CN114141038A - Vehicle control method and system based on intelligent expressway - Google Patents
Vehicle control method and system based on intelligent expressway Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- 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
Abstract
The invention provides a vehicle control method and system based on an intelligent expressway, and relates to the field of intelligent transportation. The intelligent expressway-based vehicle control method comprises the following steps: acquiring at least one piece of vehicle array information on the intelligent expressway; grouping the vehicle arrays according to a preset rule, and setting the distance between the vehicle arrays and the distance between the vehicles; detecting a vehicle to be entered before entering the intelligent expressway, judging whether the vehicle to be entered meets a preset requirement, and giving an instruction of releasing according to a judgment result by a dispatching control center; and searching corresponding vehicle array information for the vehicle to enter according to the release instruction and the token, automatically searching, finding a target, merging the machine into the vehicle array, and completing data link. The method can change the random running of the unordered single vehicles into the ordered array marshalling running. Has the advantages of high real-time performance, safety and reliability. In addition, the invention also provides a vehicle control system based on the intelligent expressway.
Description
Technical Field
The invention relates to the field of intelligent transportation, in particular to a vehicle control method and system based on an intelligent expressway.
Background
The existing highway takes a single vehicle as a unit to run on the highway, and the phenomena of low-speed running, parallel running of two vehicles, forced overtaking, non-compliance traffic line change and the like exist in the running process. Because the manual control is random, the hidden danger of traffic accidents is often hidden, and the similar phenomenon needs to be avoided.
The automatic driving vehicle is used as an important component link of an intelligent traffic system, a closed loop of a human-vehicle-environment in the traditional vehicle driving process is changed into a vehicle-environment system, the vehicle partially or even completely replaces the operation of a human driver by endowing enough intelligence to the vehicle, the misoperation of the human driver is avoided, the efficiency and the safety of the traffic system can be effectively improved, and the research and development of the automatic driving vehicle are gradually paid attention by various automobile manufacturers and research institutions at home and abroad.
The automatic driving automobile senses and identifies the surrounding environment through external sensors such as a camera, a radar and the like, makes corresponding decision planning reaction, and then controls the automatic running of the automobile by utilizing advanced hardware equipment and an electronic information technology. The trajectory planning algorithm is one of the keys of the automatic driving technology, and like a vehicle normally driven by human beings, the trajectory planning of the automatic driving vehicle mainly plans a safe and reliable feasible path from an initial position to a target position, can avoid obstacles, and the performance of the path planning algorithm directly influences the driving safety of the vehicle and the intelligent degree of the unmanned vehicle.
The existing trajectory planning algorithm can be roughly divided into three types, namely graph search, numerical optimization, sampling and the like; most research has focused on the first two types of trajectory planning methods. In fact, the map search-based method maps the environment space onto the weighted map so as to convert the obstacle avoidance path planning into the map search problem, and the calculation time of the map search problem can rapidly increase with the increase of the map size. The algorithm based on numerical optimization is to convert an objective function and a constraint condition into a convex optimization form, and then calculate the optimal solution of the algorithm by using a numerical optimization iterator, wherein the method has the greatest advantage that the optimal solution space is continuous, however, the condition that the surrounding environment is required to be abstracted into a convex optimization objective function is difficult to meet, and meanwhile, the optimal solution is solved by relying on gradient iteration with high calculation cost; these two methods have difficulty meeting the high real-time requirements of autonomous driving.
How to change disordered driving into ordered real-time automatic driving is a technical problem which needs to be solved urgently by technical personnel in the field.
Disclosure of Invention
The invention aims to provide a vehicle control method based on an intelligent expressway, which can improve the safety of automatic driving, can ensure that a vehicle to enter is safely merged into a running vehicle array under the expressway condition, and has the advantages of high real-time performance, safety and reliability.
Another object of the present invention is to provide an intelligent expressway-based vehicle control system capable of operating an intelligent expressway-based vehicle control method.
The embodiment of the invention is realized by the following steps:
in a first aspect, an embodiment of the present application provides a vehicle control method based on an intelligent expressway, which includes acquiring at least one vehicle array information on an intelligent expressway; grouping the vehicle arrays according to a preset rule, and setting the distance between the vehicle arrays and the distance between the vehicles;
detecting a vehicle to be entered before entering the intelligent expressway, judging whether the vehicle to be entered meets preset requirements, giving a command of releasing according to a judgment result by a dispatching control center, and giving a token (vehicle array number, array channel number, destination and vehicle array position); and automatically searching and capturing the target array of the vehicle to enter according to the release instruction and the token (vehicle array number, array channel number, destination and vehicle array position), and entering one vehicle array in the intelligent expressway according to the merging program.
