EP3659134A1 - Procédé, dispositifs et système de commande de véhicule - Google Patents

Procédé, dispositifs et système de commande de véhicule

Info

Publication number
EP3659134A1
EP3659134A1 EP18723463.8A EP18723463A EP3659134A1 EP 3659134 A1 EP3659134 A1 EP 3659134A1 EP 18723463 A EP18723463 A EP 18723463A EP 3659134 A1 EP3659134 A1 EP 3659134A1
Authority
EP
European Patent Office
Prior art keywords
piece
traffic
traffic control
equipment
autonomous vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP18723463.8A
Other languages
German (de)
English (en)
Inventor
Liang Gao
Xing Xing HE
Peng Sun
Chang Wei WENG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP3659134A1 publication Critical patent/EP3659134A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • 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
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
    • G—PHYSICS
    • 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
    • G08G1/0133—Traffic data processing for classifying traffic situation
    • 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
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
    • 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
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/09675—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where a selection from the received information takes place in the vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
    • 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
    • G08G1/096791—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 another vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/164—Centralised systems, e.g. external to vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/65—Data transmitted between vehicles

Definitions

  • the present invention relates to the technical field of traffic, and in particular relates to the invocation of a vehicle control method, devices and system.
  • Autonomous vehicles or self-piloting automobiles also known as driverless vehicles, or computer-driven vehicles, or wheeled mobile robots, are a type of vehicle realized by use of computer technology.
  • computers can autonomously and safely control the driving of autonomous vehicles, without any active operation by a human being.
  • Traffic control methods for example, traffic light signal control
  • traffic guidance systems are designed for human-driven vehicles, without considering the characteristics of autonomous vehicles, and improvements are needed in traffic accident prevention and traffic jam reduction.
  • the present invention provides a vehicle control method and equipment to improve the efficiency of the whole traffic system, effectively prevent traffic accidents, and reduce traffic jams.
  • a control method for an autonomous vehicle is provided.
  • a first piece of equipment acquires a first piece of traffic control information, and said first piece of traffic control information is collected by the equipment on said autonomous vehicle side; said first piece of equipment acquires a second piece of traffic control information, and said second piece of traffic control information is centralized control information; said first piece of equipment generates a first traffic control instruction according to said first piece of traffic control information and said second piece of traffic control information, and said first traffic control instruction is used to control the driving of said autonomous vehicle.
  • centralized control is combined with vehicle autonomous control to control the driving of the autonomous vehicle, that is to say, not only the local traffic conditions in a traffic system, but also the global traffic conditions in the traffic system are considered so that the traffic and efficiency of the whole traffic system can be improved and the probability of traffic accidents can be lowered.
  • said first piece of equipment is the equipment on said autonomous vehicle side
  • said first piece of traffic control information comprises at least one piece of the following information: a first piece of traffic condition information collected by the equipment on said autonomous vehicle side through a sensor; and a second piece of traffic condition information acquired by the equipment on said autonomous vehicle side from other autonomous vehicles; said second piece of traffic control information is a second traffic control instruction for said autonomous vehicle from a piece of roadside equipment.
  • the equipment on the autonomous vehicle side controls its own driving according to the traffic condition information collected by the sensor and/or the traffic condition information acquired from other autonomous vehicles, and the centralized control information from roadside equipment, improving the current situation where the driving of autonomous vehicles is controlled only by means of vehicle-to-vehicle (V2V) communication, and the traffic system lacks centralized control.
  • the autonomous vehicle only needs to receive the traffic control instruction for centralized control from the roadside equipment, without any necessity of sending traffic condition information to the roadside equipment.
  • the instruction usually contains less information.
  • said first piece of equipment is the equipment on said autonomous vehicle side
  • said first piece of traffic control information comprises at least one piece of the following information: a first piece of traffic condition information collected by the equipment on said autonomous vehicle side through a sensor; and a second piece of traffic condition information acquired by the equipment on said autonomous vehicle side from other autonomous vehicles; said second piece of traffic control information comes from a piece of roadside equipment and is used to indicate the traffic conditions around said autonomous vehicle.
  • the equipment on the autonomous vehicle side generates the final traffic control instruction according to various pieces of information.
  • the range of the traffic conditions indicated by the second piece of traffic control information can be, for example, the road section where the autonomous vehicle is located, the road section where the autonomous vehicle is located and the adjacent sections, or the traffic system where the autonomous vehicle is located, depending on the actual conditions.
  • different levels of centralized control can be realized.
  • said first piece of equipment is a piece of roadside equipment
  • said first piece of traffic control information comprises at least one piece of the following information: a first piece of traffic condition information collected by the equipment on said autonomous vehicle side through a sensor; and a second piece of traffic condition information acquired by the equipment on said autonomous vehicle side from other autonomous vehicles; said second piece of traffic control information comes from said roadside equipment and/or at least one piece of other roadside equipment around said roadside equipment, and is used to indicate the traffic conditions around said autonomous vehicle.
  • the roadside equipment generates the final traffic control instruction according to various pieces of information.
  • the roadside equipment can conveniently communicate with other roadside equipment and easily acquire the traffic conditions around the autonomous vehicle to facilitate the generation of an optimal traffic control instruction, thus improving the efficiency of the traffic system.
  • advanced blockchain technology can be adopted between pieces of roadside equipment to generate a traffic control instruction.
  • the traffic system is insusceptible to attacks, information security is high, and no central control platform is required for centralized control. It is simple and flexible to realize this solution.
  • the range of the traffic conditions indicated by the second piece of traffic control information can be, for example, the road section where the autonomous vehicle is located, the road section where the autonomous vehicle is located and the adjacent sections, or the traffic system where the autonomous vehicle is located, depending on the actual conditions. Thus, different levels of centralized control can be realized.
  • said first piece of equipment is a piece of roadside equipment
  • said first piece of traffic control information is a second traffic control instruction generated by the equipment on said autonomous vehicle side.
  • Said second piece of traffic control information comes from said roadside equipment and/or at least one piece of other roadside equipment around said roadside equipment, and is used to indicate the traffic conditions around said autonomous vehicle.
  • prior autonomous driving schemes for the autonomous vehicle can be better utilized, the equipment on the autonomous vehicle side can generate a second traffic control instruction according to the traffic control instruction generation algorithm realized by itself and send it to the roadside equipment, and then the roadside equipment generates the final traffic control instruction according to the second traffic control instruction and the second piece of traffic control information.
  • This solution is very compatible with prior autonomous driving schemes.
  • Advanced blockchain technology can be adopted between pieces of roadside equipment to generate a traffic control instruction.
  • the traffic system is insusceptible to attacks, information security is high, and no central control platform is required for centralized control. It is simple and flexible to realize this solution.
  • the range of the traffic conditions indicated by the second piece of traffic control information can be, for example, the road section where the autonomous vehicle is located, the road section where the autonomous vehicle is located and the adjacent sections, or the traffic system where the autonomous vehicle is located, depending on the actual conditions.
  • different levels of centralized control can be realized.
  • said first piece of equipment is a central control platform
  • said first piece of traffic control information comprises at least one piece of the following information: a first piece of traffic condition information collected by the equipment on said autonomous vehicle side through a sensor; and a second piece of traffic condition information acquired by the equipment on said autonomous vehicle side from other autonomous vehicles; said second piece of traffic control information comes from at least one piece of roadside equipment and is used to indicate the traffic conditions around said autonomous vehicle.
  • a central control platform collects various pieces of information and finally generates a traffic control instruction to control the driving of the autonomous vehicle.
  • the central control platform usually has a powerful operational capability and can realize complex algorithms to generate an optimal traffic control instruction.
  • said first piece of equipment is a central control platform
  • said first piece of traffic control information is a second traffic control instruction generated by the equipment on said autonomous vehicle side
  • said second piece of traffic control information comes from at least one piece of roadside equipment and is used to indicate the traffic conditions around said autonomous vehicle.
