CN107507422A - The intelligent vehicle control that self scheduling and traffic congestion can be achieved and perceive based on Internet of Things - Google Patents
The intelligent vehicle control that self scheduling and traffic congestion can be achieved and perceive based on Internet of Things Download PDFInfo
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- CN107507422A CN107507422A CN201710723253.5A CN201710723253A CN107507422A CN 107507422 A CN107507422 A CN 107507422A CN 201710723253 A CN201710723253 A CN 201710723253A CN 107507422 A CN107507422 A CN 107507422A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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Abstract
The present invention provides a kind of intelligent vehicle control that self scheduling and traffic congestion can be achieved and perceive based on Internet of Things, including position detecting module, direction determining module, wireless internet of things communication module, traffic behavior sensing module, adaptive decentralised control dispatching algorithm, traveling control module.Intelligent vehicle disclosed in this invention, go for the crossroad of no traffic lights, be finally reached more cars and pass through the collisionless effect in crossroad.Particularly, each intelligent vehicle all uses adaptive decentralised control dispatching algorithm, according to road traffic and vehicle location, carry out traffic congestion perception and the grand cycle classification of scheduling, and crossroad scheduling time piece is independently divided, its overall system control is independent, and centralized dispatching is carried out without other equipment, thus also superior to traditional centralized Control, the requirement to host node or Centralized Controller is greatly reduced the robustness of system.
Description
Technical field
The invention belongs to automate and industrial Internet of Things field, more particularly to a kind of self achievable tune based on Internet of Things
The intelligent vehicle control that degree and traffic congestion perceive.
Background technology
With the increase of urban population, the vehicle in urban transportation is more and more, it is necessary to which the crossroad of vehicle scheduling is got over
Come that more, traditional traffic lights scheduling modes is more and more poorly efficient, and its dispatching, ability to supervise, robustness, flexibility are all present
Drawback.
The content of the invention
The technical problems to be solved of the present invention are, for the crossroad under different road conditions, vehicle to be supervised in real time
Control and flexible dispatching.Self scheduling and traffic congestion perception can be achieved based on Internet of Things it is an object of the invention to provide a kind of
Intelligent vehicle control, multiple intelligent vehicles realize the shared of vehicle-state by industrial Internet of Things, and by adaptively disperseing
Dispatching algorithm is controlled, reaches more intelligent vehicle networkings, vehicle-state monitors in real time and the purpose of decentralized dispatch.
The technical proposal for solving the technical problem of the invention is：It is a kind of based on Internet of Things can be achieved self scheduling and
The intelligent vehicle control that traffic congestion perceives, including position detecting module, direction determining module, wireless internet of things communication mould
Block, traffic behavior sensing module, adaptive decentralised control scheduler module, traveling control module.
The position detecting module is presently in position for detecting vehicle, perceives the distance with crossroad, and judge
Whether intelligent vehicle marches to crossroad and whether passes through crossroad；
The direction determining module is used for the self-operating direction for perceiving vehicle；
The wireless internet of things communication module is used to receive the message information of other vehicles and sends itself to other vehicles
The message information of measurement, the message information include direct of travel, speed, position, with the distance at crossing, and with the master of Internet of Things
Clock enters row clock synchronization.
The message information that the traffic sensing module is sent according to other vehicles received, calculate north and south, thing, turn
To the magnitude of traffic flow in direction, and all directions road vehicle integral position distribution tendency；
The adaptive decentralised control scheduler module runs adaptive decentralised control dispatching algorithm, is perceived according to traffic
All directions vehicle flowrate and road vehicle integral position the distribution tendency that module calculates, automatic calculate determine the current scheduling of outlet
Rank and scheduling grand cycle, and the timeslice by crossroad is divided automatically, finally assign itself car to traveling control module
Travel condition transfer instruction, i.e., could currently pass through the order of crossroad.
The traveling control module can control vehicle gait of march and direction, can be according to adaptive after crossroad is arrived at
The order of decentralised control scheduler module controls vehicle pass-through or stopping.
