CN116373904A

CN116373904A - Vehicle-mounted intelligent control system based on environment sensing and multi-vehicle cooperation

Info

Publication number: CN116373904A
Application number: CN202310330629.1A
Authority: CN
Inventors: 魏晓娟; 贾猛; 张艳; 张鹏宇; 杨绍清; 朱永宽
Original assignee: Henan Polytechnic Institute
Current assignee: Henan Polytechnic Institute
Priority date: 2022-03-07
Filing date: 2022-03-07
Publication date: 2023-07-04
Also published as: CN114475662A

Abstract

The invention discloses a vehicle-mounted intelligent control system based on environment awareness and multi-vehicle cooperation, which relates to the technical field of automatic driving control and comprises a navigation subsystem, an environment awareness subsystem, a cooperation control subsystem and a driving control subsystem; the navigation subsystem is used for generating a self-vehicle navigation route of the self-vehicle; the cooperative control subsystem is used for marking driving authorities according to the sequence of reaching the safe intersection range when the intersection points appear on the navigation route; when the vehicle marked as the first driving authority leaves the safety intersection range or stops driving in the safety intersection range, the first driving authority is transferred to the vehicle marked as the second driving authority; the driving control subsystem is used for controlling the automatic driving of the vehicle according to the navigation route of the vehicle, the road surface condition data and the driving authority, and returning to the navigation route of the vehicle after driving away from the safety intersection range and completing obstacle avoidance. The invention improves the safety, fairness and efficiency of the traffic intersections of a plurality of vehicles.

Description

Vehicle-mounted intelligent control system based on environment sensing and multi-vehicle cooperation

The invention discloses a divisional application of a vehicle-mounted intelligent control system based on environment sensing and multi-vehicle cooperation, wherein the application number of a parent application is 202210216285.7, and the application date is 2022.03.07.

Technical Field

The invention relates to the technical field of automatic driving control, in particular to a vehicle-mounted intelligent control system based on environment awareness and multi-vehicle cooperation.

Background

Along with development of science and technology, the automatic driving technology of the vehicle is more and more mature, real-time and continuous control is realized on the vehicle by means of artificial intelligence, visual calculation, a radar and a monitoring device, passengers only need to input destinations when using the automatic driving vehicle, and the automatic driving vehicle generates a driving route based on the current position and the destinations and drives according to the generated driving route.

The intelligent automatic driving system for vehicle is one control strategy obtained through various detection means and analysis and is based on safety. However, the current intelligent control of vehicles takes an empty site as a background or a closed road section with very small traffic flow, and almost no multi-vehicle intersection scene exists, and the vehicle intersection processing is basically "gift" and the vehicles continue to run after other vehicles pass. However, when a plurality of automatic driving vehicles meet a multi-vehicle meeting scene at the same time, the situation that the plurality of vehicles are in a 'gift' state and have no embarrassment during running can possibly occur. In addition, the current automatic driving technology still uses the fixed obstacle to determine the obstacle on the road, and still uses the fixed position of a certain time point to determine the position of the pedestrian or other objects in the moving process, so that the situation of the obstacle, particularly the moving vehicle and the pedestrian, cannot be reasonably avoided when multiple vehicles meet. Obviously, the current automatic driving technology is difficult to adapt to the actual road environment with complex road conditions.

The automatic driving technology of the vehicle is basically higher than everything, but how to reasonably process multi-vehicle intersections and reasonably avoid obstacles, and more intelligent sensing and analysis technology and subsequent vehicle control systems are needed.

Disclosure of Invention

The invention provides a vehicle-mounted intelligent control system based on environment awareness and multi-vehicle cooperation, which improves the safety, fairness and efficiency of the traffic intersections of a plurality of vehicles.

