CN116486629A - Intelligent spike-based automatic driving special lane dynamic management and control system and method - Google Patents
Intelligent spike-based automatic driving special lane dynamic management and control system and method Download PDFInfo
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- CN116486629A CN116486629A CN202310511011.5A CN202310511011A CN116486629A CN 116486629 A CN116486629 A CN 116486629A CN 202310511011 A CN202310511011 A CN 202310511011A CN 116486629 A CN116486629 A CN 116486629A
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- 239000003086 colorant Substances 0.000 claims description 3
- 238000007726 management method Methods 0.000 claims 9
- 238000002955 isolation Methods 0.000 abstract description 4
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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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
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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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
- G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
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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
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- General Physics & Mathematics (AREA)
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Abstract
The invention belongs to the field of intelligent traffic, and particularly relates to an automatic driving special lane dynamic management and control system and method based on intelligent spikes. The system comprises: an intelligent spike module, a road side unit module and a road section function division module; the intelligent spike module is used for prompting a manual driving vehicle on a road section where the special lane is located; the road side unit module is used for collecting and processing the information of the road section where the special lane is located and sending the processed road section information to the intelligent spike module; the road section function division module is used for dividing the function section of the special lane. The invention can realize the physical isolation between the special lane and the general lane and solve the problems of low lane utilization efficiency, poor coordination among vehicles and the like.
Description
Technical Field
The invention belongs to the field of intelligent traffic, and particularly relates to an automatic driving special lane dynamic management and control system and method based on intelligent spikes.
Background
Considering the transition period of the road resource sharing of the automatic driving vehicle and the manual driving vehicle, the novel traffic infrastructure, namely the special lane of the automatic driving vehicle, is widely paid attention to the aim of relieving the safety risk of the mixed running of the two vehicles and guaranteeing the running efficiency of the automatic driving vehicle. Related test tests of lanes special for automatic driving vehicles have also been carried out in China. However, the special lane of the automatic driving vehicle at the present stage mainly realizes lane isolation through marks, marks or other physical isolation facilities, and has the defects of low road utilization efficiency, poor vehicle entrance and exit cooperation and the like.
Disclosure of Invention
The invention aims to provide an automatic driving special lane dynamic management and control system and method based on intelligent spikes. The invention can realize the physical isolation between the special lane and the general lane and solve the problems of low lane utilization efficiency, poor vehicle coordination and the like. The special lane is a lane used by an automatic driving vehicle; the general lane is a general lane and can be shared by automatic driving vehicles and manual driving vehicles.
The technical scheme of the invention is as follows:
an automated driving lane management and control system based on intelligent spikes, the system comprising: an intelligent spike module, a road side unit module and a road section function division module;
the intelligent spike module is used for prompting a manual driving vehicle on a road section where the special lane is located;
the road side unit module is used for collecting and processing the information of the road section where the special lane is located and sending the processed road section information to the intelligent spike module;
the road section functional area dividing module is used for dividing functional sections of the road section where the special lane is located.
Further, the intelligent spike module comprises a light module and a communication module, wherein the light module performs light switch, color change and flicker frequency change according to the instruction sent by the road side unit module; the communication module is used for communicating with the road side unit module.
Further, the road side unit module comprises an information acquisition unit, a data processing unit and a communication unit;
the information acquisition unit is used for collecting road section information of the special lane and sending the road section information to the data processing unit;
after receiving the information, the data processing unit analyzes and judges whether the road section contains the automatic driving vehicle or not, or predicts the running track of the road section according to the movement of the automatic driving vehicle and decision information so as to further determine the entering/exiting area of the special lane; according to the analysis and judgment result, determining the lamplight colors, flicker frequencies and the like which are required to be displayed by the intelligent spike modules of the road sections of different functional areas, and generating control instructions to send to the intelligent spike modules;
the communication unit is used for realizing the communication between the information acquisition unit and the data processing unit and the communication between the data processing unit and the intelligent spike module.
Further, the road section information of the special lane comprises traffic state information of the road section of the special lane, movement of the automatic driving vehicle and decision information.
Further, the road section function dividing module divides the road section where the special lane is located into a warning zone, a buffer zone, an ingress/egress zone and other intermediate zones;
when the automatic driving special lane closes the opening of the manual driving vehicle, the warning area sets a dynamic mark to remind the manual driving vehicle of closing the opening authority of the special lane and please drive away from the special lane as soon as possible;
the buffer zone reminds the driver to finally leave the special automatic driving lane through dynamic mark reminding and road marking guiding after the warning zone;
the entering/exiting area predicts the running track of the automatic driving vehicle according to the movement and decision information of the automatic driving vehicle, and further defines the area of entering/exiting the special lane;
the other middle section covers the area of the road section covered by the other special lanes outside the functional section.