Further, the intelligent vehicle includes battery pack, motor, voltage transformation module, motor drive module, wheel and car
Frame；Four wheels are symmetrically installed on the vehicle frame；The battery pack is connected with voltage transformation module；The motor drive module point
It is not connected with motor and voltage transformation module；The motor output shaft is connected with wheel, and the motor is arranged on vehicle frame, described
Motor drive module is connected by wireless internet of things communication module with traveling control module.
Further, the calculating process of all directions vehicle flowrate and road vehicle integral position the distribution tendency is as follows：Root
According to traffic sensing module, count north-south two to, Dong-west two to, north and south turn left and East and West direction left-hand rotation road on not yet
By its position of the vehicle of crossroad it is cumulative and, be designated as respectively for Position_SN, Position_EW, Position_SW,
Position_ES。
Further, the wireless internet of things communication module and the master clock of Internet of Things enter the synchronous process of row clock such as
Under：The clock sync message issued by receiving clock sync server, judges whether itself clock is synchronous with master clock.If no
It is synchronous to receive clock regulation message by being sent to clock sync server again, calculate the time between itself clock and master clock
Difference, clock synchronization is realized after adjustment.
Further, the wireless internet of things communication module receives the message information of other vehicles and sent to other vehicles
The process of the message information of itself measurement is as follows：The grand cycle of self-operating is divided into communication time window and traffic scheduling time
Window, in communication time window, each vehicle presses configuration according to self ID, and issue successively includes vehicle ID, position, direct of travel
The broadcasting packet of information.In traffic scheduling time window, wireless internet of things communication module keeps silent, is adaptive decentralised control
The operation and order of scheduler module, which perform, provides the time.
Further, the adaptive decentralised control scheduler module calculates automatically determines the current scheduling rank of outlet and scheduling
Grand cycle specific method is as follows：The message issued according to other vehicles in the network of acquisition and itself travel condition, to not passing through cross
The vehicle at crossing is counted, and obtains current crossroad not by vehicle fleet Car_Total.Known crossroad can carry
Maximum vehicular circulation number is Car_Max, and crossing Congestion Level SPCC is divided into n levels.IfThen road is gathered around
Plug deciding degree is I levels, dispatches grand cycle time T=Car_Time (1)；If
Then road congestion deciding degree is II levels, dispatches grand cycle time T=Car_Time (2)；By that analogy, if Then road congestion deciding degree is K levels, dispatches grand cycle time T=Car_
Time(k)。
Further, the adaptive decentralised control scheduler module timeslice that division passes through crossroad automatically is specific
Process is as follows：According in the network of acquisition other vehicles issue message and itself travel condition, count north-south two to, east-
West two to, north and south turn left and East and West direction left-hand rotation road on not yet pass crossroad vehicle fleet be respectively Car_SN,
Car_EW、Car_SW、Car_ES.And meet Car_SN+Car_EW+Car_SW+Car_ES=Car_Total.By the scheduling
The grand cycle is divided into four parts, wherein north-south two to road vehicle can transit time, be divided into Time_SN=(Car_SN)/
(Car_Total)×Car_Time(i)；Dong-west two to road vehicle can transit time, be divided into Time_EW=(Car_EW)/
(Car_Total)×Car_Time(i)；North-south left-hand rotation road vehicle can transit time, be divided into Time_SW=(Car_
SW)/(Car_Total)×Car_Time(i)；East and West direction left-hand rotation road vehicle can transit time, be divided into Time_ES=
(Car_ES)/(Car_Total) × Car_Time (i), wherein i=1,2,3 ..., n.
