CN108109415A - A kind of net connection automatic driving control system and method with anti-congestion - Google Patents
A kind of net connection automatic driving control system and method with anti-congestion Download PDFInfo
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- CN108109415A CN108109415A CN201711384712.8A CN201711384712A CN108109415A CN 108109415 A CN108109415 A CN 108109415A CN 201711384712 A CN201711384712 A CN 201711384712A CN 108109415 A CN108109415 A CN 108109415A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
Classifications
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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
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Atmospheric Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mathematical Physics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of net connection automatic driving control systems and method with anti-congestion.It includes：Cloud server is used to make the vehicle of congested link based on its destination information according to the information of reception the instruction of change path planning；Trackside subsystem is used to make the vehicle of congested link the instruction planned in change track according to road information and information of vehicles and target vehicle speed instructs；Automatic driving control system is used to export different Body Control orders to vehicle control system according to the information of reception；Vehicle control system, which is used to be controlled respectively according to different Body Control orders, reduces speed and travel direction variation.The present invention carries out implementing monitoring by cloud server and trackside subsystem to the jam situation of urban road, path planning and track planning are re-started to the vehicle of congested link, vehicle is made to avoid congested link in time, the system has preferable economy and feasibility, has greatly improved to the running time for saving automatic driving vehicle.
Description
Technical field
The invention belongs to automatic driving technical fields, and in particular to a kind of net connection with anti-congestion is driven automatically
Sail control system and method.
Background technology
Congestion phenomenon has become normality in modern city, how to find congestion in advance, break away from the quagmire be also automobile industry urgently
Problem to be solved.Existing people obtain congestion in road feelings in driving procedure generally by the digital map navigation of vehicle self-carrying
Then condition selects non-congestion road path to control vehicle, breaks away from congested link by manual control.But the map of vehicle self-carrying
Navigation will not be automatically updated in realtime congestion in road situation, and people are typically chosen behind a certain path and are just directly driven according to the path of selection
It sails, seldom goes concern road conditions again.The urban road congestion situation moment is all changing, only by manually checking that road conditions, selection are gone on a journey
Path, not in time, it is possible that there is heavy congestion in the path of selection, and driver does not have found the information of acquisition, causes
Congested link cannot be avoided in time, influence to go on a journey.
The content of the invention
The purpose of the present invention is exactly insufficient existing for above-mentioned background technology in order to solve, and providing one kind has the function of anti-congestion
Net connection automatic driving control system and method.
The technical solution adopted by the present invention is：A kind of net connection automatic driving control system with anti-congestion, including
Cloud server, for receiving the road information and information of vehicles of each trackside subsystem, according to the information pair of reception
The jam situation of each road is judged, when judging that congestion occurs in certain a road section, its purpose is based on to the vehicle of congested link
Ground information makes the instruction of change path planning, which is sent to trackside subsystem；
Trackside subsystem for the road information where acquisition on road and information of vehicles and is sent to cloud server,
For being judged according to road information and information of vehicles the jam situation of the road, when judging the congestion in road, according to
Instruction and the road information of path planning are changed, instruction and the target vehicle speed of the planning of change track are made to the vehicle of congested link
Instruction is instructed for exporting the instruction of road jam situation, path planning, the instruction of track planning and target vehicle speed to driving automatically
Sail control system.
Automatic driving control system, for sending information of vehicles to trackside subsystem, for being exported according to the information of reception
Different Body Control orders is to vehicle control system
Vehicle control system reduces speed and travel direction change for being controlled respectively according to different Body Control orders
Change.
Further, further include on-vehicle information unit, for trackside subsystem is exported congestion in road situation, path rule
Instruction, the instruction of track planning and the target vehicle speed instruction drawn are sent to automatic driving control system, for by automatic Pilot control
The information of vehicles of system output processed is sent to trackside subsystem.
Further, between the cloud server and trackside subsystem, between trackside subsystem and on-vehicle information unit
Communicated by 5G networks.
Further, communicated between the on-vehicle information unit and automatic driving control system by Ethernet.
Further, the vehicle control system includes
Engine controller progressively reduces output driving torque for the torque demand signal control in control command
To the desired value torque of system calibrating；
Electrical steering assist controller turns to for the desired orientation disk corner in control command and desired orientation disk
Angular speed control vehicle is completed to turn on request.
Further, the vehicle control system further includes brake monitor, for the deceleration in control command
Instruction control vehicle gradual braking, until the speed of net connection vehicle reaches target vehicle speed.
Further, the vehicle control system further includes car body controller, for the car light in control command
Signal lights Brake lamp and steering indicating light.
