CN209412623U - A kind of unmanned road structure based on complicated traffic environment - Google Patents
A kind of unmanned road structure based on complicated traffic environment Download PDFInfo
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- CN209412623U CN209412623U CN201821830075.2U CN201821830075U CN209412623U CN 209412623 U CN209412623 U CN 209412623U CN 201821830075 U CN201821830075 U CN 201821830075U CN 209412623 U CN209412623 U CN 209412623U
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Abstract
The utility model provides a kind of unmanned road structure based on complicated traffic environment, including the dedicated Lanes as automatic driving vehicle travel, the integral sensing device that wireless messages exchange induction is formed between several vehicle-mounted inductors on the automatic driving vehicle is buried on the dedicated Lanes；The integral sensing device is embedded in roadside or significant structures or the crossing of the dedicated Lanes, and the clipping room of the adjacent integral sensing device is away from L no more than the distance sensing between adjacent integral sensing device.The utility model is to improve automatic driving vehicle in the environment sensing of complicated traffic environment and the road structure of positioning accuracy.
Description
Technical field
The utility model relates to technical field of road engineering, are related to a kind of unmanned road based on complicated traffic environment
Structure.
Background technique
Automatic driving vehicle is the developing direction of the following intelligent automobile, is especially suitable for being engaged in tourism, emergency management and rescue, long-distance height
Fast passenger and freight transportation, military use etc. have reliable, safe and convenient and efficient performance advantage, can reduce accident, make up
The deficiency of people's driving.Automatic driving vehicle mainly includes context aware systems, macro-plan and navigation positioning system and determines
Plan control system, context aware systems obtain unmanned vehicle driving environment model, macroscopic view rule using visual sensor, radar sensor
It draws and navigation positioning system is to obtain automatic driving car location information and plan macroscopical path output navigation information, this two systems
It is unmanned crucial and basic link.
Currently, the radar and visual sensor of unpiloted context aware systems, are all disposed on vehicle, using microwave
It with the induction ambient enviroment such as laser, but is influenced by the factors such as atmosphere light transmission effects and geographical relief weather, these light waves are big
Decay in gas serious, makes the reduction of its measurement accuracy, fail to particular surroundings information Perception, in addition using global locations such as GPS
Navigation positioning system is not suitable for there is also certain error and intensively waits complicated traffic environment downward driving in vehicle flowrate.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of raising automatic driving vehicles in complicated traffic environment
The road structure of environment sensing and positioning accuracy.
In order to solve the above-mentioned technical problem, the utility model provides a kind of unmanned road based on complicated traffic environment
Structure buries several and nothing on the dedicated Lanes including the dedicated Lanes as automatic driving vehicle travel
People drives the integral sensing device that wireless messages exchange induction is formed between the vehicle-mounted inductor on vehicle；The integrated sensing dress
Set the roadside for being embedded in the dedicated Lanes or significant structures or crossing, the installation of the adjacent integral sensing device
Spacing L is no more than the distance sensing between adjacent integral sensing device.
It is preferred that the integral sensing device is embedded in the waterproof mounting groove of the dedicated Lanes.
The utility model relates to a kind of unmanned road structures based on complicated traffic environment, breach only in vehicle
The unmanned conventional thought in relation to equipment of upper installation, and along the complicated traffic environment of automatic driving vehicle traveling lane with
Around lay integral sensing device, can precise acquisition and receive road peripherally manage location information and traffic environment information, and
Information transmitting is carried out with the onboard sensor of the automatic driving vehicle of road driving to incude, and greatly improves automatic driving vehicle
To environment sensing and location information precision, automatic driving vehicle self poisoning in the prior art and environment sensing system are efficiently solved
The system acquisition insufficient defect of precision of information makes automatic driving vehicle intensively realize and pacify with the traffic environments such as road conditions complexity in vehicle flowrate
Full traveling.
Detailed description of the invention
Fig. 1 is unmanned road structure schematic diagram of the utility model based on complicated traffic environment.