To achieve the above object, the present application provides the following solutions:

a vehicle-mounted intelligent control system based on environment sensing and multi-vehicle cooperation comprises a navigation subsystem, an environment sensing subsystem, a cooperative control subsystem and a driving control subsystem;

the navigation subsystem is used for generating a self-vehicle navigation route of the self-vehicle according to the road big environment between the starting place and the destination of the self-vehicle; the self-vehicle navigation route is displayed by taking a lane as a unit, and based on the outline dimension of the self-vehicle, the occupied area of the self-vehicle relative to the lane is marked, and the occupied area is marked on the lane for navigation;

the environment sensing subsystem is used for sensing the small environment of the road surface in real time in the automatic running process of the vehicle along the navigation route of the vehicle to generate the road surface condition data;

the cooperative control subsystem is connected with the navigation subsystem and is used for: the host vehicle shares the host vehicle navigation route with other vehicles and receives other vehicle navigation routes sent by other vehicles; when the intersection points of the own vehicle navigation route and the other vehicle navigation route appear, marking driving authorities according to the sequence of reaching a safe intersection range; when the vehicle marked as the first driving permission leaves the safety intersection range or the vehicle stops driving in the safety intersection range, the first driving permission is transferred to the vehicle marked as the second driving permission, and the vehicle marked as the second driving permission is marked as the first driving permission; the safe intersection range is used for at least meeting the passing of one vehicle;

the driving control subsystem is respectively connected with the navigation subsystem, the environment sensing subsystem and the cooperative control subsystem, and is used for generating a driving direction instruction of the vehicle according to the navigation route of the vehicle and generating a driving route instruction according to the road surface condition data and the driving authority; the driving direction instruction and the driving route instruction are used for controlling the automatic driving of the vehicle, and the vehicle returns to the navigation route of the vehicle after the vehicle leaves the safety meeting range and the obstacle avoidance is completed.

Optionally, the navigation subsystem comprises a map unit, a positioning unit and a dynamic optimization unit;

the map unit is used for providing map data with high precision, marking navigation information on lanes of roads based on the map data, displaying navigation and road data by taking the lanes as units, and generating the navigation route of the vehicle;

the positioning unit is used for providing high-precision real-time position information of the vehicle and marking the real-time position information on the navigation route of the vehicle;

the dynamic optimization unit is used for dynamically adjusting the navigation route of the vehicle according to the change of the road large environment.

Optionally, the road surface condition data includes road identification and obstacle information;

the environment perception subsystem comprises a visual identification unit and a radar detection unit;

the visual identification unit is used for collecting a space video picture around the vehicle and identifying a road mark and an obstacle image according to the space video picture;

the radar detection unit is used for acquiring the barrier position data around the vehicle through radar waves and acquiring barrier information according to the barrier position data and the barrier image.

Optionally, the visual recognition unit comprises a video acquisition device, an image processing unit and a visual analysis unit;

the video acquisition equipment adopts a high-definition camera and is used for acquiring video information in preset distances of all lanes in front of, on the side of and behind the vehicle;

the image processing unit is used for performing stitching integration based on a 360-degree panoramic technology to generate 360-degree panoramic video data with a vehicle as a center, intercepting video frame images at intervals of 0.1s, and generating a continuous two-dimensional image sequence with the 360-degree panoramic image with the vehicle as the center;

the visual analysis unit is used for identifying road marks and obstacle images in each two-dimensional image based on visual analysis technology.

Optionally, the cooperative control subsystem comprises a data sharing unit, a route analysis unit, a driving authority allocation unit and a driving authority transfer unit;

the data sharing unit is used for sending the own vehicle navigation route within a preset distance in front of the own vehicle to other vehicles and receiving the other vehicle navigation route sent by the other vehicles;

the route analysis unit is used for: judging whether a navigation intersection point occurs or not based on the own vehicle navigation route and the other vehicle navigation route; if the navigation intersection point occurs, generating intersection point information; the intersection point information comprises the position of an intersection point, the distance between the intersection point and the workshop, the expected arrival time of the intersection point, the speed of other related vehicles, the distance between the intersection point and the expected arrival time of the intersection point;

the driving authority allocation unit is used for acquiring driving authorities according to the intersection information and a preset safe intersection range;

the driving permission transfer unit is used for transferring the driving permission to other vehicles after the vehicle leaves the safety meeting range.

Optionally, the driving control subsystem comprises a driving direction unit and a route instruction unit;

the driving direction unit is used for generating the driving direction instruction according to the self-vehicle navigation route;

the route instruction unit is used for generating a driving route instruction according to the road surface condition data and the driving permission, wherein the driving route instruction is used for avoiding obstacles on the own vehicle navigation route, controlling the own vehicle to run in the safe intersection range and maintaining the correct route of the own vehicle on the own vehicle navigation route.

