CN108205312A - Unmanned BRT vehicles automatic start-stop implementation method based on high-precision map and infrared beacon - Google Patents
Unmanned BRT vehicles automatic start-stop implementation method based on high-precision map and infrared beacon Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
- G05D1/0077—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements using redundant signals or controls
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
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Abstract
The invention discloses a kind of unmanned BRT vehicles automatic start-stop implementation methods based on high-precision map and infrared beacon, include the following steps：Step 1：Unmanned BRT vehicles start to walk from starting point Public Transport Station, enter cruising phase after starting；Step 2：When vehicle passes through in the deceleration point set on high-precision map, using the track center line after offset as expected path, it is decelerated to after desired speed with to set deceleration and is allowed at the uniform velocity travel on expected path；When the infrared remote receiver of automobile body installation receives the infrared signal through roadside baffle reflection, pulled in parking with setting deceleration；It is to be checked to measure after vehicle comes to a complete stop, automatically open car door；After closing of the door signal is detected, vehicle restarts and enters cruising phase；When vehicle is reached home Public Transport Station, by the terminal set on high-precision map, to set deceleration parking, stroke terminates.The present invention can realize vehicle in horizontal, the longitudinal accurate stop of BRT platforms.
Description
Technical field
The invention belongs to intelligent driving and its control technology fields, more particularly to a kind of to be based on high-precision map and infrared letter
The unmanned BRT vehicles automatic start-stop implementation method of target.
Background technology
Fast public traffic system (Bus Rapid Transit) abbreviation BRT is one kind between rail rapid transit (Rapid
Rail Transit, abbreviation RRT) novel public passenger transport between regular public traffic (Normal Bus Transit, abbreviation NBT)
System is a kind of middle freight volume mode of transportation, is quickly run on dedicated path space, generally also make " ground by person
On subway ".Since BRT planning is in the most inner side of road, and in runway separation, and platform has guardrail to block, therefore needs
It wants vehicle horizontal, longitudinal direction in parking all relatively more accurate, car door can be avoided to be blocked, facilitate passenger getting on/off.
The automatic start-stop of subway now to be referred to as train automated driving system mainly by automatic train operation device (ATO) more.
The precise positioning of subway relies primarily on transponder, and the coding information of position and speed is stored in each transponder, when subway passes through
When crossing transponder, the reception device (transponder antenna) of subway bottom installation is realized by reading the information stored in transponder
The precise positioning of subway.The transponder of platform is distributed than comparatively dense, and a general platform can arrange 3-4 transponder, subway warp
Transponder medium velocity information can be read when crossing each transponder to adjust car speed in real time, to realize precisely stopping for platform
It leans on.Platform screen door is wider 30cm than car door, thus when stopping permission ± 15cm error.
Automatic Pilot is the inevitable outcome developed with Internet era in the intelligent epoch, and the breach that automatic Pilot is popularized,
Then on bus.On the one hand, national policy pushes the development of public transport and automatic Pilot energetically；On the other hand, due to public affairs
Intersection road is fixed, it is easier to realize automatic Pilot.Unmanned BRT vehicles have car-mounted computer to calculate expectation in real time according to current location
Speed so that vehicle in-track platform is more punctual, is convenient for people to go on a journey.But how to realize the accurate stop that platform is horizontal, longitudinal, keep away
Exempt from accident occurs during passenger (particularly old man, child) gets on or off the bus to still need to further study.
Invention content
Technical problem solved by the invention is, in view of the deficiencies of the prior art, propose it is a kind of based on high-precision map with
The unmanned BRT vehicles automatic start-stop implementation method of infrared beacon can realize that vehicle is horizontal, longitudinal direction accurate in BRT platforms
It stops, avoiding the problem that vehicle, transverse and longitudinal is in larger distance between platform when BRT platforms are stopped.Vehicle is reached on high-precision map
During the deceleration point position of setting, vehicle deceleration traveling, reminding passengers are i.e. by in-track platform；When then, by infrared beacon, vehicle
Ramp to stop improves the precision of parking position, reduces horizontal stroke of the unmanned BRT vehicles when platform stops between platform as far as possible
Fore-and-aft distance ensures the safety of passenger getting on/off；Independent two sets infrared beacon equipment (infrared beacon redundancy) has better
Fault-tolerant ability reduces the platform parking failure caused by equipment fault.