  • a central control platform collects various pieces of information and finally generates a traffic control instruction to control the driving of the autonomous vehicle.
  • the central control platform usually has a powerful operational capability and can realize complex algorithms to generate an optimal traffic control instruction.
  • said first piece of equipment before generating said first traffic control instruction, further acquires a weight factor, wherein said weight factor is used to indicate the degree of influence when said first traffic control instruction is generated according to said second piece of traffic control information and said first piece of traffic control information; said first piece of equipment generates said first traffic control instruction, comprising said first piece of equipment generating said first traffic control instruction according to said weight factor.
  • the ratio between centralized control and autonomous vehicle self control can be controlled by setting the weight factor when a traffic control instruction is generated.
  • a control method for an autonomous vehicle determines a second piece of traffic control information, said second piece of traffic control information is centralized control information; said roadside equipment sends said second piece of traffic control information to the equipment on said autonomous vehicle side so that the equipment on said autonomous vehicle side generates a first traffic control instruction according to said second piece of traffic control information and a first piece of traffic control information and controls the driving of said autonomous vehicle according to said first traffic control instruction, wherein said first piece of traffic control information comprises at least one piece of the following information: a first piece of traffic condition information collected by the equipment on said autonomous vehicle side through a sensor; and a second piece of traffic condition information acquired by said autonomous vehicle from other autonomous vehicles.
  • the roadside equipment sends centralized control information to the equipment on the autonomous vehicle side
  • the equipment on the autonomous vehicle side controls the driving according to the traffic condition information collected by its own sensor, and/or traffic condition information acquired from other autonomous vehicles, and centralized control information coming from the roadside equipment, improving the current situation where the driving of autonomous vehicles is controlled only by means of V2V communication, and the traffic system lacks centralized control.
  • the equipment on the autonomous vehicle side only needs to receive the traffic control instruction for centralized control from the roadside equipment, without any necessity of sending traffic condition information to the roadside equipment.
  • said roadside equipment determines a second piece of traffic control information comprising: said roadside equipment collecting information about the traffic conditions around said autonomous vehicle as said second piece of traffic control information; or said roadside equipment collecting information about the traffic conditions around said autonomous vehicle and generating a second traffic control instruction for said autonomous vehicle according to the collected information as said second piece of traffic control information.
  • a control method for an autonomous vehicle determines a first piece of traffic control information, and said first piece of traffic control information comprises a first piece of traffic condition information and/or a second piece of traffic condition information, or said first piece of traffic control information is a second traffic control instruction generated by the equipment on said autonomous vehicle side, wherein said first piece of traffic condition information is collected by the equipment on said autonomous vehicle side through a sensor, and said second traffic condition information is acquired by the equipment on the autonomous vehicle side from other autonomous vehicles; the equipment on said autonomous vehicle side sends said first piece of traffic control information to a piece of roadside equipment; the equipment on said autonomous vehicle side receives a first traffic control instruction from said roadside equipment and said traffic control instruction is generated according to said first piece of traffic control information and said second piece of traffic control information; the equipment on said autonomous vehicle side controls the driving of said autonomous vehicle according to said first traffic control instruction.
  • the equipment on the autonomous vehicle side sends the traffic condition information collected by the sensor and/or traffic condition information acquired from other autonomous vehicles to the roadside equipment, or sends a second traffic control instruction generated by itself to the roadside equipment, and then receives the final first traffic control instruction from the roadside equipment.
  • Centralized control is combined with vehicle autonomous control to control the driving of the autonomous vehicle, that is to say, not only the local traffic conditions in a traffic system, but also the global traffic conditions in the traffic system are considered so that the traffic and efficiency of the whole traffic system can be improved and the probability of traffic accidents can be lowered.
  • a control method for an autonomous vehicle is provided.
  • a piece of roadside equipment sends a first piece of traffic control information and a second piece of traffic control information to a central control platform, wherein said first piece of traffic control information is collected by said autonomous vehicle, and said second piece of traffic control information is centralized control information;
  • said roadside equipment receives a first traffic control instruction from said central control platform, wherein said first traffic control instruction is generated by said central control platform according to said first piece of traffic control information and said second piece of traffic control information; said roadside equipment sends said first traffic control instruction to said autonomous vehicle to control the driving of said autonomous vehicle.
  • centralized control is combined with vehicle autonomous control to control the driving of the autonomous vehicle, that is to say, not only the local traffic conditions in a traffic system, but also the global traffic conditions in the traffic system are considered so that the traffic and efficiency of the whole traffic system can be improved and the probability of traffic accidents can be lowered.
  • a first piece of equipment for controlling an autonomous vehicle comprises an information acquisition module used to acquire a first piece of traffic control information and a second piece of traffic control information, wherein said first piece of traffic control information is collected by the equipment on said autonomous vehicle side, and said second piece of traffic control information is centralized control information; an instruction generation module used to generate a first traffic control instruction according to said first piece of traffic control information and said second piece of traffic control information, wherein said first traffic control instruction is used to control the driving of said autonomous vehicle.
  • Centralized control is combined with vehicle autonomous control to control the driving of the autonomous vehicle, that is to say, not only the local traffic conditions in a traffic system, but also the global traffic conditions in the traffic system are considered so that the traffic and efficiency of the whole traffic system can be improved and the probability of traffic accidents can be lowered.
  • said first piece of equipment is the equipment on said autonomous vehicle side
  • said first piece of traffic control information acquired by said information acquisition module comprises at least one piece of the following information: a first piece of traffic condition information collected by the equipment on said autonomous vehicle side through a sensor; and a second piece of traffic condition information acquired by the equipment on said autonomous vehicle side from other autonomous vehicles; said second piece of traffic control information acquired by said information acquisition module is a second traffic control instruction for said autonomous vehicle from a piece of roadside equipment.
  • the equipment on the autonomous vehicle side controls the driving according to the traffic condition information collected by the sensor and/or the traffic condition information acquired from other autonomous vehicles, and the centralized control information from roadside equipment, improving the current situation where the driving of autonomous vehicles is controlled only by means of V2V communication, and the traffic system lacks centralized control.
  • the equipment on the autonomous vehicle side controls the driving according to the traffic condition information collected by the sensor and/or the traffic condition information acquired from other autonomous vehicles, and the centralized control information from roadside equipment, improving the current situation where the driving of autonomous vehicles is controlled only by means of V2V communication, and the traffic system lacks centralized control.
  • autonomous vehicle side only needs to receive the traffic control instruction for centralized control from the roadside equipment, without any necessity of sending traffic condition information to the roadside equipment.
  • the instruction usually contains less information.
  • transmission resources between the equipment on the autonomous vehicle side and the roadside equipment can be saved, control is more timely, and the efficiency is higher.
  • said first piece of equipment is the equipment on said autonomous vehicle side
  • said first piece of traffic control information acquired by said information acquisition module comprises at least one piece of the following information: a first piece of traffic condition information collected by the equipment on said autonomous vehicle side through a sensor; and a second piece of traffic condition information acquired by the equipment on said autonomous vehicle side from other autonomous vehicles; said second piece of traffic control information acquired by said information acquisition module comes from a piece of roadside equipment and is used to indicate the traffic conditions around said autonomous vehicle.
  • the equipment on the autonomous vehicle side generates the final traffic control instruction according to various pieces of information.
  • the range of the traffic conditions indicated by the second piece of traffic control information can be, for example, the road section where the autonomous vehicle is located, the road section where the
  • said first piece of equipment is a piece of roadside equipment
  • said first piece of traffic control information acquired by said information acquisition module comprises at least one piece of the following information: a first piece of traffic condition information collected by the equipment on said autonomous vehicle side through a sensor; and a second piece of traffic condition information acquired by the equipment on said autonomous vehicle side from other autonomous vehicles; said second piece of traffic control information acquired by said information acquisition module comes from said roadside equipment and/or at least one piece of other roadside equipment around said roadside equipment, and is used to indicate the traffic conditions around said autonomous vehicle.