According to the specific embodiment provided by the invention, the invention discloses the following technical effects:

the invention discloses a vehicle-mounted intelligent control system based on environment perception and multi-vehicle cooperation, which is characterized in that a navigation subsystem is used for determining the road large environment between the starting place and the destination of a vehicle and generating a navigation line, and the occupied area of the vehicle relative to a lane where the vehicle is positioned is marked based on the outline dimension of the vehicle and the occupied area is marked on the lane corresponding to the navigation line, so that on the premise of ensuring that relevant regulations are met, the space of different lanes on the road and the whole road surface are fully utilized, and on the premise of ensuring the safety of obstacles, the vehicle is ensured to still plan a safe forward line without stagnation or slow movement, and the running time of the vehicle on the road is further shortened. And sensing the small road surface environment through the environment sensing subsystem to generate road surface condition data. Determining navigation route intersection points based on the navigation routes of a plurality of vehicles through the cooperative control subsystem, and further determining a safety intersection range; marking driving authorities according to the sequence of vehicles reaching the safety intersection range so as to realize the effect of first-come-first-come, thereby ensuring the fairness and rationality of driving; meanwhile, when the vehicles marked as the first driving permission leave the safety intersection range or stop running in the safety intersection range, the first driving permission is transferred to the vehicles marked as the second driving permission, and the vehicles marked as the second driving permission are marked as the first driving permission at the moment. And finally, controlling the automatic running of the vehicle through the running control subsystem according to the navigation route of the vehicle, the road surface condition data and the running authority, and returning to the navigation route of the vehicle after the vehicle leaves the safety intersection range and the obstacle avoidance is completed.

On the whole, the invention takes the vehicle intersection situation in the driving process as a research key point on the basis of the traditional automatic driving technology based on navigation information, judges intersection points from the navigation route of the vehicle through multi-vehicle interaction, adopts a first-to-first-pass cooperative strategy, and reasonably and safely solves the passing sequence problem in the vehicle intersection process; meanwhile, road surface environment perception is combined, a driving instruction which can reasonably and safely avoid obstacles in the vehicle crossing process is generated, and the problem of safe passing of vehicles is solved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a vehicle-mounted intelligent control system based on environment awareness and multi-vehicle cooperation according to an embodiment of the invention;

FIG. 2 is a schematic diagram of a driving state when a vehicle detects an intersection in the embodiment of the present invention;

FIG. 3 is a schematic diagram of a rule for rights allocation in an embodiment of the present invention;

fig. 4 is a schematic diagram of transferring the driving authority in an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The invention will be further described in detail with reference to the drawings and detailed description below in order to make the objects, features and advantages of the invention more comprehensible.

Autopilot system technology (abbreviated ADS) refers to systems that perform driving tasks for a vehicle (e.g., lateral and longitudinal control of the vehicle) and allow the vehicle to drive with reduced and/or no manual control of the driving tasks.

GPS is a Global Navigation Satellite System (GNSS) that provides geographic location and time information to a receiver. Examples of GNSS include, but are not limited to, the Global positioning System developed in the United states, differential Global Positioning System (DGPS), beidou navigation satellite System (BDS), GLONASS Global navigation satellite System, the European Galileo positioning System.

An automated vehicle (abbreviated "AV") refers to an automated vehicle that operates in an automated mode (e.g., at any level of automation).

The level of automation or intelligence of a vehicle is described in terms of "intelligence level" or "automation level". The vehicle intelligence or automation level is one of the following levels: v0: no automation function; v1: assisting a human driver in controlling basic functions of the vehicle; v2: assisting the human driver in controlling the vehicle to complete simple tasks and providing basic sensing functions; v3: the system has a detailed real-time environment sensing function and can complete relatively complex driving tasks; v4: a function of allowing the vehicle to travel independently under defined conditions and with support of a human driver; v5: a function of allowing the vehicle to independently travel in any situation where the vehicle is not supported by the human driver.