Technical solution provided by the present invention is：
A kind of unmanned BRT vehicles automatic start-stop implementation method based on high-precision map and infrared beacon, including standard
Standby stage and unmanned BRT vehicles operation phase；
The preparation stage, installing infrared transceiver device in unmanned BRT vehicle bodies, (polarization filtering reflects template infrared sensing
Device), the waypoint location installation reflecting plate (polarization filtering reflecting plate) in the preceding roadside of platform, and in the high-precision map (height
Precision map is sub-meter grade map, such as the high-precision map of Gao De) on setting deceleration point position；
It the unmanned BRT vehicles operation phase, is controlled according to the following steps：
Step 1, unmanned BRT vehicles are started to walk from starting point Public Transport Station；
Step 2, into cruising phase；
Step 3 judges whether unmanned BRT vehicles reach home Public Transport Station, if so, by high-precision map
During the terminal of upper setting, to set deceleration parking, stroke terminates；Otherwise, four are entered step；
Step 4, if unmanned BRT vehicles pass through the deceleration point that is set on high-precision map, by track center line to car door
Unmanned BRT vehicles are decelerated to expectation speed by the path that side translation certain distance obtains as expected path to set deceleration
It is allowed at the uniform velocity travel on expected path after degree, and enters step 5；Otherwise, return to step two；
Step 5, when the infrared transceiver device of unmanned BRT vehicle bodies installation receives the infrared letter through roadside baffle reflection
Number when, i.e., when unmanned BRT vehicles pass through stop, pulled in parking with setting deceleration；
Step 6, to be checked measure after vehicle comes to a complete stop (detect car speed for 0 and holding by the GPS data received
2s is determined as that vehicle comes to a complete stop), car door is automatically opened, after driver confirms all passenger loadings, car door is turned off manually；
Step 7, after closing of the door signal (detecting that closing of the door button is pressed) is detected, unmanned BRT vehicles weight
It is new to start, return to step two；
Further, BRT has dedicated Lanes, in the step 1, using dedicated Lanes center line as expectation road during starting
Diameter；Ring automatically before starting loudspeaker, play steering indicating light；When the lateral distance of unmanned BRT vehicles and BRT dedicated Lanes center lines is less than setting
During threshold value (0.2m), the end of the step is played, into cruising phase, steering indicating light resets.
Further, cruising phase in the step 2：
If vmaxSpeed for the cruise of unmanned BRT constant speed of vehicle；vminFront vehicles during for unmanned BRT vehicles adaptive cruise
Minimum speed；Speed unit mentioned by the present invention is m/s, and parasang is m.
The front vehicles speed v in track where unmanned BRT vehiclesfront≥vmaxOr before track where unmanned BRT vehicles
When side is without vehicle, unmanned BRT constant speed of vehicle cruise, setting speed vd=vmax；
Work as vmin≤vfront＜ vmaxWhen, unmanned BRT vehicles adaptive cruise follows front truck, ensures 1.5<th<2.2, wherein
Th is time headway, by th=(S-x0)/v is calculated, and wherein S is (to pass through unmanned BRT vehicle headstocks with front vehicles distance
Millimetre-wave radar detect to obtain), x0For minimum safe distance, v is unmanned BRT vehicles real-time speed；
Work as vfront<vminWhen, if S>(4v+20), unmanned BRT vehicle lane-changings are overtaken other vehicles；Otherwise parking until front vehicles from
It opens, unmanned BRT vehicles restarting.
The unmanned BRT vehicle behaviors of 1 cruising phase of table
Further, the preparation stage, unmanned BRT automobile bodies installation infrared transceiver device method be：In nothing
By the position of near-car head and roof on the vehicle body of people's BRT Vehicular doors side, infrared transceiver device is installed；Such as on left side
The BRT to get off, on the left of vehicle body, by the position of near-car head and roof, installation infrared transceiver device；
Waypoint location in the preceding roadside of platform installs reflecting plate, and the height of reflecting plate is installed with unmanned BRT automobile bodies
Infrared transceiver device be consistent；The installation site of wherein waypoint location, i.e. reflecting plate is determined according to following steps：
1st, consider comfort level of riding, determine that suitable deceleration range A and vehicle should reach before stop during parking
The smaller speed v arrived2；
The deceleration a of vehicle when parking is set in deceleration range A the 2nd,2(a2∈ A), theoretically (ideal) stop with
The distance between platform stop line D2It should meet：
The D being calculated according to above formula2Value determine waypoint location, reflecting plate is installed on waypoint location；
3rd, actually since communication time, executing agency's response time, deceleration and velocity accuracy are not known and there is mistake
Difference needs to carry out test of many times in actual scene and updates the installation site of reflecting plate；
Experiment process is as follows：
(1) vehicle is with constant speed v2Traveling；
(2) when the infrared transceiver device of unmanned BRT vehicle bodies installation receives the infrared signal through roadside baffle reflection,
When i.e. unmanned BRT vehicles pass through waypoint location, vehicle is with deceleration a2Carry out ramp to stop；
(3) vehicle stops, and measures distance between vehicle stop position and stop line；Judge whether to meet when vehicle stops vertical
To required precision (distance is within 0-15cm between vehicle stop position and stop line)；If satisfied, then terminating to test, determining should
Waypoint location is satisfied waypoint location, i.e. reflecting plate has been mounted on satisfied waypoint location, otherwise enters step
(4)；
(4) installation site of reflecting plate, and return to step (1) are updated.
Further, the preparation stage, the deceleration point position on high-precision map are determined according to following steps：
The 1st, the deceleration a of vehicle in moderating process between deceleration point to stop is set in deceleration range A1,
The distance between deceleration point and stop D1It should meet：
D when taking the above formula equal sign to set up1It is worth corresponding deceleration point position as preferable deceleration point position, in high-precision map
On mark preferable deceleration point position.Deceleration point position on high-precision map should meet claimed below：(1) deceleration point and parking
The enough vehicles of distance complete moderating process between point, i.e. vehicle has been completed to slow down, and with speed v before reaching stop2It is even
Speed traveling；(2) distance must not be too far away between deceleration point and stop, avoid vehicle with smaller speed v2Travel the long period.
