CN108766004A - Overtake other vehicles control system and the method for automatic driving vehicle - Google Patents
Overtake other vehicles control system and the method for automatic driving vehicle Download PDFInfo
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- CN108766004A CN108766004A CN201810391440.2A CN201810391440A CN108766004A CN 108766004 A CN108766004 A CN 108766004A CN 201810391440 A CN201810391440 A CN 201810391440A CN 108766004 A CN108766004 A CN 108766004A
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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
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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
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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Abstract
The invention discloses overtake other vehicles control system and the methods of automatic driving vehicle, including vehicle information management control system, vehicle data acquisition system and server；The vehicle data acquisition system includes data management module and vehicle monitoring module；The vehicle monitoring module includes multigroup photosensitive sensor and/or multigroup ultrasonic sensor, photosensitive switch control unit, counting unit, test the speed unit and radio frequency identification unit, the vehicle monitoring module is set to road surface, road conditions, vehicle flowrate and Vehicle Speed for monitoring section in real time；The data management module is used to receiving, handle, store and uploading the data information detected by the vehicle monitoring module and will be in the information preservation to server that be collected into.The vehicle of the present invention can accurately obtain ambient enviroment from server, including vehicle location, test the speed, track and lane information, and can reach common understanding with passed vehicle vehicle, and carrying out safety after so that it is avoided overtakes other vehicles.
Description
Technical field
The invention belongs to intelligent transportation fields, specifically overtake other vehicles control system and the method for automatic driving vehicle.
Background technology
Automatic driving vehicle is a kind of novel intelligent automobile, also referred to as " wheeled mobile robot ", mainly passes through electricity
Sub-control unit, i.e. vehicle-mounted terminal equipment carry out accurately control to various pieces in vehicle and realize the complete of vehicle with analysis is calculated
Automatic running reaches the unpiloted purpose of vehicle.Existing vehicle cut-ins technology is typically position of the passing vehicle according to itself
It sets and decides whether to overtake other vehicles with information, such situation is difficult to same surrounding vehicles and reaches common understanding, meanwhile, automatic driving vehicle is main
The operation that accurate high speed is carried out by electronic control unit, in the case where not reaching common understanding with other vehicles, it is difficult to ensure
Security reliability when overtaking other vehicles.
Chinese patent CN105788369A discloses overtake other vehicles control method and the device for automatic driving vehicle.The side
One specific implementation mode of method includes：Reception waits for the solicited message of overtaking other vehicles that passing vehicle is sent out, wherein the solicited message of overtaking other vehicles
Relative position information including the identification information for waiting for passing vehicle and with the automatic driving vehicle；Detecting current road segment is
No is the section that can overtake other vehicles；It is the section that can overtake other vehicles in response to current road segment, according to the relative position information, adjustment and Adjacent vehicles
The distance between；According to the range information after adjustment, wait for that passing vehicle sends out overtaking signal to described.The embodiment ensure that
The safety overtaken other vehicles.
Chinese patent CN105818810A discloses the control method and smart machine applied to pilotless automobile.The party
One specific implementation mode of method includes：It receives driving habit input by user and chooses instruction；It obtains to choose with driving habit and instruct
Corresponding driving habit information, driving habit information include：Travel route, travel speed, acceleration time, deceleration time, brake
Distance；Based on driving habit information, pilotless automobile is controlled.On the one hand, using the driving habit information for collecting user, certainly
The traveling of dynamic control automobile simplifies the operation in driving procedure, and can carry out driving habit information and other users
It is shared.On the other hand, the driving habit information that can utilize the professional driver got, controls pilotless automobile,
While promoting stationarity and the safety of vehicle traveling, reduce the cost optimized to the manipulation of pilotless automobile.
Chinese patent CN106671982A discloses a kind of driverless electric automobile automatic overtaking system based on multiple agent
System and method, the system of overtaking other vehicles set onboard sensor, and onboard sensor is used to acquire driverless electric automobile traveling front
Road information；Based on vehicle-mounted sensory perceptual system and V2X communication systems extraction automobile and its ambient enviroment characteristic information, minimum peace is established
Full distance model；Basic function of the SIN function form as automatic overtaking system expected path is set, and real-time Dynamic Programming goes out nobody and drives
Sail the desired trajectory of electric vehicle automatic overtaking system；Based on the deviation of path and Actual path of overtaking other vehicles it is expected, using adaptive fuzzy
Sliding formwork control technology finds out the desired speed of driverless electric automobile automatic overtaking system and desired yaw velocity；Using more intelligence
Energy body genetic Optimization Algorithm, calculates the required vertically and horizontally power of each wheel of driverless electric automobile；It establishes by electric vehicle
Wheel vertically and horizontally realize to the mapping model of desired side drift angle and slip rate to driverless electric automobile tire vertically and horizontally power by power
Execute control.