Fig. 2 is that the utility model integral sensing device constitutes schematic diagram.
Fig. 3 is the utility model integral sensing device coordinate information flow chart.
Fig. 4 is that the utility model automatic driving car is accurately positioned flow chart.
1- onboard sensor, 2- automatic driving car, 3- travel, 4- integral sensing device, 5- information receiving module, 6-
Geographical location information module, 7- ambient enviroment sensing module, 8- information transmitting module.
Specific embodiment
The technical solution in the utility model is described in detail in 1-4 with reference to the accompanying drawing.
The utility model provides a kind of unmanned road structure based on complicated traffic environment, including has vehicle-mounted induction
The automatic driving vehicle 2 of device 1, as 2 travel of automatic driving vehicle dedicated Lanes 3 and be embedded on dedicated Lanes 3
Several integral sensing devices 4, the integral sensing device 4 on vehicle-mounted inductor 1 and dedicated Lanes 3 on automatic driving vehicle 2 it
Between form wireless messages exchange induction, so that vehicle-mounted inductor 1 can obtain the information of the transmitting of integral sensing device 4, and by institute
The intelligent vehicle-mounted system that information is transferred to automatic driving vehicle 2 is obtained, makes the accurately perception ambient enviroment of automatic driving vehicle 2, simultaneously
It realizes the accurate positioning on dedicated Lanes 3, to make correct decision and control, guarantees that driving safety is reliable.In addition, collection
It include that geographical location information module 6, ambient condition information module 7, information receiving module 5 and information emit mould at sensing device 4
Block 8.
The vehicle-mounted inductor 1 is mounted on the vehicle body four corners position of automatic driving vehicle 2, can receive and be embedded in special-purpose vehicle
The location information and environmental information that integral sensing device 4 on road 3 emits, and gained information is transferred to automatic driving vehicle
Decision control system, the intelligent vehicle-mounted system of automatic driving vehicle 2 according to acquired information adjust the driving path of vehicle with
Speed etc..
The integral sensing device 4 be embedded in dedicated Lanes 3 roadside, significant structures (such as direction board and
Indicator light), at the complicated traffic environment such as crossing, have the function of receiving and acquisition road geographical location and environmental information, and can
These information to be sent to the onboard sensor 1 being mounted on automatic driving vehicle 2.The installation of adjacent integral sensing device 4
Spacing L guarantees that automatic driving vehicle can connect in the process of moving no more than the distance sensing between adjacent integral sensing device 4
By three and the transmitting signal of the above integral sensing device 4.Specifically, the sensor of the integral sensing device 4 can use
Radio frequency sensor, when installation, a part is mounted in the waterproof mounting groove in soil, and a part exposure in air, can be independent
Power supply, can also power together with the other equipment on road.
The geographical location information module 6 is the geographic coordinate information stored at 4 position of integral sensing device and can handle
Dependent coordinate data, geographic coordinate information, which can be, to be pre-stored in geographical location information module 6, is also possible to by accurately measuring
The accurate coordinates of calculating；Geographical location information in geographical location information module 6 can send edge to by information transmitting module 8
The vehicle-mounted inductor 1 of the automatic driving vehicle 2 of line traveling, vehicle-mounted inductor 1 and then the decision control for sending automatic driving vehicle to
System processed, to accurately calculate current geographic position.
The ambient condition information module 7 is for storing the environmental information that integral sensing device 4 buries section, and by environment
Information is sent to the onboard sensor 1 of automatic driving vehicle 2 by information transmitting module 8, makes the decision control of automatic driving vehicle
System processed makes corresponding Decision Control according to provided precise information.Environmental information, which can be, is pre-stored in ambient condition information
The road informations such as traffic lane line, traffic lights, lane line style and lane speed limit value in module 7, are also possible to pass through prison
Equipment, such as the camera being mounted in integral sensing device are controlled, is stored after the information such as real-time traffic condition directly monitored
In ambient condition information module 7, it is also possible to receive the real-time weather information of extraneous transmission by information receiving module 5, hands over
It is stored in ambient condition information module 7 after the information such as logical situation, nobody travelled along the line is sent to by information transmitting module 8
The vehicle-mounted inductor 1 of vehicle 2, vehicle-mounted inductor 1 and then the decision control system for sending automatic driving vehicle to are driven, so as to essence
The really environmental information of perception current location.