2nd, test of many times is carried out in actual scene and deceleration point position is updated on high-precision map；
Experiment process is as follows：
(1) vehicle is with constant cruising speed vmax(40-60km/h) is travelled；
(2) when reaching the deceleration point on high-precision map, vehicle is with deceleration a1Slow down, desired speed v2；
(3) observation car speed is kept to v2When position and the distance between the position and stop；If car speed subtracts
For v2When position before stop (vehicle reach in stop before completed to slow down) and the position and stop it
Between distance be less than given threshold, then terminate experiment process, determine front deceleration point position for satisfied deceleration point position；Otherwise
It enters step (4)；
(4) deceleration point position, and return to step (1) are changed on high-precision map.
Further, in the step 4, by set on high-precision map deceleration point when, to unmanned BRT vehicles into
The following crosswise joint of row：
First, vehicle axis system is established, coordinate origin is headstock center, and right ahead is X-axis positive direction, vehicle
Front-left is Y-axis positive direction, is Z axis positive direction right over vehicle；
Then, two lane line of left and right in track where detecting unmanned BRT vehicles by camera, and it is given at vehicle coordinate
The lower lane line parameter of system, two lane line function representations of left and right are as follows：
10 discrete points are respectively taken on the lane line of left and right again：(xi,f(xi))、(xi,g(xi)), wherein xi=0,5,10 ...,
45(m)；Take mean value h (xi)=(f (xi)+g(xi))/2, obtained mean value discrete point is fitted to obtain track center line expression formula：h
(x)=a3x3+b3x2+c3x+d3, wherein d3The lateral distance of as unmanned BRT vehicles and dedicated Lanes center line；
Ideally, when vehicle reaches deceleration point, by track center line translation distance x to the leftmObtained path is as the phase
Path is hoped, so that vehicle can be with pulling over observing；Wherein, xm=(DRoad-DVehicle)/2-Dm(cm), DRoadFor lane width, DVehicleIt is wide for vehicle
Degree, DmVehicle and the ideal value of platform lateral distance when stopping for platform.Under actual conditions, it should be carried out in actual scene repeatedly
It tests to be determined as final xmValue.In experimentation, to ensure safety, make xmIncrease since 0 with test number (TN) and increase,
When vehicle stops and the lateral distance of platform meets required precision (0-15cm).
Experiment process is as follows：
(1) x is setm=0, start vehicle；
(2) when unmanned BRT vehicles do not reach deceleration point also, the two track line function of left and right detected according to camera calculates
Go out lane line center line expression formula as expected path, so that vehicle is travelled among track；
(3) when unmanned BRT vehicles reach deceleration point, by track center line translation distance x to the leftmObtained path is as expectation
Path, so that vehicle can be with pulling over observing；
(4) vehicle and platform lateral distance are measured after unmanned BRT vehicle parkings, is judged when vehicle stops and the transverse direction of platform
Whether distance meets transverse precision requirement, and (vehicle and platform are lateral when the vehicle and the lateral distance of platform measured stops with platform
The ideal value D of distancemDeviation within 0-15cm), if so, by x at this timemValue is as final xmValue；Otherwise, enter
Step (5)；
(5) increase xm；After passenger loading, vehicle, and return to step (2) are restarted.
Further, the redundancy of infrared beacon is：
The preparation stage leans on the position of near-car head and roof on the vehicle body of car door side, is installed on vertical direction independent
Two sets of infrared transceiver devices；Two independent reflecting plates, the height of reflecting plate and unmanned BRT vehicles are installed in the vertical direction
Two sets of infrared transceiver devices of vehicle body installation are consistent；
Setting, which is slowed down, on high-precision map confirms point, and position is between reflecting plate and platform, for detecting unmanned BRT vehicles
Whether body installation infrared transceiver device receives the infrared signal through baffle reflection；
When vehicle passes through reflecting plate, if two sets of infrared transceiver devices of unmanned BRT vehicle bodies receive infrared signal,
Think that equipment is normal；If only a set of infrared transceiver device receives infrared signal, vehicle can normally travel, remind relevant people
Member checks equipment；V when if vehicle confirms point by slowing down on high-precision map2(wherein △ v are threshold values to-v ＜ Δs v, △ v ＞
0), illustrating to be not detected infrared signal, (vehicle deceleration is judged primarily to judging whether infrared transceiver device is out of order and goes out
Driver's take over vehicle is reminded during failure；Judge if infrared transceiver device breaks down without adding to slow down, vehicle can not
Judge to will continue to move forward by in-track platform), then it needs alarm and platform shut-down operation is carried out by driver's take over vehicle.