The positioning of vehicle is mainly positioned by GPS in existing unmanned technology, but there are some by GPS
Disadvantage, such as some ground square signals are weaker, and it is very stable to lead to GPS system not, and GPS positioning can in positioning object motion process
Can exist response lag and display positioning distance there may be certain deviations.
Automatic driving vehicle on the market mostly uses greatly at present installs radar to perceive vehicle-periphery on vehicle, and
According to obtained road, vehicle location, relative distance and obstacle information is perceived, steering and the speed of vehicle are controlled, however
Can there are problems that detecting dead angle by radar detection, and radar signal be easy to cause reception not if not vertical reflection
The case where to reflection signal, signal is not detected so as to cause detection inaccuracy or, can not ensure the safety traffic of vehicle.
Invention content
In response to the problems existing in the prior art, the purpose of the present invention is to provide the control system of overtaking other vehicles of automatic driving vehicle,
By in road surfacing vehicle monitoring module, can accurately being positioned, being tested the speed to vehicle and carry out road condition monitoring；Pass through number
Neighbouring vehicle data information and geographical location information etc., which will be obtained, according to management module is sent to vehicle information management control system；Vehicle
Information management control system receives overtaking signal, analyses whether to overtake other vehicles, and overtaking signal is sent out after adjusting spacing.
To achieve the above object, the technical solution adopted by the present invention is：The control system of overtaking other vehicles of automatic driving vehicle, including
Vehicle information management control system, vehicle data acquisition system and server；The vehicle data acquisition system includes data pipe
Manage module and vehicle monitoring module；The vehicle monitoring module include multigroup photosensitive sensor and/or multigroup ultrasonic sensor,
Photosensitive switch control unit, counting unit, test the speed unit and radio frequency identification unit, and the vehicle monitoring module is set to road surface, uses
Road conditions, vehicle flowrate and Vehicle Speed in monitoring section in real time；The radio frequency identification unit includes installation penetrating in the car
Frequency blocks and the reader set on road surface, and the identity information of car owner and the information of vehicle are stored in the radio-frequency card；The data
Management module includes data receipt unit, data processing unit, data storage cell and data transmission unit；The data storage
Unit has prestored the geographical location of each reader and residing lane information；The data management module for receive,
Handle, store and upload the data information detected by the vehicle monitoring module and by the information preservation being collected into server
In；The vehicle information management control system is by receiving the information of server and solicited message of overtaking other vehicles, to automatic driving vehicle
It is adjusted and controls and send out overtaking signal.
The vehicle monitoring module of the present invention will be supervised for monitoring daily road traffic, speed and traffic information
Measured data is sent to the data management module.
Specifically, the reader and/or 201/ ultrasonic sensor 202 of photosensitive sensor are also associated with timing unit,
For monitor vehicle by time.The photosensitive sensor converts optical signals to electric signal, when there is vehicle to cross road surface,
The instantaneous variation that optical signal can be detected positioned at the photosensitive sensor on road surface, it is described when vehicle crosses one group of photosensitive sensor
The unit that tests the speed can calculate the length of vehicle according to the distance between the time of optical signal instantaneous variation and one group of photosensitive sensor
Degree and travel speed；The ultrasonic sensor to upper pavement surface by emitting ultrasonic signal, when there is vehicle to cross road surface,
The ultrasonic sensor can receive reflected ultrasonic signal at once, when vehicle crosses one group of ultrasonic sensor
When, you can the length and travel speed of vehicle are calculated by the unit that tests the speed；When a photosensitive sensor/supersonic sensing
When device detects signal transient variation, the counting unit remembers a number, to be counted to the vehicle flowrate of road.
