WO2018072422A1

WO2018072422A1 - Unmanned automobile transportation system, and unmanned automobile control method and device

Info

Publication number: WO2018072422A1
Application number: PCT/CN2017/081559
Authority: WO
Inventors: 张恒春
Original assignee: 张恒春
Priority date: 2016-10-21
Filing date: 2017-04-24
Publication date: 2018-04-26
Also published as: CN106564489A

Abstract

Provided is an unmanned automobile transportation system. An unmanned automobile (1) is driving on a dedicated road bridge (2). A control device (3) controls a speed control component (4) and a direction control component (5) installed in the unmanned automobile. The unmanned automobile transportation system can increase traffic efficiency in a city, thereby reducing a probability of occurrence of a traffic accident.

Description

Unmanned vehicle transportation system, unmanned vehicle control method and device

The present application claims priority to Chinese Patent Application No. 2016109180600, the entire disclosure of which is hereby incorporated herein in in.

Technical field

The present invention relates to the field of transportation technology, and in particular to an unmanned vehicle transportation system, a driverless vehicle control method and apparatus.

Background technique

With the rapid development of science and technology and social economy, people's living standards are increasing day by day, and cars have become more and more popular as vehicles. However, the increase of automobiles has caused hidden dangers to traffic safety problems, including between cars and cars. There are certain security risks between pedestrians and cars, between cars and other vehicles. Moreover, the driving information between the car and the car is independent of each other, so when the driver is driving the car, the driving route of the other car cannot be prejudged and evaded, so the increase of the car makes the traffic of the city crowded and gives people Traveling has caused inconvenience.

Summary of the invention

In view of this, the object of the present invention is to provide a driverless vehicle transportation system, a driverless vehicle control method and device, which are used to improve the traffic safety of urban traffic on the one hand, and to improve the efficiency of urban traffic on the other hand. Avoid traffic congestion as much as possible.

An unmanned vehicle transportation system includes an unmanned vehicle, a closed road bridge for carrying the driverless vehicle, and a control device for controlling the driverless vehicle to travel on the closed road bridge ;

The driverless vehicle is provided with a speed control member for controlling the traveling speed and a steering member for controlling the traveling direction, the control device controls the speed control member, and the control device controls the steering member.

Further, the driverless car is provided with a GPS positioning module for generating its location information, a first network module for establishing a communication connection with the control device, the first network module and the GPS positioning module, Both the speed control unit and the steering unit are connected.

Further, the driverless car further includes a distance sensor for detecting a distance from the surrounding obstacle, the distance sensor being coupled to the first network module.

Further, the control device includes an MCU microcontroller and a second network module for establishing a communication connection with the driverless car.

Further, a power supply device is further included;

The power supply device is connected to the driverless car;

The power supply device is connected to the control device;

The power supply device includes a mains module and a solar power module.

Further, the driverless car is an electric driverless car, and the electric driverless car is provided with a power receiving coil, and the power supply device is provided with a power supply coil for supplying power to the power receiving coil.

Further, the enclosed road bridge includes a lighting device, and the lighting device is connected to the power supply device.

Further, the closed road bridge is provided with a track groove for accommodating the wheels of the driverless car.

Further, the number of the track grooves is plural, and the plurality of track grooves communicate with each other.

Further, the road surface of the closed road bridge is provided with a solar panel, and a power supply coil is disposed on the road surface between the track grooves, and the power supply coil is configured to supply power to the power receiving coil.

Further, the enclosed road bridge is provided with a parking area for parking.

A driverless vehicle control method, the method comprising:

Obtain the driving speed and driving direction of the driverless car;

Control data is transmitted to the driverless car according to the traveling speed and the driving direction of the driverless vehicle, so that the driverless car travels according to a pre-planned route.