Further, when having barrier in front of the platform front reduction gear stage, the processing method of unmanned BRT vehicles：
When will be close to platform at once, if having a barrier in front of the track of current vehicle traveling, vehicle deceleration parking, not into
Row lane-change avoidance operates.Purpose is to normally receive the infrared signal through polarization filtering baffle reflection to slow down and to stop
Vehicle avoids missing signal.When front obstacle far from when, vehicle continues to travel.If there is no front obstacle in setting time
It leaves, voice reminder driver intervention, manual operation to platform, after passenger loading, carries out automatic Pilot again.
Advantageous effect：
It is realized the present invention provides a kind of based on the unmanned BRT vehicles automatic start-stop of high-precision map and infrared beacon
Method includes the following steps：Step 1, unmanned BRT vehicles start to walk from starting point Public Transport Station, enter cruise rank after starting
Section, step 2：When unmanned BRT vehicles pass through in the deceleration point set on high-precision map, the track center line after offset is made
For expected path, at the uniform velocity travelled with setting after deceleration is decelerated to desired speed；Step 3, when unmanned BRT vehicle bodies installation it is red
(i.e. unmanned BRT vehicles pass through stop when outer receiver receives the infrared signal reflected through roadside polarization filtering reflector
When), it is pulled in parking with setting deceleration；Step 4, it is to be checked to measure after vehicle comes to a complete stop, car door is automatically opened, when driver confirms institute
After having passenger loading, car door is turned off manually；Step 5, after closing of the door signal is detected, unmanned BRT vehicles restarting is simultaneously
Into cruising phase；Step 6, when unmanned BRT vehicles are reached home Public Transport Station, by the end set on high-precision map
During point, to set deceleration parking, stroke terminates.
Its advantage is embodied in the following：
1. stopping based on the platform of high-precision map and infrared equipment, more meet human driver's operating habit, raising stops
Positional precision during vehicle reduces the transverse and longitudinal distance between platform.
2. using two sets of independent infrared beacon equipments, there is better fault-tolerance, while set on high-precision map
Slow down and confirm point, reduce the probability of the platform parking failure caused by equipment fault.
3. restarted after system detectio to driver's closed door, car door is avoided to clip to passenger or vehicle when passenger does not get on the bus
Situation about having been started up, so as to ensure personal safety during passenger getting on/off.
Description of the drawings
Fig. 1 is the flow chart of the method for the invention；
Fig. 2 is vehicle axis system；
Fig. 3 is platform front reduction gear point and stop schematic diagram；
Fig. 4 reflects template infrared sensor scheme of installation for vehicle body polarization filtering；
Fig. 5 is platform front-reflection plate scheme of installation.
Specific embodiment
The present invention is described in further detail below with reference to the drawings and specific embodiments.
The present embodiment uses long 12m, the intelligent vehicle of wide 2.5m motor buses repacking, equipped with infrared transceiver device, laser radar,
Millimetre-wave radar, camera and GPS/IMU systems, standard two-way six-lane road expansion based on high-precision map with it is red
The unmanned BRT vehicles automatic start-stop experiment of outer beacon.
Flow chart shown in Figure 1, a kind of unmanned BRT vehicles based on high-precision map and infrared beacon are automatic
Start and stop implementation method, includes the following steps：
Step 1, unmanned BRT vehicles start to walk from starting point Public Transport Station, enter cruising phase after starting；
Step 2, will be in the track after offset when unmanned BRT vehicles pass through in the deceleration point set on high-precision map
Line is at the uniform velocity travelled as expected path with setting after deceleration is decelerated to desired speed；
Step 3, when the infrared remote receiver of unmanned BRT vehicle bodies installation receives what is reflected through roadside polarization filtering reflector
During infrared signal when stop (unmanned BRT pass through), pulled in parking with setting deceleration；
Step 4, it is to be checked to measure after vehicle comes to a complete stop, car door is automatically opened, after driver confirms all passenger loadings, manually
Closed door；
Step 5, after closing of the door signal is detected, unmanned BRT vehicles restart and enter cruising phase；
Step 6, when unmanned BRT vehicles are reached home Public Transport Station, by the terminal set on high-precision map,
To set deceleration parking, stroke terminates.
The starting stage, detailed process was as follows in the step 1：
BRT has dedicated Lanes, therefore the starting stage is using dedicated Lanes center line as expected path；Ring loudspeaker automatically before starting
, it plays steering indicating light.When the lateral distance of unmanned BRT vehicles and BRT dedicated Lanes center lines is less than 0.2m, the end of the step is played, is entered
Cruising phase, steering indicating light reset.
Cruising phase detailed process is as follows in the step 1：
If vmaxFor the speed of unmanned BRT constant speed of vehicle cruise, v is takenmax=12m/s；vminIt is adaptive for unmanned BRT vehicles
Front truck minimum speed during cruise, takes vmin=3m/s；Speed unit mentioned by the present invention is m/s, and parasang is m.
As front car speed vfront≥vmaxOr when in front of the track of unmanned BRT vehicles place without vehicle, unmanned BRT vehicles are determined
Speed cruise, setting speed vd=vmax；
As front car speed vmin≤vfront＜ vmaxWhen, unmanned BRT vehicles adaptive cruise follows front truck, ensures 1.5<
th<2.2, wherein th are time headway, by th=(S-x0)/v is calculated, wherein S for unmanned BRT vehicles and front vehicles away from
From x0For minimum safe distance, v is unmanned BRT vehicles real-time speed；
As front car speed vfront<vminWhen, if S>(4v+20), unmanned BRT vehicle lane-changings are overtaken other vehicles；Otherwise parking until
Front vehicles are left, unmanned BRT vehicles restarting.