When vehicle crosses reader, the reader is by reading and writing the i.e. recognizable car owner of the radio-frequency card in the over-speed vehicles
Identity information and vehicle information.Since geographical location information and lane information are pre-stored in data management module, work as vehicle
When by reader, currently it is also known that the location information of current vehicle and residing lane information, in conjunction with reader identify information of vehicles,
Speed and the track of the vehicle can accurately be measured.Lane information is specifically included according to where traffic rules current block
Whether track can carry out lane change, overtake other vehicles.It is opposite with the ways for using other detection direction boards to identify, the vehicle of the acquisition of this method
Road information result is more acurrate, prevents the erroneous judgement generated by missing inspection indicating number plate.By the data management module by current position
The identity information and vehicle identification information of reason position, residing lane information and car owner are sent in server, pass through data analysis
Component obtains vehicle data and generates track of vehicle, and in conjunction with current lane information and traffic information, whether judgement can currently overtake other vehicles.
It is more acurrate by the method progress vehicle location of this programme, it tests the speed small with the error of Track Pick-up, vehicle can be from server standard
Ambient enviroment is really obtained, suitable section and route is selected to overtake other vehicles, improves safety of overtaking other vehicles.
Preferably, the vehicle information management control system includes information receiving unit, data analysis and processing unit, distance
Adjustment unit, signal sending unit；Described information receiving unit receives the request of overtaking other vehicles for waiting for that passing vehicle is sent out by server
Information；The solicited message of overtaking other vehicles includes the identification information for waiting for passing vehicle and believes with the relative position of automatic driving vehicle
Breath；The data analysis and processing unit obtains nearby vehicle data information, lane information and traffic information and is divided from server
Whether analysis can overtake other vehicles；The distance adjusting unit is in response to the data analysis unit for adjusting distance between vehicle；It is described
Signal sending unit is according to the range information after adjustment, by server to waiting for that passing vehicle sends out overtaking signal.In this programme
Vehicle information management control system can make to wait for that passing vehicle and passed vehicle vehicle are reached common understanding, passed vehicle vehicle can carry out
Rational evacuation is conducive to wait for that passing vehicle selects suitable opportunity to overtake other vehicles, avoids occurring contingency in overtaking process.
Preferably, in multigroup photosensitive sensor/ultrasonic sensor each group set there are two photosensitive sensor/ultrasound
Wave sensor, and the distance between described two photosensitive sensor/ultrasonic sensors are fixed.
The distance between photosensitive sensor/ultrasonic sensor of this programme is fixed, is more convenient speed and track
Measuring and calculating.
It is highly preferred that being equipped with reader between photosensitive sensor/ultrasonic sensor described in every group.This preferred embodiment makes
It must test the speed and synchronous can be realized with identification and positioning, can more accurately determine the track of vehicle.
Preferably, the photosensitive switch control unit and multigroup photosensitive sensor, multigroup ultrasonic sensor, counting
Unit, the unit that tests the speed electrical connection replace the photosensitive sensor work for controlling the ultrasonic sensor under no light condition
Make.
Replacing for the photosensitive sensor and ultrasonic sensor is realized by photosensitive switch control unit described in this programme
Work, can similarly realize the monitoring to vehicle at night, while can also reduce the burden of sensor, avoid working long hours
And it damages.
Preferably, the distance adjusting unit includes safety distance threshold subelement and adjustment subelement；The safety away from
Whether it is less than preset safety distance threshold with a distance to be adjusted for determining from threshold value subelement；The adjustment subelement is for ringing
It answers the speed of automatic driving vehicle and/or direction to be adjusted distance and is larger than safety distance threshold.
The present invention also provides the control method of overtaking other vehicles for the automatic driving vehicle for using above system, the method includes：
Reception waits for that the solicited message of overtaking other vehicles that passing vehicle is sent out, the solicited message of overtaking other vehicles include the mark letter of the automatic driving vehicle
Breath, relative position information；Nearby vehicle data information, lane information and traffic information, analysis are obtained from server simultaneously to work as
Whether preceding section is the section that can overtake other vehicles；Be that can overtake other vehicles section in response to current road segment, according to the relative position information, adjustment with
The distance between Adjacent vehicles；According to the range information after adjustment, wait for that passing vehicle sends out overtaking signal to described.
Preferably, described in response to current road segment is that can overtake other vehicles section, according to the relative position information, adjustment with it is adjacent
The distance between vehicle, including：Relative to the travel direction of the automatic driving vehicle, wait for passing vehicle positioned at described when described
When automatic driving vehicle right side side, the automatic driving vehicle and the distance between the first vehicle and the second vehicle are adjusted, wherein
Just front, second vehicle that first vehicle is located at the automatic driving vehicle are located at the automatic driving vehicle
Right front；Relative to the travel direction of the automatic driving vehicle, wait for that passing vehicle is located at the automatic driving vehicle when described
When the side of left side, the distance between the automatic driving vehicle and first vehicle and third vehicle are adjusted, wherein the third
Vehicle is located at the left front of the automatic driving vehicle.
