CN108766004B - Overtaking control system and method for unmanned vehicle - Google Patents
Overtaking control system and method for unmanned vehicle Download PDFInfo
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- CN108766004B CN108766004B CN201810391440.2A CN201810391440A CN108766004B CN 108766004 B CN108766004 B CN 108766004B CN 201810391440 A CN201810391440 A CN 201810391440A CN 108766004 B CN108766004 B CN 108766004B
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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 a overtaking control system and a method of an unmanned vehicle, which comprises a vehicle information management control system, a vehicle data acquisition system and a server; the vehicle data acquisition system comprises a data management module and a vehicle monitoring module; the vehicle monitoring module comprises a plurality of groups of photosensitive sensors and/or a plurality of groups of ultrasonic sensors, a photosensitive switch control unit, a counting unit, a speed measuring unit and a radio frequency identification unit, is arranged on a road surface and is used for monitoring road conditions, traffic flow and vehicle running speed of a road section in real time; the data management module is used for receiving, processing, storing and uploading the data information detected by the vehicle monitoring module and storing the collected information in a server. The system vehicle can accurately acquire the surrounding environment including vehicle positioning, speed measurement, track and lane information from the server, and can achieve consensus with the overtaking vehicle so as to safely overtake the overtaking vehicle after avoiding.
Description
Technical Field
The invention belongs to the field of intelligent transportation, and particularly relates to an overtaking control system and method for an unmanned vehicle.
Background
The unmanned vehicle is a novel intelligent vehicle, also called as a wheel type mobile robot, and achieves full-automatic operation of the vehicle by means of accurate control and calculation analysis of each part in the vehicle through an electronic control unit, namely, vehicle-mounted terminal equipment, so that the purpose of unmanned driving of the vehicle is achieved. The existing vehicle overtaking technology is that an overtaking vehicle generally determines whether overtaking can be carried out according to the position and information of the overtaking vehicle, the situation is difficult to achieve consensus with surrounding vehicles, meanwhile, an unmanned vehicle mainly runs at a high speed accurately through an electronic control unit, and the safety and reliability during overtaking are difficult to guarantee under the situation that no consensus with other vehicles is achieved.
Chinese patent CN105788369A discloses a passing control method and apparatus for unmanned vehicles. One embodiment of the method comprises: receiving overtaking request information sent by a vehicle to be overtaken, wherein the overtaking request information comprises identification information of the vehicle to be overtaken and relative position information of the vehicle to be overtaken and the unmanned vehicle; detecting whether the current road section is a overtaking road section or not; responding to the current road section as the overtaking road section, and adjusting the distance between the current road section and the adjacent vehicle according to the relative position information; and sending a overtaking signal to the vehicle to be overtaken according to the adjusted distance information. This embodiment ensures the safety of overtaking.
Chinese patent CN105818810A discloses a control method and intelligent device applied to an unmanned vehicle. One embodiment of the method comprises: receiving a driving habit selection instruction input by a user; acquiring driving habit information corresponding to the driving habit selection instruction, wherein the driving habit information comprises: a driving route, a driving speed, an acceleration time, a deceleration time and a braking distance; and controlling the unmanned automobile based on the driving habit information. On one hand, the driving habit information of the collected user is utilized to automatically control the driving of the automobile, so that the operation in the driving process is simplified, and the driving habit information can be shared with other users. On the other hand, the obtained driving habit information of the professional driver can be utilized to control the unmanned automobile, so that the stability and the safety of the automobile driving are improved, and the cost for optimizing the control of the unmanned automobile is reduced.
Chinese patent CN106671982A discloses an automatic overtaking system and method for unmanned electric vehicle based on multi-agent, the overtaking system is provided with a vehicle-mounted sensor, the vehicle-mounted sensor is used for collecting road information in front of the unmanned electric vehicle; extracting characteristic information of the automobile and the surrounding environment thereof based on a vehicle-mounted sensing system and a V2X communication system, and establishing a minimum safe distance model; setting a sine function form as a basic function of an automatic overtaking expected path, and dynamically planning an expected track of the unmanned electric vehicle for automatic overtaking in real time; based on the deviation between the expected overtaking path and the actual path, the expected speed and the expected yaw rate of the automatic overtaking of the unmanned electric vehicle are calculated by adopting an adaptive fuzzy sliding mode control technology; calculating longitudinal and transverse forces required by each wheel of the unmanned electric vehicle by adopting a multi-agent genetic optimization algorithm; and establishing a mapping model from the longitudinal and transverse forces of the electric automobile wheels to the expected slip angle and slip rate, and realizing the execution control of the longitudinal and transverse forces of the unmanned electric automobile.