Further, in the adaptive decentralised control scheduler module vehicle could by the judgement of crossroad,
Determination methods are：Its position of the vehicle of crossroad is not yet passed on each road that acquisition traffic sensing module counts to tire out
Add and, respectively Position_SN, Position_EW, Position_SW, Position_ES.Above-mentioned four value is compared
Compared with the cumulative and larger direction in position is leading.If Position_SN<Position_EW, show that north-south two does not pass through to road
Crossroad vehicle it is overall relative to Dong-west two on road not by the vehicle of crossroad closer to crossroad, then it is southern-
First passed through in this scheduling grand cycle to road vehicle in north two；Otherwise, Dong-west two does not pass through crossroad vehicle entirety phase to road
For north-south two on road not by the vehicle of crossroad closer to crossroad, Dong-west two is to road vehicle in this tune
The grand cycle is spent first to pass through.Thus, four sections of respective durations of timeslice and order are determined in traffic scheduling time window.Finally,
Judge vehicle direct of travel whether with current time in above-mentioned operation result residing for timeslice can passing road direction phase
Symbol, drawing could pass in grand two sections of timeslices of cycle by the result of crossroad, and by order that is corresponding current or stopping
Give traveling control module.
Further, the adaptive decentralized dispatch module need to judge timeslice residing for current time.Specific method is, from
The timing since traffic scheduling time window initial time t0 of adaption scheduling algorithm, clocking value t.The grand cycle T of the scheduling and each
Scheduling time piece duration is it has been determined that i.e. traffic scheduling time window sliced time point t1, t2, t3 is determined.IfIt can then sentence
It is disconnected to be currently at first passage timeslice；IfIt then can determine whether to be currently at second channel timeslice；IfIt then can determine whether to be currently at third channel timeslice；IfIt then can determine whether to be currently at
Fourth lane timeslice.
Further, also message information can be encrypted for the wireless internet of things communication module, and the process of encryption is as follows：
By the identification to message identifier, message classification screening is carried out, then solution is encrypted to message data section from AES
It is close.
Further, the AES can be DES algorithms or aes algorithm.
Beneficial effects of the present invention are as follows：Because each intelligent vehicle can all be entered by the traffic behavior sensing module of itself
Row traffic congestion perceives, thus whole total system its ability to supervise built by more intelligent vehicles is stronger, also more effectively；It is logical
The timeslice division of crossroad is crossed, is to be calculated by adaptive decentralized dispatch module in intelligent vehicle according to currently practical road conditions
Go out, thus the whole total system robustness built by more intelligent vehicles, flexibility are stronger.
Brief description of the drawings
Fig. 1 is the intelligent vehicle structural model that self scheduling of can be achieved based on Internet of Things and traffic congestion perceive；
Fig. 2 is adaptive decentralised control dispatching algorithm state transition diagram；
Fig. 3 is that timeslice divides schematic diagram in the division of intelligent vehicle time window and time window.
Embodiment
The essence of the present invention is more fully understood for convenience of those skilled in the art, below in conjunction with the accompanying drawings to the specific of the present invention
Embodiment is described in detail.
Referring to Fig. 1, this is the structural model of intelligent vehicle of the present invention.Self scheduling and friendship can be achieved based on Internet of Things in this
The intelligent vehicle of logical congestion aware, including it is intelligent vehicle and position detecting module on intelligent vehicle, direction determining module, wireless
Internet of Things communication module, traffic behavior sensing module, adaptive decentralised control scheduler module and traveling control module.Wherein, position
Put detection module and be presently in position for detecting vehicle, perceive the distance with crossroad, and judge whether intelligent vehicle advances
To crossroad and whether pass through crossroad；
Direction determining module is used for the self-operating direction for perceiving vehicle；
Wireless internet of things communication module is used for the message information for receiving other vehicles and sends itself measurement to other vehicles
Message information, the message information include direct of travel, speed, position, with the distance at crossing, and with the master clock of Internet of Things
Enter row clock synchronization；
The message information that traffic sensing module is sent according to other vehicles received, calculate north and south, thing, steering side
To the magnitude of traffic flow, and all directions road vehicle integral position distribution tendency；
Adaptive decentralised control scheduler module runs adaptive decentralised control dispatching algorithm, according to traffic sensing module
All directions vehicle flowrate and road vehicle integral position the distribution tendency calculated, automatic calculate determine the current scheduling rank of outlet
And the scheduling grand cycle, and the timeslice by crossroad is divided automatically, finally assign vehicle to traveling control module
Travel condition transfer instruction, i.e., it could currently pass through the order of crossroad.It is fast that traveling control module can control vehicle to advance
Degree and direction, vehicle pass-through or stopping can be controlled according to adaptive decentralised control scheduler module order after crossroad is arrived at.