The invention also provides a method for controlling the special automatic driving lane based on the intelligent spike,
the control method is realized based on three scenes; the method comprises a first scene, a second scene and a third scene;
in the first scene, no automatic driving vehicle exists on the road section where the special lane is located;
in the second scene, an automatic driving vehicle is arranged on the road section where the special lane is located;
and in the third scene, the automatic driving vehicle needs to enter/leave the special lane.
Further, the control method specifically comprises the following steps:
firstly, when the road side unit module senses that a road section where a special lane is located does not have automatic driving, entering a dynamic management and control of a first scene, at the moment, the intelligent spike modules of all road sections receive the road side unit instruction, and are normally bright in a first color, and the special lane is opened for manual driving;
when the road side unit module senses that the section where the special lane is located is or is about to drive into an automatic driving vehicle, entering a dynamic management and control of a second scene; at the moment, the intelligent spike modules of all road sections receive the road side unit instructions, the intelligent spike modules are normally bright in a second color, and the special lane prohibits the use of the manual driving vehicle; meanwhile, the road side unit module gives shared control information to a warning area dynamic mark to guide a manual driving vehicle on a special lane to drive away;
when the road side unit module senses that the automatic driving vehicle enters/exits the special lane, entering a dynamic management and control of a third scene; the road side unit module predicts the running track of the automatic driving vehicle according to the movement and decision information of the automatic driving vehicle, and calculates the entering area of the automatic driving vehicle into the special lane/the exiting area of the automatic driving vehicle from the special lane; the intelligent spike of the entering/exiting area receives a road side unit instruction and flashes in a third color; the remaining warning zone, buffer zone and other intermediate section smart spike modules remain normally bright in the second color.
The invention has the technical effects that:
(1) Improving the utilization rate of the lane
In the first scene, when no automatic driving vehicle exists in the lane, the manual driving vehicle can enter the special lane, so that the road utilization efficiency is improved, and the traffic pressure is relieved.
(2) Increasing driving safety
In a second scene, the intelligent spike prompts the manual driving vehicle to leave the special lane, so that driving conflict between the automatic driving vehicle and the manual driving vehicle is reduced. In a third scenario, when the automatic driving vehicle enters or leaves the special lane, the intelligent spike reminds the manual driving vehicle to pay attention to lane changing behavior of the automatic driving vehicle, and the possibility of accidents among vehicles is reduced.
(3) Improving the degree of synergy of vehicles
In the third scene, when the automatic driving vehicle enters or leaves the special lane, the intelligent spike reminds the manual driving vehicle, so that the manual driving vehicle can be matched with lane changing of the automatic driving vehicle to a certain extent, and the degree of cooperation between the two types of vehicles is improved.
Drawings
The accompanying drawings illustrate various embodiments by way of example in general and not by way of limitation, and together with the description and claims serve to explain the inventive embodiments. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts. Such embodiments are illustrative and not intended to be exhaustive or exclusive of the present apparatus or method.
Fig. 1 shows a schematic diagram of a functional division of a road segment according to the present invention;
FIG. 2 shows a dynamic management flow diagram of the present invention;
FIG. 3 shows a schematic view of a scenario of the present invention;
FIG. 4 shows a second schematic view of the scenario of the present invention;
fig. 5 shows a three schematic view of the scenario of the present invention.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The embodiment of the invention provides an automatic driving special lane management and control system based on intelligent spikes, which comprises the following components: an intelligent spike module, a road side unit module and a road section function division module;
the intelligent spike module is used for prompting a manual driving vehicle on a road section where the special lane is located;
the road side unit module is used for collecting and processing the information of the road section where the special lane is located and sending the processed road section information to the intelligent spike module;
the road section function division module is used for dividing the function section of the road section where the special lane is located.
The intelligent spike module comprises a light module and a communication module, wherein the light module performs light switch, color change and flicker frequency change according to the instruction sent by the road side unit module; the communication module is used for communicating with the road side unit module.
The road side unit module comprises an information acquisition unit, a data processing unit and a communication unit;
the information acquisition unit is used for collecting the information of the road section where the special lane is located and sending the road section information to the data processing unit;
after receiving the information, the data processing unit analyzes and judges whether the road section contains the automatic driving vehicle or not, or predicts the running track of the road section according to the movement of the automatic driving vehicle and decision information so as to further determine the entering/exiting area of the special lane; according to the analysis and judgment result, determining the lamplight colors, flicker frequencies and the like which are required to be displayed by the intelligent spike modules of the road sections of different functional areas, and generating control instructions to send to the intelligent spike modules;
the communication unit is used for realizing the communication between the information acquisition unit and the data processing unit and the communication between the data processing unit and the intelligent spike module.