A kind of control method based on above-mentioned any one net connection automatic driving control system, cloud server is according to acquisition
Road information and information of vehicles the jam situation of each road is judged, when judging that congestion occurs in certain a road section, to gathering around
The vehicle in stifled section makes the instruction of change path planning based on its destination information；Trackside subsystem is believed according to the road of acquisition
Breath judges the jam situation of the road, when judging the congestion in road, according to the instruction of change path planning and road
Information, the instruction and target vehicle speed that the planning of change track is made to the vehicle of congested link instruct；Automatic driving control system root
Different control commands is exported to vehicle control system according to the different instruction information of reception；Vehicle control system is according to different controls
Control reduces speed and travel direction variation respectively for order.
Further, torque demand signal of the vehicle control system in control command progressively reduces vehicle output
Driving torque is to the desired value torque of system calibrating；Desired orientation disk corner and desired orientation disk in control command turn to
Angular speed control vehicle is completed to turn on request；Car light signal in control command lights Brake lamp and steering indicating light.
Further, after output driving torque is reduced to the desired value torque of system calibrating, automatic Pilot control
When system judges that speed is more than target vehicle speed, send deceleration and instruct to vehicle control system, vehicle control system is according to deceleration
Degree instruction control vehicle gradual braking, until the speed of vehicle reaches target vehicle speed.
The road information and vehicle that automatic driving control system of the present invention is obtained by cloud server and trackside subsystem
Information carries out implementing monitoring to the jam situation of urban road, path planning and track is re-started to the vehicle of congested link
Planning sends lane change information to associated vehicle, adjusts congested link vehicle fleet size, sends desired speed, vehicle is according to reception
Instruction re-start path planning, internal automated driving system control electrical steering force aid system, dynamical system, braking system
System, vehicle control system take measures, and carry out speed adjustment, and congested link is avoided in travel direction variation in time.The system is to certainly
The dynamic control system for driving vehicle：Electrical steering assist controller, engine controller, the software of brake monitor adapt to
Property exploitation, do not increase hardware cost, have preferable economy and feasibility, to save automatic driving vehicle running time have
Larger improvement.
Description of the drawings
Fig. 1 is the principle of the present invention schematic diagram.
Fig. 2 is the control flow chart of the present invention.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments, convenient for this hair is well understood
It is bright, but they do not form the present invention and limit.
As shown in Figure 1, the present invention have the function of anti-congestion net connection automatic driving control system including cloud server 1,
Trackside subsystem 2, on-vehicle information unit 3, automatic driving control system 4 and vehicle control system 5, wherein：
The function of cloud server 1 is to carry out global control, Dynamic Programming, Real-Time Scheduling, big data analysis etc..Specifically
Ground, cloud server is used to receive road information and information of vehicles that each trackside subsystem is sent, according to the information of reception to each
The jam situation of road is judged, is not changed for the path planning of the vehicle of smooth road；When judging that certain a road section goes out
During existing congestion, the instruction for changing path planning is made based on its destination information to the vehicle of congested link, which is sent
To trackside subsystem.
1 receive information of cloud server includes congestion in road, smooth information and the vehicle number of each trackside subsystem acquisition
Amount, position, speed, destination, intelligent traffic lamp information etc..Cloud server output result includes：For congested link
Vehicle make change path planning instruction.
The function of trackside subsystem 2 is the congestion judgement of road where carrying out, track grade planning, bus or train route Collaborative Control etc..
Specifically, trackside subsystem for the road information where acquisition on road and information of vehicles and is sent to cloud server, uses
The jam situation of the road is judged according to road information and information of vehicles, when judging the congestion in road, according to more
Change instruction and the road information of path planning, the instruction and target vehicle speed that the planning of change track is made to the vehicle of congested link refer to
Order is instructed for exporting the congestion in road situation, the instruction of path planning, the instruction of track planning and target vehicle speed to driving automatically
Sail control system.
The information that trackside subsystem 2 receives includes：The vehicle that on-vehicle information unit where trackside subsystem on road uploads
Position, speed, destination information, the quantity of each track vehicle, spacing are away from information, intelligent traffic lamp information.
Trackside subsystem judges：Place road whole track vehicle is more than 60, and spacing is respectively less than 1 meter, and speed is less than
3km/h (above-mentioned parameter can be demarcated), intelligent signal lamp meet simultaneously for conditions such as green lights, you can judge the congestion in road；Place
Away from more than 3 meters, speed is more than 20km/h (above-mentioned parameter can be demarcated) intelligent signal lamp and meets simultaneously for conditions such as green lights terrain vehicle,
It can determine that road is smooth.