Further, the calculating process of all directions vehicle flowrate and road vehicle integral position the distribution tendency is as follows：Root
According to traffic sensing module, count north-south two to, Dong-west two to, north and south turn left and East and West direction left-hand rotation road on not yet
By its position of the vehicle of crossroad it is cumulative and, be designated as respectively for Position_SN, Position_EW, Position_SW,
Position_ES。
Further, the wireless internet of things communication module and the master clock of Internet of Things enter the synchronous process of row clock such as
Under：The clock sync message issued by receiving clock sync server, judges whether itself clock is synchronous with master clock.If no
It is synchronous to receive clock regulation message by being sent to clock sync server again, calculate the time between itself clock and master clock
Difference, clock synchronization is realized after adjustment.
Further, the wireless internet of things communication module receives the message information of other vehicles and sent to other vehicles
The process of the message information of itself measurement is as follows：The grand cycle of self-operating is divided into communication time window and traffic scheduling time
Window, in communication time window, each vehicle presses configuration according to self ID, and issue successively includes vehicle ID, position, direct of travel
The broadcasting packet of information.In traffic scheduling time window, wireless internet of things communication module keeps silent, is adaptive decentralised control
The operation and order of scheduler module, which perform, provides the time.
Further, the adaptive decentralised control scheduler module calculates automatically determines the current scheduling rank of outlet and scheduling
Grand cycle specific method is as follows：The message issued according to other vehicles in the network of acquisition and itself travel condition, to not passing through ten
The vehicle at word crossing is counted, and obtains current crossroad not by vehicle fleet Car_Total.Known crossroad can carry
Maximum vehicular circulation number is Car_Max, and crossing Congestion Level SPCC is divided into n levels.IfThen road congestion
Deciding degree is I levels, dispatches grand cycle time T=Car_Time (1)；If
Then road congestion deciding degree is II levels, dispatches grand cycle time T=Car_Time (2)；By that analogy, if Then road congestion deciding degree is K levels, dispatches grand cycle time T=Car_Time (k).
Further, the adaptive decentralised control scheduler module timeslice that division passes through crossroad automatically is specific
Process is as follows：According in the network of acquisition other vehicles issue message and itself travel condition, count north-south two to, east-
West two to, north and south turn left and East and West direction left-hand rotation road on not yet pass crossroad vehicle fleet be respectively Car_SN,
Car_EW、Car_SW、Car_ES.And meet Car_SN+Car_EW+Car_SW+Car_ES=Car_Total.By the scheduling
The grand cycle is divided into four parts, wherein north-south two to road vehicle can transit time, be divided into Time_SN=(Car_SN)/
(Car_Total)×Car_Time(i)；Dong-west two to road vehicle can transit time, be divided into Time_EW=(Car_EW)/
(Car_Total)×Car_Time(i)；North-south left-hand rotation road vehicle can transit time, be divided into Time_SW=(Car_
SW)/(Car_Total)×Car_Time(i)；East and West direction left-hand rotation road vehicle can transit time, be divided into Time_ES=
(Car_ES)/(Car_Total) × Car_Time (i), wherein i=1,2,3 ..., n.
Further, in the adaptive decentralised control scheduler module vehicle could by the judgement of crossroad,
Determination methods are：Its position of the vehicle of crossroad is not yet passed on each road that acquisition traffic sensing module counts to tire out
Add and, respectively Position_SN, Position_EW, Position_SW, Position_ES.Above-mentioned four value is compared
Compared with the cumulative and larger direction in position is leading.If Position_SN<Position_EW, show that north-south two does not pass through to road
Crossroad vehicle it is overall relative to Dong-west two on road not by the vehicle of crossroad closer to crossroad, then it is southern-
First passed through in this scheduling grand cycle to road vehicle in north two；Otherwise, Dong-west two does not pass through crossroad vehicle entirety phase to road
For north-south two on road not by the vehicle of crossroad closer to crossroad, Dong-west two is to road vehicle in this tune
The grand cycle is spent first to pass through.Thus, four sections of respective durations of timeslice and order are determined in traffic scheduling time window.Finally,
Judge vehicle direct of travel whether with current time in above-mentioned operation result residing for timeslice can passing road direction phase
Symbol, drawing could pass in grand two sections of timeslices of cycle by the result of crossroad, and by order that is corresponding current or stopping
Give traveling control module.