The unmanned BRT vehicle behaviors of 1 cruising phase of table
It is described Step 2: in three, the setting of deceleration point position and vehicle body infrared transceiver device, roadside on high-precision map
The installation of polarization filtering reflecting plate is as follows：
4.1. the installation of vehicle body infrared transceiver device：Consider the BRT to get on or off the bus in left side, it should be on the left of vehicle body, close vehicle
Two sets of independent infrared transceiver devices are installed in vertical direction in the position of head and roof；
4.2. the installation of the preceding roadside polarization filtering reflector of platform：Height should be consistent with vehicle body infrared transceiver device,
Two independent polarization filtering reflecting plates are installed, distance determines that step is as follows between platform in vertical direction：
Consider that comfort level determines suitable deceleration range A by bus；Determine that vehicle should reach smaller before stop
Speed v2=2m/s；
Stop (reflecting plate) position determines：
Determine suitable deceleration a during parking2=0.3m/s (a2∈ A), theoretically the distance between stop and stop line
D2It should meet：
Reflecting plate is fixed on preferable stop, i.e., the D that above formula determines2It is worth position.Actually due to communication time,
Executing agency's response time, deceleration and velocity accuracy are not known and there are errors, need repeatedly to be tried in actual scene
The installation site of reflecting plate is tested and updated, finally determines D2Value；
Experiment process is as follows：
(1) vehicle is with constant speed v2Traveling；
(2) stop (i.e. vehicle body polarization filtering infrared sensor detects the infrared light returned through baffle reflection) is reached,
Vehicle is with deceleration D2Carry out ramp to stop；
(3) vehicle stops, and measures distance between vehicle stop position and stop line；
(4) installation site of reflecting plate is updated.Process is repeated the above experiment, until determining that satisfied stop (reflects
Plate is mounted on and is satisfied with position) so that vehicle meets required precision when stopping.
4.3. after waypoint location determines, deceleration point position determines on high-precision map：
Determine the vehicle deceleration a in moderating process between deceleration point to stop1=0.3m/s (a1∈ A), determine cruise
Speed v1=12m/s, the distance between deceleration point and stop D1It should meet：
Go out preferable deceleration point in high-precision map subscript, i.e. the distance between deceleration point and stop takes above formula equal sign to set up
When D1.Test of many times is carried out in actual scene and deceleration point is updated on high-precision map, finally determines D1Value；
Experiment process is as follows：
(1) vehicle is with constant cruising speed vmaxTraveling；
(2) deceleration point on high-precision map is reached, vehicle is with deceleration α1Slow down, desired speed v2；
(3) observation car speed is kept to v2When position and the distance between stop；
(4) deceleration point is changed on high-precision map.Process is repeated the above experiment, until being determined on high-precision map full
The deceleration point of meaning meets claimed below：(1) the enough vehicles of distance complete moderating process between deceleration point and stop, i.e. vehicle arrives
It has completed to slow down, and with speed v before up to stop2At the uniform velocity travel；(2) distance cannot be too between deceleration point and stop
Far, vehicle is avoided with smaller speed v2Travel the long period.
In the step 2, by set on high-precision map deceleration point when, the unmanned specific mistake of BRT vehicle lateral controls
Journey is as follows：
First, vehicle axis system is established, defines vehicle axis system, wherein coordinate origin is headstock center, and vehicle is just
Front is X-axis, and vehicle front-left is Y-axis, is Z axis right over vehicle.
Two lane lines of track or so where camera detection vehicle, and lane line parameter under vehicle axis system is given at, it is left
Right two lane lines represent as follows：
Take each 10 of left and right track discrete point：(xi,f(xi))、(xi,g(xi)), wherein xi=0,5,10 ..., 45；It takes
Value h (xi)=(f (xi)+g(xi))/2, the fitting of obtained mean value discrete point is obtained into track center line expression formula：H (x)=a3x3+
b3x2+c3x+d3。
Ideally, when vehicle reaches deceleration point, by track center line translation distance x to the leftmAs expected path, so as to
Vehicle can be with pulling over observing；Wherein, xm=(DRoad-DVehicle)/2-Dm(cm), DRoad=3.75m be lane width, DVehicle=2.54m is vehicle
Width, DmVehicle and platform lateral distance when=0.1m stops for platform.Under actual conditions, to ensure safety, x should be mademIt is opened from 0
Begin to increase and increase with test number (TN), until meeting transverse precision requirement during parking.Test initially set xm=0.
Crosswise joint method specific steps include：
(1) when vehicle does not reach deceleration point also, the left and right track line function that vehicle is detected with camera calculates track
Line center line is travelled on as expected path, vehicle among track；
(2) when vehicle reaches deceleration point, by track center line translation distance x to the leftmAs expected path, so that vehicle can be with
Pulling over observing；
(3) vehicle and platform lateral distance are measured after vehicle parking；
(4) after passenger loading, vehicle restarting.Using track center line as expected path, so that vehicle travels on
Among track.