Preferably, described in response to current road segment is that can overtake other vehicles section, according to the relative position information, adjustment with it is adjacent
The distance between vehicle, including：Determine whether distance to be adjusted is less than preset safety distance threshold；In response to distance to be adjusted
Less than preset safety distance threshold, the speed and/or direction of the automatic driving vehicle are adjusted, so that described wait adjusting
Whole distance is more than the safety distance threshold.
In addition, when applied to photovoltaic highway, vehicle monitoring mould photosensitive sensor in the block could alternatively be electric signal prison
Survey unit, the electric signal monitoring unit is arranged in the photovoltaic panel of photovoltaic highway, for monitor the voltage of photovoltaic panel, electric current,
Power or electricity.When vehicle is by one piece of photovoltaic panel, the telecommunications of the photovoltaic panel can be monitored by electric signal monitoring unit
The duration of number variation and change in electric, and the data detected are sent to data management module.The data management
The both ends spacing meter for the duration and the single photovoltaic panel that module changes according to the single photovoltaic panel power on signal monitored
Calculate the travel speed for obtaining vehicle；The data management module is analyzed according to the change in electric in the multiple photovoltaic panels monitored
The intensity of illumination variation in section where obtaining the multiple photovoltaic panel, and the road is obtained according to the intensity of illumination mutation analysis
The weather conditions of section, analysis obtains suitable road driving speed, and carries out speed limit to vehicle by the displaying interface of vehicle and carry
It wakes up.
Compared with prior art, the beneficial effects of the invention are as follows：(1) present invention is by knowing the radio frequency of vehicle monitoring module
Driving vehicle in other technology road pavement carries out effective identification, and in conjunction with data management module, the present invention can not only realize
Be accurately positioned, measure the travel speed of road vehicles, can also judge to be presently in track whether be can lane change track, be conducive to
Accurate perception of the automatic driving vehicle to ambient enviroment；(2) present invention can also realize the overtaking process between automatic driving vehicle
In information interchange, automatic driving vehicle is adjusted according to the information of overtaking other vehicles received into row distance, rational to avoid, and gives passing vehicle
Enough spaces of overtaking other vehicles are reserved, are reached common understanding, ensure that the safety of automatic driving vehicle driving；(3) present invention is by photosensitive
Sensor and ultrasonic sensor alternating road pavement vehicle are monitored, and can not only be reached at night and similarly be monitored effect with daytime
Fruit, moreover it is possible to prevent sensor from being damaged because working long hours, to ensure the stability of the vehicle monitoring module.
Description of the drawings
Fig. 1 is the control system overall structure block diagram of overtaking other vehicles of the automatic driving vehicle of embodiment 1；
Fig. 2 is the data management module structure diagram of embodiment 1；
Fig. 3 is the vehicle monitoring modular structure block diagram of embodiment 1；
Fig. 4 is the vehicle monitoring modular structure block diagram of embodiment 2；
In figure：1, data management module；101, data receipt unit；102, data processing unit；103, data storage is single
Member；104, data transmission unit；2, vehicle monitoring module；201, photosensitive sensor；2010, electric signal monitoring unit；202, surpass
Sonic sensor；203, photosensitive switch control unit；204, counting unit；205, test the speed unit；206, radio frequency identification unit.
Specific implementation mode
Below in conjunction with the attached drawing in the present invention, technical scheme of the present invention is clearly and completely described, it is clear that
Described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the implementation in the present invention
Example, all other embodiment that those of ordinary skill in the art are obtained under the conditions of not making creative work belong to
The scope of protection of the invention.
