WO2020211030A1 - 交通系统 - Google Patents

交通系统 Download PDF

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Publication number
WO2020211030A1
WO2020211030A1 PCT/CN2019/083165 CN2019083165W WO2020211030A1 WO 2020211030 A1 WO2020211030 A1 WO 2020211030A1 CN 2019083165 W CN2019083165 W CN 2019083165W WO 2020211030 A1 WO2020211030 A1 WO 2020211030A1
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WO
WIPO (PCT)
Prior art keywords
driving vehicle
autonomous
transportation system
vehicle
vehicles
Prior art date
Application number
PCT/CN2019/083165
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English (en)
French (fr)
Inventor
代光辉
刘海波
Original Assignee
临沂华庚新材料科技有限公司
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 临沂华庚新材料科技有限公司 filed Critical 临沂华庚新材料科技有限公司
Priority to PCT/CN2019/083165 priority Critical patent/WO2020211030A1/zh
Publication of WO2020211030A1 publication Critical patent/WO2020211030A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
    • B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control

Definitions

  • the invention relates to a transportation system.
  • the existing solutions mainly include the construction of wide highways to develop ordinary public transportation, the development of high-cost light rails or subways, the development of rail transportation, and the development of rapid transit (BRT). These solutions have been improved over the years, and it is difficult for them to have greater room for improvement.
  • the Chinese patent application number which is close to the present invention is 201210195715.8.
  • This patent proposes a traffic solution for a fully enclosed light elevated road passage in a city.
  • the plan is basically unrealistic in practice.
  • the main reasons are as follows: First, the road is limited to fully enclosed light elevated roads, which means that underground, ground and unclosed elevated roads are not acceptable, making the plan very limited; 2. Pave the power supply rail on the road, and the car can change lanes at any position. This design makes the realization very difficult and dangerous. If the voltage is high, the danger becomes high. If the voltage is low, the power loss will be large and the power supply High cost; Third, use a high-speed camera to identify the strip navigation line and positioning bar code laid on the road.
  • the present invention provides a new transportation system, and the technical problems to be solved reduce costs and improve efficiency.
  • the technical solution adopted by the present invention is: a transportation system, the transportation system includes a plurality of autonomous driving vehicles and a dedicated road, the dedicated road includes a dedicated lane for the autonomous driving vehicle to travel And a plurality of stop stations for the autonomous driving vehicle to stop, the transportation system is configured to: when the autonomous driving vehicle driving in the dedicated lane needs to stop, the autonomous driving vehicle leaves the dedicated lane And enter the stop site to stop; when the autonomous driving vehicle parked at the stop site needs to drive, the autonomous driving vehicle drives from the stop site into the dedicated lane to drive.
  • the number of passengers carried by the self-driving vehicle does not exceed six, five, or four, or three, or two, or only one passenger.
  • the self-driving vehicle is configured to be driven at least by electricity
  • the transportation system further includes a power supply system for providing power to the self-driving vehicle.
  • the power supply system provides power to the self-driving vehicle through a wired connection.
  • the power supply system includes power supply equipment, a power-taking structure and terminal control equipment are installed on the autonomous vehicle, and the power-taking structure and terminal control equipment are configured such that the terminal control device is based on the power-taking structure
  • the position deviation of the power supply device in the lateral direction is used to control the autonomous driving vehicle to drive in a predetermined direction.
  • the transportation system further includes a central control system
  • the autonomous driving vehicle is equipped with a terminal control device for controlling the autonomous driving vehicle to automatically drive, and there is communication between the central control system and the terminal control device Features.
  • the terminal control device has a positioning module and a speed measurement module, and is configured to transmit positioning information and its own vehicle speed information to the central control system from time to time, and the central control system is configured to be able to transfer other autonomous driving traffic
  • the positioning information of the tool and its own vehicle speed information are transmitted to the terminal control device in real time.
  • the information of the dedicated road is stored in the terminal control device and the central control system.
  • the self-driving vehicle is configured to: when the distance between different self-driving vehicles driving in the dedicated lane is less than a set distance, the driving vehicles are identified through wireless communication, and then A self-driving vehicle slows down.
  • the road surface of the dedicated road is provided with a navigation image
  • a navigation image sensor for recognizing the navigation image is installed on the bottom of the autonomous vehicle.
  • the navigation image includes a navigation line, and/or a barcode, and/or a two-dimensional code.
  • the self-driving vehicle is configured such that a plurality of self-driving vehicles can be connected in series through end-to-end connections during driving.
  • the plurality of autonomous driving vehicles are configured to be connected end to end through the action of magnetic force.
  • the present invention proposes a safer, more stable and low-cost solution, especially the brand-new technical solution ensures the feasibility of implementation, and aims to increase the speed of public transportation and improve the comfort of passengers.
  • the transportation system provided by the present invention includes: dedicated roads, self-driving vehicles, power supply systems, and central control systems.
  • Dedicated roads include: dedicated lanes and stopping stations.
  • the dedicated lanes are used for autonomous vehicles to drive, and the stopping stations are used for autonomous vehicles to stop.
  • One of the key points of the transportation provided by the present invention is that the dedicated lanes are exclusively used for high-speed driving of autonomous vehicles, and it is better not to allow vehicles other than the dedicated autonomous vehicles to drive, and the autonomous vehicles are at the stop.
  • the deceleration and stopping operations of the vehicle will not hinder or hinder the high-speed automatic driving vehicles in the dedicated lanes. It is best not to set traffic lights between the dedicated lanes that intersect with each other, and adopt a vertical interchange design similar to the highway connecting line. . Because the transportation system provided by the present invention adopts a dedicated lane and a direct high-speed driving mode, the transportation efficiency of the transportation system can be improved.
  • the dedicated lanes are preferably separated from other roads on both sides of the ground road to prevent pedestrians, animals or other motorized and non-motorized vehicles from entering.
  • the road is designed as single-layer, double-layer or multi-layer according to the flow of people or road space.
  • the road is one or more roads criss-crossed.
  • One-way, two-lane, three-lane, or more lanes are constructed according to the passenger flow. Set up three-lane or more than three-lane dedicated lanes where there is a lot of passenger flow; set up stations at any interval in the middle of the road as needed.
  • Dedicated lanes may include elevated roads, underside roads or underground tunnel roads, but are not limited to these.
  • Stop stations can be designed to be located on both sides of a dedicated lane.
  • the parking of autonomous vehicles at the stop site will not cause obstacles to autonomous vehicles running at high speeds on dedicated lanes.
  • Special acceleration lane and deceleration lane can be designed.
  • the self-driving vehicle first changes to the deceleration lane to drive, and then gradually decelerates into the stop to stop.
  • the autonomous vehicle first enters the acceleration lane to accelerate, and when the speed is sufficient, it changes to the dedicated lane for high-speed driving.
  • the stop station can also be a whole road parallel to the dedicated lane.
  • a dedicated road may include six lanes, divided into first to sixth lanes from left to right, where the first lane and the sixth lane are used for stopping autonomous vehicles driving in two directions, that is, Stops can be arranged in the entire first and sixth lanes; the second and fifth lanes are respectively used for acceleration and deceleration of autonomous vehicles driving in two directions; the third and fourth lanes are respectively used for two High-speed driving of a self-driving vehicle driving in a direction.