Further, the step of transmitting control data to the driverless car according to the traveling speed and driving direction of the driverless vehicle includes:

Calculating a speed difference between the driving speed of the driverless vehicle and the preset traveling speed;

Calculating a deviation value between a driving direction of the driverless vehicle and the preset driving direction;

Generating speed control data according to the speed difference;

Generating direction control data according to the deviation value;

The speed control data and direction control data are transmitted to the driverless car.

A driverless vehicle control device, the device comprising:

An acquisition module for obtaining a driving speed and a driving direction of the driverless car;

And a sending module, configured to send control data to the driverless car according to the driving speed and the driving direction of the driverless vehicle, so that the driverless car runs according to a pre-planned route.

Further, the device further includes:

a speed calculation module, configured to calculate a speed difference between the driving speed of the driverless vehicle and the preset traveling speed;

a direction calculation module, configured to calculate a deviation value between a driving direction of the driverless vehicle and the preset driving direction;

a control data generating module, configured to generate speed control data according to the speed difference value and generate direction control data according to the deviation value;

The transmitting module is further configured to send the speed control data and direction control data to the driverless car.

The invention provides an unmanned automobile transportation system and a driverless vehicle control method, and the unmanned vehicle transportation system comprises an unmanned vehicle, a closed road bridge for carrying the unmanned vehicle, and To control a control device for driving the driverless vehicle on the closed road bridge; the driverless vehicle is provided with a speed control component for controlling the traveling speed and a steering member for controlling the traveling direction, and the control device controls the speed control component, A control device controls the steering member. In the present invention, the driverless vehicle travels on a closed road bridge, and the control device controls the speed control member and the steering member mounted on the driverless vehicle. Therefore, the control device can control the driverless car driving on the closed road bridge, and the control device uniformly plans the driving route of all the driverless cars driving on the closed road bridge, thereby avoiding as much as possible between the driverless cars. The crowding during driving improves the traffic efficiency of urban traffic. Closed road bridges reduce the possibility of traffic accidents between cars and other vehicles.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly described below. It should be understood that the following drawings show only certain embodiments of the present invention, and therefore It should be seen as a limitation on the scope, and those skilled in the art can obtain other related drawings according to these drawings without any creative work.

FIG. 1 is a schematic structural diagram of an unmanned automobile transportation system according to an embodiment of the present invention.

FIG. 2 is a schematic diagram showing the connection of an unmanned automobile transportation system according to an embodiment of the present invention.

FIG. 3 and FIG. 4 are flowcharts showing a control method of a driverless vehicle according to an embodiment of the present invention.

FIG. 5 is a schematic structural diagram of a functional module of a driverless vehicle control device according to an embodiment of the present invention.

The main component symbol description:

100-unmanned vehicle transportation system; 1-unmanned vehicle; 2-closed road bridge; 3-control device; 4-speed control unit; 5-control unit; 6-GPS positioning module; 7-first network Module; 8-way distance sensor; 9-MCU single-chip microcomputer; 10-second network module; 11-power supply device; 12-receiving coil; 13-supply coil; 14-lighting device; 15-track slot; ; 31 - driverless car control device; 311 - acquisition module; 312 - speed calculation module; 313 - direction calculation module; 314 - control data generation module; 315 - transmission module.

detailed description

In the following, various embodiments of the present disclosure will be described more fully. The present disclosure can have various embodiments, and adjustments and changes can be made therein. It should be understood, however, that the present invention is not limited to the specific embodiments disclosed herein, but the invention is to be construed as being included within the spirit and scope of the various embodiments of the present disclosure. All adjustments, equivalents and/or alternatives.

In the following, the term "comprising" or "including" may be used in the various embodiments of the present disclosure to indicate the existence of the disclosed function, operation or element, and does not limit one or more functions, operations or elements. increase. In addition, the terms "comprising," "having," "," It should not be understood that the existence or addition of one or more other features, numbers, steps, operations, components, components or combinations of the foregoing are excluded. The possibility of more features, numbers, steps, operations, components, components or combinations of the foregoing.