The system intelligence and/or automation level is one of the following levels: s0: is nonfunctional; s1: the system provides simple functions such as cruise control, passive safety and the like for the individual vehicles; the system detects the speed, position and distance of the vehicle; s2: the system consists of individual intelligence and can detect the vehicle function state, vehicle acceleration and/or traffic sign and signal; the individual vehicles make decisions according to the information of the individual vehicles, so that automatic driving is partially realized, and complex functions of assisting the vehicle in self-adaptive cruise control, lane keeping, lane change level automatic parking and the like are provided; s3: the system integrates a group of vehicle information and has point-to-point intelligent and predictive capability, and can carry out intelligent decision on the vehicle group and complete complex conditional automatic driving tasks such as cooperative cruise control, vehicle group, vehicle navigation at intersections, confluence and diversion and the like; s4: the system optimally integrates driving behavior in the local network; the system detects and transmits detailed information in a local network, makes decisions according to vehicles and traffic information in the network, processes complex, high-level automatic driving tasks such as guiding traffic signal corridors, and provides optimal trajectories for vehicles in a small traffic network; s5: vehicle automation and system traffic automation, wherein the system optimally manages the entire traffic network; the system detects and transmits detailed information in a transportation network and makes decisions according to all available information in the network; the system handles fully automated driving tasks, including individual vehicle tasks and traffic transportation tasks, and coordinates all vehicles to manage traffic.

Some other common standards in the field may refer to SAE international standard J3016.

In the present embodiment, when automatic driving or intelligent driving control is involved, the above-described technical contents may be referred to or cited.

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

It is well known that vehicles must travel on roads in the general sense, on which there must be a large number of other vehicles, and at intersections where there are no traffic lights or no guidance, autonomous intersections between vehicles must occur. In addition, many pedestrians and other vehicles on the road belong to barriers, and in the running process of the vehicles, the safety of the barriers is ensured, the passing of the vehicles is ensured, and the vehicles and the pedestrians are in a moving state and are not fixed, so that the judgment of the positions of the barriers is greatly influenced.

Therefore, the method and the device for managing the traffic sequence of the vehicles in the multi-vehicle cooperative mode judge the intersection point in the traffic path according to the navigation information of the multi-vehicle, and reasonably and safely avoid various obstacles and pedestrians through environmental awareness on the premise that the vehicles are cooperated with each other, so that reasonable and safe traffic in the vehicle intersection process is guaranteed.

In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.

Fig. 1 is a schematic structural diagram of a vehicle-mounted intelligent control system based on environment sensing and multi-vehicle cooperation according to an embodiment of the present application, which mainly includes a navigation subsystem, an environment sensing subsystem, a cooperative control subsystem and a driving control subsystem.

In this embodiment, the navigation subsystem is configured to generate a host vehicle navigation route of the host vehicle according to a road environment between a start point and a destination of the host vehicle. The cooperative control subsystem is used for sharing the own vehicle navigation route with other vehicles, receiving other vehicle navigation routes sent by other vehicles, and generating driving permission when the own vehicle navigation route and the other vehicle navigation routes are intersected. The environment sensing subsystem is used for sensing the small environment of the road surface in real time and generating the road surface condition data in the automatic running process of the vehicle along the navigation route of the vehicle. The driving control subsystem is used for generating a driving direction instruction of the vehicle according to the navigation route of the vehicle, and generating a driving route instruction according to the road surface condition data and the driving permission, wherein the driving direction instruction and the driving route instruction are used for controlling the automatic driving of the vehicle.

The structural composition and functional implementation of each subsystem are specifically described below.

In this embodiment, the navigation subsystem includes a map unit, a positioning unit, and a dynamic optimization unit.

The map unit is used for providing map data with high precision and generating a navigation route of the vehicle based on the map data. The positioning unit is used for providing high-precision real-time position information of the vehicle and marking the real-time position information on a navigation route of the vehicle.

At present, navigation and positioning technologies have advanced greatly, and related technologies are numerous. However, these navigation and positioning functions, which generally stay on the road level, merely display the road path. The navigation technology can not meet the requirement of reasonably avoiding road obstacles.

The navigation technology, particularly Beidou navigation and positioning technology, achieves high precision of the level of 10cm, navigation information can be marked on a certain lane of a road based on the high-precision map and the high-precision positioning, namely, navigation and road data are displayed by taking the lane as a unit, and a vehicle is guided to run in the certain lane. In this embodiment, when there is only one lane, only that lane is taken as a navigation route, when there are two lanes, the right lane is taken as a navigation route, and when there are multiple lanes, the middle lane is taken as a navigation route, and the remaining lanes are all taken as backup lanes. And the lane is used as a unit for navigation display and prompt, so that obstacles can be reasonably avoided in the later period.