In the existing unmanned technology, the vehicle is mainly positioned by the aid of the GPS, but the GPS has some defects, such as weak signals in some places, unstable GPS system, delayed reaction of GPS positioning in the movement process of a positioning object and deviation of the distance displaying the positioning.
Unmanned vehicle on the market at present adopts the radar of installation to come perception vehicle surrounding environment on the vehicle mostly to according to road, vehicle position, relative distance and the barrier information that the perception obtained, the steering and the speed of control vehicle, nevertheless survey through the radar and can have the problem of surveying the dead angle, and radar signal if not vertical reflection causes the condition that can not receive the reflection signal easily, thereby lead to surveying inaccurate or not detect the signal, can't guarantee the safe driving of vehicle.
Disclosure of Invention
The invention aims to provide an overtaking control system of an unmanned vehicle aiming at the problems in the prior art, and the vehicle monitoring module is paved on the road surface, so that the vehicle can be accurately positioned, the speed can be measured, and the road condition can be monitored; the acquired data information, geographical position information and the like of nearby vehicles are sent to a vehicle information management control system through a data management module; the vehicle information management control system receives the overtaking signal, analyzes whether overtaking is available or not, and sends the overtaking signal after adjusting the vehicle distance.
In order to achieve the purpose, the invention adopts the technical scheme that: the overtaking control system of the unmanned vehicle comprises a vehicle information management control system, a vehicle data acquisition system and a server; the vehicle data acquisition system comprises a data management module and a vehicle monitoring module; the vehicle monitoring module comprises a plurality of groups of photosensitive sensors and/or a plurality of groups of ultrasonic sensors, a photosensitive switch control unit, a counting unit, a speed measuring unit and a radio frequency identification unit, is arranged on a road surface and is used for monitoring road conditions, traffic flow and vehicle running speed of a road section in real time; the radio frequency identification unit comprises a radio frequency card arranged in the vehicle and a reader-writer arranged on a road surface, wherein the radio frequency card stores the identity information of a vehicle owner and the information of the vehicle; the data management module comprises a data receiving unit, a data processing unit, a data storage unit and a data sending unit; the data storage unit stores the geographical position and the lane information of each reader-writer in advance; the data management module is used for receiving, processing, storing and uploading data information detected by the vehicle monitoring module and storing the collected information in a server; the vehicle information management control system adjusts and controls the unmanned vehicle and sends out a overtaking signal by receiving the information of the server and the overtaking request information.
The vehicle monitoring module is used for monitoring the traffic flow, the speed and the road condition information of roads every day and sending monitoring data to the data management module.
Specifically, the reader/writer and/or the photosensitive sensor 201/the ultrasonic sensor 202 is further connected with a timing unit for monitoring the passing time of the vehicle. The photosensitive sensors convert optical signals into electric signals, when a vehicle passes through the road surface, the photosensitive sensors positioned on the road surface can detect the instant change of the optical signals, and when the vehicle passes through one group of photosensitive sensors, the speed measuring unit can calculate the length and the running speed of the vehicle according to the time of the instant change of the optical signals and the distance between the one group of photosensitive sensors; the ultrasonic sensors transmit ultrasonic signals to the upper part of the road surface, when a vehicle passes through the road surface, the ultrasonic sensors can immediately receive the reflected ultrasonic signals, and when the vehicle passes through one group of ultrasonic sensors, the length and the running speed of the vehicle can be calculated through the speed measuring unit; when a light sensor/ultrasonic sensor detects a transient change of signal, the counting unit counts a number of times, thereby counting the traffic flow of the road.
When the vehicle passes through the reader-writer, the reader-writer can identify the identity information of the vehicle owner and the information of the vehicle by reading and writing the radio frequency card in the overspeed vehicle. Because the geographical position information and the lane information are prestored in the data management module, when the vehicle passes through the reader-writer, the position information and the lane information of the current vehicle are also known, and the speed and the track of the vehicle can be accurately measured by combining the vehicle information identified by the reader-writer. The lane information specifically includes whether lane change and overtaking can be performed according to the lane where the traffic rule current module is located. Compared with the method of using other detection indicator signs, the method has the advantages that the obtained lane information result is more accurate, and the misjudgment caused by the missed detection of the indication license plate is prevented. The current geographic position, the information of the lane where the vehicle is located, the identity information of the vehicle owner and the vehicle identification information are sent to the server through the data management module, the vehicle data are obtained through the data analysis assembly, the vehicle track is generated, and whether the vehicle can pass through currently is judged by combining the current lane information and the road condition information. The method has the advantages that the vehicle positioning is more accurate, the errors of speed measurement and track generation are small, the vehicle can accurately acquire the surrounding environment from the server, the appropriate road section and route are selected for overtaking, and the overtaking safety is improved.