Embodiment 1
As shown in Figures 1 to 3, the control system of overtaking other vehicles of automatic driving vehicle, including information of vehicles pipe are present embodiments provided
Manage control system, vehicle data acquisition system and server；The vehicle information management control system include information receiving unit,
Data analysis and processing unit, distance adjusting unit, signal sending unit；The vehicle data acquisition system includes data management mould
Block and vehicle monitoring module；The vehicle monitoring module 2 include multigroup photosensitive sensor 201, multigroup ultrasonic sensor 202,
Photosensitive switch control unit 203, counting unit 204, test the speed unit 205 and radio frequency identification unit 206, the vehicle monitoring module
Set on road surface, road conditions, vehicle flowrate and Vehicle Speed for monitoring section in real time；The radio frequency identification unit 206 includes
Radio-frequency card in the car and the reader set on road surface be installed, the identity information and vehicle of car owner are stored in the radio-frequency card
Information is equipped with reader between 201/ ultrasonic sensor 202 of photosensitive sensor described in every group；The data management module 1
Including data receipt unit 101, data processing unit 102, data storage cell 103 and data transmission unit 104；The data
Storage unit 103 has prestored the geographical location of each reader and residing lane information；The data management module 1 is used
In reception, processing, storage and the information preservation that uploads the data information detected by the vehicle monitoring module 2 and will be collected into
Into server；Described information receiving unit receives the solicited message of overtaking other vehicles for waiting for that passing vehicle is sent out by server；It is described super
Vehicle solicited message waits for the identification information of passing vehicle and the relative position information with automatic driving vehicle described in including；The data
Analysis and processing unit obtains nearby vehicle data information, lane information and traffic information from server and analyses whether to surpass
Vehicle；The distance adjusting unit is in response to the data analysis unit for adjusting distance between vehicle；The signal sends out list
Member is according to the range information after adjustment, by server to waiting for that passing vehicle sends out overtaking signal.The vehicle information management control
System processed includes the terminal device of automatic driving vehicle and waits for the vehicle-mounted terminal equipment of passing vehicle, can wirelessly with
Server connects, and server can receive the request signal of overtaking other vehicles for waiting for that the vehicle information management control system of passing vehicle is sent out,
And the signal received is sent to the vehicle information management control system of passed vehicle vehicle.Above-mentioned radio connection can wrap
Include but be not limited to 3G/4G connections, WiFi connections, bluetooth connection, WiMAX connections, Zigbee connections, UWB (ultrawideband)
Connection and other currently known or exploitation in the future radio connections.Pass through microwave between the reader and radio-frequency card
5.8GHz frequency ranges realize communication connection, and communication distance can reach 8~30 meters, if there is vehicle to cross from the upper side, the read-write
Device is the identity information of recognizable car owner and the information of vehicle by the radio-frequency card read and write in the vehicle.
Specifically, the vehicle monitoring module 2 includes multigroup photosensitive sensor 201, multigroup ultrasonic sensor 202, light
Quick switch control unit 203, counting unit 204, test the speed unit 205 and radio frequency identification unit 206；The reader and/or light
201/ ultrasonic sensor 202 of dependent sensor is also associated with timer, starts when the triggering of reader radio frequency or sensor-triggered
Timing, for monitor vehicle by time.
Further, in 201/ ultrasonic sensor 202 of multigroup photosensitive sensor each group set there are two photosensitive biography
201/ ultrasonic sensor 202 of sensor, the distance between 201/ ultrasonic sensor 202 of described two photosensitive sensors is fixed
L rice, it is assumed that the headstock of a vehicle is T1 by the time used in one group of 201/ ultrasonic sensor 202 of photosensitive sensor, and
The time that this vehicle integrally passes through used in 201/ ultrasonic sensor 202 of photosensitive sensor is T2, then can be tested the speed by described
Unit 205 be calculated instantaneous velocity when this vehicle crosses this group of 201/ ultrasonic sensor 202 of photosensitive sensor be L/T1,
Length of wagon is (L/T1) * T2；
Further, the photosensitive switch control unit 203 is passed with multigroup photosensitive sensor 201, multigroup ultrasonic wave
Sensor 202, counting unit 204, the unit 205 that tests the speed electrical connection, for controlling the ultrasonic sensor 202 under no light condition
It works instead of the photosensitive sensor 201；
On daytime or under the conditions of have light, the photosensitive switch control unit 203 control the photosensitive sensor 201 with it is described
Counting unit 204, the unit 205 that tests the speed electrical connection, and disconnect the ultrasonic sensor 202 and the counting unit 204, test the speed
The electrical connection of unit 205；Night or it is unglazed under conditions of, the photosensitive switch control unit 203 controls the ultrasonic wave and passes
Sensor 202 is electrically connected with the counting unit 204, the unit 205 that tests the speed, and disconnects the photosensitive sensor 201 and the counting
The electrical connection of unit 204, the unit 205 that tests the speed；The photosensitive sensor 201 is realized by the photosensitive switch control unit 203
With the alternation of ultrasonic sensor 202, the monitoring to vehicle can be similarly realized at night, while sensing can also be reduced
The burden of device avoids working long hours and damaging.