  • the roadside equipment generates the final traffic control instruction according to various pieces of information.
  • the roadside equipment can conveniently communicate with other roadside equipment and easily acquire the traffic conditions around the autonomous vehicle to facilitate the generation of an optimal traffic control instruction, thus improving the efficiency of the traffic system.
  • the advanced blockchain technology can be adopted between pieces of roadside equipment to generate a traffic control instruction.
  • the traffic system is insusceptible to attacks, information security is high, and no central control platform is required for centralized control. It is simple and flexible to realize this solution.
  • the range of the traffic conditions indicated by the second piece of traffic control information can be, for example, the road section where the autonomous vehicle is located, the road section where the autonomous vehicle is located and the adjacent sections, or the traffic system where the autonomous vehicle is located, depending on the actual conditions.
  • different levels of centralized control can be realized.
  • said first piece of equipment is a piece of roadside equipment
  • said first piece of traffic control information acquired by said information acquisition module is a second traffic control instruction generated by said autonomous vehicle
  • said second piece of traffic control information acquired by said information acquisition module comes from said roadside equipment and/or at least one piece of other roadside equipment around said roadside equipment, and is used to indicate the traffic conditions around said autonomous vehicle.
  • prior autonomous driving schemes for the autonomous vehicle can be better utilized, the equipment on the autonomous vehicle side can generate a second traffic control instruction according to the traffic control instruction generation algorithm realized by itself and send it to the roadside equipment, and then the roadside equipment generates the final traffic control instruction according to the second traffic control instruction and the second piece of traffic control information.
  • This solution is very compatible with prior autonomous driving schemes.
  • the advanced blockchain technology can be adopted between pieces of roadside equipment to generate a traffic control instruction.
  • the traffic system is insusceptible to attacks, information security is high, and no central control platform is required for centralized control. It is simple and flexible to realize this solution.
  • the range of the traffic conditions indicated by the second piece of traffic control information can be, for example, the road section where the autonomous vehicle is located, the road section where the autonomous vehicle is located and the adjacent sections, or the traffic system where the autonomous vehicle is located, depending on the actual condition.
  • different levels of centralized control can be realized.
  • said first piece of equipment is a central control platform
  • said first piece of traffic control information acquired by said information acquisition module comprises at least one piece of the following information: a first piece of traffic condition information collected by the equipment on said autonomous vehicle side through a sensor; and a second piece of traffic condition information acquired by the equipment on said autonomous vehicle side from other autonomous vehicles; said second piece of traffic control information acquired by said information acquisition module comes from at least one piece of roadside equipment and is used to indicate the traffic conditions around said autonomous vehicle.
  • a central control platform collects various pieces of information and finally generates a traffic control instruction to control the driving of the autonomous vehicle.
  • the central control platform usually has a powerful operational capability and can realize complex algorithms to generate an optimal traffic control instruction.
  • said first piece of equipment is a central control platform
  • said first piece of traffic control information acquired by said information acquisition module is a second traffic control instruction generated by the equipment on said autonomous vehicle side; said second piece of traffic control information acquired by said information acquisition module comes from at least one piece of roadside equipment, and is used to indicate the traffic conditions around said autonomous vehicle.
  • a central control platform collects various pieces of information and finally generates a traffic control instruction to control the driving of the autonomous vehicle.
  • the central control platform usually has a powerful operational capability and can realize complex algorithms to generate an optimal traffic control instruction.
  • a type of roadside equipment comprises an information processing module used to determine a second piece of traffic control information, wherein said second piece of traffic control information is centralized control information; an information sending module used to send said second piece of traffic control information to said autonomous vehicle so that the equipment on said autonomous vehicle side generates a first traffic control instruction according to said second piece of traffic control information and a first piece of traffic control information and controls the driving of said autonomous vehicle according to said first traffic control instruction, wherein said first piece of traffic control information comprises at least one piece of the following information: a first piece of traffic condition information collected by the equipment on said autonomous vehicle side through a sensor; and a second piece of traffic condition information acquired by the equipment on said autonomous vehicle side from other autonomous vehicles.
  • the roadside equipment sends centralized control information to the autonomous vehicle
  • the equipment on the autonomous vehicle side controls its own driving according to the traffic condition information collected by the sensor, and/or traffic condition information acquired from other autonomous vehicles, and centralized control information coming from the roadside equipment, improving the current situation where the driving of autonomous vehicles is controlled only by means of V2V communication, and the traffic system lacks centralized control.
  • the equipment on the autonomous vehicle side only needs to receive the traffic control instruction for centralized control from the roadside equipment, without any necessity of sending traffic condition information to the roadside equipment.
  • said information processing module is specifically used to collect information about the traffic conditions around said autonomous vehicle as said second piece of traffic control information, or collect information about the traffic conditions around said autonomous vehicle and generate a second traffic control instruction for said autonomous vehicle according to the collected information as said second piece of traffic control information.
  • an autonomous vehicle comprises an information processing module used to determine a first piece of traffic control information, said first piece of traffic control information comprising a first piece of traffic condition information and/or a second piece of traffic condition information, or said first piece of traffic control information being a second traffic control instruction generated by the equipment on said autonomous vehicle side, wherein said first piece of traffic condition information is collected by the equipment on said autonomous vehicle side through a sensor, and said second traffic condition information is acquired by the equipment on the autonomous vehicle side from other autonomous vehicles; an information transceiver module used to send said first piece of traffic control information to a piece of roadside equipment and receive a first traffic control instruction from said roadside equipment, said traffic control instruction being generated according to said first piece of traffic control information and said second piece of traffic control information; a vehicle control module used to control the driving of said autonomous vehicle according to said first traffic control instruction.
  • the equipment on the autonomous vehicle side sends the traffic condition information collected by the sensor and/or traffic condition information acquired from other autonomous vehicles to the roadside equipment, or sends a second traffic control instruction generated by itself to the roadside equipment, and then receives the final first traffic control instruction from the roadside equipment.
  • Centralized control is combined with vehicle autonomous control to control the driving of the autonomous vehicle, that is to say, not only the local traffic conditions in a traffic system, but also the global traffic conditions in the traffic system are considered so that the traffic and efficiency of the whole traffic system can be improved and the probability of traffic accidents can be lowered.
  • a type of roadside equipment comprises an information sending module used to send a first piece of traffic control information and a second piece of traffic control information to a central control platform, wherein said first piece of traffic control information is collected by the equipment on said autonomous vehicle side, and said second piece of traffic control information is centralized control information; an information sending module used to send a first piece of traffic control information and a second piece of traffic control information to a central control platform, wherein said first piece of traffic control information is collected by the equipment on said autonomous vehicle side, and said second piece of traffic control information is centralized control information; an information sending module used to send a first piece of traffic control information and a second piece of traffic control information to a central control platform, wherein said first piece of traffic control information is collected by the equipment on said autonomous vehicle side, and said second piece of traffic control information is centralized control information; an information sending module used to send a first piece of traffic control information and a second piece of traffic control information to a central control platform, wherein said first piece of traffic control information is collected by the equipment on said autonomous vehicle side,
  • transceiver module used to receive a first traffic control instruction from said central control platform, wherein said first traffic control instruction is generated by said central control platform according to said first piece of traffic control information and said second piece of traffic control information; said information sending module is used to send said first traffic control instruction to the equipment on said autonomous vehicle side to control the driving of said autonomous vehicle.
  • centralized control is combined with vehicle autonomous control to control the driving of the autonomous vehicle, that is to say, not only the local traffic conditions in a traffic system, but also the global traffic conditions in the traffic system are considered so that the traffic and efficiency of the whole traffic system can be improved and the probability of traffic accidents can be lowered.
  • a vehicle control device comprises at least a memory used to store machine readable instructions; at least a processor used to invoke said machine readable instruction to execute the method provided in the first aspect, second aspect, third aspect, or fourth aspect or provided by any possible realization manner in the first aspect, any possible realization manner in the second aspect, any possible realization manner in the third aspect, or any possible realization manner in the fourth aspect.