Preferably, the vehicle information management control system comprises an information receiving unit, a data analysis processing unit, a distance adjusting unit and a signal sending unit; the information receiving unit receives overtaking request information sent by a vehicle to be overtaken through a server; the overtaking request information comprises identification information of the vehicle to be overtaken and relative position information of the unmanned vehicle; the data analysis processing unit acquires nearby vehicle data information, lane information and road condition information from the server and analyzes whether overtaking is available or not; the distance adjusting unit is used for adjusting the distance between the vehicles in response to the data analyzing unit; and the signal sending unit sends the overtaking signal to the vehicle to be overtaken through the server according to the adjusted distance information. The vehicle information management control system in the scheme can enable the vehicle to be overtaken and the overtaken vehicle to achieve consensus, and the overtaken vehicle can reasonably avoid, so that the vehicle to be overtaken can overtake at a proper time, and accidents in the overtaking process are avoided.
Preferably, each of the multiple sets of the photosensitive sensors/ultrasonic sensors is provided with two photosensitive sensors/ultrasonic sensors, and the distance between the two photosensitive sensors/ultrasonic sensors is fixed.
The distance between the photosensitive sensor and the ultrasonic sensor is fixed, so that the measurement and calculation of the speed and the track are more convenient.
More preferably, a reader-writer is arranged between each group of the photosensitive sensors/ultrasonic sensors. The optimal scheme enables speed measurement, identity recognition and positioning to be synchronously realized, and the track of the vehicle can be more accurately determined.
Preferably, the photosensitive switch control unit is electrically connected with the multiple groups of photosensitive sensors, the multiple groups of ultrasonic sensors, the counting unit and the speed measuring unit, and is used for controlling the ultrasonic sensors to work instead of the photosensitive sensors under the condition of no light.
Through this scheme photosensitive switch control unit realizes photosensitive sensor and ultrasonic sensor's alternative work can also realize the control to the vehicle at night equally, can also reduce the burden of sensor simultaneously, avoids long-time work and damages.
Preferably, the distance adjusting unit comprises a safe distance threshold subunit and an adjusting subunit; the safe distance threshold subunit is used for determining whether the distance to be adjusted is smaller than a preset safe distance threshold; the adjustment subunit is configured to adjust the distance to be greater than a safe distance threshold in response to the speed and/or direction of the unmanned vehicle.
The invention also provides a overtaking control method of the unmanned vehicle using the system, which comprises the following steps: receiving overtaking request information sent by a vehicle to be overtaken, wherein the overtaking request information comprises identification information and relative position information of the unmanned vehicle; meanwhile, nearby vehicle data information, lane information and road condition information are obtained from the server, and whether the current road section is a overtaking road section or not is analyzed; responding to the current road section as the overtaking road section, and adjusting the distance between the current road section and the adjacent vehicle according to the relative position information; and sending a overtaking signal to the vehicle to be overtaken according to the adjusted distance information.
Preferably, the adjusting the distance to the adjacent vehicle according to the relative position information in response to the current road segment being the overtaking road segment includes: adjusting a distance between the unmanned vehicle and a first vehicle and a second vehicle when the vehicle to be overtaken is located on a right side of the unmanned vehicle with respect to a traveling direction of the unmanned vehicle, wherein the first vehicle is located directly in front of the unmanned vehicle and the second vehicle is located on a right front of the unmanned vehicle; adjusting a distance between the unmanned vehicle and the first and third vehicles when the vehicle to be overtaken is positioned to a left side of the unmanned vehicle with respect to a traveling direction of the unmanned vehicle, wherein the third vehicle is positioned to a left front of the unmanned vehicle.
Preferably, the adjusting the distance to the adjacent vehicle according to the relative position information in response to the current road segment being the overtaking road segment includes: determining whether the distance to be adjusted is smaller than a preset safe distance threshold value; and responding to the fact that the distance to be adjusted is smaller than a preset safe distance threshold value, adjusting the speed and/or the direction of the unmanned vehicle, and enabling the distance to be adjusted to be larger than the safe distance threshold value.