  • Autonomous vehicles are another key to the invention. It is best to use miniaturized vehicles for transportation on dedicated lanes. For example, the number of passengers should not exceed six, five, or four, or three, or two, or even only one passenger. It is also possible to set up vehicles with different numbers of passengers to be used together, for example, there are vehicles with only one passenger, and vehicles with no more than five passengers.
  • the advantage of setting up miniaturized vehicles is that transportation efficiency can be further submitted. For example, for a transportation that only carries one passenger, the user can use the transportation to go directly to the target stop from the starting stop, which is the same as the existing public transportation system (such as bus, subway, train, long-distance passenger transportation, etc.) There is a fundamental difference.
  • autonomous driving is an important factor in order to reduce operating costs. Due to the establishment of dedicated roads, autonomous driving is much easier than existing traffic systems, which will be described later.
  • the self-driving vehicle adopts electric drive.
  • the transportation system provided by the present invention also includes a power supply system, which is used to provide electric power for autonomous vehicles.
  • Electricity can be provided by wired means, for example, laying or erecting electric wires or electric tracks along dedicated roads, installing pantographs or electric poles on self-driving vehicles, and also installing conductive rollers or electric brushes to direct metal laying on the road. With the negative pole connected, reduce the risk.
  • Power can be provided wirelessly, for example, by laying or erecting wireless charging devices along dedicated roads, and charging batteries in autonomous vehicles through wireless charging.
  • the self-driving vehicle can also be configured such that a plurality of self-driving vehicles can be connected in series through end-to-end connection during driving, for example, the end-to-end connection is made through the action of magnetic force.
  • the end-to-end connection is made through the action of magnetic force.
  • Autonomous driving vehicles can obtain the necessary information to realize autonomous driving through terminal control equipment, including: positioning, vehicle speed, etc.
  • the self-driving vehicle transmits this information to the central control system in real time, and the central control information transmits the necessary information to the self-driving vehicle, including: stop station information, road condition information, and other self-driving vehicle information.
  • the terminal control equipment and central control system in the self-driving vehicle can also store information about the entire road, which will facilitate the realization of automatic driving more conveniently.
  • corresponding anti-collision modules can also be set between autonomous driving vehicles.
  • the recognition distance is configured to be less than 30 meters, or less than 25 meters, or less than 20 meters, or less than 15 meters, or less than 15 meters, Or less than 5 meters.
  • a terminal control device controls the latter self-driving vehicle to slow down.
  • This anti-collision module can also be installed on both sides of the autonomous driving vehicle to prevent the autonomous driving vehicle from colliding with other autonomous vehicles when changing lanes.
  • Communication can also be set up between the self-driving vehicle and the stopping station.
  • the installation of radio frequency transmitters at stop sites (for example, less than 30 meters, or less than 25 meters, or less than 20 meters, or less than 15 meters, or less than 15 meters, or less than 5 meters from the target stop location) is used in autonomous driving traffic
  • a radio frequency receiver is installed on the tool, and when the radio frequency receiver of an autonomous vehicle recognizes a preset radio frequency signal, the stop information can be further confirmed.
  • This setting can work with the central control system to ensure the accuracy of the parking information.
  • the following design can further optimize the efficiency of the transportation system or enhance the passenger experience.
  • the terminal control equipment has a security management and billing module, which verifies the identity of the passengers, tracks and records the distance traveled by the passengers and calculates the required expenses.
  • U-turn lanes are set in several places in the middle of the road to prevent the autonomous driving vehicles from being like subways and buses. No matter how many passengers are, they must drive from the beginning to the end of the current line, resulting in a certain idling rate. Lots and certain time periods are very high; U-turn lanes are designed above or below the main road.
  • the central control system regulates the traffic flow of autonomous vehicles, controls the speed of each lane, handles abnormalities, informs information, communicates with passengers, and dispatches vehicles at each station.
  • the width of the metal strip is determined according to the control accuracy of the lateral coordinates of the autonomous vehicle in the lane.
  • the metal strip and the road surface are on the same horizontal plane, so that the autonomous vehicle maintains stability when changing lanes.
  • the positioning information includes the longitudinal and lateral coordinates of the road.
  • the longitudinal coordinates are the distance between the autonomous vehicle and the starting point of the line, and the lateral coordinates are the vertical distance between the autonomous vehicle and the two edges of the line.
  • the positioning system judges according to the longitudinal coordinates. Whether the autonomous driving vehicle has reached the terminal and the longitudinal and lateral positions of the vehicle. Longitudinal coordinates ensure that the autonomous driving vehicle stops when passengers arrive at their desired terminal.
  • the realization method is realized by conventional code tables and fixed-point correction at intervals of a distance.
  • the fixed-point correction signals are magnetic induction signals, radio frequency signals or photoelectric signals. But it is not limited to this.
  • the lateral coordinates ensure that the automatic driving vehicle runs in the center of each lane when it is running normally, that is, when it is not changing lanes.
  • the longitudinal coordinate information of each road site, the lane information of each road section, the curve and its curvature information, and the speed limit information of each road section are written into the terminal control equipment and In the central control system.
  • the automatic driving vehicle can adjust the driving direction and speed in time and remind passengers when necessary.
  • the central control system controls the mutual sharing of position information, speed information, acceleration and deceleration and lane change information between autonomous vehicles, and transmits and receives instructions from the central control system and other vehicles.
  • the central control system controls the maximum speed of each lane, the distribution of the autonomous driving vehicles at each station with no load, the broadcast information to each of the autonomous driving vehicles, the dialogue with passengers, and the handling of all vehicles under specific conditions. Describes the complete control of the operation of autonomous vehicles.
  • the central control system controls the automatic driving vehicle to change lanes preferentially to the right.
  • Set up security management and billing modules use modern identification technology, and associate personal electronic payment accounts to realize the real-time management and follow-up tracking of the occupant's identity.
  • Modern identity recognition technology includes fingerprint recognition, face recognition, iris recognition, etc., to register and manage passengers.
  • the safety management and billing system recognizes the identities of the passengers, and realizes real-time management and follow-up tracking. In particular, it can effectively isolate the dangerous personnel announced by the Ministry of Public Security and those with bad riding records for safety prevention management.
  • the security management and billing module can identify and remember fixed commuting passengers or other fixed route passengers, and they can be automatically delivered to the destination without reselecting stations.
  • Terminal service equipment at the stop site, which has a public information service module, and uses big data, cloud computing and modern network technology to realize traffic information disclosure and traffic demand customization.
  • the public information service module queries the current transportation status of the line through the terminal control device.
  • Terminal service devices include mobile apps, tablets, and desktop computers, but are not limited to these.
  • the information queried by the terminal service equipment includes, but is not limited to, whether the road is unblocked, where it is congested, how long it is, or when and where it will be congested based on the existing ride demand or reservation, and how long it will last, and even reservations and directions.