Trackside subsystem output information：Judge based on place congestion in road or smoothly, for the vehicle of smooth road
Path planning does not change；For congested link, based on the instruction of cloud server change path planning, the vehicle number in each track
Amount calculates the track grade instruction of the vehicle of the congested link, sends lane change information to associated vehicle, adjust each track of the road
Vehicle fleet size；Desired speed is sent, reaches this section of road vehicle and the section is passed through with most rational speed.Under above-metioned instruction
It is dealt into the on-vehicle information unit of net connection automatic driving vehicle.
On-vehicle information unit 3 is used for the congestion in road situation for exporting trackside subsystem, the instruction, more for changing path planning
The instruction and target vehicle speed instruction for changing track planning are sent to automatic driving control system, for automatic driving control system is defeated
The information of vehicles gone out is sent to trackside subsystem.Between cloud server and trackside subsystem, trackside subsystem and on-vehicle information
It is communicated between unit by 5G networks.It is carried out between on-vehicle information unit and automatic driving control system by Ethernet
Communication.
Automatic driving control system 4 is for sending information of vehicles to trackside subsystem, for being exported according to the information of reception
Different Body Control orders are total by CAN between automatic driving control system and vehicle control system to vehicle control system
Line is attached transmission data.The control command of automatic driving control system output includes torque demand signal, deceleration instructs
Signal, desired orientation disk corner and desired orientation disk steering angular velocity signal and car light signal.
Vehicle control system 5, which is used to be controlled respectively according to different Body Control orders, reduces speed and travel direction becomes
Change.Specifically, vehicle control system includes
Engine controller 6 progressively subtracts for the torque demand signal control engine body 10 in control command
Small output driving torque is to the desired value torque of system calibrating；
Electrical steering assist controller 8 turns for the desired orientation disk corner in control command and desired orientation disk
It completes to turn on request to the electrical steering power-assisted actuation mechanism 12 of angular speed control vehicle.
Brake monitor 7, the braking system 11 for the deceleration instruction control vehicle in control command are steadily made
Dynamic, until the speed of net connection vehicle reaches target vehicle speed, automatic driving control system deceleration instruction at this time is zeroed.
Car body controller 9 lights Brake lamp and steering indicating light 13 for the car light signal in control command, reminds rear
Vehicle pays attention to regulation speed, avoids knocking into the back.
As shown in Fig. 2, a kind of control method based on above-mentioned net connection automatic driving control system, process are as follows：
It is collecting for information first, information of vehicles is pooled to trackside subsystem from on-vehicle information unit, and trackside subsystem will
Road information on the information of vehicles of acquisition and the road is pooled to cloud server together.
Cloud server joins the situation of the on-vehicle information unit of vehicle, collecting net connection by the real-time monitoring net of trackside subsystem
The traffic signals in each section of vehicle heading record the right of way in each section, according to the road information and vehicle of acquisition
Information judges the jam situation of each road, and when judging that congestion occurs in certain a road section, the vehicle of congested link is based on
Its destination information makes the instruction of change path planning.
Trackside subsystem judges the jam situation of the road according to the road information of acquisition, when judging that the road gathers around
When stifled, according to the instruction of change path planning and road information, the instruction of change track planning is made to the vehicle of congested link
And target vehicle speed instruction.
Automatic driving control system re-starts the association of each control system of vehicle interior according to the different instruction information of reception
Regulation and control system exports different control commands to vehicle control system by CAN bus, and vehicle control system is ordered according to different controls
Control reduces speed and travel direction variation respectively for order.
Automatic driving control system sends torque demand signal to engine controller, which is progressively reduced by currency
For the desired value of system calibrating.Engine controller progressively reduces output driving torque according to torque demand signal to system calibrating
Desired value torque.
If being also not enough to turn down speed to a target vehicle speed by the measure of above-mentioned limitation engine torque, from
Dynamic Ride Control System will send deceleration command signal to brake monitor by CAN bus, instruct and control according to the deceleration
Vehicle gradual braking processed, until the speed of net connection vehicle reaches target vehicle speed, automatic driving control system deceleration instructs at this time
Zero.
While automatic driving control system will send deceleration command signal by CAN bus to brake monitor, also
Brake lamp control command is sent to car body controller by CAN bus, car body controller lights Brake lamp after receiving the signal,
Front vehicle is reminded to pay attention to regulation speed, avoids knocking into the back.
After position can be turned or be turned around to net connection vehicle arrival, automatic driving control system will be sent by CAN bus
Desired orientation disk corner, desired orientation disk steering angular velocity, control vehicle is steady, the safety position, and implementation path is again
The upper layer policy requirement newly planned.
