such as lane change, emergency fault and the like to specific vehicles, and 2 parts of information are distinguished by different feature codes and are used after the vehicles are analyzed.
The area of each ground conductor coil 2 can only be occupied by one vehicle, for example, when the area of coil a1 is occupied by vehicle V1, another vehicle V2 cannot enter the area a1, and can only listen to the vehicle management system's arrangement, either to slow down for waiting, or to change to a nearby lane.
At the intersection, the signal processing device 3 temporarily sets the speed information transmitted by the ground lead coils 2 of a certain road branch to 1, 1 (or other appointed small speed values), so that the vehicle can be decelerated or even stopped, and the vehicle on another lane can be preferentially merged.
When the car following control is carried out, the speed information transmitted on the ground lead coil 2 on the road is changed through the signal processing device 3, and the car distance is adjusted consciously; when the value is set to 0, the speed of the trolley in the wire area is 0, namely the trolley needs to be stopped emergently.
Examples of the applications
As shown in fig. 1-7, the vehicle-mounted controller 1 and the vehicle-mounted antenna 7 are installed under the chassis of the trolley, the ground lead coils 2 made of quadrilateral leads are embedded under the road surface through which the trolley passes, each ground lead coil 2 is connected to the modem 4 through the signal processing device 3, signal amplification, filtering and modulation and demodulation are completed, the ground lead coils are encoded again by the microprocessor to form a TCP protocol, and finally the TCP protocol is sent to the central control room from the ethernet or the optical fiber through the ground communication device 5 as the driving data and road state data when the trolley passes through the coils, so that the vehicle management system 6 in the central control room can judge the health condition of the trolley and the matching degree with the map data, and meanwhile, the vehicle management system 6 integrates the data and then follows the reverse path, namely: the vehicle management system 6 → the ground communication equipment 5 → the modem 4 → the signal processing device 3 → the ground antenna 2 → the vehicle-mounted controller and the vehicle-mounted antenna 1, and gives a control instruction to the vehicle and the vehicle related to the vehicle to maintain the vehicle following distance.
The distance between the vehicle-mounted antenna 7 and the ground lead coil 2 in the vertical direction is not more than 100mm, a metal magnetizer cannot be arranged in the range of 200mm below the ground lead coil 2 so as to avoid interference on signals on the lead, and the signal processor 3 can be arranged at any position outside the ground lead coil 2 and not interfering with a driving limit, can be buried under the road surface, and can also be uniformly arranged in a base station electric cabinet and arranged together with an exchanger.
The vehicle-mounted controller 1, the vehicle-mounted antenna 7 and the ground lead coil 2 are not physically connected; the ground lead coil 2 has a sectional area of 1.0mm or more2The two ends of the ground wire coil 2 are respectively connected to the power supply end and the input end of the signal processing device 3, and the output of the modem 4 is Ethernet or optical fiber.
Fig. 3 shows an arrangement shape of the ground lead coil 2 (ground antenna), in this example, the outgoing line mode in which both ends of the ground lead coil 2 are connected to the signal processing device 3 is a side outgoing line, and in practical application, various modes such as a middle outgoing line or a side outgoing line can be flexibly adopted, and the ground lead coil can be connected to the signal processing device 3. According to the vehicle speed of 0-100 km/h, the length of the long side of the ground lead coil 2 along the vehicle traveling direction is 5-300 m, the width of the short side is related to the effective coverage radius of the vehicle-mounted antenna, and the ground lead coil cannot be too narrow or exceed the width of a lane, and is controlled to be 1-2 m.
Fig. 4 is an arrangement shape in which a multi-lane normal running road surface is arranged in order, each ground antenna manages one ground area, and the length of the long side in the vehicle traveling direction is related to the difference in the allowable speed of the vehicle, so that it is possible to set different sizes to achieve finer area management, as shown in fig. 5 and 6.
Fig. 7 is a circuit schematic of one embodiment of the present invention. In the following description, certain specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other examples that depart from the specific details disclosed herein.
As shown in fig. 7, when the car passes through the road surface, under the action of the vehicle-mounted signal generator, carrier signals with the same frequency as the vehicle-mounted signal generator are generated in the quadrilateral coil due to electromagnetic coupling and electromagnetic induction, and the signals are amplified, filtered and noise-removed and then sent to the modem 4. In the modem 4, after the signals are modulated and analyzed, the required signals such as the signal occupied in the local area, the current speed of the vehicle, the residual electric quantity (oil) and the like are analyzed, and the signals are transmitted to the microprocessor TMS320F single chip microcomputer through the UART serial port. And the microprocessor transmits the information of each ground antenna loop within the management range of the microprocessor to the vehicle management system 6 of the control room together with the zone number. The vehicle management system 6 determines whether the following vehicle decelerates, stops, follows the preceding vehicle at a constant speed, and the like according to the information, thereby realizing synchronous safe driving of the vehicle sequence.