  • the customer recommends the service of self-driving vehicles; the information of the self-driving vehicles recommended to the customer includes when and where to take the bus, when and where is expected to arrive, how long to wait now, and it is recommended to arrive at the nearest destination during peak hours , But not limited to this; at the same time, a certain number of passengers from the same starting point and destination can also be transported in a multi-seater vehicle through the automated driving vehicle reservation system and terminal service equipment navigation to reduce congestion.
  • the usage method of the above-mentioned transportation system is as follows.
  • Passengers are registered as legitimate passengers of the system through fingerprints, Facebook or iris combined with ID cards or boarding cards, which are linked to the passenger’s electronic account at the time of registration. After the passenger’s authorization is obtained, the system will deduct the payment; For the impact of the car, two or more methods are used for registration; if there is a duplication, such as twins, a personal password is added; if the passenger does not have an electronic account, an electronic account can be opened in this system and deposited A certain amount. Passengers' consumption records can be checked by themselves through the public information service system.
  • Step two passengers boarding:
  • Passengers reserve the service of the self-driving vehicle through the terminal service equipment, or directly enter the station and log in to the self-driving vehicle after performing identity registration or authentication and destination selection at the platform, or after logging in to the idle self-driving vehicle. Select the destination after authentication;
  • the communication and central control system will recommend the nearest station or the waiting time for the passenger to choose, otherwise the service will not be provided;
  • Step three driving by autonomous vehicles:
  • the self-driving vehicle starts to run along the dedicated lane.
  • the positioning system, communication and central control system determine whether to change lanes. If the vehicle is not driving on the same lane, the self-driving vehicle will drive itself in the center of the lane according to the positioning system. And according to the conditions of the front and rear vehicles, they can advance at a constant speed or decide to accelerate and decelerate by themselves, and the maximum speed of each lane does not exceed the maximum speed given by the central control system;
  • the autonomous vehicle will change lanes to the destination lane with the assistance of the positioning system and the on-board gyroscope and accelerometer according to the lane change program set by the terminal control device;
  • Step 4 The self-driving vehicle stops at the destination point required by the passengers through the longitudinal positioning system
  • the autonomous vehicle After the autonomous vehicle has served passengers, the autonomous vehicle will stay in the waiting area of this station under the control of the central control system, or be dispatched to other stations. If you stay in the waiting area of this station, the operation will not restart until there are new passengers requiring service.
  • the power supply system includes power supply equipment, and a catenary pole is installed on the self-driving vehicle.
  • the power supply equipment is fixedly installed above the running road, or installed on the surface or below the lane.
  • the catenary pole includes a conductive section, an insulating section and a lifting pole.
  • the catenary pole is installed on the top of the autonomous vehicle through the lifting pole; during the movement of the autonomous vehicle, when the conductive section contacts the power supply equipment, the traffic will be driven automatically
  • the tool is powered by the power supply device; when the insulated section is in contact with the power supply device, the autonomous vehicle is powered by the on-board energy source.
  • the method for judging and correcting the forward trajectory deviation of an autonomous vehicle includes the following steps:
  • the terminal control equipment of autonomous driving vehicles collects conductive signals as the basis for judgment, and uses the center of the conductive small section in the middle of the electric pole as the reference position;
  • the transverse coordinate of the vehicle from the center lane can be identified; the conductive and insulating segments connected in series on the catenary pole are taken as the abscissa axis, and the conductive segment The middle position is used as the coordinate point.
  • the middle position of the conductive section in contact with the power supply equipment is the origin, the right side of the origin is positive, and the left side of the origin is negative; when the position of the autonomous vehicle is shifted, the newly connected conductive section is conductive, Knowing the coordinate point of the conductive segment on the electric pole, the intelligent system multiplies the read coordinate point number and the fixed distance between the coordinate point to obtain the offset of the autonomous vehicle in the lane, and automatically drives the traffic Add the offset of the tool in the lane to the abscissa of the lane to get the offset of the tram from the center lane;
  • the terminal control device automatically controls the self-driving vehicle to travel in the opposite direction of the shift direction during the forward process, until the central conductive section on the catenary pole is in contact with the power supply device.
  • the trolleybuses on the market are mainly driven by the driver, and there is no trackless intelligent unmanned tram.
  • driverless cars on the market mainly uses video analysis, radar scanning or wireless positioning technology to realize the vehicle's lateral coordinate judgment on the road.
  • the driver's driving is unstable. Although high-tech methods are feasible, the cost is very expensive and responsive.
  • the speed is slow, the flexibility is poor, and it is easily affected by the external environment; and the method for judging and correcting the deviation of the forward trajectory of the automatic driving vehicle disclosed in the present invention is obtained through the power supply equipment above the running road and the touchscreen installed on the automatic driving vehicle
  • the electric pole obtains the running power provided by the conductive equipment to the tram.
  • the position of the conductive signal marked when the power is taken is used to judge and identify the horizontal coordinate of the vehicle in the lane, and calculate The deviation from the center of the lane is corrected to correct the tram's traveling position to ensure that the tram runs along the road trajectory.
  • the power supply device is at least one wire or at least one set of conductive electric rails.
  • the autonomous driving vehicle When the electric wire is a live wire and there is only one electric wire above the running road, the autonomous driving vehicle is equipped with a special device for grounding to form a loop; or when there are two electric wires above the running road, a live wire and a neutral wire, the autonomous driving traffic Tools directly constitute the loop.
  • the power supply device is a wire
  • the wire is in contact with the conductive small section in the middle of the catenary pole, and the middle conductive section is used as the reference position to determine the direction and offset of the deviation; or the power supply device is two wires, then the wire When it intersects with the middle part of the electric pole of the catenary, the small conductive segment touched by any wire is used as the reference position to determine the direction and amount of deviation.
  • the electric rail is connected by the live wire and the neutral wire, and the self-driving vehicle directly forms the loop.
  • the power supply equipment is a conductive electric rail, and the conductive small section touched by any electric rail when the electric rail intersects the center part of the electric pole of the catenary is used as the reference position.
  • the conductive and insulating segments are arranged at intervals and connected in series by an insulating rod.
  • One end of the lifting rod is vertically connected to the conductive and insulating segments connected in series, and is connected to the insulating segment in the middle, and the other end of the lifting rod is fixed at The top of autonomous vehicles.
  • the conductive small section and the insulating small section are connected in series through the crossbar, the conductive small section is a conductive roller rotating around the crossbar, and the insulating small section is material insulation or gap insulation.
  • the size of the conductive section is 0.1cm ⁇ a ⁇ 5cm, and the size of the insulating section 302 is 0.01cm ⁇ a ⁇ 3cm. At least one lifting rod.
  • the navigation line of each lane can be recognized by the sensor installed at the bottom of the self-driving vehicle, and the road navigation line and/or the two-dimensional code information can be easily recognized. It has the characteristics of simple structure, stability, and fast response. , And not easily restricted by environmental factors, it can accurately locate the lateral coordinate information of the autonomous vehicle in the lane immediately, which is convenient to control the trajectory of the autonomous vehicle, and improve the reliability and flexibility of the autonomous vehicle operation, so it has obvious The advantages.