In some embodiments of the present invention, the acquiring at least one vehicle array information on the intelligent expressway includes: the running speed of the vehicle array is 140km/h, the array length of the vehicle array is Xkm, and the inter-vehicle distance of the vehicle array is based on the safe braking reaction distance.
In some embodiments of the present invention, the grouping the vehicle arrays according to a preset rule, and setting the vehicle array interval and the vehicle interval includes: the vehicle arrays are grouped according to 10 vehicles, a safe locking interval is arranged between the two vehicle arrays, the interval is a safe moving interval, and the size of the interval is set by the distance of the satellite real-time positioning navigation reaction time.
In some embodiments of the present invention, the vehicle to be entered is detected before entering the intelligent expressway, and whether the vehicle to be entered meets the preset requirement is determined, the instruction (operation procedure) of whether to release according to the determination result includes that the vehicle to be entered performs a first detection before entering the intelligent expressway, the first detection includes whether the vehicle to be entered inputs a destination, the second detection is performed if the vehicle to be entered inputs the destination, the second detection includes whether the manual operation function is forcibly turned off, and the vehicle release is performed if the vehicle to be entered forcibly turned off the manual operation function, and the token (vehicle array number, array channel number, destination, vehicle array position) is granted.
In some embodiments of the present invention, the vehicle to be entered automatically searches the capture object array according to the clearance command and the token (vehicle array number, array channel number, destination, vehicle array position), and enters one vehicle array in the intelligent expressway according to the merging procedure. The highway is designed into a bidirectional 6 lanes, an inner lane is a 1 lane (the designed speed per hour of a highway array special lane is 140km/h), a middle lane is a 2 lane (the designed speed per hour is 120km/h, a vehicle to be driven into or out of the highway temporarily occupies a driving lane and a short-distance vehicle driving lane), and an outer lane is a 3 lane (the designed speed per hour is 100km/h, the vehicle is to be driven out or into the lane due to driving out or driving in;
the lane change program is based on the first-in-first-out principle, which is as follows: and (3) giving out the array position, changing a lane two lane and then changing a lane three lane according to a program, waiting for high speed at the exit of the ramp, and then paralleling: changing the lane from the three lane to the two lane, searching on the two lane, and capturing a token vehicle array;
and (3) listing procedures: when the vehicle arrives at a destination or an emergency demand is separated from the array, optimizing the information of the front radar and the rear radar of the vehicle and the marked obstacles, listing the information on a 2 lane after safety is confirmed, reducing the speed to 120km/h, checking the information again to confirm the safety, changing the lane to a 3 lane, reducing the speed to 100km/h, waiting for a ramp to be set off, and reducing the speed by 60 km/h;
merging procedures: the vehicle enters 3 lanes from the ramp, accelerates to 100km/h, then changes the lane to 2 lanes, accelerates to 120km/h, captures and receives vehicle array information on the 2 lanes according to the token command, when receiving a merge-possible command, the vehicle allows changing the lane, merges from the tail of the vehicle array into the 1 lane in the region, accelerates to catch up with the vehicle array, the automatic merge is successful in marshalling, the speed is adjusted to 140km/h, and meanwhile, lane numbers are butted to complete array data linkage.
In some embodiments of the present invention, the above further includes: when an emergency demand occurs in the driving process, the vehicle sends an emergency application, the control center starts a listing program, the vehicle gradually changes the lane according to the program, the vehicle approaches the high speed, and a manual control mode is started.
In some embodiments of the present invention, the above further includes: when the vehicles waiting to enter miss the opportunity, do not join the vehicle array or do not receive the token when entering high speed, the vehicles are driven at 120km/h on the 2 lanes to wait for the token until the token is received, and the array combination is completed according to the merging procedure.
In a second aspect, the present application provides an intelligent expressway-based vehicle control system, which includes
The system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring at least one piece of vehicle array information on an intelligent expressway;
the marshalling module is used for marshalling the vehicle arrays according to a preset rule and setting the distance between the vehicle arrays and the distance between the vehicles;
the system comprises a detection module, a dispatching control center and a token (vehicle array train number, array channel number, destination and vehicle array position), wherein the detection module is used for detecting a vehicle to be entered before entering an intelligent expressway, judging whether the vehicle to be entered meets a preset requirement or not, and giving a command of whether the vehicle to be entered is released or not according to a judgment result by the dispatching control center;
and the merging module is used for automatically searching and capturing a vehicle array of which the target array automatically enters the intelligent expressway according to the passing instruction and the token (vehicle array number, array channel number, destination and vehicle array position).