  • a machine readable medium is provided, a machine readable instruction is stored on said machine readable medium, and when said machine readable instruction is executed by the processor, the method provided in the first aspect, second aspect, third aspect, and fourth aspect, or provided by any possible realization manner in the first aspect, any possible realization manner in the second aspect, any possible realization manner in the third aspect, or any possible realization manner in the fourth aspect will be executed.
  • Figure 1 is a schematic diagram of V2V communication.
  • Figure 2A shows the efficiency of a traffic system with centralized control.
  • Figure 2B shows the efficiency of a traffic system only based on the decisions of an autonomous vehicle.
  • FIG. 3 is a schematic diagram for the traffic system provided in the embodiments of the present invention.
  • Figure 4 shows a first solution for controlling an autonomous vehicle in the embodiments of the present invention.
  • Figure 5 shows a second solution for controlling an autonomous vehicle in the embodiments of the present invention.
  • Figure 6 shows a third solution for controlling an autonomous vehicle in the embodiments of the present invention.
  • Figure 7 shows a fourth solution for controlling an autonomous vehicle in the embodiments of the present invention.
  • Figure 8 shows a fifth solution for controlling an autonomous vehicle in the embodiments of the present invention.
  • Figure 9 shows a sixth solution for controlling an autonomous vehicle in the embodiments of the present invention.
  • Figure 10 and Figure 11 are structural schematic diagrams of the first piece of equipment provided in the embodiments of the present invention.
  • Figure 12 is a structural schematic diagram of a type of roadside equipment provided in the embodiments of the present invention.
  • Figure 13 is a structural schematic diagram of the equipment on autonomous vehicle side in the embodiments of the present invention.
  • Figure 14 is a structural schematic diagram of another type of roadside equipment provided in the embodiments of the present invention.
  • Figure 15 is a schematic diagram of an optional protocol stack for roadside equipment in the embodiments of the present invention.
  • FIG 16 to Figure 19 are schematic diagrams of four traffic scenarios in the embodiments of the present invention.
  • S401 Generate a second S402: Send the second S403: The vehicle collects traffic control instruction traffic control instruction information
  • S501 Roadside equipment
  • S502 Send traffic control
  • S503 The vehicle collects collects information information and receives information
  • S601 Roadside equipment
  • S602 The vehicle collects
  • S603 Send traffic control collects information and receives information information
  • Second piece of traffic 62 Information received 63: Information collected by control information from other vehicles the vehicle itself
  • S701 Roadside equipment
  • S702 The vehicle collects
  • S703 Generate a second collects and receives and receives information traffic control instruction information
  • S704 Send the second S705: Generate a first traffic
  • S706 Send the first traffic traffic control instruction control instruction control instruction
  • Control vehicle driving 71 Second piece of traffic 72: Information received condition information from other vehicles
  • Second traffic control 75 First traffic control the vehicle itself instruction instruction
  • S801 Roadside equipment
  • S802 The vehicle collects
  • S803 Send information collects and receives and receives information 82/83
  • S804 Roadside equipment sends
  • S805 Generate a first traffic control information to the central control platform instruction
  • Second piece of traffic 82: Information received 83: Information collected by control information from other vehicles the vehicle itself
  • S901 Roadside equipment
  • S902 The vehicle collects
  • S903 Generate a second collects and receives and receives information traffic control instruction information
  • S904 Send the second S905: Send the instruction
  • S906 Generate a first traffic traffic control instruction and information control instruction
  • Second piece of traffic 92: Information received 93: Information collected by condition information from other vehicles the vehicle itself
  • Second traffic control 95 First traffic control
  • At least one memory 1102 At least one processor 1103: User interface
  • Information 1202 Information sending
  • Information 1302 Information 1303: Vehicle control processing module transceiver module module
  • Information sending 1402 Information receiving
  • Operating system layer 152 Service layer 153: Algorithm layer
  • Application layer 1511 RF module 1512: At least one sensor 1513: Camera 1514: Real-time clock 1521 : Communication
  • Game theory module 1533 Green wave module 1541 : Crossroad scenario processing module
  • FIG. 2A shows the efficiency of the traffic system with centralized control
  • Figure 2B shows the efficiency of the traffic system only based on the decisions of an autonomous vehicle.
  • the vertical axis represents the efficiency, which is used to indicate the throughput of the whole traffic system
  • the horizontal axis represents time. It can be seen that even if each autonomous vehicle makes its own optimal decision, the efficiency of the whole traffic system will fluctuate and cannot reach the efficiency of the traffic system with centralized control.
  • the embodiments of the present invention provide a vehicle control method, devices and system for future traffic systems, and centralized control is combined with vehicle
  • V2V communication and vehicle to infrastructure (V2I) communication not only the local traffic conditions in a traffic system, but also the global traffic conditions in the traffic system are considered so that the traffic and efficiency of the whole traffic system can be improved and the probability of traffic accidents can be lowered.
  • V2I vehicle to infrastructure
  • Autonomous control means that when an autonomous vehicle controls is driving, it makes a decision only based on the information collected by its own sensor and the information acquired from other nearby vehicles.
  • Centralized control is relative to autonomous control and a decision on vehicle control is made based on the consideration of the efficiency of the whole traffic system or traffic condition information related to the whole traffic system is provided for decision-making.
  • Centralized control information is information used to realize centralized control.
  • the first piece of traffic control information is centralized control information.
  • an autonomous vehicle itself can realize the method provided in the embodiments of the present invention to control the driving of the vehicle, or the method realized by the autonomous vehicle in the embodiments of the present invention is realized by a piece of equipment connected to said autonomous vehicle, called "equipment on the autonomous vehicle side.” Therefore, an autonomous vehicle will not be distinguished from the equipment on the autonomous vehicle side below, and they can be considered either of the two.
  • V2V communication information information collected by an autonomous vehicle through its own sensor, and information collected by an autonomous vehicle V2V communication information is information exchanged when autonomous vehicles communicate with each other, and the previously mentioned V2V communication mode can be utilized.
  • the information exchanged includes but is not limited to the second piece of traffic condition information in the embodiments of the present invention.
  • the information collected by an autonomous vehicle through its own sensor includes but is not limited to the first piece of traffic condition information in the embodiments of the present invention.
  • the information collected by an autonomous vehicle includes the above-mentioned two types of information, namely, information collected by its own sensor and information acquired from other autonomous vehicles.
  • the first piece of traffic control information in the embodiments of the present invention is information collected by an autonomous vehicle.
  • a traffic control instruction is used to control the driving of a vehicle, and is used to control the driving, for example, driving direction and velocity, of an autonomous vehicle in the embodiments of the present invention.
  • Roadside equipment also known as infrastructure equipment or fixed equipment, is used to communicate with a vehicle, and optionally can be used to communicate with other roadside equipment or even with a central control platform.
  • Various sensors can be installed on or connected to a piece of roadside equipment to collect traffic condition information, for example, traffic jam information, signal light control information, and weather condition information.
  • An infrastructure to car unit (I2CU) is an example of roadside equipment.
  • roadside equipment can have a plurality of optional realization manners to realize decisions on information transfer, centralized control, and traffic control instructions. For example, roadside equipment makes decisions and generates a traffic control instruction according to the information collected by an autonomous vehicle, the traffic condition information collected by itself, and traffic condition information acquired from other nearby roadside equipment to control the driving of the autonomous vehicle. Different roadside equipment can form a blockchain and work in blockchain mode to generate traffic control instructions.
  • roadside equipment sends the information collected by the autonomous vehicle and the traffic condition information collected by itself to a central control platform, and the central control platform makes a decision and generates a traffic control instruction according to the information, and sends the traffic control instruction to roadside equipment.
  • Roadside equipment sends the received traffic control instruction to the autonomous vehicle to control the driving of the autonomous vehicle.