The information of the road section where the special lane is located comprises traffic state information, automatic driving vehicle movement and decision information of the road section where the special lane is located.
The road section functional area dividing module divides the road section where the special lane is located into a warning area, a buffer area, an incoming/outgoing area and other middle sections;
when the automatic driving special lane closes the opening of the manual driving vehicle, the warning area sets a dynamic mark to remind the user of closing the opening authority of the manual driving vehicle special lane and please drive away from the special lane as soon as possible;
the buffer zone reminds the driver to finally leave the special automatic driving lane through dynamic mark reminding and road marking guiding after the warning zone;
the entering/exiting area predicts the running track of the automatic driving vehicle according to the movement and decision information of the automatic driving vehicle, and further defines the area of entering/exiting the special lane;
the other middle section covers the area of the road section covered by the other special lanes outside the functional section.
The invention also provides a method for controlling the special automatic driving lane based on the intelligent spike,
the control method is realized based on three scenes; the method comprises a first scene, a second scene and a third scene;
in the first scene, no automatic driving vehicle exists on the road section where the special lane is located;
in the second scene, an automatic driving vehicle is arranged on the road section where the special lane is located;
and in the third scene, the automatic driving vehicle needs to enter/leave the special lane.
The control method specifically comprises the following steps:
firstly, when the road side unit module senses that a road section where a special lane is located does not have automatic driving, entering a dynamic management and control of a first scene, and at the moment, the intelligent spike modules of all the road sections receive the road side unit instruction, so that the road side unit instruction is green and bright, and the special lane is opened for manual driving;
when the road side unit module senses that the section where the special lane is located is or is about to drive into an automatic driving vehicle, entering a dynamic management and control of a second scene; at the moment, the intelligent spike modules of all road sections receive the road side unit instructions, the intelligent spike modules are normally bright in red, and the special lanes are forbidden to be used by the manual driving vehicle; meanwhile, the road side unit module gives shared control information to a warning area dynamic mark to guide a manual driving vehicle on a special lane to drive away;
when the road side unit module senses that the automatic driving vehicle enters/exits the special lane, entering a dynamic management and control of a third scene; the road side unit module predicts the running track of the automatic driving vehicle according to the movement and decision information of the automatic driving vehicle, and calculates the entering area of the automatic driving vehicle into the special lane/the exiting area of the automatic driving vehicle from the special lane; the intelligent spike of the entering/exiting area receives a road side unit instruction and flashes in yellow; the remaining warning zone, buffer zone and other mid-section smart spike modules remain normally bright red.
The invention can solve the following technical problems:
the road segment functional areas are divided towards the requirement of dynamic control of the special automatic driving lanes.
When the ratio of the automatic driving vehicle in the traffic flow is lower, the problem of low utilization rate of the special automatic driving lane is solved.
When the automatic driving vehicle needs to enter and exit the special lane, the manual driving vehicle in other general lanes is reminded, so that the cooperation of the automatic driving vehicle and the manual driving vehicle during the entrance and exit lane change is realized.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical solution of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (7)
1. An automatic driving special lane management and control system based on intelligent spikes, which is characterized by comprising: an intelligent spike module, a road side unit module and a road section function division module;
the intelligent spike module is used for prompting a manual driving vehicle on a road section where the special lane is located;
the road side unit module is used for collecting and processing the information of the road section where the special lane is located and sending the processed road section information to the intelligent spike module;
the road section function division module is used for carrying out function division on the special lane.
2. The automated driving lane management and control system according to claim 1, wherein,
the intelligent spike module comprises a light module and a communication module, wherein the light module performs light switch, color change and flicker frequency change according to the instruction sent by the road side unit module; the communication module is used for communicating with the road side unit module.
3. The automated driving lane management and control system according to claim 1, wherein,
the road side unit module comprises an information acquisition unit, a data processing unit and a communication unit;
the information acquisition unit is used for collecting the information of the road section where the special lane is located and sending the road section information to the data processing unit;
after receiving the information, the data processing unit analyzes and judges whether the road section contains the automatic driving vehicle or not, or predicts the running track of the road section according to the movement of the automatic driving vehicle and decision information so as to further determine the entering/exiting area of the special lane; according to the analysis and judgment result, determining the lamplight colors, flicker frequencies and the like which are required to be displayed by the intelligent spike modules of the road sections of different functional areas, and generating control instructions to send to the intelligent spike modules;
the communication unit is used for realizing the communication between the information acquisition unit and the data processing unit and the communication between the data processing unit and the intelligent spike module.