In addition, when the vehicle monitoring module is applied to a photovoltaic road, the photosensitive sensor in the vehicle monitoring module can be replaced by an electric signal monitoring unit which is arranged in a photovoltaic panel of the photovoltaic road and used for monitoring the voltage, the current, the power or the electric quantity of the photovoltaic panel. When a vehicle passes through one photovoltaic panel, the electric signal change of the photovoltaic panel and the duration time of the electric signal change can be monitored through the electric signal monitoring unit, and the detected data are sent to the data management module. The data management module calculates the running speed of the vehicle according to the monitored duration time of the change of the power-on signal of the single photovoltaic panel and the distance between the two ends of the single photovoltaic panel; the data management module analyzes and obtains the illumination intensity change of the road section where the photovoltaic panels are located according to the monitored electric signal change on the photovoltaic panels, analyzes and obtains the weather condition of the road section according to the illumination intensity change, analyzes and obtains the proper road running speed, and carries out speed limit reminding on the vehicle through the display interface of the vehicle.
Compared with the prior art, the invention has the beneficial effects that: (1) according to the invention, the radio frequency identification technology of the vehicle monitoring module is used for effectively identifying the identity of the running vehicle on the road surface, and the data management module is combined, so that not only can accurate positioning be realized and the running speed of the vehicle on the road surface be measured, but also whether the current lane is a lane-changeable lane can be judged, and the accurate perception of the unmanned vehicle on the surrounding environment can be favorably realized; (2) the invention can also realize information exchange with the unmanned vehicle in the overtaking process, the unmanned vehicle carries out distance adjustment according to the received overtaking information, reasonable avoidance is realized, enough overtaking space is reserved for the overtaking vehicle, consensus is achieved, and the driving safety of the unmanned vehicle is ensured; (3) according to the invention, the photosensitive sensor and the ultrasonic sensor are used for alternately monitoring the vehicles on the road surface, so that the same monitoring effect as that in the daytime can be achieved at night, and the sensor can be prevented from being damaged due to long-time work, thereby ensuring the stability of the vehicle monitoring module.
Drawings
Fig. 1 is a block diagram showing the overall configuration of a passing control system of an unmanned vehicle according to embodiment 1;
FIG. 2 is a block diagram showing the structure of a data management module according to embodiment 1;
FIG. 3 is a block diagram showing the construction of a vehicle monitoring module according to embodiment 1;
FIG. 4 is a block diagram showing a vehicle monitoring module according to embodiment 2;
in the figure: 1. a data management module; 101. a data receiving unit; 102. a data processing unit; 103. a data storage unit; 104. a data transmitting unit; 2. a vehicle monitoring module; 201. a photosensitive sensor; 2010. an electric signal monitoring unit; 202. an ultrasonic sensor; 203. a photosensitive switch control unit; 204. a counting unit; 205. a speed measuring unit; 206. and a radio frequency identification unit.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1 to 3, the present embodiment provides a passing control system for an unmanned vehicle, including a vehicle information management control system, a vehicle data acquisition system, and a server; the vehicle information management control system comprises an information receiving unit, a data analysis processing unit, a distance adjusting unit and a signal sending unit; the vehicle data acquisition system comprises a data management module and a vehicle monitoring module; the vehicle monitoring module 2 comprises a plurality of groups of photosensitive sensors 201, a plurality of groups of ultrasonic sensors 202, a photosensitive switch control unit 203, a counting unit 204, a speed measuring unit 205 and a radio frequency identification unit 206, and is arranged on a road surface and used for monitoring road conditions, traffic flow and vehicle running speed of a road section in real time; the radio frequency identification unit 206 comprises a radio frequency card installed in the vehicle and a reader-writer arranged on the road surface, the radio frequency card stores the identity information of the vehicle owner and the information of the vehicle, and the reader-writer is arranged between each group of the photosensitive sensors 201/ultrasonic sensors 202; the data management module 1 comprises a data receiving unit 101, a data processing unit 102, a data storage unit 103 and a data sending unit 104; the data storage unit 103 stores the geographical position and the lane information of each reader-writer in advance; the data management module 1 is used for receiving, processing, storing and uploading data information detected by the vehicle monitoring module 2 and storing the collected information in a server; the information receiving unit receives overtaking