  • a central control platform which can be located at a cloud end, communicates with at least one piece of roadside equipment to realize the generation of a traffic control instruction.
  • the central control platform can also directly communicate with an autonomous vehicle to realize the transfer of information and/or a traffic control instruction.
  • Vehicle vicinity can refer to the range of the road section where a vehicle is located, or further comprises the sections adjacent to the road section where the vehicle is located, or even the traffic system where the vehicle is located.
  • At least one piece of other roadside equipment around one piece of roadside equipment can refer to other roadside equipment in the communication range of said roadside equipment, or other roadside equipment on the same road section, or can further comprise other roadside equipment on adjacent sections or other roadside equipment in the same traffic system.
  • Figure 3 is a schematic diagram for the traffic system provided in the embodiments of the present invention.
  • the traffic system (100) comprises at least one piece of roadside equipment (20), at least one autonomous vehicle (10), and optionally a central control platform (30). If the traffic system (100) comprises a central control platform (30), the central control platform (30) can communicate with at least one or more pieces of roadside equipment (20). Roadside equipment (20) wirelessly communicates with the autonomous vehicle (10) to transfer traffic control information and/or traffic control instructions. Wireless communication or wired communication, for example, optical fiber communication and Long Term Evolution (LTE) communication, can be adopted between different pieces of roadside equipment (20). If a central control platform (30) is present, wireless communication or wired communication can also be adopted between the central control platform (30) and roadside equipment (20).
  • LTE Long Term Evolution
  • the central control platform (30) can directly communicate with the autonomous vehicle (10) and does not require the forwarding of roadside equipment (20), the central control platform (30) can wirelessly communicate with the autonomous vehicle (10).
  • the embodiments of the present invention realize control over an autonomous vehicle (10) in the traffic system (100).
  • the first piece of equipment in the traffic system (100) acquires a first piece of traffic control information and a second piece of traffic control information respectively, and generates a first traffic control instruction according to the above-mentioned two pieces of traffic control information, and the first traffic control instruction is used to control the driving of the autonomous vehicle (10).
  • the first piece of traffic control information is collected by the autonomous vehicle (10) and the second piece of traffic control information is centralized control information.
  • centralized control is combined with vehicle autonomous control to control the driving of the autonomous vehicle (10), and by means of V2V communication and V2I communication, not only the local traffic conditions in a traffic system, but also the global traffic conditions in the traffic system are considered so that the traffic and efficiency of the whole traffic system can be improved and the probability of traffic accidents can be lowered.
  • the first piece of equipment can be roadside equipment (20), the central control platform (30), or the autonomous vehicle (10) (or a device realizing vehicle control in the autonomous vehicle (10), hereinafter uniformly called "autonomous vehicle (10) for simplicity.)
  • Embodiment 1 to embodiment 6 below give six examples of vehicle control in the
  • Embodiment 1 Autonomous V2V communication Second traffic control
  • Embodiment 2 Autonomous V2V communication Coming from a piece of vehicle (10) information and roadside equipment (20) information collected by and used to indicate the the autonomous vehicle traffic conditions around (10) through its own the autonomous vehicle sensor (10)
  • Embodiment 3 Roadside V2V communication Coming from at least one equipment (20) information and piece of roadside
  • Embodiment 4 Roadside A second traffic control Coming from at least one equipment (20) instruction generated by piece of roadside
  • Embodiment 5 Central control V2V communication Coming from a piece of platform (30) information and roadside equipment (20) information collected by and used to indicate the the autonomous vehicle traffic conditions around (10) through its own the autonomous vehicle sensor (10)
  • Embodiment 6 Central control A second traffic control Coming from at least one platform (30) instruction generated by piece of roadside
  • the autonomous vehicle (10) (blackened in the figure) generates the final first traffic control instruction.
  • Figure 4 shows a first solution for controlling an autonomous vehicle in the embodiments of the present invention.
  • a piece of roadside equipment (20) (on the left) generates a second traffic control instruction (41 ) for the autonomous vehicle (10) (on the left in the figure).
  • the roadside equipment (20) can generate the second traffic control instruction (41 ) according to the traffic condition information collected by its own sensor, or can generate the second traffic control instruction (41 ) based on the traffic condition information collected by its own sensor and the traffic control information collected by other roadside equipment (20) in the traffic system (100).
  • step S402 the roadside equipment (20) sends the generated second traffic control instruction (41 ) to the autonomous vehicle (10) (on the left).
  • step S403 the autonomous vehicle (10) (on the left) collects information (43) through its own sensor and/or receives information (42) from other autonomous vehicles (10).
  • step S403 the sequence between step S403 and steps
  • Step S403 can first be performed, and then steps S401 and S402 are not defined. Step S403 can first be performed, and then steps S401 and S402 are not defined. Step S403 can first be performed, and then steps S401 and S402 are not defined. Step S403 can first be performed, and then steps S401 and S402 are not defined. Step S403 can first be performed, and then steps S401 and S402 are not defined. Step S403 can first be performed, and then steps S401 and
  • steps S401 and S402 are performed, or steps S401 and S402 can first be performed, and then step S403 is performed, or step S403 is performed together with step S401 or step S402.
  • step S404 the autonomous vehicle (10) generates a first traffic control instruction (44) according to the second traffic control instruction (41 ) and the information acquired in step S403.
  • step S405 the autonomous vehicle (10) controls its own driving according to the first traffic control instruction (44).
  • the autonomous vehicle (10) can also first generate a third traffic control instruction according to the information acquired in step S404, and then generate the final first traffic control instruction in combination with the second traffic control instruction.
  • a third traffic control instruction according to the information acquired in step S404, and then generate the final first traffic control instruction in combination with the second traffic control instruction.
  • the autonomous vehicle (10) (blackened in the figure) generates the final first traffic control instruction.
  • Figure 5 shows a second solution for controlling an autonomous vehicle in the embodiments of the present invention.
  • a piece of roadside equipment (20) collects the information about the traffic condition around the autonomous vehicle (10) (on the left) through its own sensor and/or acquires the information about the traffic condition around the autonomous vehicle (10) from other roadside equipment (20) (on the right, only one piece of other roadside equipment shown in the figure, but actually a plurality of pieces of other roadside equipment (20)), and uses it as a second piece of traffic control information (51 ).
  • the roadside equipment (20) sends the second piece of traffic control information (51 ) to the autonomous vehicle (10) (on the left).
  • step S503 the autonomous vehicle (10) (on the left) collects information (53) through its own sensor and/or receives information (52) from other autonomous vehicles (10).
  • step S503 the sequence between step S503 and steps
  • Step S503 can first be performed, and then steps S501 and S502 are not defined. Step S503 can first be performed, and then steps S501 and S502 are not defined. Step S503 can first be performed, and then steps S501 and S502 are not defined. Step S503 can first be performed, and then steps S501 and S502 are not defined. Step S503 can first be performed, and then steps S501 and S502 are not defined. Step S503 can first be performed, and then steps S501 and
  • steps S501 and S502 can first be performed, and then step S503 is performed, or step S503 is performed together with step S501 or step S502.
  • step S504 the autonomous vehicle (10) generates a first traffic control instruction (54) according to the second piece of traffic control information (51 ) and the information acquired in step S503.
  • step S505 the autonomous vehicle (10) controls its own driving according to the first traffic control instruction (54).
  • the roadside equipment (20) (blackened in the figure) generates the final first traffic control instruction.
  • Figure 6 shows a third solution for controlling an autonomous vehicle in the embodiments of the present invention.
  • a piece of roadside equipment (20) collects the information about the traffic conditions around the autonomous vehicle (10) (on the left) through its own sensor and/or acquires the information about the traffic conditions around the autonomous vehicle (10) from other roadside equipment (20) (on the right, only one piece of other roadside equipment shown in the figure, but actually traffic condition information can be acquired from a plurality of pieces of other roadside equipment (20)), and uses it as a second piece of traffic control information (61 ).