Meanwhile, the position of the vehicle is positioned based on the high-precision positioning, the occupied area of the vehicle relative to the lane is marked based on the outline size of the vehicle, and the occupied area of the vehicle is marked on the lane for navigation.

Based on the high-precision map and the high-precision positioning, and in combination with the current road traffic conditions, such as the current traffic flow, traffic control, vehicle restriction, road construction and other road large environments, a reasonable vehicle navigation route suitable for the vehicle to pass is generated between the starting place and the destination.

In this embodiment, a dynamic optimization unit is further added, which is configured to dynamically adjust the navigation route of the host vehicle according to the change of the road large environment, for example, if a certain section of the original navigation route is congested, it may prompt the driver whether to change the navigation route.

In this embodiment, the previously planned own navigation route with the lane as a unit is the basis of the travel of the vehicle, and on this basis, no matter the vehicle is intersected by multiple workshops or the vehicle is prevented from being blocked in the automatic traveling process, the vehicle is returned to the originally planned lane after the intersection and the obstacle avoidance are completed.

In the present embodiment, corresponding to a road large environment is a road small environment including various types of obstacles on all lanes, such as fixed obstacles on the road surface, other vehicles in a moving state, and pedestrians. The information of the obstacles and various road identifications, which are collectively called road surface condition data, are obtained by the environment perception subsystem in real time except the originally marked road identifications on the high-precision map.

In this embodiment, the context awareness subsystem includes a visual recognition unit and a radar detection unit. The visual identification unit is used for collecting a space video picture around the vehicle and identifying road marks and obstacle images according to the space video picture; the radar detection unit is used for acquiring obstacle position data around the vehicle through radar waves, and acquiring complete obstacle information according to the obstacle position data and the obstacle images.

As described above, the navigation route is from the origin to the destination, but the change of the road surface environment is real-time, particularly for pedestrians in motion, and thus, a road section where the vehicle senses and takes a control strategy in real time is required, and is actually a part of the road section based on the current position of the vehicle, including the road surface section in a predetermined distance of all lanes in front of, on the side of, and behind the vehicle. In the present embodiment, the length of the front road section is set in relation to the vehicle speed, because the higher the vehicle speed, the longer the distance travelled over a period of time, the more it is necessary to make analysis and pre-determination in advance. Specifically, in this embodiment, the driving distance of 10 seconds at the current speed of the vehicle is adopted as the distance range of the front section of the vehicle, but the distance range of the front section of the vehicle is 50 meters at the lowest, for example, the current speed is 36km/h, namely 10m/s, the driving distance of 10 seconds is 100m, the minimum 50m limit value is exceeded, and 100m is taken as the distance range of the front section of the vehicle to perform obstacle sensing; if the speed of the vehicle is faster, for example, 72km/h, namely 20m/s, the driving distance of 10 seconds is 200m, and 200m is taken as the distance range of the front road section of the vehicle to sense the obstacle. However, if the current speed is lower than 18km/h, namely lower than 5m/s, the distance travelled by the vehicle within 10 seconds is not more than 50m, and at the moment, 50m is taken as the distance range of the front section of the vehicle to sense the obstacle. The method for taking the value of the front distance of the vehicle can reserve enough safe distance and route analysis time for the vehicle.

For the vehicle side, if the vehicle changes lane, collision contact may be transmitted with the vehicle side obstacle, and therefore, it is necessary to sense the obstacle condition in the range of all lanes on both sides of the vehicle (the minimum value is 10m on both sides).

For the vehicle rear, since there may be other vehicles traveling fast, the lane change of the vehicle may collide with the vehicle traveling fast in the rear, so the sensing range of the vehicle rear side adopts the same manner as the front of the vehicle, and will not be described herein.