Further, the adaptive decentralized dispatch module need to judge timeslice residing for current time.Specific method is, from
The timing since traffic scheduling time window initial time t0 of adaption scheduling algorithm, clocking value t.The grand cycle T of the scheduling and each
Scheduling time piece duration is it has been determined that i.e. traffic scheduling time window sliced time point t1, t2, t3 is determined.IfIt can then sentence
It is disconnected to be currently at first passage timeslice；IfIt then can determine whether to be currently at second channel timeslice；IfIt then can determine whether to be currently at third channel timeslice；IfIt then can determine whether to be currently at
Fourth lane timeslice.
Further, also message information can be encrypted for the wireless internet of things communication module, and the process of encryption is as follows：
By the identification to message identifier, message classification screening is carried out, then solution is encrypted to message data section from AES
It is close.The AES can be DES algorithms or aes algorithm or other AESs.
Embodiment：
Intelligent vehicle provided by the invention is realized below by the form of simulation intelligent vehicle, the intelligent vehicle in the present embodiment
Specific implementation is various, only provides a kind of feasible program below, the intelligent vehicle include battery pack, motor, voltage transformation module,
Motor drive module, wheel and vehicle frame；Four wheels are symmetrically installed on the vehicle frame；The battery pack and voltage transformation module phase
Even；The motor drive module is connected with motor and voltage transformation module respectively；The motor output shaft is connected with wheel, described
Motor is arranged on vehicle frame, and the motor drive module is connected by wireless internet of things communication module with traveling control module.Institute
Motor drive module model L293D is stated, the voltage transformation module is model 2596,2 3700mAh's of Selection of Battery
18650 batteries are powered；The motor drive module is connected with electric pressure converter, the M1 of motor drive module, M2 ports with
The forward and backward motor in left side is connected, the M3 of motor drive module, and M4 ports are connected with the forward and backward motor in right side；
Hall sensor, ultrasonic wave module and photoelectric measure speeding sensor composition position detecting module, Hall sensor are used
In measurement physical location, ultrasonic wave module is used to measure the distance with front truck or barrier, and photoelectric measure speeding sensor is used to measure
The gait of march of avoidance intelligent vehicle；The YS-27 Hall sensors, it is connected with Arduino single-chip microcomputers by SDA ports, can be surveyed
Amount is by arranging magnet quantity on the ground come so as to learning the physical location of avoidance intelligent vehicle；The ultrasonic wave module model
For HC-SR04, it is connected with Arduino single-chip microcomputers by FPDP, can detect the distance with barrier；The photoelectric velocity measurement passes
Sensor is connected with Arduino single-chip microcomputers by digital port, passes through the code-disc detection speed to being connected on axle；
Electronic compass is mono- with Arduino as direction determining module, model HMC5883L three axle electronic compass sensors
Piece machine is connected by SDA, SCL ports；
The wireless internet of things communication module is chosen as EPA Wireless agreements, and hardware is EPA Wireless radio frequencies
Plate, adaptive decentralised control dispatching algorithm are run in the chip in EPA Wireless rf boards, will adaptively disperse control
Scheduler module processed is integrated in EPA Wireless rf boards and realized；The EPA Wireless rf boards single-chip microcomputer model
CC2530, it is connected with Arduino single-chip microcomputers by serial ports；Traffic behavior sensing module is also integrated in EPA Wireless rf boards
Middle realization.