  • the trolleybuses on the market are mainly driven by the driver, and there is no automatic driving vehicle.
  • driverless cars on the market mainly uses video analysis, radar scanning or wireless positioning technology to realize the vehicle's lateral coordinate judgment on the road.
  • the driver's driving is unstable. Although high-tech methods are feasible, the cost is very expensive and responsive. The speed is slow, the flexibility is poor, and it is easily affected by the external environment; and the automatic driving vehicle tracking and information identification recognition method disclosed in the present invention recognizes the navigation line on the running road through the sensor installed at the bottom of the automatic driving vehicle.
  • the identification signal is fed back to the central control system/terminal control equipment, and the central control system/terminal control equipment judges and issues instructions to control the running direction of the autonomous vehicle and/or adjust the offset trajectory of the autonomous vehicle to make the automatic
  • the driving vehicle keeps moving forward along the direction of the navigation line; the sensor is also used to identify the two-dimensional information code on the running road, and the relevant position information or signal information obtained is fed back to the central control system.
  • the central control system determines the status of the autonomous vehicle Information on operating conditions and current road conditions can further control the operating speed and start and stop of autonomous vehicles, making the operation of autonomous vehicles more convenient, intelligent and humane.
  • the transportation system includes an automatic driving vehicle (installed with terminal control equipment), power supply equipment on both sides of the road, and a road with navigation lines.
  • an automatic driving vehicle installed with terminal control equipment
  • power supply equipment on both sides of the road
  • a road with navigation lines When the automatic driving vehicle is driving in the center of the road, the automatic driving At the bottom of the vehicle, there is a row of sensors that are evenly arranged horizontally along the line to identify the navigation line information on the road surface.
  • the terminal control equipment controls the autonomous driving vehicle to keep driving forward in the original direction;
  • the information is fed back to the terminal control device of the autonomous vehicle to control the autonomous vehicle in Adjust the driving direction until the navigation line is sensed by the two sensors on the central axis of the self-driving vehicle at the same time, and then keep that direction and continue to move forward.
  • Real-time monitoring and information feedback of the navigation line by the sensors enable automatic driving
  • the vehicle keeps the running track; in order to facilitate the sensor to identify the navigation line, the width of the navigation line is within the detection range of the two sensors at the central axis, and the navigation line on the running road must have a large contrast with the road surface.
  • the road surface is generally gray and black Asphalt concrete pavement, white is used as the navigation line, and the sensor installed at the bottom of the self-driving vehicle is a photoelectric sensor. The height of the installed photoelectric sensor from the ground is. The photoelectric sensor detects more than 1000 times per second for automatic driving. Real-time monitoring of the trajectory of the vehicle can more accurately control the automatic driving vehicle to drive along the navigation line.