In this embodiment, the visual recognition unit includes a video acquisition device, an image processing unit, and a visual analysis unit. And a high-definition camera is used as video acquisition equipment for acquiring video information of the front, side and back of the automobile. The image processing unit adopts a mature 360-degree panoramic technology to splice and integrate, generates 360-degree panoramic video data with the vehicle as the center, intercepts video frame images with 0.1s as a time interval, and generates a continuous two-dimensional image sequence with the 360-degree panoramic image with the vehicle as the center. The visual analysis unit then uses visual analysis techniques to identify road markings and obstacle images in each of the two-dimensional images.

As described above, in this embodiment, the obstacle is divided into a fixed obstacle and a moving obstacle, and the position, shape and space size of the moving obstacle need to be sensed, wherein the moving direction, including the moving direction and speed, of the moving obstacle is also sensed, and in this embodiment, the moving obstacle mainly refers to other vehicles and pedestrians in movement, and this embodiment will be described later taking pedestrians crossing roads as an example. The identification of the obstacle adopts the existing mature visual analysis and identification technology, is not limited herein, and further, the optical flow analysis method combined with the existing mature theory is used for identifying the position of the same obstacle or pedestrian in the continuous images, and distinguishing the movement trend of the fixed obstacle and the moving obstacle.

Then, in combination with radar detection unit devices, such as the laser radar detection technology widely configured on vehicles at present, the detection range of the laser radar is mapped into a two-dimensional image, and then the position of an obstacle detected by the radar is mapped into the detection range in the two-dimensional image, so that position data of the obstacle, including the angle of the obstacle relative to the forward direction of the vehicle and the distance from the vehicle, are obtained. The position, the spatial shape and the range occupied by the road surface of the obstacle and the movement trend form obstacle information.

Finally, all road identifications and obstacle information in the perception range are also identified on a high-precision map, in particular to a movement route of a moving obstacle.

Based on the high-precision map navigation and real-time environment perception in the vehicle traveling process, technical support is provided for subsequent vehicle obstacle avoidance and vehicle intersection. In this embodiment, the cooperative control subsystem includes a data sharing unit, a route analysis unit, a driving authority allocation unit, and a driving authority transfer unit. In the vehicle crossing process, a set of feasible cooperative strategies is needed to smoothly finish the crossing of multiple vehicles.

The data sharing unit is used for sending the own vehicle navigation route within the preset distance in front of the own vehicle to other vehicles and receiving the other vehicle navigation route sent by the other vehicles. All navigation routes are based on lanes, and if a certain road section has a plurality of lanes for traffic, the control method can completely avoid the competing of the driving right through the lane change of the vehicle. Therefore, only the traffic lane is used as a unit, and the intersection point appears on the navigation route, and a multi-vehicle cooperative intersection control strategy is needed.

The route analysis unit judges whether a navigation intersection occurs based on the own vehicle navigation route and the other vehicle navigation route, and generates intersection information if the navigation intersection occurs. Since each vehicle is sharing this navigation route, the vehicles will simultaneously generate intersection information including the location of the intersection, the distance to the vehicle, the time at which the intersection is expected to be reached, and other vehicle information related (speed, distance from the intersection, time at which the intersection is expected to be reached, etc.). As shown in fig. 2, in the figure, the vehicle No. 1 turns left from the point a to the point B, the vehicle No. 2 turns left from the point B to the point C, the vehicle No. 3 turns left from the point C to the point D, the vehicle No. 4 turns left from the point D to the point a, and the navigation route meets at the point O within the road environment sensing range of the four vehicles. The time for the vehicle to reach the O-point need not be considered here, since the travel time in the perceived range is only 10s for each vehicle, it being clear that within this 10s four vehicles have to cooperate in a meeting.

The driving authority distribution unit is used for acquiring driving authorities according to the intersection point information and the preset safe intersection range, namely, which vehicle is in advance and which vehicle is in back, distinguishing which vehicle can pass through the safe intersection range and which vehicle can not pass through the safe intersection range temporarily. In the present embodiment, the safety meeting range is set to be the whole intersection area (within the dashed line frame in fig. 2), but of course, the safety meeting range may be set to be a certain range centered on the intersection point, and the range should at least satisfy the normal traffic of one vehicle in principle, without being limited in detail herein. As an autonomous vehicle, in principle, it will run at a constant speed without sudden rapid acceleration or rapid deceleration, based on which the present application adopts a first-to-first approach, where the vehicle that first enters the safe intersection has the first driving authority, and then the vehicle that reaches the safe intersection is marked as the vehicle of the second driving authority, and obtains the driving authorities in the order of reaching the safe intersection. In fig. 3, the vehicle No. 1 first enters the safe meeting range, and is the first vehicle authority vehicle, the vehicle No. 2 then is the second authority vehicle, and the vehicles No. 3 and No. 4 do not reach the safe meeting range yet, and the vehicle authority is not acquired temporarily.