The information receiving module 5 is that integrated induction system 4 is enable to receive in traffic scheduling control by radio wave
The extraneous real-time traffic condition sent such as heart or weather information or other notification informations artificially sent, this information preservation is being collected
At the ambient condition information module 7 or geographical location information module 6 of sensing device 4, and can integral sensing device 4 be received and be adopted
The information of collection is sent to the automatic driving vehicle of road driving.
The information transmitting module 8 is by the geographical location information module 6 of integrated induction system 4, ambient condition information mould
The information that block 7 stores sends the onboard sensor 1 of all automatic driving vehicles 2 of road driving to, enables automatic driving vehicle
Geographical location and the road environment information for enough obtaining 2 position of automatic driving vehicle, make the intelligent vehicle-carried of automatic driving vehicle
System makes corresponding Decision Control according to provided precise information.
As shown in figure 3, integral sensing device accurate coordinate position obtaining step are as follows:
1.1 determine three and the above integral sensing device accurate coordinate position first, and the accurate coordinate position is by artificial
Precise measurement obtains existing location information, and has previously been stored in the geography information module of integral sensing device.
After the integral sensing device installation of 1.2 unknown geographic coordinate informations, pass through transmitting wave measurement and known geographic coordinate
The distance of information integration sensing device is calculated by three sides or triangulation to obtain its corresponding geographical co-ordinate system.
As shown in figure 4, automatic driving vehicle geographical coordinate position obtaining step are as follows:
2.1 install onboard sensor, the known essence of roadside surrounding installation in the vehicle body quadrangle of automatic driving vehicle respectively
The integral sensing device of true geographic coordinate information, onboard sensor can receive integral sensing device transmitting signal.
2.2 integral sensing devices packing density along dedicated Lanes guarantees that automatic driving car can connect in the process of moving
Emitted signal by three and the above integral sensing device.
The onboard sensor of 2.3 automatic driving vehicles by receive integral sensing device emit signal measurement between the two away from
Walk-off angle degree calculates each onboard sensor precise geographical coordinates through trilateration, to obtain the seat of automatic driving vehicle
Cursor position.
2.4 obtain each onboard sensor coordinate position of automatic driving car, available automatic driving car traveling by 2.3
Pose and motion state, and combining environmental information and driving task make corresponding decision and control.
Claims (2)
1. a kind of unmanned road structure based on complicated traffic environment, it is characterised in that: including as automatic driving vehicle
(2) dedicated Lanes (3) of travel, on the dedicated Lanes (3) bury it is several on the automatic driving vehicle (2)
The integral sensing device (4) of wireless messages exchange induction is formed between vehicle-mounted inductor (1)；The integral sensing device (4) is buried
It is located at roadside or significant structures or the crossing of the dedicated Lanes (3), the peace of the adjacent integral sensing device (4)
Spacing L is filled no more than the distance sensing between adjacent integral sensing device (4).
2. a kind of unmanned road structure based on complicated traffic environment according to claim 1, it is characterised in that: institute
Integral sensing device (4) is stated to be embedded in the waterproof mounting groove of the dedicated Lanes (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821830075.2U CN209412623U (en) | 2018-11-06 | 2018-11-06 | A kind of unmanned road structure based on complicated traffic environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821830075.2U CN209412623U (en) | 2018-11-06 | 2018-11-06 | A kind of unmanned road structure based on complicated traffic environment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209412623U true CN209412623U (en) | 2019-09-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821830075.2U Active CN209412623U (en) | 2018-11-06 | 2018-11-06 | A kind of unmanned road structure based on complicated traffic environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209412623U (en) |
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2018
- 2018-11-06 CN CN201821830075.2U patent/CN209412623U/en active Active
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