In various embodiments of the present disclosure, the expression "or" or "at least one of A or / and B" includes any or all combinations of the simultaneously listed characters. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

Expressions used in various embodiments of the present disclosure (such as "first", "second", etc.) may modify various constituent elements in various embodiments, but the corresponding constituent elements may not be limited. For example, the above statements do not limit the order and/or importance of the elements. The above statements are only used for the purpose of distinguishing one element from another. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, a first element could be termed a second element, and a second element could be termed a first element, without departing from the scope of the various embodiments of the present disclosure.

It should be noted that if the description "connects" one constituent element to another constituent element, the first constituent element can be directly connected to the second constituent element and can be "connected" between the first constituent element and the second constituent element. "The third component. On the contrary, when a constituent element is "directly connected" to another constituent element, it is understood that there is no third constituent element between the first constituent element and the second constituent element.

The terms used in the various embodiments of the present disclosure are only for the purpose of describing the specific embodiments and are not intended to limit the various embodiments of the present disclosure. As used herein, the singular forms " All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the present disclosure pertain, unless otherwise defined. The term (such as a term defined in a commonly used dictionary) will be interpreted as having the same meaning as the contextual meaning in the related art and will not be interpreted as having an idealized meaning or an overly formal meaning, Unless clearly defined in the various embodiments of the present disclosure.

In a specific embodiment, as shown in Figures 1 and 2.

An unmanned automobile transportation system 100 includes an unmanned automobile 1 and a closed road bridge 2 for carrying the driverless vehicle 1 to control the driving of the driverless vehicle 1 on the closed road bridge 2 The control device 3; the driverless car 1 is provided with a speed control member 4 for controlling the traveling speed and a steering member 5 for controlling the traveling direction, the control device 3 controls the speed control member 4, and the control device 3 controls the steering member 5.

In the above, an unmanned automobile transportation system 100, the driverless vehicle 1 is driven on the closed road bridge 2, and the control device 3 is connected to the unmanned vehicle 1 for controlling the traveling speed of the driverless vehicle 1. The speed control unit 4, the control device 3 is also connected to the steering member 5 mounted on the driverless car 1 for controlling the traveling direction of the driverless car 1, so that the control device 3 connects the speed control member 4 and the steering direction The component 5 controls the traveling speed and traveling direction of the driverless car 1.

As for the manner in which the control device 3 controls the control device 3, for example, the control device 3 is connected to the driverless driver. The power device (for example, an engine or a motor) of the automobile 1 acquires the speed data of the driverless car 1, and when the control device 3 detects that the speed of the driverless car 1 is too fast, the transmission reduces the driverless car 1 The speed control data is sent to the speed control unit 4, and after receiving the control data for reducing the speed of the driverless vehicle 1, the speed control unit 4 controls the power unit of the driverless vehicle 1 to speed the driverless vehicle 1. Reduce to the corresponding speed.

As for the manner in which the control device 3 controls the steering member 5, for example, the steering member 5 is connected to the steering device of the driverless car 1, and the traveling direction data of the driverless car 1 is acquired, and the control device 3 needs to be changed. When the driving direction of the driverless car 1 is in the driving direction, the control device 3 transmits the direction data to the steering member 5, and after the steering member 5 receives the direction data transmitted from the control device 3, the steering device of the driverless car 1 is controlled to drive. The direction is adjusted to the corresponding direction.

It should be further explained that the closed road bridge 2 for carrying the driverless car 1 can be a cement road surface, and the main raw materials are cement and steel. Fences or fences are provided on both sides of the road to prevent other non-driving cars 1 and unmanned cars 1 not controlled by the control device 3 from entering the road bridge. In order to more conveniently and efficiently lay the closed road bridge 2, the closed road bridge 2 can be segmented and manufactured at the manufacturing base, and transported to the paved road section for connection and installation after leaving the factory. In the present embodiment, the power source used in the driverless car 1 may be a fossil material or electric energy.

The driverless car 1 is provided with a GPS (Globle Positioning System) positioning module 6 for generating its position information, a first network module 7 for establishing a communication connection with the control device 3, and a first network module 7 and The GPS positioning module 6, the speed control unit 4, and the steering member 5 are all connected.