The above description is only an embodiment of the present invention, and the scope of the present invention is not limited thereto, and the communication between the vehicle and the signal processing apparatus 3 may be in a Frequency Division Duplex (FDD) mode or a Time Division Duplex (TDD) mode; the actual configuration of the amplifier and the modem may be different from the above examples, the microprocessor (MCU for short) may be replaced by other types of single-chip microcomputers, DSPs, etc., and the communication with the control room vehicle management system may also be implemented by 4G, 5G, etc. mobile communication networks, so that the equivalent changes and modifications made in the protection scope of the present invention should be included in the technical coverage of the present invention.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. A management and control system for automatic driving vehicle and road cooperation comprises a vehicle management system (6); the system is characterized by also comprising a vehicle-mounted controller (1), a ground wire coil (2), a signal processing device (3), a modem (4), ground communication equipment (5) and a vehicle-mounted antenna (7);
the vehicle-mounted controller (1) is connected with the vehicle-mounted antenna (7); the vehicle-mounted controller (1) is mounted in a vehicle or on a vehicle surface; the vehicle-mounted antenna (7) is mounted on the bottom surface of the vehicle;
the ground lead coil (2) is connected with the signal processing device (3);
the signal processing device (3) is connected with the modem (4);
the modem (4) is connected with a vehicle management system (6) through ground communication equipment (5);
the ground lead coil (2) is paved below the running road surface of the vehicle;
the vehicle-mounted controller (1) is used for controlling a vehicle and sending vehicle information to the ground lead coil (2) in the area through the vehicle-mounted antenna (7);
the ground lead coil (2) is used for receiving vehicle information of a vehicle in the ground lead coil (2), and the vehicle information is sent from the vehicle-mounted controller (1) through the vehicle-mounted antenna (7); the control device is also used for receiving the control information processed by the signal processing device (3) and sending the control information to the vehicle-mounted controller (1) through the vehicle-mounted antenna (7);
the signal processing device (3) is used for amplifying and filtering the vehicle information received by the ground lead coil (2) or the control information converted by the modem (4);
the modem (4) is used for carrying out analog-to-digital conversion on the signals processed by the signal processing device (3) and then sending the signals to the vehicle management system (6) through the ground communication equipment (5); and is also used for carrying out digital-to-analog conversion on control information sent by the vehicle management system (6) through the ground communication equipment (5).
2. The system of claim 1, wherein the vehicle information includes vehicle speed, license plate number, health status, and fuel and electricity inventory.
3. The system of claim 1, wherein the control information includes speed information and following distance information.
4. The cooperative management and control system for vehicular access of automatic driven vehicles according to claim 1, wherein when the ground is a straight line section, the ground wire coil (2) is rectangular; when the ground is a turning road section, the ground lead coil (2) is in a fan-shaped belt shape; when the ground is a road section with a branched and converged route, the ground lead coil (2) is in a parallelogram shape, a rhombus shape or a trapezoid shape with a radian.
5. The management and control system for vehicle-road coordination of automatic vehicles according to claim 1, characterized in that the ground wire coil (2) has a long side of 5 m-300 m in the vehicle traveling direction and a short side of 1 m-2 m in width perpendicular to the vehicle traveling direction.
6. The system of claim 1, wherein an effective coverage radius of the vehicle antenna is controlled within a range of 0.2m to 0.5 m.
7. The system for the coordinated management and control of the driverless vehicle and the roadway according to claim 1, wherein a distance between the vehicle-mounted antenna and the ground wire coil (2) in a vertical direction is not more than 100 mm.
8. The system for managing and controlling vehicle/road coordination for autonomous vehicles according to claim 1, characterized in that no metallic magnetizers are present within 200mm under the ground wire coil (2); the ground lead coil (2) has a sectional area of more than or equal to 1.0mm2The copper core wire of (1).
9. A control method for vehicle-road coordination of automatic driving vehicles, which adopts the control system for vehicle-road coordination of automatic driving vehicles as claimed in claim 1, characterized by comprising the following steps:
the ground wire coil of the automatic driving vehicle V1 driving into the lane 1 is set as an area A1, because the vehicle-mounted controller always sends vehicle information in a broadcasting mode according to a set frequency through the vehicle-mounted antenna, the ground wire coil receives the information, amplifies, filters and analyzes the information, encodes the information again and sends the information to the vehicle management system; the vehicle management system acquires that the position of the vehicle V1 is in the A1 area, judges whether the distance between the vehicle and the front and rear vehicles needs to be controlled by adjusting the speed of the vehicle or the vehicle needs to be switched to an adjacent lane area according to the current speed information of the vehicle, so that the vehicle is dispatched and managed, and sends control information to the vehicle V1 and the vehicle related to the V1 through a ground lead coil.
10. The method of claim 9, wherein each ground wire coil is occupied by only one vehicle.
CN202110932681.5A 2021-08-13 2021-08-13 Automatic driving vehicle and road cooperative management and control system and method Pending CN113744523A (en)

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CN202110932681.5A CN113744523A (en) 2021-08-13 2021-08-13 Automatic driving vehicle and road cooperative management and control system and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110932681.5A CN113744523A (en) 2021-08-13 2021-08-13 Automatic driving vehicle and road cooperative management and control system and method

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CN113744523A true CN113744523A (en) 2021-12-03

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Application Number Title Priority Date Filing Date
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Country Link
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