The next single-chip microcomputer and No. four infrared sensor composition traveling control modules, the traveling control module select single-chip microcomputer
Model Arduino Mega 2560R3 single-chip microcomputer；No. four infrared sensor is arranged on four angles of intelligent vehicle, uses
LM339 potential comparators are as pedestal sensor.LM339 potential comparators, with Arduino single-chip microcomputers by FPDP and
SCL ports are connected, and detect road boundary and stop line.
Referring to Fig. 2, being the state transition diagram of adaptive scheduling control algolithm, including obtain data, determine to dispatch grand week
Phase, division transit time piece, determine current direction, parking waiting and pass through the state of crossroad six.Whole algorithm can pass through
Seven conditions trigger the transfer between six system modes, finally realize vehicle enter crossroad periphery, by or stop at
Stop line, the transfer by three big travel condition of crossroad.
Referring to Fig. 3, divide schematic diagram for timeslice in the division of intelligent vehicle time window and time window.The time window of intelligent vehicle
It is divided into communication time window and traffic scheduling time window.In communication time window, each intelligent vehicle issues message successively by configuration.
In traffic scheduling time window, for each intelligent vehicle by adaptive scheduling control algolithm, the vehicle flowrate according to each current direction should
Time window universal formulation is four big timeslices.The uniformity of timeslice division ensures the reliability of the adaptive scheduling of each intelligent vehicle
And security.
The operation principle of the present invention：Intelligent vehicle is entered with the industrial real-time radio Ethernet based on EPA Wireless agreements
Row networking communicates.Networking is built, including：EPA Wireless rf boards (master clock with from clock), EPA packet capturings gateway, exchange
Machine, 24V power supplys, monitoring host computer.Packet capturing gateway is connected with interchanger by twisted-pair feeder.Interchanger passes through twisted-pair feeder with monitoring computer
It is connected.EPA Wireless rf boards can to other rf boards receive and send EPA agreements message, can by serial ports with
The next single-chip microcomputer receive and send data, can realize it is synchronous with the Millisecond clock of other rf boards, can run adaptively
Decentralised control dispatching algorithm, carry out the regulation and control of vehicle.EPA master clocks are the industrial real-time radio based on EPA Wireless agreements
Ethernet provides master clock, and EPA is deployed on the intelligent vehicle from clock.
The next single-chip microcomputer is measured by sensor to direction, self-position, and transfers data to institute by serial ports
EPAWireless rf boards are stated, and all nodes in network are sent in a manner of broadcasting packet, carry out state circular, when
When the intelligent vehicle reaches crossroad, it can voluntarily judge whether to advance by the adaptive decentralised control dispatching algorithm,
Realize that distributing is dispatched.The EPA Wireless rf board independent operatings of each intelligent vehicle, by vehicle state with
Other vehicle-states in the same network of capture, determine the vehicle scheduling grand cycle, and divide the timeslice of all directions traveling.
No. four infrared sensors are used for intelligent vehicle line walking and keep straight on and detect stop line.When both sides infrared sensor does not detect
During to boundary line, the reversion of left side front motor, left back motor rotate forward, right side front motor inverts, motor rotates forward behind the right side, and intelligent vehicle is straight
OK；When left side, infrared sensor detects boundary line, the reversion of left side front motor, left back motor rotate forward, right front motor stalls, right
Motor stalls afterwards, produces rotating torque to the right, intelligent vehicle is advanced to the right, returns on straight trip track；When right side infrared sensing
When device detects boundary line, the reversion of right side front motor, it is right after motor rotate forward, the stalling of left front motor, the stalling of left back motor, produce to
Left rotating torque, intelligent vehicle is advanced to the left, return on straight trip track.
Electronic compass is made up of three-dimensional magnetoresistive transducer, double-shaft tilt angle sensor and MCU.Three-dimensional magnetoresistive transducer is used for surveying
Magnetic field of the earth is measured, obliquity sensor is compensated in magnetometer non-standard state；MCU handles magnetometer and obliquity sensor
Signal and data output and soft iron, hard iron compensation.The magnetometer is to use three mutually perpendicular magnetoresistive transducers, each
The geomagnetic field intensity of sensor detection in this direction on axial direction.Thus the direct of travel of vehicle itself is judged.