4. The automated driving lane management system as claimed in any one of claims 1 or 3, wherein,
the information of the road section where the special lane is located comprises traffic state information, automatic driving vehicle movement and decision information of the road section where the special lane is located.
5. The automated driving lane management and control system according to claim 1, wherein,
the road section functional area dividing module divides the road where the special lane is located into different functional sections, including a warning area, a buffer area, an incoming/outgoing area and other intermediate sections;
when the automatic driving special lane closes the opening of the manual driving vehicle, the warning area sets a dynamic mark to remind the manual driving vehicle of closing the opening authority of the special lane and please drive away from the special lane as soon as possible;
the buffer zone reminds the driver to finally leave the special automatic driving lane through dynamic mark reminding and road marking guiding after the warning zone;
the entering/exiting area predicts the running track of the automatic driving vehicle according to the movement and decision information of the automatic driving vehicle, and further defines the area of entering/exiting the special lane;
the other middle section covers the area of the road section covered by the other special lanes outside the functional section.
6. A method for controlling an automatic driving special lane based on intelligent spikes is characterized in that,
the control method is realized based on three scenes; the method comprises a first scene, a second scene and a third scene;
in the first scene, no automatic driving vehicle exists on the road section where the special lane is located;
in the second scene, an automatic driving vehicle is arranged on the road section where the special lane is located;
and in the third scene, the automatic driving vehicle needs to enter/leave the special lane.
7. The automated driving lane management method according to claim 6, wherein,
the control method specifically comprises the following steps:
firstly, when the road side unit module senses that a road section where a special lane is located does not have automatic driving, entering a dynamic management and control of a first scene, at the moment, the intelligent spike modules of all road sections receive the road side unit instruction, and are normally bright in a first color, and the special lane is opened for manual driving;
when the road side unit module senses that the section where the special lane is located is or is about to drive into an automatic driving vehicle, entering a dynamic management and control of a second scene; at the moment, the intelligent spike modules of all road sections receive the road side unit instructions, the intelligent spike modules are normally bright in a second color, and the special lane prohibits the use of the manual driving vehicle; meanwhile, the road side unit module gives shared control information to a warning area dynamic mark to guide a manual driving vehicle on a special lane to drive away;
when the road side unit module senses that the automatic driving vehicle enters/exits the special lane, entering a dynamic management and control of a third scene; the road side unit module predicts the running track of the automatic driving vehicle according to the movement and decision information of the automatic driving vehicle, and calculates the entering area of the automatic driving vehicle into the special lane/the exiting area of the automatic driving vehicle from the special lane;
the intelligent spike of the entering/exiting area receives a road side unit instruction and flashes in a third color; the remaining warning zone, buffer zone and other intermediate section smart spike modules remain normally bright in the second color.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310511011.5A CN116486629B (en) | 2023-05-08 | 2023-05-08 | Intelligent spike-based automatic driving special lane dynamic management and control system and method |
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| CN202310511011.5A CN116486629B (en) | 2023-05-08 | 2023-05-08 | Intelligent spike-based automatic driving special lane dynamic management and control system and method |
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| CN110910669A (en) * | 2019-11-28 | 2020-03-24 | 深圳成谷科技有限公司 | Virtual isolation-based control method and device for automatic driving special lane |
| US20200327812A1 (en) * | 2019-04-09 | 2020-10-15 | Cavh Llc | Systems and methods for connected and automated vehicle highway systems dedicated lane management and control |
| CN115223362A (en) * | 2022-07-05 | 2022-10-21 | 上海市城市建设设计研究总院（集团）有限公司 | Special lane for dynamic automatic driving of urban road and use method thereof |
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- 2023-05-08 CN CN202310511011.5A patent/CN116486629B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2019175004A (en) * | 2018-03-27 | 2019-10-10 | Ｎｅｃプラットフォームズ株式会社 | Vehicle guide control device, vehicle guide system, vehicle guide control method, and program |
| US20200327812A1 (en) * | 2019-04-09 | 2020-10-15 | Cavh Llc | Systems and methods for connected and automated vehicle highway systems dedicated lane management and control |
| CN110503823A (en) * | 2019-07-11 | 2019-11-26 | 江苏大学 | A kind of automatic driving vehicle dedicated Lanes control system and method |
| CN110910669A (en) * | 2019-11-28 | 2020-03-24 | 深圳成谷科技有限公司 | Virtual isolation-based control method and device for automatic driving special lane |
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