Specifically, the data management module 1 includes data receipt unit 101, data processing unit 102, data storage
Unit 103 and data transmission unit 104；The data processing unit 102 is microcontroller, and the data storage cell 103 is hard
Disk.
Specifically, the distance adjusting unit includes safety distance threshold subelement and adjustment subelement；The safety away from
Whether it is less than preset safety distance threshold with a distance to be adjusted for determining from threshold value subelement；The adjustment subelement is for ringing
It answers the speed of automatic driving vehicle and/or direction to be adjusted distance and is larger than safety distance threshold.
The control method of overtaking other vehicles of automatic driving vehicle based on above equipment, the method includes：Reception waits for passing vehicle
The solicited message of overtaking other vehicles sent out, the solicited message of overtaking other vehicles include the identification information of the automatic driving vehicle, relative position letter
Breath；Obtain nearby vehicle data information, lane information and traffic information from server simultaneously, analysis current road segment whether be can
It overtakes other vehicles section；It is the section that can overtake other vehicles in response to current road segment, according to the relative position information, between adjustment and Adjacent vehicles
Distance；According to the range information after adjustment, wait for that passing vehicle sends out overtaking signal to described.The identification information of vehicle can wrap
Include the color of vehicle, the vehicle of vehicle, license plate number of vehicle etc..Since geographical location information and lane information are pre-stored in data
In management module, when vehicle passes through reader, so that it may with the location information for knowing current vehicle and residing lane information, track
Information is specifically included according to whether the track where traffic rules current block can carry out lane change, overtake other vehicles.It is opposite with use it
It detects the way of direction board mark, and the lane information result of the acquisition of this method is more acurrate, prevents due to missing inspection indicating number plate
The erroneous judgement of generation.
Specifically, described in response to current road segment is that can overtake other vehicles section, according to the relative position information, adjustment with it is adjacent
The distance between vehicle, including：Relative to the travel direction of the automatic driving vehicle, wait for passing vehicle positioned at described when described
When automatic driving vehicle right side side, the automatic driving vehicle and the distance between the first vehicle and the second vehicle are adjusted, wherein
Just front, second vehicle that first vehicle is located at the automatic driving vehicle are located at the automatic driving vehicle
Right front；Relative to the travel direction of the automatic driving vehicle, wait for that passing vehicle is located at the automatic driving vehicle when described
When the side of left side, the distance between the automatic driving vehicle and first vehicle and third vehicle are adjusted, wherein the third
Vehicle is located at the left front of the automatic driving vehicle.
Specifically, described in response to current road segment is that can overtake other vehicles section, according to the relative position information, adjustment with it is adjacent
The distance between vehicle further includes：Determine whether distance to be adjusted is less than preset safety distance threshold；In response to it is to be adjusted away from
From less than preset safety distance threshold, the speed and/or direction of the automatic driving vehicle are adjusted, so that described wait for
Adjustment distance is more than the safety distance threshold.
The travel speed that above-mentioned automatic driving vehicle can be obtained first is multiplied by above-mentioned brake by running speed and made respectively
With time, continuous braking time and braking time is released, determines above-mentioned safety distance threshold.Automatic driving vehicle is different
Under running speed, different minimum safe distances is had.Automatic driving vehicle has different lasting systems on different road surfaces
Dynamic time, road surface can substantially be divided into solid carbon dioxide road, dry asphalt road, wet asphalt road and wet cement road, and wherein solid carbon dioxide road is attached
Coefficient maximum, i.e. the continuous braking time is most short, and the attachment coefficient on wet cement road is minimum, continuous braking time longest.With
For 100km/h, the braking distance of dry asphalt road is 65.62m, is 0.5s when the brake action time of automatic driving vehicle
When, brake action time is 13.89m.Therefore, when the minimum safe distance that the running speed of automatic driving vehicle is 100km/h
From for 80m.Therefore, in 100km/h, the safety distance threshold of above-mentioned automatic driving vehicle is 80m, according to automatic driving vehicle
Speed, can determine the safety distance threshold under current vehicle speed respectively.