The above-mentioned means that the driverless car 1 is connected to the control device 3 through the first network module 7. Specifically, the network module may be a 2G network module, a 3G network module, or a 4G network module. The driverless car 1 is further provided with a GPS positioning module 6 for generating position information. The GPS positioning module 6 generates position information of the driverless car 1 and transmits the generated position information data to the control device 3, specifically, The GPS positioning module 6 transmits the data of the position information to the control device 3 via the network module.

It should be further noted that, in this embodiment, the network module can also send other information data generated by the driverless car 1 to the control device 3, for example, the traveling speed data of the driverless car 1, the driverless car 1 Driving direction data, etc.

Of course, the control device 3 can reasonably plan and track the driving route of each of the driverless cars 1 according to the destination of the driverless car 1 controlled by them, and try to avoid causing congestion between each other.

The driverless car 1 also includes a distance sensor 8 for detecting the distance from the surrounding obstacle.

As described above, according to the above-described embodiment, the driverless car 1 further includes a distance sensor 8 for detecting a distance from a peripheral obstacle, and the distance sensor 8 is connected to the first network module 7. Specifically, the obstacle may be a barrier with other unmanned vehicles 1 , a fence of the enclosed road bridge 2, or other vehicles entering the enclosed fence. Pedestrians, etc. The distance sensor 8 transmits the position information data of the distance from the surrounding obstacle to the control device 3. Specifically, the information data of the distance from the surrounding obstacle can be transmitted to the control device through the network module in the driverless car 1. 3. The control device 3 monitors the distance information data of the peripheral obstacle in real time, and when the distance information data of the peripheral obstacle is less than a preset value, the control device 3 controls the driverless car 1 to reduce the traveling speed, and even controls the driverless car 1 The brake device performs the action of the brake.

It should be further noted that the distance sensor 8 specifically includes an infrared distance sensor and/or an ultrasonic distance sensor.

Specifically, the infrared distance sensor uses infrared rays to monitor the distance, and the ultrasonic distance sensor uses the Doppler effect of the ultrasonic waves to monitor the distance.

Among them, the infrared distance sensor uses the principle that the intensity of the different reflections of the infrared signal encountering the obstacle distance is different, and the detection of the obstacle distance is performed. The specific structure has a pair of infrared signal transmitting and receiving diodes, the transmitting tube emits an infrared signal of a specific frequency, and the receiving tube receives the infrared signal of such frequency, and when the infrared detecting direction encounters an obstacle, the infrared signal is reflected back. Received by the receiving tube, after processing, return to the host through the digital sensor interface, and then use the infrared return signal to identify changes in the surrounding environment.

The ultrasonic distance sensor is a sensor developed using the characteristics of ultrasonic waves. Ultrasonic wave is a kind of mechanical wave whose vibration frequency is higher than sound wave. It is generated by the vibration of the transducer wafer under the excitation of voltage. It has high frequency, short wavelength, small diffraction phenomenon, especially good directionality, and can be oriented as a ray. Characteristics such as communication. Ultrasonic encounters a moving object can produce a Doppler effect. It is widely used in industry, national defense, biomedicine and other aspects.

Of course, the control device 3 and the distance sensor 8 can be used in combination. Specifically, when the distance reaches a certain range and the speed reaches a certain value, the sensing data of the control device 3 and the distance sensor 8 is transmitted to the controller. The controller is made to make decisions, such as controlling the engine and/or the motor to cause the vehicle to decelerate, ensuring that the vehicle is in a safe range.

The control device 3 comprises an MCU microcontroller 9 and a second network module 10 for establishing a communication connection with the driverless car 1.