(5) increase xm.Above experiment is repeated, until vehicle is met the requirements when stopping with platform lateral distance.
In the step 5, unmanned BRT vehicles start to walk to enter cruising phase again：
Using track center line as expected path, unmanned BRT vehicle behaviors are the same as claim 3.
The redundancy of infrared beacon is described in detail below：
Setting, which is slowed down, on high-precision map confirms point, and position is near reflecting plate and platform midpoint, for detecting nobody
Whether the vehicle body infrared remote receiver of BRT vehicles receives the infrared signal through baffle reflection.
When vehicle passes through polarization filtering reflecting plate, if vehicle body infrared remote receiver receives infrared signal twice, recognize
It is normal for equipment；If receiving an infrared signal, vehicle can normally travel, remind related personnel check equipment；If vehicle
V when confirming point by slowing down on high-precision map2- v ＜ Δs v (wherein △ v=0.5m/s are threshold values), i.e., vehicle does not subtract
Speed illustrates infrared signal is not detected, then needs alarm and carry out platform shut-down operation by driver's take over vehicle.
When having barrier in front of the platform front reduction gear stage, the processing method of unmanned BRT vehicles is specific as follows：
When will be close to platform at once, if having a barrier in front of the track of current vehicle traveling, vehicle deceleration parking, not into
Row lane-change avoidance operates.Purpose is to normally receive the infrared signal through polarization filtering baffle reflection to slow down and to stop
Vehicle avoids missing signal.When front obstacle far from when, vehicle continues to travel.If there is no front obstacle in setting time
It leaves, voice reminder driver intervention, manual operation to platform, after passenger loading, carries out automatic Pilot again.
The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof, although with reference to above-described embodiment pair
The present invention is described in detail, those of ordinary skills in the art should understand that：It still can be to the specific of the present invention
Embodiment is modified or replaced equivalently, and without departing from any modification of spirit and scope of the invention or equivalent replacement,
It is intended to be within the scope of the claims of the invention.
Claims (10)
1. a kind of unmanned BRT vehicles automatic start-stop implementation method based on high-precision map and infrared beacon, feature exist
In including preparation stage and unmanned BRT vehicles operation phase；
It is the preparation stage, anti-in unmanned BRT vehicle bodies installation infrared transceiver device, the waypoint location installation in the preceding roadside of platform
Plate is penetrated, and deceleration point position is set on high-precision map；
It the unmanned BRT vehicles operation phase, is controlled according to the following steps：
Step 1: unmanned BRT vehicles are started to walk from starting point Public Transport Station；
Step 2: unmanned BRT vehicles enter cruising phase；
Step 3: judge whether unmanned BRT vehicles reach home Public Transport Station, if so, by being set on high-precision map
During the terminal put, to set deceleration parking, stroke terminates；Otherwise, four are entered step；
Step 4: when unmanned BRT vehicles pass through in the deceleration point set on high-precision map when, by BRT dedicated Lanes center line to
Unmanned BRT vehicles are decelerated to the phase by the path that car door side translation certain distance obtains as expected path to set deceleration
It is allowed at the uniform velocity travel on expected path after hoping speed, and enters step 5；Otherwise, return to step two；
Step 5: when the infrared transceiver device of unmanned BRT vehicle bodies installation receives the infrared signal through roadside baffle reflection,
When i.e. unmanned BRT vehicles pass through stop, pulled in parking with setting deceleration；
Step 6: to be checked measure after vehicle comes to a complete stop, car door is automatically opened；
Step 7: after closing of the door signal is detected, unmanned BRT vehicles restarting, return to step two.
It is 2. according to claim 1 based on the unmanned BRT vehicles automatic start-stop of high-precision map and infrared beacon reality
Existing method, which is characterized in that in the unmanned BRT vehicles operation phase, using BRT dedicated Lanes center lines as expected path during starting；
Ring automatically before starting loudspeaker, play steering indicating light；When the lateral distance of unmanned BRT vehicles and BRT dedicated Lanes center lines is less than setting threshold
During value, the end of the step is played, into cruising phase, steering indicating light resets.
It is 3. according to claim 1 based on the unmanned BRT vehicles automatic start-stop of high-precision map and infrared beacon reality
Existing method, which is characterized in that cruising phase in the step 2：
If vmaxSpeed for the cruise of unmanned BRT constant speed of vehicle；vminFront vehicles are most during for unmanned BRT vehicles adaptive cruise
Small speed；
The front vehicles speed v in track where unmanned BRT vehiclesfront≥vmaxOr track front nothing where unmanned BRT vehicles
Che Shi, unmanned BRT constant speed of vehicle cruise, setting speed vd=vmax；
Work as vmin≤vfront＜ vmaxWhen, unmanned BRT vehicles adaptive cruise follows front truck, ensures 1.5<th<2.2, wherein th are
Time headway, by th=(S-x0)/v is calculated, and wherein S is and front vehicles distance, x0For minimum safe distance, v is nobody
BRT vehicle real-time speeds；
Work as vfront<vminWhen, if S>(4v+20), unmanned BRT vehicle lane-changings are overtaken other vehicles；Otherwise parking until front vehicles leave, nothing
People BRT vehicles restart.