  • step S602 the autonomous vehicle (10) (on the left) collects information (63) through its own sensor and/or receives information (62) from other autonomous vehicles (10), and uses it as a first piece of traffic control information (62/63).
  • step S603 the autonomous vehicle (10) sends the first piece of traffic control information (62/63) acquired in step S602 to the roadside equipment (20) (on the left).
  • step S601 can first be performed, and then steps S602 and S603 are performed, or steps S602 and S603 can first be performed, and then step S601 is performed, or step S601 is performed together with step S602 or step S603.
  • step S604 the roadside equipment (20) (on the left) generates a first traffic control instruction (64) according to the second piece of traffic control information (61 ) and the first piece of traffic control information (62/63).
  • step S605 the roadside equipment (20) (on the left) sends the first traffic control instruction (64) to the autonomous vehicle (10) (on the left).
  • step S606 the autonomous vehicle (10) controls its own driving according to the first traffic control instruction (64).
  • the roadside equipment (20) (blackened in the figure) generates the final first traffic control instruction.
  • Figure 7 shows a fourth solution for controlling an autonomous vehicle in the embodiments of the present invention.
  • a piece of roadside equipment (20) collects the information about the traffic conditions around the autonomous vehicle (10) (on the left) through its own sensor and/or acquires the information about the traffic conditions around the autonomous vehicle (10) from other roadside equipment (20) (on the right, only one piece of other roadside equipment shown in the figure, but actually a plurality of pieces of other roadside equipment (20)), and uses it as a second piece of traffic control information (71 ).
  • the autonomous vehicle (10) (on the left) collects information (73) through its own sensor and/or receives information (72) from other autonomous vehicles (10).
  • step S703 the autonomous vehicle (10) (on the left) generates a second traffic control instruction (74) according to the information (72/73) acquired in step S702.
  • step S704 the autonomous vehicle (10) (on the left) sends the second traffic control instruction (74) to the roadside equipment (20) (on the left).
  • step S701 can first be performed, and then step S702 to step S704 are performed, or step S702 to step S704 can first be performed, and then step S701 is performed, or step S701 is performed together with step S702 to step S704.
  • step S705 the roadside equipment (20) generates a first traffic control instruction (75) according to the second traffic control instruction (74) and the second piece of traffic control information (71 ).
  • step S706 the roadside equipment (20) (on the left) sends the first traffic control instruction (75) to the autonomous vehicle (10) (on the left).
  • step S707 the autonomous vehicle (10) controls its own driving according to the first traffic control instruction (75).
  • the central control platform (30) (blackened in the figure) generates the final first traffic control instruction.
  • Figure 8 shows a fifth solution for controlling an autonomous vehicle in the embodiments of the present invention.
  • a piece of roadside equipment (20) collects the information about the traffic conditions around the autonomous vehicle (10) (on the left) through its own sensor and/or acquires the information about the traffic conditions around the autonomous vehicle (10) from other roadside equipment (20) (on the right, only one piece of other roadside equipment shown in the figure, but actually a plurality of pieces of other roadside equipment (20)), and uses it as a second piece of traffic control information (81 ).
  • the autonomous vehicle (10) (on the left) collects information (83) through its own sensor and/or receives information (82) from other autonomous vehicles (10).
  • step S803 the autonomous vehicle (10) (on the left) sends the second traffic control instruction (82) to the roadside equipment (20) (on the left).
  • step S804 the roadside equipment (20) sends the information acquired from the autonomous vehicle (10) in step S803 and the information acquired in step S801 to the central control platform (30).
  • the roadside equipment (20) can report in a message the information coming from the autonomous vehicle (10), the information collected by itself, and the information acquired from other roadside equipment (20), or the roadside equipment (20) can respectively report the information.
  • step S805 the central control platform (30) generates a first traffic control instruction (84) according to the information received in step S804.
  • step S806 the central control platform (30) sends the generated first traffic control instruction (84) to the roadside equipment (20) (on the left).
  • step S807 the roadside equipment (20) sends the received first traffic control instruction (84) to the autonomous vehicle (10).
  • step S808 the autonomous vehicle (10) controls its own driving according to the first traffic control instruction (84).
  • the roadside equipment (20) on the left reports the information about the traffic conditions around the autonomous vehicle (10) acquired from other roadside equipment (20) to the central control platform (30).
  • different pieces of roadside equipment (20) respectively report the collected information about the traffic conditions around the autonomous vehicle (10) to the central control platform (30).
  • different pieces of roadside equipment (20) report all collected traffic condition information to the central control platform (30), and the central control platform (30) screens the information to determine the information about the traffic conditions around the autonomous vehicle (10) and generates a first traffic control instruction (84) according to the information.
  • the roadside equipment (20) realizes message transfer between the autonomous vehicle (10) and the central control platform (30).
  • the autonomous vehicle (10) can also directly communicate with the central control platform (30), without the participation of the roadside equipment (20).
  • the autonomous vehicle directly sends the first piece of traffic control information (82/83) to the central control platform (30), and the central control platform (30) directly sends the first traffic control instruction (84) to the autonomous vehicle (10).
  • Figure 9 shows a sixth solution for controlling an autonomous vehicle in the embodiments of the present invention.
  • the central control platform (30) (blackened in the figure) generates the final first traffic control instruction.
  • a piece of roadside equipment (20) collects the information about the traffic conditions around the autonomous vehicle (10) (on the left) through its own sensor and/or acquires the information about the traffic conditions around the autonomous vehicle (10) from other roadside equipment (20) (on the right, only one piece of other roadside equipment shown in the figure, but actually a plurality of pieces of other roadside equipment (20)), and uses it as a second piece of traffic control information (91 ).
  • the autonomous vehicle (10) (on the left) collects information (93) through its own sensor and/or receives information (92) from other autonomous vehicles (10).
  • step S903 the autonomous vehicle (10) (on the left) generates a second traffic control instruction (94) according to the information (92/93) acquired in step S902.
  • step S904 the autonomous vehicle (10) sends the second traffic control instruction (94) to the roadside equipment (20) (on the left).
  • step S905 the roadside equipment (20) sends the second traffic control instruction (94) acquired in step S904 and the information acquired in step S901 to the central control platform (30).
  • the roadside equipment (20) can report in a message the information coming from the autonomous vehicle (10), the information collected by itself, and the information acquired from other roadside equipment (20), or the roadside equipment (20) can respectively report the information.
  • step S906 the central control platform (30) generates a first traffic control instruction (95) according to the information received in step S904.
  • step S907 the central control platform (30) sends the generated first traffic control instruction (95) to the roadside equipment (20) (on the left).
  • step S908 the roadside equipment (20) sends the received first traffic control instruction (95) to the autonomous vehicle (10).
  • step S909 the autonomous vehicle (10) controls its own driving according to the first traffic control instruction (95).
  • the roadside equipment (20) on the left reports the information about the traffic conditions around the autonomous vehicle (10) acquired from other roadside equipment (20) to the central control platform (30).
  • different pieces of roadside equipment (20) respectively report the collected information about the traffic conditions around the autonomous vehicle (10) to the central control platform (30).
  • different pieces of roadside equipment (20) report all collected traffic condition information to the central control platform (30), and the central control platform (30) screens the information to determine the information about the traffic conditions around the autonomous vehicle (10) and generates a first traffic control instruction (95) according to the information.
  • the roadside equipment (20) realizes message transfer between the autonomous vehicle (10) and the central control platform (30).
  • the autonomous vehicle (10) can also directly communicate with the central control platform (30), without the participation of the roadside equipment (20).
  • the autonomous vehicle directly sends the second traffic control instruction (94) to the central control platform (30)
  • the central control platform (30) directly sends the first traffic control instruction (95) to the autonomous vehicle (10).
  • unicast, broadcast, or multicast can be adopted for communication between the roadside equipment (20) and the autonomous vehicle (10).