The control device 3 includes the MCU microcontroller 9 and the second network module 10, wherein the control device 3 is connected to the driverless car 1 via the second network module 10, and the second network module 10 receives the data transmitted by the driverless car 1. The information is sent to the MCU MCU 9, and the MCU MCU 9 can also transmit the control signal data to the driverless car 1 through the second network module 10. As for the specific model of the second network module 10, a prior art network module can be employed. MCU (English name is Single Chip Microcomputer, also known as single-chip microcomputer), is to properly reduce the frequency and specifications of the Central Processing Unit (CPU), and the memory (memory), counter (Timer), USB, A / D-conversion, UART, PLC, DMA and other peripheral interfaces, even LCD driver circuits are integrated on a single chip, forming a chip-level computer, for different combinations of different applications. Such as mobile phones, PC peripherals, remote controls, to automotive electronics, industrial stepper motors, robotic arm control, etc., can be seen in the body of the MCU Shadow.

A power supply device 11 is further included. The power supply device 11 includes a mains module and a solar power supply module. The power supply device 11 is connected to the driverless car 1, and the power supply device 11 is connected to the control device 3.

In the above, the power supply device 11 can supply power to the power-consuming devices of the driverless car transportation system 100. For example, the driverless vehicle transportation system 100 is also provided with a lighting system, a utility module or a solar power module. The lighting system is powered. The power supply device 11 can supply power to the driverless car 1. Of course, the power supply device 11 can supply power to the driverless car 1 in many ways, specifically, the prior art power supply mode can be used, and when the driverless car 1 When the electric driverless car is used, the power supply device 11 supplies more power to the electric driverless car, and the power supply mode can also be the prior art power supply mode. Specifically, the power supply device in the driverless vehicle transportation system 100 is preferentially powered by the solar power supply module. When the power of the solar power supply module is insufficient, the utility module intervenes to power the unmanned vehicle transportation system 100. The device is powered. It should be further noted that the solar power supply module can adopt the prior art solar power supply device 11.

The driverless car 1 is an electric driverless car, and the electric driverless car is provided with a power receiving coil 12, and the power supply device 11 is provided with a power feeding coil 13 that supplies power to the power receiving coil 12.

In the above, the driverless car 1 can be an electric driverless car, which makes the driverless car transportation system 100 more conducive to energy saving and environmental protection. The power supply device 11 can charge the electric driverless vehicle in real time. Specifically, the power driverless car can be provided with a power receiving coil 12 at the bottom, and the power supply coil corresponding to the power receiving coil 12 is disposed on the road surface of the closed road bridge 2. 13. In order to be able to charge the electric driverless vehicle in real time, the power supply coil 13 can be mounted on the road surface of the closed road bridge 2, so that the power supply device 11 can also be powered while the electric driverless vehicle is driving on the closed road bridge 2. The coil 13 charges the electric driverless car. The power supply coil 13 can be connected and charged to the power receiving coil 12 by using a prior art electric vehicle wireless charging technology.

The enclosed road bridge 2 comprises a lighting device 14 to which the lighting device is connected.

In the above, the closed road bridge 2 is provided with a lighting device 14, which is mainly used for night illumination of the closed road bridge 2, and the appearance of the road. The lighting device can be a street light, a traffic signal light, an aesthetic lighting, and the like. The lighting device 14 can be connected to a power supply device 11 that supplies power to the lighting device 14.

The enclosed road bridge is provided with a track groove 15 for accommodating the wheels of the driverless car 1.

In the above, in order to drive the driverless car 1 on the closed road bridge 2 more orderly, that is, the track groove 15 for the wheel of the driverless car 1 is provided on the road surface, so that the driverless car 1 can follow the track groove Driving 15 also makes the driverless car 1 less likely to yaw on the road surface. Of course, the track groove 15 and the track groove 15 can communicate with each other to facilitate the lane change or steering of the driverless car 1. The track groove 15 has a concave structure with respect to the road surface, and the contact surface with the tire in the track groove 15 may be a cement road surface or a metal material.

The road surface of the closed road bridge 2 is provided with a solar panel 16, and a power supply coil 13 is disposed on the road surface between the track grooves 15 The oversupply coil 13 wirelessly charges the electric driverless car.