Embodiment 2
As shown in figure 4, present embodiments providing a kind of control system of overtaking other vehicles of the automatic driving vehicle applied to photovoltaic highway
System, difference lies in the vehicle monitoring module 2 includes multigroup electric signal monitoring unit 2010, multigroup ultrasonic wave with embodiment 1
Sensor 202, photosensitive switch control unit 203, counting unit 204, test the speed unit 205 and radio frequency identification unit 206, the electricity
Signal monitoring unit 2010 is arranged in the photovoltaic panel of photovoltaic highway.When vehicle is by one piece of photovoltaic panel, monitored by electric signal
Unit can monitor the change in electric of the photovoltaic panel and the duration of change in electric, and the data detected are sent out
Give data management module 1.The data management module 1 according to monitor single photovoltaic panel power on signal variation it is lasting when
Between and the both ends distance computation of the single photovoltaic panel obtain the travel speed of vehicle.
The reader and/or 2010/ ultrasonic sensor 202 of electric signal monitoring unit are also associated with timer, work as reading
Write the triggering of device radio frequency or when sensor-triggered start timing, for monitor vehicle by time.
On daytime or under the conditions of have light, the photosensitive switch control unit 203 disconnects the ultrasonic sensor 202 and institute
State the electrical connection of counting unit 204, the unit 205 that tests the speed；Night or it is unglazed under conditions of, the photosensitive switch control unit
The 203 control ultrasonic sensors 202 are electrically connected with the counting unit 204, the unit 205 that tests the speed, and photosensitive are opened by described
It closes control unit 203 and realizes that ultrasonic sensor 202 only works under night or no light condition, can similarly be realized pair at night
The monitoring of vehicle, while the burden of sensor can also be reduced, it avoids working long hours and damaging.
Specifically, the data processing unit 102 in the data management module 1 includes estimator, when vehicle is in one block of light
On volt plate when driving through, the estimator is configured as duration changed based on the photovoltaic panel power on signal and described
The spacing at photovoltaic panel both ends determines the travel speed of vehicle.
Specifically, the electric signal monitoring unit 2010 is electric energy computation chip, for monitoring the voltage in photovoltaic panel, electricity
Stream, power, electricity etc.；
Further, when vehicle drives through in one piece of photovoltaic panel, the estimator is configured as being based on the light
The spacing of duration and the photovoltaic panel both ends that plate power on signal changes are lied prostrate to determine the travel speed of vehicle.Actually answering
In, the photovoltaic panel is crystal silicon solar plate, size 2000*1000*35mm, rated power 180W, transfer efficiency
It is 80%, the both ends center of photovoltaic panel is equipped with terminal A, B, the distance L=2000mm of terminal A to terminal B, when no vehicle row
When sailing by the photovoltaic panel, output power W1=W* η=180*80%=140W of the photovoltaic panel are passed through when there is vehicle traveling
When crossing the photovoltaic panel, the front part of vehicle passes through terminal A, and the output power W1 starts to continuously decrease, until the vehicle
Front reaches terminal B, and the output power bottoms out W2, at this point, the photovoltaic panel is sheltered from completely by vehicle, it can not
The direct irradiation of light is obtained, but the indirect illumination of acquisitions such as the reflection, the scattering that are radiated at the light on adjacent photovoltaic plate can be passed through
It penetrates, and then is converted to lower output power, W2 is defined as W2=W1*10%=14W here, the output power is from W1
The time for dropping to W2 is 0.12S, keeps the output power in W2 ever since, until vehicle tail traveling leaves endpoint
A, the time that the output power is maintained at W2 is 0.18s, and the output power starts to gradually rise, described at this time until W1
Vehicle tail traveling leaves terminal B, and the time that the output power is increased to W1 from W2 is 0.12S, according to speed formula v=L/
The travel speed v=60KM/h of vehicle is calculated in t, is maintained at W2's by the travel speed v and the output power of vehicle
The length S=5m of vehicle is calculated in time.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. the control system of overtaking other vehicles of automatic driving vehicle, which is characterized in that including vehicle information management control system, vehicle data
Acquisition system and server；The vehicle data acquisition system includes data management module and vehicle monitoring module；The vehicle
Monitoring modular includes multigroup photosensitive sensor and/or multigroup ultrasonic sensor, photosensitive switch control unit, counting unit, survey
Fast unit and radio frequency identification unit, the vehicle monitoring module are set to road surface, for monitor in real time the road conditions in section, vehicle flowrate and
Vehicle Speed；The radio frequency identification unit includes installing radio-frequency card in the car and the reader set on road surface, described to penetrate
It is stored with the identity information of car owner and the information of vehicle in frequency card；The data management module includes data receipt unit, data
Processing unit, data storage cell and data transmission unit；The data storage cell has prestored the ground of each reader
Manage position and residing lane information；The data management module is for receiving, handling, storing and uploading the vehicle monitoring mould
Data information detected by block simultaneously will be in the information preservation to server that be collected into；The vehicle information management control system is logical
It crosses the information for receiving server and solicited message of overtaking other vehicles, automatic driving vehicle is adjusted and controls and sends out overtaking signal.