  • the two-dimensional information code on the running road there is also a two-dimensional information code on the running road.
  • the response frequency of the photoelectric sensor is 20000HZ and the speed of the automatic driving vehicle is calculated at 200km/h
  • the minimum width of the line that the photoelectric sensor can sense is 2.78mm, that is The width and indirection of the two-dimensional information code on the running road must be greater than 2.78 mm respectively to ensure the accuracy of the identification information;
  • the two-dimensional information code on the road surface can be recognized by the sensor to obtain relevant position information or signal information, and it will be obtained
  • the relevant position information or signal information is fed back to the terminal control device, and the terminal control device judges the operation status and current road condition information of the automatic driving vehicle, and further controls the operation speed and start and stop of the automatic driving vehicle to enable the operation of the automatic driving vehicle It is more convenient, intelligent and humane.
  • the bottom of the autonomous vehicle in this embodiment is equipped with two rows of sensors evenly arranged laterally along the line to identify the navigation line information on the road surface.
  • the information is fed back to the terminal control device of the autonomous vehicle, and the autonomous vehicle is controlled to keep driving forward in the original direction;
  • the sensor at the non-central axis senses the navigation line, the information is fed back to the terminal of the autonomous vehicle
  • the control device controls the automatic driving vehicle to adjust the driving direction until the navigation line is sensed by the sensor on the central axis of the automatic driving vehicle and then the navigation line is maintained in that direction to continue to move forward.
  • the sensor monitors the navigation line in real time and Information feedback to keep the self-driving vehicle on track.
  • the senor can also be a photoelectric switch, which can also detect and identify road surface information.
  • the photoelectric sensors installed at the bottom ends of the front of the autonomous vehicle of the present invention protrude out of the vehicle, which can be used to identify outer navigation lines or obstacles, so as to further ensure that the autonomous vehicle is running along the trajectory and avoid The collision enhances the safety of the operation of autonomous vehicles.
  • the present invention has N photoelectric sensors installed at the bottom of the self-driving vehicle, which are arranged in a row along the horizontal line with a distance of 1cm-12cm, and N is an integer obtained by dividing the width of the vehicle and the distance between the photoelectric sensors. Value, and N ⁇ 1.

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  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

一种交通系统，包括多个自动驾驶交通工具以及专用道路，专用道路包括用于自动驾驶交通工具行驶的专用车道以及用于自动驾驶交通工具停靠的多个停靠站点，交通系统被配置为：当行驶于专用车道的自动驾驶交通工具需要停靠时，自动驾驶交通工具驶离专用车道并进入停靠站点停靠；当停靠于停靠站点的自动驾驶交通工具需要行驶时，自动驾驶交通工具从停靠站点驶入专用车道行驶。所提供的交通系统能够降低成本、提高效率。

Description

交通系统 技术领域
本发明涉及一种交通系统。
背景技术
随着社会的发展，人流与物流的流量和密度不断攀升。人们对于乘坐的舒适性、安全性、准时性和及时性提出了更高的要求。现有的解决手段主要包括建设宽阔的公路发展普通公交、建设成本高昂的轻轨或地铁发展轨道交通和开辟快速公交(BRT)等。这些解决手段经过多年的改进，现况均难以再有较大的提升空间。