In the above, the solar panel in the solar power supply module can be laid on the road surface of the closed road bridge 2. Specifically, the closed road bridge 2 is provided with a track groove 15 for driving the wheels of the driverless car 1. The contact surface of the track groove 15 with the tire is cement or steel, and the closed road bridge 2 is provided with the track groove 15 . The outer area is provided with solar panels 16 so that the space can be utilized to the maximum extent, and the solar panels can be maximally laid so that the solar power supply modules in the driverless vehicle transportation system 100 generate more power to utilize the power as much as possible. The solar power supply module in the module supplies power to the power modules in the driverless vehicle transportation system 100, making the driverless vehicle transportation system 100 more environmentally friendly.

In addition, two track grooves 15 for carrying the tires of the same driverless car 1 are a pair of track grooves 15, and a power supply coil 13 is disposed in the middle of the pair of track grooves 15, and the power supply coil 13 is disposed on the electric unmanned The power receiving device 11 can wirelessly connect and charge the electric driverless car 1 via the power feeding coil 13 corresponding to the power receiving coil 12 on the driving car 1.

The enclosed road bridge 2 has a parking area for parking.

In the above, the closed road bridge 2 is provided with a parking area for parking, which means that when the passenger uses the driverless car 1, the passenger needs to get on or off. Since the road bridge is closed, the passenger can go to the special parking area. The car or the vehicle is off, and the parking area can be connected to the outside road to facilitate passengers entering and leaving the driverless vehicle transportation system 100.

Therefore, in the driverless vehicle transportation system 100 of the present invention, the driverless vehicle 1 travels on the closed road bridge 2, and the control device 3 controls the control device 3 and the steering member 5 mounted on the driverless car 1. Therefore, the control device 3 can control the driverless car 1 traveling on the closed road bridge 2, and the control device 3 uniformly plans the driving routes of all the driverless cars 1 traveling on the closed road bridge 2, avoiding as much as possible without The crowded driving between the cars 1 during driving increases the traffic efficiency of the city traffic, and the closed road bridge 2 reduces the possibility of traffic accidents between the car and other vehicles.

Referring to FIG. 3, an embodiment of the present invention further provides a method for controlling an unmanned vehicle, including the following steps:

Step S110, acquiring the traveling speed and the traveling direction of the driverless car.

In step S120, the control data is sent to the driverless car according to the driving speed and the driving direction of the driverless car, so that the driverless car runs according to the pre-planned route.

Referring to FIG. 4, in this embodiment, step S120 includes:

Step S121, calculating a speed difference between the driving speed of the driverless vehicle and the preset traveling speed.

Step S122, calculating a deviation value between the traveling direction of the driverless vehicle and the preset traveling direction.

Step S123, generating speed control data based on the speed difference.

Step S124, generating direction control data based on the deviation value.

In step S125, the speed control data and the direction control data are transmitted to the driverless car.

Referring to FIG. 5, an embodiment of the present invention further provides an unmanned vehicle control device 31, including an acquisition module 311, a speed calculation module 312, a direction calculation module 313, a control data generation module 314, and a transmission module 315.

The obtaining module 311 is configured to acquire the traveling speed and the traveling direction of the driverless car.

In this embodiment, the obtaining module 311 is configured to perform step S110.

The speed calculation module 312 is configured to calculate a speed difference between the driving speed of the driverless vehicle and the preset traveling speed.

In this embodiment, the speed calculation module 312 can be used to perform step S121.

The direction calculation module 313 is configured to calculate a deviation value between the traveling direction of the driverless vehicle and the preset traveling direction.

In this embodiment, the direction calculation module 313 can be used to perform step S122.

The control data generation module 314 is configured to generate speed control data based on the speed difference value and generate direction control data based on the deviation value.

In this embodiment, the control data generating module 314 can be used to perform step S123 and step S124.

The transmitting module 315 is configured to transmit the speed control data and the direction control data to the driverless car.