  • one piece of roadside equipment (20) when sending a message to an autonomous vehicle (10), one piece of roadside equipment (20) can designate the ID of the autonomous vehicle (10) in the message or adopt an established dedicated wireless channel to communicate with the autonomous vehicle (10).
  • the message can carry information sent to a plurality of autonomous vehicles (10) and the ID of each autonomous vehicle (10) is correspondingly labeled.
  • the broadcast mode when sending a message to autonomous vehicles (10), one piece of roadside equipment (20) sends the message in broadcast mode and all autonomous vehicles (10) in the wireless communication range can receive the message.
  • all autonomous vehicles (10) in the wireless communication range can receive the message and obtain the traffic jam information in the traffic system (100) from the message.
  • an autonomous vehicle (10) when sending a message to a piece of roadside equipment (20), an autonomous vehicle (10) can designate the ID of the roadside equipment in the message or adopt an established dedicated wireless channel to communicate with the roadside equipment (20).
  • the message can carry information sent to a plurality of pieces of roadside equipment (20) and the ID of each piece of roadside equipment (20) is correspondingly labeled.
  • an autonomous vehicle (10) when sending a message to roadside equipment (20), an autonomous vehicle (10) can send the message in broadcast mode and all roadside equipment (20) in the wireless communication range can receive the message.
  • all roadside equipment (20) in the wireless communication range can receive the message and obtain the information about the autonomous vehicle (10) from the message.
  • the weights of centralized control and autonomous control can be set according to a weight factor when the final first traffic control instruction is generated.
  • the weight factor is used to indicate the degree of influence when said first traffic control instruction is generated according to said second piece of traffic control information and said first piece of traffic control information.
  • the first piece of equipment generates said first traffic control instruction according to the weight factor.
  • the weight factor is set so that the first traffic control instruction depends only on centralized control.
  • Centralized control is applicable when a traffic accident or large-area traffic jam happens in the traffic system (100). In this case, traffic control can totally depend on the centralized control of the central control platform (30).
  • a cloud platform which can realize centralized control is not limited to the above-mentioned central control platform (30) , and it can be a distributed system, where different roadside equipment (20) cooperate to realize centralized control, without communication between roadside equipment (20) and the central control platform (30), and the delay is smaller.
  • the embodiments of the present invention realize control over an autonomous vehicle (10), as if there is an invisible traffic light which is used to control the driving of vehicles.
  • the invisible traffic light can be located in the roadside equipment (20), autonomous vehicle (10), or central control platform (30).
  • Figure 10 is a schematic diagram of one structure of a first piece of equipment provided in the embodiments of the present invention.
  • the first piece of equipment can comprise:
  • an information acquisition module (1001 ) used to acquire a first piece of traffic control information and a second piece of traffic control information, wherein said first piece of traffic control information is collected by said autonomous vehicle (10), and said second piece of traffic control information is centralized control information ;
  • an instruction generation module (1 002) used to generate a first traffic control instruction according to said first piece of traffic control information and said second piece of traffic control information, wherein said first traffic control instruction is used to control the driving of said autonomous vehicle (10) .
  • the first piece of equipment is the above-mentioned roadside equipment (20) , central control platform (30), or autonomous vehicle (1 0).
  • the information acquisition module (1001 ) can
  • FIG. 11 is a schematic diagram of another structure of a first piece of equipment provided in the embodiments of the present invention. As shown in Figure 11 , the first piece of equipment can comprise:
  • processor (1102) used to invoke the above-mentioned machine readable
  • the structure shown in Figure 11 can be considered a hardware realization manner of the structure shown in Figure 10.
  • the information acquisition module (1001 ) and the instruction generation module (1002) can be considered at least a memory (1101 ) in which some of the above-mentioned machine readable instructions are stored and at least one processor (1102) used to invoke the instructions in the above-mentioned modules to realize the function of the first piece of equipment, respectively.
  • the first piece of equipment further comprises a user interface (1103), which is used to realize interactions with the user.
  • a user interface (1103) which is used to realize interactions with the user.
  • the user interface (1103) realizes interactions between the autonomous vehicle (10) and the driver.
  • the first piece of equipment is roadside equipment (20)
  • the user interface (1103) realizes interactions between the roadside equipment (20) and the equipment maintainer.
  • the first piece of equipment is a central control platform (30)
  • the user interface (1103) can realize interactions between the traffic manager and the central control platform (30).
  • the first piece of equipment can further comprise at least a communication device (1104), which is used to realize communication between the first piece of equipment and other equipment.
  • a communication device (1104) can realize communication between autonomous vehicles (10), and communication with roadside equipment (20), and optionally, the communication device can further realize communication with a central control platform (30) in some embodiments.
  • the first piece of equipment is roadside equipment (20)
  • at least one communication device (1104) can realize communication with autonomous vehicles (10) and/or other roadside equipment (20)
  • the communication device can further realize communication with a central control platform (30) in some embodiments.
  • the first piece of equipment is a central control platform (30)
  • at least one communication device (1104) can realize communication with roadside equipment (20), and optionally, the communication device can further realize communication with autonomous vehicles (10) in some embodiments.
  • Different components in the first piece of equipment shown in Figure 11 can be connected through a bus to realize message transfer between different components.
  • Figure 12 is a schematic diagram of the structure of a type of roadside equipment (20) provided in the embodiments of the present invention.
  • the roadside equipment (20) can comprise:
  • an information sending module used to send the second piece of traffic control information to the autonomous vehicle (10) so that the autonomous vehicle (10) generates a first traffic control instruction according to the second piece of traffic control information and the first piece of traffic control information and controls the driving of the autonomous vehicle (10) according to the first traffic control instruction, wherein the first piece of traffic control information comprises at least one piece of the following information: a first piece of traffic condition information collected by the autonomous vehicle through its own sensor; and a second piece of traffic condition information acquired by the autonomous vehicle (10) from other autonomous vehicles (10).
  • the information processing module (1201 ) is specifically used to collect information about the traffic conditions around the autonomous vehicle (10) as the second piece of traffic control information, or collect information about the traffic conditions around the autonomous vehicle (10) and generate a second traffic control instruction for the autonomous vehicle (10) according to the collected information as the second piece of traffic control information.
  • FIG 13 is a schematic diagram of the structure of an autonomous vehicle (10) in the embodiments of the present invention.
  • the autonomous vehicle (10) can comprise:
  • a vehicle control module (1303) used to control the driving of the autonomous vehicle (10) according to the first traffic control instruction.
  • FIG 14 is a schematic diagram of the structure of another type of roadside equipment (20) provided in the embodiments of the present invention.
  • the roadside equipment (20) can comprise:
  • an information sending module (1401 ) used to send a first piece of traffic control information and a second piece of traffic control information to a central control platform (30), wherein the first piece of traffic control information is collected by the autonomous vehicle (10), and the second piece of traffic control information is centralized control information;
  • an information receiving module used to receive a first traffic control instruction from the central control platform (30), wherein the first traffic control instruction is generated by the central control platform (30) according to the first piece of traffic control information and the second piece of traffic control information;
  • the information sending module (1401 ) is used to send the first traffic control instruction to the autonomous vehicle (10) to control the driving of the autonomous vehicle (10).
  • FIG. 11 Another structure of the equipment shown in Figure 12 to Figure 14 can be shown as in Figure 11 .
  • the structure shown in Figure 11 can be considered a hardware realization manner of the structure shown in Figure 10.
  • the modules can be considered at least a memory in which some of the above-mentioned machine readable instructions are stored and at least one processor (1102) used to invoke the instructions in the above-mentioned modules to realize the function of the equipment, respectively.
  • the structure can further comprise a user interface (1103) used to realize interactions with the user and at least a communication device (1104) used to realize communication with other equipment.
  • a user interface 1103
  • a communication device (1104) used to realize communication with other equipment.
  • Different components in the structure can be connected through a bus to realize message transfer between different components.
  • FIG 15 is a schematic diagram of an optional protocol stack for roadside equipment (20) in the embodiments of the present invention.