A listing module: the lane change warning system is used for updating information of front, back, left and right sides and marked obstacles of the vehicles to be listed in real time, optimizing and confirming the listing time, ensuring safety, sending a lane change command and simultaneously sending warning numbers to the vehicles at the tail.
In some embodiments of the invention, the above includes: at least one memory for storing computer instructions; at least one processor in communication with the memory, wherein the at least one processor, when executing the computer instructions, causes the system to: the device comprises an acquisition module, a grouping module, a detection module, a merging module and a dequeuing module.
In a third aspect, embodiments of the present application provide a computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements a method such as any one of intelligent expressway-based vehicle control methods.
Compared with the prior art, the embodiment of the invention has at least the following advantages or beneficial effects:
the safety of automatic driving can be improved, vehicles to be driven can be safely merged into a driving vehicle array under the high-speed road condition, and the safety and reliability of the automatic driving system are high in real time and safe. The unified control function of the dispatching control center is adopted, so that the communication time delay can be reduced, the quick response of the automatic driving vehicle in a quickly changing traffic environment is improved, and the safety of high-speed driving is ensured; the method can ensure that the vehicle still can carry out path planning with higher accuracy when running in an uncertain environment, including vehicle matrix path planning on a highway, and can carry out more accurate path planning and decision-making function of running behavior after sending the rest vehicle information and the data information of the road environment of the dispatching control center to the dispatching control center, thereby improving the dual safety of high-speed automatic driving vehicles.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic diagram illustrating steps of a vehicle control method based on an intelligent expressway according to an embodiment of the present invention;
FIG. 2 is a detailed step diagram of a vehicle control method based on an intelligent expressway according to an embodiment of the present invention;
FIG. 3 is a schematic block diagram of a vehicle control system based on an intelligent expressway according to an embodiment of the present invention;
fig. 4 is an electronic device according to an embodiment of the present invention.
Icon: 10-an acquisition module; 20-a grouping module; 30-a detection module; 40-a merging module; 50-dequeue module; 101-a memory; 102-a processor; 103-communication interface.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It is to be noted that the term "comprises," "comprising," or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the individual features of the embodiments can be combined with one another without conflict.
Example 1
Referring to fig. 1, fig. 1 is a schematic diagram illustrating steps of a vehicle control method based on an intelligent expressway according to an embodiment of the present invention, which is shown as follows:
step S100, acquiring at least one vehicle array information on the intelligent expressway;
in some embodiments, the driving speed of the vehicle array is 140km/h, the length of the vehicle array is Xkm, the inter-vehicle distance of the vehicle array is subject to a safe braking response distance, the safe braking response distance is a safe braking distance, and the individual vehicles in the array are linked by numbers of a control center dedicated data communication channel, the dedicated public communication channel can be radio communication, bluetooth, satellite, and the like, and the safe braking response distance is subject to experimental data.
Step S110, grouping the vehicle arrays according to a preset rule, and setting the distance between the vehicle arrays and the distance between the vehicles;
in some embodiments, the vehicle arrays are grouped according to 10 vehicles, the distance between two vehicle arrays is a safe locking moving interval, the interval distance is set according to the distance of satellite real-time positioning navigation reaction time, the vehicle arrays are applied to join in the array vehicles, lane change acceleration is performed in a region merged from the tail of the array, the grouping is completed, and meanwhile, channel numbers are butted to complete array data linkage.
In some embodiments, the vehicle has a satellite navigation function and a zone navigation function, the zone can be Xkm, the zone distance is determined according to the safety reaction time, the purpose is to prevent accidents, the reaction time is reserved, and when the array brakes, the unit vehicle brakes at the same time and sends a braking alarm signal to the tail array to prevent rear-end collision. And alarms to the control center.
Step S120, detecting a vehicle to be entered before entering the intelligent expressway, judging whether the vehicle to be entered meets preset requirements, giving a command of releasing according to a judgment result by a dispatching control center, and giving a token (vehicle array train number, array channel number, destination and vehicle array position);
in some embodiments, the vehicle to be entered is detected for the first time before entering the intelligent expressway, whether the destination of the vehicle to be entered is input is detected for the first time, whether the manual operation function is forcibly turned off is detected for the second time if the destination is input, and the vehicle is released if the manual operation function is forcibly turned off.