2. the control system of overtaking other vehicles of automatic driving vehicle according to claim 1, which is characterized in that the information of vehicles pipe
It includes information receiving unit, data analysis and processing unit, distance adjusting unit, signal sending unit to manage control system；The letter
Breath receiving unit receives the solicited message of overtaking other vehicles for waiting for that passing vehicle is sent out by server；The solicited message of overtaking other vehicles includes described
Wait for the identification information of passing vehicle and the relative position information with automatic driving vehicle；The data analysis and processing unit is from service
Nearby vehicle data information, lane information and traffic information are obtained in device and analyse whether to overtake other vehicles；The distance adjusting unit
In response to the data analysis unit for adjusting distance between vehicle；The signal sending unit is believed according to the distance after adjustment
Breath, by server to waiting for that passing vehicle sends out overtaking signal.
3. the control system of overtaking other vehicles of automatic driving vehicle according to claim 1, which is characterized in that multigroup photosensitive biography
It is set there are two photosensitive sensor/ultrasonic sensor for each group in sensor/ultrasonic sensor, and described two light sensors
The distance between device/ultrasonic sensor is fixed.
4. the control system of overtaking other vehicles of automatic driving vehicle according to claim 3, which is characterized in that it is characterized in that, every
It is equipped with reader between the group photosensitive sensor/ultrasonic sensor.
5. the control system of overtaking other vehicles of automatic driving vehicle according to claim 1, which is characterized in that the photosensitive switch control
Unit processed is electrically connected with multigroup photosensitive sensor, multigroup ultrasonic sensor, counting unit, the unit that tests the speed, for controlling
The ultrasonic sensor replaces the photosensitive sensor to work under no light condition.
6. the control system of overtaking other vehicles of automatic driving vehicle according to claim 2, which is characterized in that the distance adjustment is single
Member includes safety distance threshold subelement and adjustment subelement；The safety distance threshold subelement is for determining distance to be adjusted
Whether preset safety distance threshold is less than；The adjustment subelement is used to respond speed and/or the direction of automatic driving vehicle
It is adjusted distance and is larger than safety distance threshold.
7. using the control system of overtaking other vehicles of any one of claim 1 to 6 automatic driving vehicle automatic driving vehicle it is super
Vehicle control method, which is characterized in that the method includes：Reception waits for the solicited message of overtaking other vehicles that passing vehicle is sent out, described to overtake other vehicles
Solicited message includes the identification information of the automatic driving vehicle, relative position information；Vehicle nearby is obtained from server simultaneously
Data information, lane information and traffic information, whether analysis current road segment is the section that can overtake other vehicles；Being in response to current road segment can
It overtakes other vehicles section, according to the relative position information, the distance between adjustment and Adjacent vehicles；According to the range information after adjustment,
Wait for that passing vehicle sends out overtaking signal to described.
8. the control method of overtaking other vehicles of automatic driving vehicle according to claim 7, which is characterized in that described in response to current
Section is the section that can overtake other vehicles, and according to the relative position information, adjusts the distance between Adjacent vehicles, including：Relative to institute
The travel direction for stating automatic driving vehicle adjusts institute when described when passing vehicle is located at the automatic driving vehicle right side side
State automatic driving vehicle and the distance between the first vehicle and the second vehicle, wherein first vehicle be located at it is described nobody drive
Just front, second vehicle for sailing vehicle are located at the right front of the automatic driving vehicle；Relative to described unmanned
The travel direction of vehicle, when described when passing vehicle is located at the automatic driving vehicle left side side, adjustment is described unmanned
The distance between vehicle and first vehicle and third vehicle, wherein the third vehicle is located at the automatic driving vehicle
Left front.
9. the control method of overtaking other vehicles of automatic driving vehicle according to claim 7, which is characterized in that described in response to current
Section is the section that can overtake other vehicles, and according to the relative position information, adjusts the distance between Adjacent vehicles, including：Determination waits adjusting
Whether whole distance is less than preset safety distance threshold；It is less than preset safety distance threshold in response to distance to be adjusted, to institute
The speed and/or direction for stating automatic driving vehicle are adjusted, so that the distance to be adjusted is more than the safety distance threshold.
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