与本发明接近的中国专利申请号为201210195715.8，该专利提出了一种城市全立交全封闭轻型高架路通道的交通解决方案。但是其方案在实践上基本不现实，主要原因有：其一、道路限定为全封闭轻型高架路通道，也就是说地下、地面和不封闭的高架都不行，使得方案有很大的局限性；其二、路面铺设供电轨，车子还能在任意位置自由变道，这样设计使得实现难度非常大，且危险，若电压高，危险性就变高，若电压低，就会电能损耗大，电力供应成本高；其三、用高速相机识别路面铺设的带状导航线和定位条码，这要求相机的响应速度在毫秒级左右，这样的相机是价格非常昂贵的，何况扫描条码的高速激光扫描器，还需单独开发，即使市场上有也是天价。其四、那么多所述自动驾驶交通工具的传感器成本是惊人的，如果每个所述自动驾驶交通工具只采用一套传感器，一旦出现故障，后果非常严重，采用两套又成本翻番。其五、全封闭高架也必然增加这种系统的建设成本。这些主要问题都制约了其技术方案在当前阶段基本不可行。
因此，本领域技术人员一直致力于开发一种新的交通系统，以解决以上问题。
发明内容
有鉴于现有技术的上述缺陷，本发明提供了一种新的交通系统，要解决的技术问题降低成本、提高效率。
为解决上述问题，本发明采取的技术方案是：一种交通系统，所述交通系统包括多个自动驾驶交通工具以及专用道路，所述专用道路包括用于所述自动驾驶交通工具行驶的专用车道以及用于所述自动驾驶交通工具停靠的多个停靠站点，所述交通系统被配置为：当行驶于专用车道的自动驾驶交通工具需要停靠时，所述自动驾驶交通工具驶离所述专用车道并进入停靠站点停靠；当停靠于停靠站点的自动驾驶交通工具需要行驶时，所述自动驾驶交通工具从所述停靠站点驶入所述专用车道 行驶。
优选地，所述自动驾驶交通工具的载客数量不超过六人、五人、或四人、或三人、或两人，或仅限载客一人。
优选地，所述自动驾驶交通工具被配置为至少通过电力驱动，所述交通系统还包括用于给所述自动驾驶交通工具提供电力的供电系统。
优选地，所述供电系统通过有线连接的方式给所述自动驾驶交通工具提供电力。
优选地，所述供电系统包括供电设备，所述自动驾驶交通工具上安装有取电结构和终端控制设备，所述取电结构和终端控制设备被配置成：终端控制设备依据所述取电结构与所述供电设备在横向上的位置偏差来控制所述自动驾驶交通工具按预定方向行驶。
优选地，所述交通系统还包括中央控制系统，所述自动驾驶交通工具安装有用于控制所述自动驾驶交通工具进行自动行驶的终端控制设备，所述中央控制系统和终端控制设备之间具有通信功能。
优选地，所述终端控制设备具有定位模块和测速模块，并被配置为能将定位信息和自身车速信息时时传递给所述中央控制系统，所述中央控制系统被配置为能将其他自动驾驶交通工具的定位信息和自身车速信息实时传递给所述终端控制设备。
优选地，所述终端控制设备和中央控制系统中储存有所述专用道路的信息。
优选地，所述自动驾驶交通工具被配置为：当正在所述专用车道行驶的不同自动驾驶交通工具之间的距离小于设定距离时，所述驾驶交通工具之间通过无线通信进行识别，后一辆自动驾驶交通工具进行减速。
优选地，所述专用道路的路面设置有导航图像，所述自动驾驶交通工具的底部安装有用于识别所述导航图像的导航图像传感器。
优选地，所述导航图像包括导航线、和/或条形码、和/或二维码。
优选地，所述自动驾驶交通工具被配置为：多个自动驾驶交通工具在行驶过程中能通过首尾连接的方式串联在一起。
优选地，多个自动驾驶交通工具被配置为通过磁力的作用进行首尾连接。
本发明的有益效果为：本发明提出了一种更安全、稳定和低成本的解决方法，特别是全新的技术方案保证了实施的可行性，旨在提高公共交通的速度、提升乘客乘坐的舒适性、服务的准时性、及时性、便捷性、环保性和运输成本的降低。
以下将结合附图对本发明的构思、具体结构及产生的技术效果作进一步说明，以充分地了解本发明的目的、特征和效果。
具体实施方式
以下说明本发明所提供的交通系统的整体构成和使用方法。
本发明所提供的交通系统包括：专用道路、自动驾驶交通工具、供电系统、中央控制系统。
专用道路包括：专用车道和停靠站点，专用车道用于自动驾驶交通工具进行行驶，停靠站点用于自动驾驶交通工具进行停靠。本发明所提供的交通工具的一个关键在于：专用车道专门用于自动驾驶交通工具进行高速行驶，最好不允许专用的自动驾驶交通工具之外的交通工具进行行驶，自动驾驶交通工具在停靠站点的减速和停靠操作也不会对专用车道上高速行驶的自动驾驶交通工具造成妨碍和阻碍作用，相互交汇的专用车道之间最好也不设置红绿灯，而采用类似高速公路连接线的立交互通设计。由于本发明所提供的交通系统采用的专用车道和直达高速行驶的方式，因此交通系统的运输效率得以提高。
另外，专用车道优选为在地面道路两侧与其他道路相隔离，以防止行人、动物或其它机动与非机动车辆进入。道路依据人流量或道路空间设计为单层、双层或多层，道路为一条或多条道路纵横交错，道路单向根据客流量建设一车道、两车道、三车道、或更多车道，在客流量多的地方设置三车道或者多于三车道的专用车道；根据需要在道路中途任意间隔距离设置站点。专用车道可以包括高架道路、底面道路或地下隧道道路，但不仅限于此。
停靠站点可以设计成位于专用车道两侧。自动驾驶交通工具在停靠站点的停靠不会对在专用车道上高速行驶的自动驾驶交通工具造成妨碍作用。可以设计专门的加速车道和减速车道。当高速行驶的自动驾驶交通工具需要停靠时，自动驾驶交通工具先变更到减速车道进行行驶，然后逐渐减速驶入停靠站进行停靠。当停靠的自动驾驶交通工具需要行驶时，自动驾驶交通工具先进入加速车道进行加速，当速度足够时，再变更到专用车道进行高速行驶。
停靠站点也可以是并行于专用车道的一整条道路。例如，专用道路可以包括六条车道，从左至右分为第一至第六车道，其中，第一车道和第六车道分别用于两个方向行驶的自动驾驶交通工具的停靠，也就是说，停靠站点可以布置于整个第一车道和第六车道；第二车道和第五车道分别用于两个方向行驶的自动驾驶交通工具的加速和减速；第三车道和第四车道分别用于两个方向行驶的自动驾驶交通工具的高速行驶。
自动驾驶交通工具是本发明的另一个关键。在专用车道上行驶的交通工具最好采用小型化的交通工具，例如，载客数量不超过六人、五人、或四人、或三人、或两人，甚至是仅限载客一人，也可以设置不同载客数量的交通工具在一起使用，例如，既有仅限载客一人的交通工具，也有载客数量不超过五人的交通工具。设置小型化交通工具的好处是可以进一步提交运输效率。例如，对于仅限载客一人的交通工具，使用者可以使用该交通工具从起始停靠站点直达目标停靠站点，这与现有的 公共交通系统(如公交车、地铁、火车、长途客运等)有根本性的不同。
另外，本发明所采用的交通工具的另一重要特征是自动驾驶。如果采用小型化交通工具，为了减少运行的成本，自动驾驶是很重要的因素。由于设置了专用道路，自动驾驶比现有的交通系统要简便得多，这将在后面的内容进行描述。
作为一种优选的具体实施方式，自动驾驶交通工具采用电力驱动。本发明所提供的交通系统还包括供电系统，用于为自动驾驶交通工具提供电力。电力可以通过有线的方式提供，例如，沿着专用道路铺设或架设电线或电轨，自动驾驶交通工具上设置电弓或电杆，还可以设置导电滚轮或电刷，向铺设在道路上的金属带接通负极，降低危险性。电力可以通过无线的方式提供，例如，沿着专用道路铺设或架设无线充电装置，通过无线充电的方式给自动驾驶交通工具中的电池充电。
为了节约能源，自动驾驶交通工具还可以被设置为：多个自动驾驶交通工具在行驶过程中能通过首尾连接的方式串联在一起，例如，通过磁力的作用进行首尾连接。当正在行驶的两个自动驾驶交通工具之间的距离缩短到一定值时，通过磁力的作用使两个自动驾驶交通工具连接到一起。
在整个交通系统的运行过程中，为了实现自动驾驶，设置中央控制系统并与自动驾驶交通工具的终端控制设备进行通信(例如，通过移动网络)是一种优选的具体实施方式。自动驾驶交通工具可以通过终端控制设备获得实现自动驾驶的必要的信息，包括：定位、车速等。自动驾驶交通工具实时地将这些信息传递给中央控制系统，而中央控制信息则将必要的信息传递给自动驾驶交通工具，包括：停靠站点信息、路况信息、其它自动驾驶交通工具的信息等。自动驾驶交通工具中的终端控制设备和中央控制系统还可以储存整个道路的信息，这样会有利于自动驾驶的更便利的实现。
为了更进一步提到自动驾驶的安全性，自动驾驶交通工具之间也可以设置相应的防碰撞模块。例如，利用射频等无线通信技术防止前后行驶的自动驾驶交通工具的碰撞。在自动驾驶交通工具的前部安装射频接收器，在后部安装射频发射器，识别距离被配置成小于30米、或小于25米、或小于20米、或小于15米、或小于15米、或小于5米。当后一辆自动驾驶交通工具的射频接收器识别到射频信号时，则有终端控制设备控制后一辆自动驾驶交通工具进行减速。这种防碰撞模块也可以安装于自动驾驶交通工具的两侧，用于防止自动驾驶交通工具在变道时与其他自动驾驶交通工具进行碰撞。