In some embodiments, all vehicles before entering the intelligent expressway need to forcibly turn off the manual operation function, so as to prevent serious accidents caused by artificial damage, and when the vehicles leave the intelligent expressway, the vehicles are automatically unlocked and the manual operation function is turned on.
Step S130, automatically searching a capture target array by the vehicle to enter according to the release instruction and the token (vehicle array number, array channel number, destination and vehicle array position), changing from the merging area to the road 1, and automatically completing the combination of the merged vehicle array.
And step S140, updating the information of the front radar, the rear radar, the left radar, the right radar and the marked obstacles of the vehicle in real time for the vehicle to be dequeued, optimizing the dequeuing time, confirming safety, finishing dequeuing, and simultaneously sending a dequeuing signal to warn the vehicle behind.
In some embodiments, in case of an emergency, the dispatch control center starts an emergency program, closes a high-speed entrance, opens an interval navigation function, orderly drives away from the high speed, and starts a manual operation function.
Example 2
Referring to fig. 2, fig. 2 is a detailed step diagram of a vehicle control method based on an intelligent expressway according to an embodiment of the present invention, which is shown as follows:
the intelligent expressway can be a bidirectional six-way road, the middle isolation belt is provided with a positioning and calibrating device, and the running density of the vehicle is corrected by taking a test as a standard; the first road is an expressway and is an array expressway, and the speed can be set to be 140 km/h; the second road is a driving road, namely a transition road for driving away from the array, entering the array or a short-distance vehicle, the short-distance vehicle can be defined as a vehicle with a destination distance less than or equal to n intersections (the high speed is adjusted by n values according to holiday peak value changes on the principle of long-distance priority), and the driving speed can be set to be 120 km/h. The third road is a driving-in road or a driving-out road, and the driving speed is 100 km/h. The speed difference of 20km/h can increase the selection chance of lane change.
The array application is explained below in conjunction with fig. 2:
the intelligent high speed is controlled by a dispatching control center in a unified way, such as traffic road conditions, long distance, short distance (n value is set to change according to holidays), vehicle array train number numbers (database random extraction, one array one number), array channel numbers (database random extraction, one array one number), destinations, vehicle array positions, token issuing, intersection release control, emergency evacuation, emergency rescue and the like. And starting a dequeuing program when a destination or an emergency event is reached, optimizing dequeuing time, sending a dequeuing warning signal, safely selecting a dequeuing machine, and the like. The layout is selected to have greater advantages in expanding the background, and the functions of the computer on the vehicle are optimized and controlled in safe driving as much as possible. The function configuration of the r computer is reduced, and therefore the vehicle cost is reduced. The purpose of safety and intelligence is achieved.
When a traffic accident happens, the system automatically locks the interval, sends a request to a rear gateway, closes the entrance on the spot, reports to a control center at the same time, starts an emergency program by the center, evacuates high-speed vehicles and closes the automatic driving function in the area, and drives away from the high speed manually. And the second road waits to be merged into the array and exits from the temporary road and the short-distance road of the array, so that the road cannot be too crowded, the control center controls the flow, and the array is regulated to the crowded road section, so that redundant vehicles applying for joining the array in the process of digestion are achieved.
Example 3
Referring to fig. 3, fig. 3 is a schematic diagram of a vehicle control system module based on an intelligent expressway according to an embodiment of the present invention, which is as follows:
the acquiring module 10 is used for acquiring at least one vehicle array information on the intelligent expressway;
the marshalling module 20 is used for marshalling the vehicle arrays according to a preset rule and setting the distance between the vehicle arrays and the distance between the vehicles;
the detection module 30 is used for detecting the vehicle to be entered before entering the intelligent expressway, judging whether the vehicle to be entered meets the preset requirement, giving a command of passing according to the judgment result by the dispatching control center and giving a token;
and the merging module 40 is used for automatically searching and capturing a vehicle array which automatically enters the intelligent expressway by the vehicle to be entered according to the passing instruction and the token (vehicle array number, array channel number, destination and vehicle array position).
The dequeue module 50: the system is used for updating information of front, back, left and right sides and marked obstacles of the vehicles to be listed in real time, optimizing and confirming the listing time, ensuring safety and simultaneously sending out warning signals.