It is 4. according to claim 1 based on the unmanned BRT vehicles automatic start-stop of high-precision map and infrared beacon reality
Existing method, which is characterized in that the preparation stage is in the method for unmanned BRT automobile bodies installation infrared transceiver device：In nothing
By the position of near-car head and roof on the vehicle body of people's BRT Vehicular doors side, infrared transceiver device is installed；
Waypoint location in the preceding roadside of platform installs reflecting plate, and the height of reflecting plate is installed red with unmanned BRT automobile bodies
Outer R-T unit is consistent；The installation site of wherein waypoint location, i.e. reflecting plate is determined according to following steps：
Step 1 determines the speed v that suitable deceleration range A and vehicle should reach before stop during parking2；
Step 2, the deceleration a that vehicle when stopping is set in deceleration range A2, theoretically between stop and platform stop line
Distance D2It should meet：
The D being calculated according to above formula2Value determine waypoint location, reflecting plate is installed on waypoint location；
Step 3 carries out test of many times in actual scene and updates the installation site of reflecting plate；Experiment process is as follows：
1) vehicle is with constant speed v2Traveling；
2) when the infrared transceiver device of unmanned BRT automobile bodies installation receives the infrared signal through roadside baffle reflection,
When i.e. unmanned BRT vehicles pass through waypoint location, vehicle is with deceleration a2Carry out ramp to stop；
3) after vehicle stops, distance between vehicle stop position and platform stop line is measured；Judge whether meet when vehicle stops
Longitudinal precision requirement；If satisfied, then terminating to test, determine the waypoint location for satisfied waypoint location, i.e. reflecting plate
Mounted on satisfied waypoint location, otherwise enter step 4)；
4) installation site of reflecting plate, and return to step 1 are updated).
It is 5. according to claim 4 based on the unmanned BRT vehicles automatic start-stop of high-precision map and infrared beacon reality
Existing method, which is characterized in that it is 0- that Longitudinal precision, which requires the distance between vehicle stop position and stop line, in the step 3)
Within 15cm.
It is 6. according to claim 4 based on the unmanned BRT vehicles automatic start-stop of high-precision map and infrared beacon reality
Existing method, which is characterized in that the preparation stage, the deceleration point position on high-precision map are determined according to following steps：
Step 1, in deceleration range A in moderating process of the setting between deceleration point to stop vehicle deceleration a1, subtract
The distance between speed point and stop D1It should meet：
D when taking the above formula equal sign to set up1It is worth corresponding deceleration point position as ideal deceleration point position, on high-precision map
Mark ideal deceleration point position；
Step 2 carries out test of many times in actual scene and deceleration point position is updated on high-precision map；Experiment process is such as
Under：
1) vehicle is with constant cruising speed vmaxTraveling；
2) when reaching the deceleration point on high-precision map, vehicle is with deceleration a1Slow down, desired speed v2；
3) observation car speed is kept to v2When position and the distance between the position and stop；If car speed is kept to v2When
Distance of the position before stop and between the position and stop be less than given threshold, then terminate experiment process, determine
Front deceleration point position is satisfied deceleration point position；Otherwise it enters step 4)；
2.4) deceleration point position, and return to step 1 are changed on high-precision map).
It is 7. according to claim 1 based on the unmanned BRT vehicles automatic start-stop of high-precision map and infrared beacon reality
Existing method, which is characterized in that in the step 4, BRT dedicated Lanes center line is translated into x to car door sidemMake in obtained path
For expected path, test of many times is carried out in actual scene to be determined as xmValue；Experiment process is as follows：
1) x is setm=0, start vehicle；
2) when unmanned BRT vehicles do not reach deceleration point also, the two track line function of left and right detected according to camera calculates BRT
Special-purpose vehicle diatom center line expression formula is as expected path, so that vehicle is travelled among track；
3) when unmanned BRT vehicles reach deceleration point, by BRT dedicated Lanes center line translation distance x to the leftmObtained path is as the phase
Path is hoped, so that vehicle can be with pulling over observing；
4) lateral distance of vehicle and platform is measured after unmanned BRT vehicle parkings, judge when vehicle stops and platform laterally away from
From whether transverse precision requirement is met, if so, by x at this timemValue is as final xmValue；Otherwise, it enters step 5)；
5) increase xm；Restart vehicle, and return to step 2)；
The computational methods of BRT special-purpose vehicles diatom center line expression formula are in the step 2)：
First, vehicle axis system is established, coordinate origin is headstock center, and right ahead is X-axis positive direction, and vehicle is just
Left is Y-axis positive direction, is Z axis positive direction right over vehicle；
Then, two lane line of left and right of BRT dedicated Lanes is detected by camera, and is given at lane line under vehicle axis system and joins
Number, two lane line function representations of left and right are as follows：
10 discrete points are respectively taken on the lane line of left and right again：(xi,f(xi))、(xi,g(xi)), wherein xi=0,5,10 ..., 45
(m)；Take mean value h (xi)=(f (xi)+g(xi))/2, obtained mean value discrete point is fitted to obtain the expression of BRT dedicated Lanes center line
Formula：H (x)=a3x3+b3x2+c3x+d3, wherein d3The lateral distance of as unmanned BRT vehicles and BRT dedicated Lanes center lines.