自动驾驶交通工具与停靠站点之间也可以设置通信。例如，在停靠站点(例如，距离目标停靠位置小于30米、或小于25米、或小于20米、或小于15米、或小于15米、或小于5米)安装射频发射器，在自动驾驶交通工具上安装射频接收器，当自动驾驶交通工具的射频接收器识别到预设的射频信号时，则可以进一步确认停 靠信息。这样的设置可以和中央控制系统一起保证停靠信息的准确性。
以下设计可以进一步优化交通系统的效率或提升乘客的体验。
终端控制设备具有安全管理与计费模块，对乘坐人员的身份进行验证识别，追踪记录乘坐人员的行驶路程并且计算所需的费用。
为避免空载，在道路中间若干位置设置掉头车道，以防止所述自动驾驶交通工具像现在地铁和公交汽车一样，无论乘客多少必须从当前线路的起点开到终点，导致空载率在某些地段和某些时间段非常高；掉头车道设计在主干道的上方或主干道的下方。
中央控制系统调节自动驾驶交通工具的行车流量、控制各车道速度、处理异常、信息通知、与乘客沟通和各站点车辆的调度工作。
根据所述自动驾驶交通工具在车道横向坐标的控制精度来确定金属带的宽度，金属带与路面处于同一水平面，使所述自动驾驶交通工具变道时保持平稳性。
定位信息包括道路的纵向坐标和横向坐标，纵向坐标为自动驾驶交通工具距离本线路起点的距离，横向坐标为所述自动驾驶交通工具离本线路两个边缘的垂直距离，定位系统根据纵向坐标判断所述自动驾驶交通工具是否到达终点站以及车辆纵向与横向位置。纵向坐标保证所述自动驾驶交通工具在乘客到达其需要的终点站时停止，其实现方式通过常规的码表和每隔一段距离定点纠偏实现，定点纠偏信号为磁感应信号、射频信号或光电信号，但不仅限于此。横向坐标保证所述自动驾驶交通工具正常行驶时，即非变道行驶时运行在每个车道的正中央。
另外，为保证车辆行驶更加安全，道路各站点的纵向坐标信息、各路段的车道信息、弯道及其曲率信息、各路段限速信息均写入各所述自动驾驶交通工具的终端控制设备和中央控制系统中。以使所述自动驾驶交通工具及时调整行驶方向、速度和必要时提醒乘客。
中央控制系统控制自动驾驶交通工具之间相互共享位置信息、速度信息、加减速度和变道信息，传递和接收中央控制系统和其它车辆发出的指令。中央控制系统控制各车道的最高车速、各空载所述自动驾驶交通工具在各站点的分布、对各所述自动驾驶交通工具的广播信息、与乘客之间的对话、以及特定情况下对所述自动驾驶交通工具运行的完全控制。中央控制系统控制所述自动驾驶交通工具优先向右变道。
设置安全管理与计费模块，运用现代身份识别技术，个人电子付款账号相关联，实现乘坐人员身份可即时管理和后续追踪。现代身份识别技术包括指纹识别、人脸识别、虹膜识别等，对乘坐人员进行登记管理。安全管理与计费系统识别乘坐人员身份，实现即时管理和后续追踪，特别是能有效隔离公安部公布的危险人员以及有乘坐不良记录的人员，以进行安全预防管理。安全管理与计费模块能够识别和记忆 固定上下班乘坐人员或其它固定路径乘坐人员，无需重新选站即可自动送达目的地。
在停靠站点设置终端服务设备，终端服务设备具有公众信息服务模块，运用大数据、云计算及现代网络技术实现交通信息公开化和交通需求定制化。公众信息服务模块通过终端控制设备查询当前线路的运输状态。终端服务设备包括手机APP、平板电脑和桌上电脑，但不限于此。终端服务设备查询的信息包括但不限于道路是否畅通、何地拥堵，长度是多少，或者依据现有乘坐需求量或预定量何时何地将会拥堵，会持续多长时间，甚至预定和向客户推荐自动驾驶交通工具服务；向客户推荐所述自动驾驶交通工具的信息包括推荐何时何地乘车，预计何时何地到达，现在还需等待多长时间，高峰期推荐到达就近目的地，但不限于此；同时，通过自动驾驶交通工具预定系统，终端服务设备导航等也可将同一出发点和终点的一定数量的乘客集中于一个多人版车上运输，以减少拥堵。
以上所述的交通系统的使用方法如下所述。
乘客通过指纹、脸谱或虹膜结合身份证或乘车卡登记为系统合法乘客，登记时与乘客电子账户相关联，得到乘客授权后，系统自行扣款；为了避免其中一种方法失效时对乘客乘车的影响，在登记时采用两种或者两种以上的方法进行登记；若遇上重复，例如双胞胎，则加用个人密码；若乘客无电子账户，可在本系统开设电子账户，并存入一定金额。乘客的消费记录可以通过公众信息服务系统自行查询。
步骤二，乘客乘车：
乘客通过终端服务设备预约所述自动驾驶交通工具服务，或者直接进站后在站台进行身份登记或认证和目的地选择后登陆所述自动驾驶交通工具，或者登陆空闲所述自动驾驶交通工具后经身份认证后选择目的地；
若乘客选择的站点经通讯与中央控制系统计算后会途径满负荷路段，则通讯与中央控制系统会向其推荐就近站点或需等待的时间供乘客选择，否则不予服务；
步骤三，自动驾驶交通工具行驶：
自动驾驶交通工具沿专用车道开始运行，途中通过定位系统和通讯与中央控制系统决定是否变道，若不变道行驶，则所述自动驾驶交通工具根据定位系统自行行驶在本车道的正中央，并根据前后车辆的情况，自行恒速前进或自行决定加减速，每车道最高速度不超过中央控制系统给出的最高速度；
若需变道行驶，所述自动驾驶交通工具根据终端控制设备设定的变道程序，在定位系统以及车载陀螺仪和加速度计的辅助下变道至目的车道；
步骤四，自动驾驶交通工具通过纵向定位系统停止在乘客需要的目的点；
自动驾驶交通工具服务完乘客后，自动驾驶交通工具在中央控制系统的控制下或停留在此站点的等候区，或调度至其它站点。若停留在此站点的等候区，则直到 有新乘客需要服务时，才重新启动运行。
以下说明本发明所提供的交通系统的前进轨迹偏差判断与矫正方法的一种优选的具体实施方式。
在该具体实施方式中，供电系统包括供电设备，自动驾驶交通工具上安装有触网取电杆。供电设备固定设在运行道路的上方，或者设置在车道表面或下方。触网取电杆包括导电小段、绝缘小段和升降杆，触网取电杆通过升降杆安装在自动驾驶交通工具顶部；自动驾驶交通工具运动过程中，当导电小段与供电设备接触，自动驾驶交通工具由供电设备供电；当绝缘小段与供电设备接触，自动驾驶交通工具由车载能源供电。
自动驾驶交通工具前进轨迹偏差判断与矫正方法包括以下步骤：
S1：选定基准位置，
自动驾驶交通工具终端控制设备采集导电信号作为判断依据，将触网取电杆中间的导电小段中心作为基准位置；
S2：判断偏离位置方向，
判断自动驾驶交通工具电源取自触网取电杆中的哪一导电小段，参照基准位置，标记并判断获取电源的导电小段的当前位置在基准位置的哪一方向，则自动驾驶交通工具发生位置偏移的方向与该方向相反；
S3：计算偏移量，
由于车道上方的供电设备距离中心车道横坐标固定，即可识别车辆距离中心车道的横向坐标；将触网取电杆上依次间隔串接的导电小段和绝缘小段整体作为横坐标轴，以导电小段中间位置作为坐标点，与供电设备接触导电的中心导电小段中间位置为原点，原点右侧为正，原点左侧为负；自动驾驶交通工具发生位置偏移时，新接通的导电小段导电，得知导电小段在触网取电杆上的坐标点，智能系统通过读取到的坐标点数字与坐标点间的固定距离相乘得到自动驾驶交通工具在本车道的偏移量，自动驾驶交通工具在本车道的偏移量与本车道横坐标相加得到电车距离中心车道的偏移量；
S4：矫正位置，
自动驾驶交通工具发生位置偏移后，终端控制设备自动控制自动驾驶交通工具在前进过程中沿偏移方向的反方向行进，直至触网取电杆上的中心导电小段与供电设备接触导电。
目前市场上的无轨电车主要通过驾驶员操控行驶，还未有无轨智能无人驾驶电车出现。而市场上出现无人驾驶汽车又主要采用视频分析、雷达扫描或无线定位技术等等实现车辆在道路的横向坐标判断，驾驶员驾驶不稳定，而高科技方法虽然可行，但是成本非常昂贵、响应速度慢,灵活性差，且容易受到外界环境的影响；而 本发明公开的自动驾驶交通工具前进轨迹偏差判断与矫正方法，通过运行道路上方的供电设备和安装在自动驾驶交通工具上的触网取电杆获取导电设备给电车提供的运行电力，由于供电电线或导电电轨在道路的横向坐标固定，再利用取电时标记的导电信号位置进而判断和识别车辆在本车道的横向坐标，以及计算出偏离本车道中心的偏移量，对电车行进位置的矫正，确保电车沿道路轨迹运行。
作为该具体实施方式的进一步优化，还可以采用如下一些方案。
供电设备为至少一根电线或至少一组导电电轨。
电线为火线，运行道路上方只有一根电线时，所述自动驾驶交通工具装有特制装置接地，构成回路；或者运行道路上方有两根电线为一根火线和一根零线时，自动驾驶交通工具直接构成回路。
供电设备为一根电线，则电线与触网取电杆中间的导电小段接触，该中间的导电小段作为基准位置，判断偏离位置方向与偏移量；或供电设备为两根电线，则将电线与触网取电杆中间部位相交时任意一根电线所接触的导电小段作为基准位置，判断偏离位置方向与偏移量。