In some embodiments, the automatic driving vehicle trajectory planning problem is performed by mapping from a cartesian coordinate system to a Frenet coordinate system, densely sampling the vehicle end motion state in a planning time domain in a vehicle driving state space, and interpolating the vehicle state transition process by utilizing quintic and quartic polynomial curves respectively to complete transverse and longitudinal local trajectory re-planning.
In the coordinated planning of the transverse and longitudinal tracks, the condition that vehicles in a complex traffic environment and static and dynamic obstacles in the environment cannot be simply equivalent to mass points is considered, the shapes, sizes and orientations of automatic driving vehicles and obstacles in operation are described by adopting moving rectangles and circles respectively, a hyperplane theory is introduced to evaluate whether the vehicle tracks interfere with the static and dynamic obstacles in the surrounding traffic environment or not and the risk of collision, and a track evaluation index system for the smoothness, comfort and driving efficiency of the tracks is designed to evaluate the track quality.
In the track tracking stage, in order to ensure that the track tracking running of the automatic driving vehicle can be achieved within the limit of the self physical condition, a dynamic control limit constraint rule of the automatic driving vehicle is designed by adopting a Brush tire model and the like, and the integrated track tracking control of the automatic driving vehicle active steering (AFS) and direct yaw moment (DYC) is completed by utilizing Model Predictive Control (MPC).
As shown in fig. 4, an embodiment of the present application provides an electronic device, which includes a memory 101 for storing one or more programs; a processor 102. The one or more programs, when executed by the processor 102, implement the method of any of the first aspects as described above.
Also included is a communication interface 103, and the memory 101, processor 102 and communication interface 103 are electrically connected to each other, directly or indirectly, to enable transfer or interaction of data. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The memory 101 may be used to store software programs and modules, and the processor 102 executes the software programs and modules stored in the memory 101 to thereby execute various functional applications and data processing. The communication interface 103 may be used for communicating signaling or data with other node devices.
The Memory 101 may be, but is not limited to, a Random Access Memory 101 (RAM), a Read Only Memory 101 (ROM), a Programmable Read Only Memory 101 (PROM), an Erasable Read Only Memory 101 (EPROM), an electrically Erasable Read Only Memory 101 (EEPROM), and the like.
The processor 102 may be an integrated circuit chip having signal processing capabilities. The Processor 102 may be a general-purpose Processor 102, including a Central Processing Unit (CPU) 102, a Network Processor 102 (NP), and the like; but may also be a Digital Signal processor 102 (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware components.
In the embodiments provided in the present application, it should be understood that the disclosed method and system and method can be implemented in other ways. The method and system embodiments described above are merely illustrative, for example, the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In another aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, which, when executed by the processor 102, implements the method according to any one of the first aspect described above. The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory 101 (ROM), a Random Access Memory 101 (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In summary, the vehicle control method and system based on the intelligent expressway provided by the embodiment of the application can improve the safety of automatic driving, can enable the vehicle to enter the driving array under the expressway condition to be safely merged into the driving vehicle array, and have the advantages of high real-time performance, safety and reliability. The unified dispatching control center function is adopted, so that the communication time delay can be reduced, the quick response of the automatic driving vehicle in a quickly changing traffic environment is improved, and the safety of high-speed driving is ensured; the method can ensure that the vehicle still can carry out path planning with higher accuracy when running in an uncertain environment, including vehicle matrix path planning on a highway, and can carry out more accurate path planning and decision-making function of running behavior after sending the rest vehicle information and the data information of the road environment of the dispatching control center to the dispatching control center, thereby improving the dual safety of high-speed automatic driving vehicles.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application 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 application 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. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A vehicle control method based on an intelligent expressway is characterized by comprising the following steps:
acquiring at least one piece of vehicle array information on the intelligent expressway;
grouping the vehicle arrays according to a preset rule, and setting the distance between the vehicle arrays and the distance between the vehicles;
detecting a vehicle to be entered before entering the intelligent expressway, judging whether the vehicle to be entered meets a preset requirement, giving a command of passing or not by the dispatching control center according to a judgment result, and granting a token;
and automatically searching the capture target array by the vehicle to be entered according to the release instruction and the token, and entering one vehicle array in the intelligent expressway according to the merging program.
2. The intelligent expressway-based vehicle control method according to claim 1, wherein the acquiring of the at least one vehicle array information on the intelligent expressway comprises:
the running speed of the vehicle array is 140km/h, the array length of the vehicle array is Xkm, and the inter-vehicle distance of the vehicle array is based on the safe braking reaction distance.