When the No. 1 vehicle marked as the first driving authority leaves the safety intersection range, the driving authority transfer unit transfers the first driving authority to the No. 2 vehicle marked as the second driving authority, and the No. 2 vehicle marked as the second driving authority is marked as the first driving authority. As shown in fig. 4. At this time, the vehicle No. 3 also reaches the safe intersection range, and the second driving authority is obtained.

The present embodiment further considers the case that if two vehicles enter the safe intersection range at the same time, the vehicle on the narrower road is marked as the first driving authority. Of course, in this case, other manners of allocating the driving authority may be adopted, which is not exhaustive in this application.

The present embodiment further considers that if the vehicle marked as the first driving right stops driving within the safe intersection range, the driving right transfer unit transfers the first driving right to the vehicle marked as the second driving right, and the vehicle marked as the second driving right is marked as the first driving right at this time. When the vehicle marked as the first driving right leaves the safety intersection range, the vehicle staying in the safety intersection range is marked as the first driving right, the vehicle can continue the journey, and if the vehicle does not travel for a limited time (for example, 10 s), the driving right transfer unit transfers the first driving right to the vehicle marked as the second driving right, and the vehicle marked as the second driving right is marked as the first driving right.

When the vehicle acquires the driving permission, the vehicle is in the multi-vehicle cooperative control system, at the moment, only the vehicle marked as the first driving permission can accept manual operation of a driver, and other vehicles do not respond to the vehicle operation of the driver so as to avoid damaging the driving sequence and rules established in the earlier stage.

When the driving authority, namely the driving sequence and the driving rule are established, the vehicle moves according to the driving sequence and the rule. The driving control subsystem comprises a driving direction unit and a route instruction unit.

The driving direction unit generates a driving direction instruction, which is a large direction in which the vehicle travels, according to the own-vehicle navigation route. On the basis, the route instruction unit generates a driving route instruction according to the road surface condition data and driving permission, wherein the driving route instruction is used for avoiding obstacles on the navigation route of the vehicle, controlling the vehicle to drive in a safe intersection range, maintaining the correct route of the vehicle on the navigation route of the vehicle, namely, returning to the original navigation route after the vehicle leaves the safe intersection range and after obstacle avoidance is completed. The specific obstacle avoidance operation can adopt the prior art, but the safety intersection range and the navigation route are taken as references, namely the safety intersection range cannot be exceeded due to the obstacle avoidance driving, and the lane change driving can be carried out only within the range allowed by the related traffic regulations.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.

The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.

Claims

1. The vehicle-mounted intelligent control system based on environment sensing and multi-vehicle cooperation is characterized by comprising a navigation subsystem, an environment sensing subsystem, a cooperative control subsystem and a driving control subsystem;

2. The vehicle-mounted intelligent control system based on environment awareness and multi-vehicle coordination according to claim 1, wherein the navigation subsystem comprises a map unit, a positioning unit and a dynamic optimization unit;

3. The vehicle-mounted intelligent control system based on environment awareness and multi-vehicle coordination according to claim 1, wherein the road surface condition data comprises road identification and obstacle information;

4. The vehicle-mounted intelligent control system based on environment awareness and multi-vehicle coordination according to claim 3, wherein the visual recognition unit comprises a video acquisition device, an image processing unit and a visual analysis unit;

5. The vehicle-mounted intelligent control system based on environment awareness and multi-vehicle coordination according to claim 1, wherein the coordination control subsystem comprises a data sharing unit, a route analysis unit, a driving authority distribution unit and a driving authority transfer unit;

6. The vehicle-mounted intelligent control system based on environment awareness and multi-vehicle cooperation according to claim 1, wherein the driving control subsystem comprises a driving direction unit and a route instruction unit;