Claims (10)
1. a kind of intelligent vehicle control that self scheduling and traffic congestion can be achieved and perceive based on Internet of Things, its feature exist
In, including position detecting module, direction determining module, wireless internet of things communication module, traffic behavior sensing module, adaptive point
Dissipate control scheduler module and traveling control module；
The position detecting module is presently in position for detecting intelligent vehicle, perceives the distance with crossroad, and judge intelligence
Whether energy car marches to crossroad and whether passes through crossroad；
The direction determining module is used for the self-operating direction for perceiving intelligent vehicle；
The wireless internet of things communication module is used for the message information for receiving other vehicles and sends itself measurement to other vehicles
Message information, the message information include direct of travel, speed, position, with the distance at crossing, and with the master clock of Internet of Things
Enter row clock synchronization；
The message information that the traffic sensing module is sent according to other intelligent vehicles received, calculate north and south, thing, steering
The magnitude of traffic flow in direction, and all directions road vehicle integral position distribution tendency.
The adaptive decentralised control scheduler module runs adaptive decentralised control dispatching algorithm, according to traffic sensing module
All directions vehicle flowrate and road vehicle integral position the distribution tendency calculated, automatic calculate determine the current scheduling rank of outlet
And the scheduling grand cycle, and the timeslice by crossroad is divided automatically, finally assign vehicle to traveling control module
Travel condition transfer instruction, i.e., it could currently pass through the order of crossroad.
The traveling control module can control intelligent vehicle gait of march and direction, can be according to adaptive point after crossroad is arrived at
Dissipate control scheduler module order control vehicle pass-through or stopping.
2. self scheduling and traffic congestion can be achieved and perceive the intelligent vehicle control according to claim 1 based on Internet of Things
System, it is characterised in that：The calculating process of all directions vehicle flowrate and road vehicle integral position the distribution tendency is as follows：According to
Traffic sensing module, count north-south two to, Dong-west two to, north and south turn left and East and West direction left-hand rotation road on it is not yet logical
Cross its position of the vehicle of crossroad it is cumulative and, be designated as respectively for Position_SN, Position_EW, Position_SW,
Position_ES。
3. self scheduling and traffic congestion can be achieved and perceive the intelligent vehicle control according to claim 1 based on Internet of Things
System, it is characterised in that：It is as follows that the wireless internet of things communication module with the master clock of Internet of Things enters the synchronous process of row clock：
The clock sync message issued by receiving clock sync server, judges whether itself clock is synchronous with master clock.It is if different
Step receives clock regulation message by being sent to clock sync server again, calculates the time between itself clock and master clock
Difference, clock synchronization is realized after adjustment.
4. self scheduling and traffic congestion can be achieved and perceive the intelligent vehicle control according to claim 1 based on Internet of Things
System, it is characterised in that：The wireless internet of things communication module receives the message information of other vehicles and sent to other vehicles
The process of the message information of itself measurement is as follows：The grand cycle of self-operating is divided into communication time window and traffic scheduling time
Window, in communication time window, each vehicle presses configuration according to self ID, and issue successively includes vehicle ID, position, direct of travel
The broadcasting packet of information.In traffic scheduling time window, wireless internet of things communication module keeps silent, is adaptive decentralised control
The operation and order of scheduler module, which perform, provides the time.
5. self scheduling and traffic congestion can be achieved and perceive the intelligent vehicle control system according to claim 1 based on Internet of Things
System, it is characterised in that：The adaptive decentralised control scheduler module calculates automatically determines that the current scheduling rank of outlet and scheduling are grand
Cycle specific method is as follows：The message issued according to other vehicles in the network of acquisition and itself travel condition, to not passing through cross
The vehicle at crossing is counted, and obtains current crossroad not by vehicle fleet Car_Total.Known crossroad can carry most
Big vehicular circulation number is Car_Max, and crossing Congestion Level SPCC is divided into n levels.IfThen road congestion journey
Degree is determined as I levels, dispatches grand cycle time T=Car_Time (1)；IfThen road
Road Congestion Level SPCC is determined as II levels, dispatches grand cycle time T=Car_Time (2)；By that analogy, if Then road congestion deciding degree is K levels, dispatches grand cycle time T=Car_Time (k).