3. The intelligent expressway-based vehicle control method according to claim 1, wherein the grouping the vehicle arrays according to a preset rule, and the setting the vehicle array pitch and the vehicle pitch comprises:
the vehicle arrays are grouped according to 10 vehicles, a safe locking interval is arranged between the two vehicle arrays, the interval is a safe moving interval, and the size of the interval is set by the distance of the satellite real-time positioning navigation reaction time.
4. The intelligent expressway-based vehicle control method according to claim 1, wherein the vehicle to enter is detected before entering the intelligent expressway, whether the vehicle to enter meets preset requirements is judged, and the instruction of whether to release the vehicle according to the judgment result comprises
The method comprises the steps of carrying out first detection before a vehicle to be entered enters an intelligent expressway, detecting whether the vehicle to be entered is input with a destination or not for the first time, carrying out second detection if the destination is input, detecting whether the manual operation function is forcibly closed or not for the second time, releasing the vehicle and granting a token if the manual operation function is forcibly closed.
5. The intelligent expressway-based vehicle control method according to claim 1, wherein the vehicle to enter automatically searches for an array of capture objects according to a clearance instruction and a token, and enters one array of vehicles in the intelligent expressway according to a merging procedure;
the highway is designed into 6 bidirectional lanes, the inner lane is 1 lane, the middle lane is 2 lanes, the outer lane is 3 lanes, and a time space is arranged on the lanes, so that the computer program disorder caused by vehicle crossing is avoided;
the lane change program is based on the first-in-first-out principle, which is as follows: and (3) giving out the array position, changing a lane two lane and then changing a lane three lane according to a program, waiting for high speed at the exit of the ramp, and then paralleling: changing the lane from the three lane to the two lane, searching on the two lane, and capturing a token vehicle array;
and (3) listing procedures: when the vehicle arrives at a destination or an emergency demand is separated from the array, optimizing the information of the front radar and the rear radar of the vehicle and the marked obstacles, listing the information on a 2 lane after safety is confirmed, reducing the speed to 120km/h, checking the information again to confirm the safety, changing the lane to a 3 lane, reducing the speed to 100km/h, waiting for a ramp to be set off, and reducing the speed by 60 km/h;
merging procedures: the vehicle enters 3 lanes from the ramp, accelerates to 100km/h, then changes the lane to 2 lanes, accelerates to 120km/h, captures and receives vehicle array information on the 2 lanes according to the token command, when receiving a merge-possible command, the vehicle allows changing the lane, merges from the tail of the vehicle array into the 1 lane in the region, accelerates to catch up with the vehicle array, the automatic merge is successful in marshalling, the speed is adjusted to 140km/h, and meanwhile, lane numbers are butted to complete array data linkage.
6. The intelligent expressway-based vehicle control method according to claim 1, further comprising:
when an emergency demand occurs in the driving process, the vehicle sends an emergency application, the control center starts a listing program, the vehicle gradually changes the lane according to the program, the vehicle approaches the high speed, and a manual control mode is started.
7. The intelligent expressway-based vehicle control method according to claim 1, further comprising:
when the vehicles waiting to enter miss the opportunity, do not join the vehicle array or do not receive the token when entering high speed, the vehicles are driven at 120km/h on the 2 lanes to wait for the token until the token is received, and the array combination is completed according to the merging procedure.
8. A vehicle control system based on an intelligent expressway, comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring at least one piece of vehicle array information on an intelligent expressway;
the marshalling module is used for marshalling the vehicle arrays according to a preset rule and setting the distance between the vehicle arrays and the distance between the vehicles;
the system comprises a detection module, a dispatching control center and a token, wherein the detection module is used for detecting a vehicle to be entered before entering an intelligent expressway, judging whether the vehicle to be entered meets a preset requirement, and giving a command of whether to pass according to a judgment result and giving the command to the token;
the merging module is used for automatically searching and capturing a vehicle array to automatically enter one vehicle array in the intelligent expressway according to the release instruction and the token by the vehicle to be entered;
a listing module: the vehicle lane changing system is used for updating information of front, back, left and right sides and marked obstacles of a vehicle to be listed in real time, optimizing and confirming the listing time, ensuring safety, sending a listing lane changing instruction and simultaneously sending a warning signal to a tail vehicle.
9. The intelligent highway-based vehicle control system of claim 8, comprising:
at least one memory for storing computer instructions;
at least one processor in communication with the memory, wherein the at least one processor, when executing the computer instructions, causes the system to perform: the device comprises an acquisition module, a grouping module, a detection module, a merging module and a dequeuing module.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-7.
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