In this embodiment, the sending module 315 can be used to perform step S120.

In all of the examples shown and described herein, any specific values should be construed as merely exemplary, and not as a limitation, and thus, other examples of the exemplary embodiments may have different values.

The above-described embodiments are merely illustrative of several embodiments of the present invention, and are not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims

An unmanned vehicle transportation system, comprising: a driverless vehicle, a closed road bridge for carrying the driverless vehicle, and controlling the driverless vehicle to drive on the closed road bridge Control device

The driverless vehicle is provided with a speed control member for controlling the traveling speed and a steering member for controlling the traveling direction, the control device controls the speed control member, and the control device controls the steering member.
The driverless vehicle transportation system according to claim 1, wherein the driverless vehicle is provided with a GPS positioning module for generating position information thereof, and a communication connection for establishing a communication connection with the control device. A network module, the first network module being coupled to the GPS positioning module, the speed control component, and the steering component.
The driverless vehicle transportation system according to claim 2, wherein the driverless vehicle further comprises a distance sensor for detecting a distance from a peripheral obstacle, the distance sensor and the vehicle The first network module is connected.
A driverless vehicle transportation system according to claim 1, wherein said control means comprises an MCU microcontroller and a second network module for establishing a communication connection with said driverless car.
A driverless vehicle transportation system according to any one of claims 1 to 4, further comprising a power supply device;

The power supply device is connected to the driverless car;

The power supply device is connected to the control device;

The power supply device includes a mains module and a solar power module.
The driverless vehicle transportation system according to claim 5, wherein the driverless car is an electric driverless car, and the electric driverless car is provided with a power receiving coil, and the power supply device A power supply coil for supplying power to the power receiving coil is provided.
A driverless vehicle transportation system according to claim 5, wherein said enclosed road bridge comprises a lighting device, said lighting device being connected to said power supply device.
The driverless vehicle transportation system according to claim 6, wherein the enclosed road bridge is provided with a track groove for accommodating the wheels of the driverless car.
The driverless vehicle transportation system according to claim 8, wherein the number of the track grooves is plural, and the plurality of track grooves communicate with each other.
The driverless vehicle transportation system according to claim 8, wherein the road surface of the closed road bridge is provided with a solar panel, and a power supply coil is disposed on the road surface between the track grooves, the power supply coil Be It is configured to supply power to the power receiving coil.
The driverless vehicle transportation system according to claim 5, wherein the enclosed road bridge is provided with a parking area for parking.
An unmanned vehicle control method, characterized in that the method comprises:

Obtain the driving speed and driving direction of the driverless car;

Control data is transmitted to the driverless car according to the traveling speed and the driving direction of the driverless vehicle, so that the driverless car travels according to a pre-planned route.
The driverless vehicle control method according to claim 12, wherein the step of transmitting control data to the driverless car according to the traveling speed and the traveling direction of the driverless vehicle includes:

Calculating a speed difference between the driving speed of the driverless vehicle and the preset traveling speed;

Calculating a deviation value between a driving direction of the driverless vehicle and the preset driving direction;

Generating speed control data according to the speed difference;

Generating direction control data according to the deviation value;

The speed control data and direction control data are transmitted to the driverless car.
An unmanned vehicle control device, characterized in that the device comprises:

An acquisition module for obtaining a driving speed and a driving direction of the driverless car;

And a sending module, configured to send control data to the driverless car according to the driving speed and the driving direction of the driverless vehicle, so that the driverless car runs according to a pre-planned route.
The driverless vehicle control device according to claim 14, wherein the device further comprises:

a speed calculation module, configured to calculate a speed difference between the driving speed of the driverless vehicle and the preset traveling speed;

a direction calculation module, configured to calculate a deviation value between a driving direction of the driverless vehicle and the preset driving direction;

a control data generating module, configured to generate speed control data according to the speed difference value and generate direction control data according to the deviation value;

The transmitting module is further configured to send the speed control data and direction control data to the driverless car.