It is 8. according to claim 7 based on the unmanned BRT vehicles automatic start-stop of high-precision map and infrared beacon reality
Existing method, which is characterized in that transverse precision requirement is the vehicle measured and the lateral distance and platform of platform in the step 4)
Vehicle and the ideal value D of platform lateral distance during parkingmDeviation within 0-15cm.
It is 9. according to claim 1 based on the unmanned BRT vehicles automatic start-stop of high-precision map and infrared beacon reality
Existing method, which is characterized in that the preparation stage, by the position of near-car head and roof, vertical direction on the vehicle body of car door side
Two sets of independent infrared transceiver devices of upper installation；Two independent reflecting plates are installed in the vertical direction, the height of reflecting plate with
Two sets of infrared transceiver devices of unmanned BRT automobile bodies installation are consistent；
Setting, which is slowed down, on high-precision map confirms point, and position is between reflecting plate and platform；
When vehicle passes through reflecting plate, if two sets of infrared transceiver devices of unmanned BRT automobile bodies receive infrared signal,
Think that equipment is normal；If only a set of infrared transceiver device receives infrared signal, related personnel is reminded to check equipment；Such as
When fruit vehicle confirms point by slowing down on high-precision map, v2- v ＜ Δ v, illustrate infrared signal is not detected, then alarm
And platform shut-down operation is carried out by driver's take over vehicle, wherein △ v are threshold values, △ v ＞ 0.
It is 10. according to claim 1 based on the unmanned BRT vehicles automatic start-stop of high-precision map and infrared beacon reality
Existing method, which is characterized in that when will be close to platform at once, if having barrier in front of the track of current unmanned BRT vehicles traveling,
Vehicle deceleration stops, and is operated without lane-change avoidance；When front obstacle far from when, vehicle continues to travel；If setting time
Interior front obstacle is not left, then driver is reminded to intervene.
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| CN108646764A (en) * | 2018-07-25 | 2018-10-12 | 吉林大学 | Automatic driving vehicle and control method based on fixed course, device and system |
| CN111123902B (en) * | 2018-10-11 | 2023-08-25 | 宇通客车股份有限公司 | Vehicle station entering method and station |
| CN111123902A (en) * | 2018-10-11 | 2020-05-08 | 郑州宇通客车股份有限公司 | Vehicle station entering method and station |
| WO2020103120A1 (en) * | 2018-11-23 | 2020-05-28 | 湖南中车时代电动汽车股份有限公司 | Control method and system for intelligent driving vehicle to automatically enter/exit stop |
| CN109989332A (en) * | 2019-05-06 | 2019-07-09 | 中国人民解放军陆军军事交通学院镇江校区 | The control system on beach is supported for loading stage |
| CN110244709A (en) * | 2019-05-16 | 2019-09-17 | 智久(厦门)机器人科技有限公司上海分公司 | A kind of mobile device parking planing method, device, computer readable storage medium |
| CN110155127A (en) * | 2019-05-21 | 2019-08-23 | 北京交通大学 | Train driving control method and device |
| CN112230648A (en) * | 2019-06-28 | 2021-01-15 | 丰田自动车株式会社 | Autonomous vehicle |
| CN111381517B (en) * | 2020-03-20 | 2024-03-19 | 阿里巴巴集团控股有限公司 | Simulation method, system and storage medium |
| CN111381517A (en) * | 2020-03-20 | 2020-07-07 | 阿里巴巴集团控股有限公司 | Simulation method, system and storage medium |
| CN111338360B (en) * | 2020-05-18 | 2020-10-02 | 北京三快在线科技有限公司 | Method and device for planning vehicle driving state |
| CN111338360A (en) * | 2020-05-18 | 2020-06-26 | 北京三快在线科技有限公司 | Method and device for planning vehicle driving state |
| CN113799749A (en) * | 2020-06-17 | 2021-12-17 | 郑州宇通客车股份有限公司 | Inbound control method and system |
| CN113799749B (en) * | 2020-06-17 | 2023-03-31 | 宇通客车股份有限公司 | Inbound control method and system |
| CN113034933A (en) * | 2021-03-05 | 2021-06-25 | 深圳市新天能科技开发有限公司 | Method and system for accurately stopping automobile |
| CN114228714A (en) * | 2022-02-28 | 2022-03-25 | 北京清研宏达信息科技有限公司 | Bus longitudinal automatic driving control method and control system for BRT |
| CN114228714B (en) * | 2022-02-28 | 2022-05-27 | 北京清研宏达信息科技有限公司 | Bus longitudinal automatic driving control method and control system for BRT |
| CN115348712A (en) * | 2022-08-30 | 2022-11-15 | 中国第一汽车股份有限公司 | Light control method and control device for vehicle starting |
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