电轨由火线和零线连接组成，自动驾驶交通工具直接构成回路。
供电设备为导电电轨，则将电轨与触网取电杆正中间部位相交时的任意一根电轨所接触的所述导电小段作为基准位置。
导电小段与绝缘小段相互间隔排列，且通过绝缘杆串接，升降杆的一端与串接的导电小段和所述绝缘小段垂直连接，且连接在中部的绝缘小段上，升降杆的另一端固定在自动驾驶交通工具顶端。
导电小段与绝缘小段是通过横杆串接，导电小段为围绕横杆旋转的导电滚轮，绝缘小段是材料绝缘或空隙绝缘。
导电小段尺寸为0.1cm≤a≤5cm，绝缘小段302尺寸0.01cm≤a≤3cm。升降杆至少一根。
以下说明本发明所提供的交通系统的循迹及信息标识识别方法的一种优选的具体实施方式。
该具体实施方式的构思如下，通过安装在自动驾驶交通工具底部的传感器识别各车道的导航线，可轻易识别路面导航线和/或二维码信息，具有结构简单、稳定、响应速度快的特点，且不易受环境因素制约，能即时即刻精确定位自动驾驶交通工具在本车道的横向坐标信息，便于控制自动驾驶交通工具运行轨迹，提高自动驾驶交通工具运行的可靠性和灵活性，因此具有明显的优点。
目前市场上的无轨电车主要通过驾驶员操控行驶，还未有自动驾驶交通工具出现。而市场上出现无人驾驶汽车又主要采用视频分析、雷达扫描或无线定位技术等等实现车辆在道路的横向坐标判断，驾驶员驾驶不稳定，而高科技方法虽然可行，但是成本非常昂贵、响应速度慢，灵活性差，且容易受到外界环境的影响；而本发 明公开的自动驾驶交通工具循迹及信息标识识别方法，通过安装在自动驾驶交通工具底部的传感器识别运行道路上的导航线，将识别信号反馈到中央控制系统/终端控制设备，由中央控制系统/终端控制设备判断并下发指令，进而控制自动驾驶交通工具的运行方向和/或调整自动驾驶交通工具的偏移轨迹，使自动驾驶交通工具沿导航线方向保持前行；同样采用传感器识别运行道路上的二维信息码，将获取到的相关位置信息或信号信息反馈给中央控制系统，由中央控制系统判断自动驾驶交通工具的运行状况和当前路况信息，进一步控制自动驾驶交通工具的运行速度和启停，使自动驾驶交通工具的运行更加方便、智能、人性化。
下面详细描述根据本发明的自动驾驶交通工具循迹及信息标识识别方法。
第一种实施方式
在一种具体实施方式中，交通系统包括有自动驾驶交通工具(安装有终端控制设备)，道路两旁的供电设备，设置有导航线的道路，当自动驾驶交通工具行驶在道路中央时，自动驾驶交通工具底部安装有一排横向沿一字依次均匀排开的传感器，用来识别道路表面的导航线信息，当仅中心轴处的两个传感器感应到导航线，信息反馈到自动驾驶交通工具的终端控制设备，终端控制设备控制自动驾驶交通工具保持原方向向前行驶；当非中心轴处的两个传感器感应到导航线，信息反馈到自动驾驶交通工具的终端控制设备，控制自动驾驶交通工具在行驶方向上进行调整，直至导航线由自动驾驶交通工具上中心轴处的两个传感器同时感应到导航线后保持该方向继续前行，通过传感器对导航线的实时监控和信息反馈，使自动驾驶交通工具保持运行轨迹；为便于传感器识别导航线，导航线的宽度在中心轴处的两个传感器检测范围内，并且运行道路上的导航线与路面颜色需有较大反差，一般路面为灰黑色的沥青混凝土路面，采用白色作为导航线，同时安装在自动驾驶交通工具底部的传感器为光电传感器，安装的光电传感器距离地面的高度为，光电传感器以每秒钟检测1000次以上的频率对自动驾驶交通工具运行轨迹进行实时监控，可更加精准的控制自动驾驶交通工具沿导航线行驶。
第二种实施方式
本实施方式中运行道路上还具有二维信息码，当光电传感器响应频率为20000HZ，自动驾驶交通工具的速度以200公里/小时计算，则光电传感器能感应到的线条最小宽度为2.78毫米，即运行道路上的二维信息码线条的宽度与间接需要分别大于2.78毫米，才可保证识别信息的准确性；通过传感器识别道路表面的二维信息码可获取相关位置信息或信号信息，将获取到的相关位置信息或信号信息反馈给终端控制设备，由终端控制设备判断自动驾驶交通工具的运行状况和当前路况信息，进一步控制自动驾驶交通工具的运行速度和启停，使自动驾驶交通工具的运行更加方便、智能、人性化。
第三种实施方式
与第一种实施方式相比，本实施方式中自动驾驶交通工具底部安装有两排横向沿一字依次均匀排开的传感器，用来识别道路表面的导航线信息，当仅中心轴处的传感器感应到导航线，信息反馈到自动驾驶交通工具的终端控制设备，控制自动驾驶交通工具保持原方向向前行驶；当非中心轴处的传感器感应到导航线，信息反馈到自动驾驶交通工具的终端控制设备，控制自动驾驶交通工具在行驶方向上进行调整，直至导航线由自动驾驶交通工具上中心轴处的传感器感应到导航线后保持该方向继续前行，通过传感器对导航线的实时监控和信息反馈，使自动驾驶交通工具保持运行轨迹。
另外，传感器也可以是光电开关，其同样可以检测和识别路面信息。
另外，本发明安装在自动驾驶交通工具车头底部两端的光电传感器向车外方向探出，可用于识别外侧导航线或障碍物，便于进一步确保自动驾驶交通工具的运行是沿着轨迹运行，且避免碰撞增强自动驾驶交通工具运行的安全性。
另外，本发明安装在自动驾驶交通工具底部的光电传感器有N个，按1cm-12cm为间距范围横向沿一字依次排开，N是车宽与光电传感器间的间距相除取整得到的整数值，且N≥1。
以上详细描述了本发明的较佳具体实施例。应当理解，本领域的普通技术人员无需创造性劳动就可以根据本发明的构思作出诸多修改和变化。因此，凡本技术领域中技术人员依本发明的构思在现有技术的基础上通过逻辑分析、推理或者有限的实验可以得到的技术方案，皆应在由权利要求书所确定的保护范围内。

Claims (13)

  1. 一种交通系统，其特征在于，所述交通系统包括多个自动驾驶交通工具以及专用道路，所述专用道路包括用于所述自动驾驶交通工具行驶的专用车道以及用于所述自动驾驶交通工具停靠的多个停靠站点，所述交通系统被配置为：当行驶于专用车道的自动驾驶交通工具需要停靠时，所述自动驾驶交通工具驶离所述专用车道并进入停靠站点停靠；当停靠于停靠站点的自动驾驶交通工具需要行驶时，所述自动驾驶交通工具从所述停靠站点驶入所述专用车道行驶。
  2. 一种交通系统，其特征在于，所述自动驾驶交通工具的载客数量不超过六人、五人、或四人、或三人、或两人，或仅限载客一人。
  3. 如权利要求1所述的交通系统，其特征在于，所述自动驾驶交通工具被配置为至少通过电力驱动，所述交通系统还包括用于给所述自动驾驶交通工具提供电力的供电系统。
  4. 如权利要求3所述的交通系统，其特征在于，所述供电系统通过有线连接的方式给所述自动驾驶交通工具提供电力。
  5. 如权利要求4所述的交通系统，其特征在于，所述供电系统包括供电设备，所述自动驾驶交通工具上安装有取电结构和终端控制设备，所述取电结构和终端控制设备被配置成：终端控制设备依据所述取电结构与所述供电设备在横向上的位置偏差来控制所述自动驾驶交通工具按预定方向行驶。
  6. 如权利要求1所述的交通系统，其特征在于，所述交通系统还包括中央控制系统，所述自动驾驶交通工具安装有用于控制所述自动驾驶交通工具进行自动行驶的终端控制设备，所述中央控制系统和终端控制设备之间具有通信功能。
  7. 如权利要求6所述的交通系统，其特征在于，所述终端控制设备具有定位模块和测速模块，并被配置为能将定位信息和自身车速信息时时传递给所述中央控制系统，所述中央控制系统被配置为能将其他自动驾驶交通工具的定位信息和自身车速信息实时传递给所述终端控制设备。
  8. 如权利要求6所述的交通系统，其特征在于，所述终端控制设备和中央控制系统中储存有所述专用道路的信息。
  9. 如权利要求6所述的交通系统，其特征在于，所述自动驾驶交通工具被配置为：当正在所述专用车道行驶的不同自动驾驶交通工具之间的距离小于设定距离时，所述驾驶交通工具之间通过无线通信进行识别，后一辆自动驾驶交通工具进行减速。
  10. 如权利要求1所述的交通系统，其特征在于，所述专用道路的路面设置有导航图像，所述自动驾驶交通工具的底部安装有用于识别所述导航图像的导航图像传感器。
  11. 如权利要求10所述的交通系统，其特征在于，所述导航图像包括导航线、和/或条形码、和/或二维码。
  12. 如权利要求1所述的交通系统，其特征在于，所述自动驾驶交通工具被配置为：多个自动驾驶交通工具在行驶过程中能通过首尾连接的方式串联在一起。
  13. 如权利要求12所述的交通系统，其特征在于，多个自动驾驶交通工具被配置为通过磁力的作用进行首尾连接。
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