  • the software protocol stack of the roadside equipment (20) can comprise the following four layers:
  • an operating system layer (151 ), a service layer (152), an algorithm layer (153), and an application layer (154).
  • the operating system layer (151 ) is used to support hardware functions to realize wireless communication and positioning.
  • the operating system layer can comprise the following components:
  • an RF module used to realize communication with an autonomous vehicle (10) and/or a central control platform (30).
  • the communication mode includes but is not limited to dedicated short range communications (DSRC), wireless fidelity (WiFi), and long term evolution-vehicle (LTE-V).
  • the RF module (1511 ) can further comprise a global positioning system (GPS) module.
  • GPS global positioning system
  • a camera (1513) used to monitor traffic conditions in real time and acquire visual traffic condition information.
  • a real time clock (RTC) module (1514).
  • the service layer (152) is used to integrate data and provide the upper layer with services, including infrastructure to X (I2X) communication service (1521 ), sensor data fusion service (1522), and data processing service (1523).
  • I2X infrastructure to X
  • sensor data fusion service (1522)
  • data processing service (1523).
  • the algorithm layer (153) is used to realize algorithm processing.
  • the algorithm layer (153) can make an optimal decision on the basis of the acquired traffic control information, and optionally can have the capabilities of self learning and self-adaptation.
  • the algorithm layer (153) can comprise a system training module (1531 ) used for self-learning according to the acquired traffic control information and various algorithm realization modules, for example, a game theory module (1532) and a green wave module (1533).
  • the application layer (154) is used to realize service logic on the basis of different traffic scenarios.
  • the application layer can comprise, for example, a crossroad scenario processing module (1541 ), a parking lot processing module (1542), and an alarm module (1543).
  • FIG 16 to Figure 19 are schematic diagrams of four traffic scenarios in the embodiments of the present invention.
  • an autonomous vehicle (10) passes a crossroad; in scenario 2, the autonomous vehicle (10) autonomously parks; in scenario 3, an indication is given to the autonomous vehicle (10) in the case of an emergency; in scenario 4, roadside equipment (20) exchanges information to cooperatively control the autonomous vehicle (10) so as to optimize the efficiency of the whole traffic system (100).
  • the I2CU is an example of roadside equipment (20), and the previously mentioned first traffic control instruction is generated by the I2CU and is used to control the autonomous vehicle (10).
  • each I2CU uses its own sensor to continuously collect various pieces of traffic information, including the previously mentioned first piece of traffic control information and second piece of traffic control information, through infrastructure to infrastructure (121) communication and vehicle to infrastructure (V2I) communication.
  • infrastructure to infrastructure (121) communication and vehicle to infrastructure (V2I) communication.
  • V2I vehicle to infrastructure
  • An autonomous vehicle (10) sends a Pass_Crossroad request to an I2CU. After receiving the request, the I2CU makes a decision and generates the previously mentioned first traffic control instruction according to the traffic mode (the centralized control mode, autonomous control mode, and the combination of centralized control with autonomous control can be realized by the previously mentioned weight factor), the collected information, and the preset algorithm.
  • the traffic mode the centralized control mode, autonomous control mode, and the combination of centralized control with autonomous control can be realized by the previously mentioned weight factor
  • the collected information the preset algorithm
  • the I2CU respectively generates a first traffic control instruction and sends it to corresponding autonomous vehicles (10) to control the driving directions and velocities of the vehicles.
  • Each autonomous vehicle (10) passes the crossroad according to the received first traffic control instruction.
  • the I2CU can record historical data and train itself to optimize the decision. [Scenario 2]
  • l2CUs realize invisible mobile parking lots.
  • the dashed-line boxes in the figure are parking spaces, and each autonomous vehicle (10) can park (speed up or slow down) on the basis of the first traffic control instruction of l2CUs.
  • an autonomous vehicle (10) can still not find vehicles or pedestrians at street corners or behind some obstacles.
  • l2CUs can direct the autonomous vehicle (10) to slow down to avoid hitting the bike rider in the figure.
  • l2CUs can cooperate with each other to execute the green wave algorithm to prevent more vehicles from entering the jammed area and quickly relieve the traffic jam.
  • l2CUs can realize optimal decision-making in the whole traffic system (100) on the basis of not only autonomous control of the autonomous vehicle (10), but also V2I, I2I, and V2V communication.
  • Blockchain technology can be adopted between l2CUs so that they can cooperate with each other to realize highly efficient traffic control.
  • the embodiments of the present invention further provide a machine readable medium, on which machine readable instructions used to let a machine execute the previously mentioned methods are stored.
  • a system or device equipped with the machine readable medium is provided, software program codes realizing the function in any of the above-mentioned embodiments are stored on the machine readable medium, and the computer (or central processing unit (CPU)) or micro processor unit (MPU)) of the system or device reads and executes the program codes stored on the storage medium.
  • the computer or central processing unit (CPU)
  • MPU micro processor unit
  • program codes read from the storage medium themselves can realize the function in any of the above-mentioned embodiments. Therefore, program codes and the storage medium where program codes are stored constitute a part of the embodiments of the present invention.
  • Embodiments of storage media used to provide program codes include floppy disk, hard disk, magneto-optical disk (for example, compact disk read-only memory (CD-ROM)), compact disk - recordable (CD-R), compact disk - rewritable (CD-RW), digital video disk - read only memory (DVD-ROM), digital versatile disk - random access memory (DVD-RAM), digital versatile disk ⁇ rewritable (DVD ⁇ RW), magnetic tape, non-volatile memory card, and read-only memory (ROM).
  • program codes can be downloaded from the server computer or cloud over a communication network.
  • the program codes read out from a storage medium are written into the memory in the expansion board in a computer or are written into a memory in an expansion unit connected to the computer, and then the instruction based on program codes lets the CPU installed on the expansion board or expansion unit execute a part or all of practical operations to realize the function of any of the above-mentioned embodiments.
  • the equipment structures described in the above-mentioned embodiments can be physical structures or logical structures. That is to say, some modules may be realized by a physical entity, or some modules may be realized by a plurality of physical entities or may jointly be realized by some components in a plurality of
  • hardware units can be realized mechanically or electrically.
  • a hardware unit can comprise a permanent dedicated circuit or logic (for example, special processor, FPGA, or ASIC) for the completion of the corresponding operations.
  • a hardware unit can further comprise a programmable logic or circuit (for example, a general processor or other programmable processor) and can complete the corresponding operations through temporary software setting.
  • the specific realization manners can be determined on the basis of consideration of cost and time.

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Abstract

La présente invention, qui appartient au domaine technique de la circulation routière, concerne, en particulier, un procédé et un équipement de commande de véhicule, qui sont utilisés pour améliorer l'efficacité de l'ensemble du système de circulation routière, pour empêcher efficacement des accidents de la circulation et pour réduire les bouchons. Dans un procédé selon un mode de réalisation de la présente invention, un premier élément d'équipement acquiert un premier élément d'informations de commande de circulation et un second élément d'informations de commande de circulation, ledit premier élément d'informations de commande de circulation étant collecté par un véhicule autonome tandis que ledit second élément d'informations de commande de circulation est une information de commande centralisée ; ledit premier élément d'équipement génère une première instruction de commande de circulation selon ledit premier élément d'informations de commande de circulation et selon ledit second élément d'informations de commande de circulation pour commander la conduite dudit véhicule autonome. La commande centralisée est combinée avec une commande autonome de véhicule pour commander la conduite du véhicule autonome, c'est-à-dire, non seulement les conditions locales de circulation dans un système de circulation, mais également les conditions globales de circulation dans le système de circulation sont prises en considération de sorte que la circulation et l'efficacité de tout le système de circulation peuvent être améliorées et que la probabilité d'accidents de circulation peut être réduite.
EP18723463.8A 2017-08-30 2018-05-07 Procédé, dispositifs et système de commande de véhicule Withdrawn EP3659134A1 (fr)

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