The content not being described in detail in this specification belongs to the prior art well known to professional and technical personnel in the field.
Claims (10)
1. a kind of net connection automatic driving control system with anti-congestion, it is characterised in that：Including
Cloud server (1), for receiving the road information and information of vehicles of each trackside subsystem, according to the information of reception to each
The jam situation of road is judged, when judging that congestion occurs in certain a road section, its destination is based on to the vehicle of congested link
Information makes the instruction of change path planning, which is sent to trackside subsystem；
Trackside subsystem (2) for the road information where acquisition on road and information of vehicles and is sent to cloud server, uses
The jam situation of the road is judged according to road information and information of vehicles, when judging the congestion in road, according to more
Change instruction and the road information of path planning, the instruction and target vehicle speed that the planning of change track is made to the vehicle of congested link refer to
Order is instructed for exporting the instruction of road jam situation, path planning, the instruction of track planning and target vehicle speed to automatic Pilot
Control system.
Automatic driving control system (4), for sending information of vehicles to trackside subsystem, for being exported not according to the information of reception
With Body Control order to vehicle control system
Vehicle control system (5) reduces speed and travel direction variation for being controlled respectively according to different Body Control orders.
2. the net connection automatic driving control system with anti-congestion according to claim 1, it is characterised in that：Also wrap
Include on-vehicle information unit (4), for trackside subsystem is exported congestion in road situation, the instruction of path planning, track planning
Instruction and target vehicle speed instruction be sent to automatic driving control system, for automatic driving control system is exported vehicle letter
Breath is sent to trackside subsystem.
3. the net connection automatic driving control system with anti-congestion according to claim 2, it is characterised in that：It is described
Pass through 5G nets between cloud server (1) and trackside subsystem (2), between trackside subsystem (2) and on-vehicle information unit (3)
Network communicates.
4. the net connection automatic driving control system with anti-congestion according to claim 2, it is characterised in that：It is described
It is communicated between on-vehicle information unit (3) and automatic driving control system (4) by Ethernet.
5. the net connection automatic driving control system with anti-congestion according to claim 1, it is characterised in that：It is described
Vehicle control system (5) includes
Engine controller (6) progressively reduces output driving torque for the torque demand signal control in control command
To the desired value torque of system calibrating；
Electrical steering assist controller (8) turns to for the desired orientation disk corner in control command and desired orientation disk
Angular speed control vehicle is completed to turn on request.
6. the net connection automatic driving control system with anti-congestion according to claim 1, it is characterised in that：It is described
Vehicle control system (5) further includes brake monitor (7), steady for the deceleration instruction control vehicle in control command
Braking, until the speed of net connection vehicle reaches target vehicle speed.
7. the net connection automatic driving control system with anti-congestion according to claim 1, it is characterised in that：It is described
Vehicle control system (5) further includes car body controller (9), lights Brake lamp for the car light signal in control command and turns
To lamp.
8. a kind of control method of any one net connection automatic driving control system based on described in claim 1-7, feature
It is：Cloud server judges the jam situation of each road according to the road information and information of vehicles of acquisition, works as judgement
When congestion occurs in certain a road section, the instruction for changing path planning is made based on its destination information to the vehicle of congested link；Road
Side sub-system judges the jam situation of the road according to the road information of acquisition, when judging the congestion in road, according to
Instruction and the road information of path planning are changed, instruction and the target vehicle speed of the planning of change track are made to the vehicle of congested link
Instruction；Automatic driving control system exports different control commands to vehicle control system according to the different instruction information of reception；
Vehicle control system controls respectively according to different control commands reduces speed and travel direction variation.
9. control method according to claim 8, it is characterised in that：The vehicle control system is according in control command
Torque demand signal progressively reduces vehicle output driving torque to the desired value torque of system calibrating；Phase in control command
Steering wheel angle and desired orientation disk steering angular velocity control vehicle is hoped to complete to turn on request；Car light in control command
Signal lights Brake lamp and steering indicating light.
10. control method according to claim 9, it is characterised in that：When an output driving torque is reduced to system calibrating
Desired value torque after, automatic driving control system judge speed be more than target vehicle speed when, send deceleration instruct to vehicle control
System processed, vehicle control system instructs control vehicle gradual braking according to deceleration, until the speed of vehicle reaches target vehicle speed.
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| CN201711384712.8A CN108109415B (en) | 2017-12-20 | 2017-12-20 | Internet automatic driving control system and method with anti-congestion function |
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| CN201711384712.8A CN108109415B (en) | 2017-12-20 | 2017-12-20 | Internet automatic driving control system and method with anti-congestion function |
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