6. self scheduling and traffic congestion can be achieved and perceive the intelligent vehicle control according to claim 1 based on Internet of Things
System, it is characterised in that：The adaptive automatic division of decentralised control scheduler module passes through the specific of the timeslice of crossroad
Process is as follows：According in the network of acquisition other vehicles issue message and itself travel condition, count north-south two to, east-
West two to, north and south turn left and East and West direction left-hand rotation road on not yet pass crossroad vehicle fleet be respectively Car_SN,
Car_EW、Car_SW、Car_ES.And meet Car_SN+Car_EW+Car_SW+Car_ES=Car_Total.By the scheduling
The grand cycle is divided into four parts, wherein north-south two to road vehicle can transit time, be divided into Time_SN=(Car_SN)/
(Car_Total)×Car_Time(i)；Dong-west two to road vehicle can transit time, be divided into Time_EW=(Car_EW)/
(Car_Total)×Car_Time(i)；North-south left-hand rotation road vehicle can transit time, be divided into Time_SW=(Car_
SW)/(Car_Total)×Car_Time(i)；East and West direction left-hand rotation road vehicle can transit time, be divided into Time_ES=
(Car_ES)/(Car_total) × Car_Time (i), wherein i=1,2,3 ..., n.
7. self scheduling and traffic congestion can be achieved and perceive the intelligent vehicle control according to claim 1 based on Internet of Things
System, it is characterised in that：Vehicle could be sentenced by the judgement of crossroad in the adaptive decentralised control scheduler module
Disconnected method is：Its position of the vehicle of crossroad is not yet passed on each road that acquisition traffic sensing module counts to add up
With respectively Position_SN, Position_EW, Position_SW, Position_ES.Above-mentioned four value is compared,
The cumulative and larger direction in position is leading.If Position_SN<Position_EW, show north-south two to road not by ten
Word crossing vehicle it is overall relative to Dong-west two on road not by the vehicle of crossroad closer to crossroad, then north-south
Two first pass through to road vehicle in this scheduling grand cycle；Otherwise, Dong-west two is integrally relative not by crossroad vehicle to road
In north-south two on road not by the vehicle of crossroad closer to crossroad, Dong-west two is to road vehicle in this scheduling
The grand cycle first passes through.Thus, four sections of respective durations of timeslice and order are determined in traffic scheduling time window.Finally, sentence
Disconnected vehicle direct of travel whether with current time in above-mentioned operation result residing for timeslice can passing road direction be consistent,
Drawing could send in grand two sections of timeslices of cycle by the result of crossroad, and by order that is corresponding current or stopping
Traveling control module.
8. self scheduling and traffic congestion can be achieved and perceive the intelligent vehicle control according to claim 7 based on Internet of Things
System, it is characterised in that：The adaptive decentralized dispatch module need to judge timeslice residing for current time.Specific method is, from
The timing since traffic scheduling time window initial time t0 of adaption scheduling algorithm, clocking value t.The grand cycle T of the scheduling and each
Scheduling time piece duration is it has been determined that i.e. traffic scheduling time window sliced time point t1, t2, t3 is determined.IfIt can then sentence
It is disconnected to be currently at first passage timeslice；IfIt then can determine whether to be currently at second channel timeslice；IfIt then can determine whether to be currently at third channel timeslice；IfIt then can determine whether to be currently at
Fourth lane timeslice.
9. self scheduling and traffic congestion can be achieved and perceive the intelligent vehicle control according to claim 1 based on Internet of Things
System, it is characterised in that：Also message information can be encrypted for the wireless internet of things communication module, and the process of encryption is as follows：
By the identification to message identifier, message classification screening is carried out, then solution is encrypted to message data section from AES
It is close.
10. self scheduling and traffic congestion can be achieved and perceive the intelligent vehicle control according to claim 9 based on Internet of Things
System processed, it is characterised in that：The AES can be DES algorithms or aes algorithm.
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