request information sent by a vehicle to be overtaken through a server; the overtaking request information comprises identification information of the vehicle to be overtaken and relative position information of the unmanned vehicle; the data analysis processing unit acquires nearby vehicle data information, lane information and road condition information from the server and analyzes whether overtaking is available or not; the distance adjusting unit is used for adjusting the distance between the vehicles in response to the data analyzing unit; and the signal sending unit sends the overtaking signal to the vehicle to be overtaken through the server according to the adjusted distance information. The vehicle information management control system comprises terminal equipment of an unmanned vehicle and vehicle-mounted terminal equipment of a vehicle to be overtaken, and can be connected with the server in a wireless mode, and the server can receive an overtaking request signal sent by the vehicle information management control system of the vehicle to be overtaken and send the received signal to the vehicle information management control system of the overtaken vehicle. The wireless connection means may include, but is not limited to, a 3G/4G connection, a WiFi connection, a bluetooth connection, a WiMAX connection, a Zigbee connection, a uwb (ultra wideband) connection, and other now known or later developed wireless connection means. The reader-writer and the radio frequency card are in communication connection through a microwave 5.8GHz frequency band, the communication distance can reach 8-30 m, and if a vehicle passes through the reader-writer from the upper side, the reader-writer can identify the identity information of a vehicle owner and the information of the vehicle by reading and writing the radio frequency card in the vehicle.
Specifically, the vehicle monitoring module 2 includes a plurality of sets of photosensitive sensors 201, a plurality of sets of ultrasonic sensors 202, a photosensitive switch control unit 203, a counting unit 204, a speed measuring unit 205 and a radio frequency identification unit 206; the reader/writer and/or the photosensitive sensor 201/the ultrasonic sensor 202 is also connected with a timer, and when the reader/writer is triggered by radio frequency or triggered by the sensor, the timer is started to time for monitoring the passing time of the vehicle.
Further, each of the multiple sets of the photosensors 201/ultrasonic sensors 202 is provided with two photosensors 201/ultrasonic sensors 202, the distance between the two photosensors 201/ultrasonic sensors 202 is L meters, and assuming that the time taken for the head of a vehicle to pass through one set of the photosensors 201/ultrasonic sensors 202 is T1, and the time taken for the whole vehicle to pass through one photosensor 201/ultrasonic sensor 202 is T2, the speed measurement unit 205 can calculate that the instantaneous speed of the vehicle when the vehicle passes through the set of the photosensors 201/ultrasonic sensors 202 is L/T1, and the length of the vehicle is (L/T1) × T2;
further, the photosensitive switch control unit 203 is electrically connected to the multiple groups of photosensitive sensors 201, the multiple groups of ultrasonic sensors 202, the counting unit 204, and the speed measuring unit 205, and is configured to control the ultrasonic sensors 202 to work in place of the photosensitive sensors 201 in a no-light condition;
in the daytime or under the light condition, the photosensitive switch control unit 203 controls the photosensitive sensor 201 to be electrically connected with the counting unit 204 and the speed measuring unit 205, and disconnects the ultrasonic sensor 202 from the counting unit 204 and the speed measuring unit 205; in the condition of night or no light, the photosensitive switch control unit 203 controls the ultrasonic sensor 202 to be electrically connected with the counting unit 204 and the speed measuring unit 205, and disconnects the photosensitive sensor 201 from the counting unit 204 and the speed measuring unit 205; through photosensitive switch control unit 203 realizes photosensitive sensor 201 and ultrasonic sensor 202's alternative work, can also realize the control to the vehicle at night equally, can also reduce the burden of sensor simultaneously, avoid long-time work and damage.
Specifically, the data management module 1 includes a data receiving unit 101, a data processing unit 102, a data storage unit 103, and a data sending unit 104; the data processing unit 102 is a single chip microcomputer, and the data storage unit 103 is a hard disk.
Specifically, the distance adjusting unit comprises a safe distance threshold subunit and an adjusting subunit; the safe distance threshold subunit is used for determining whether the distance to be adjusted is smaller than a preset safe distance threshold; the adjustment subunit is configured to adjust the distance to be greater than a safe distance threshold in response to the speed and/or direction of the unmanned vehicle.
The overtaking control method of the unmanned vehicle based on the equipment comprises the following steps: receiving overtaking request information sent by a vehicle to be overtaken, wherein the overtaking request information comprises identification information and relative position information of the unmanned vehicle; meanwhile, nearby vehicle data information, lane information and road condition information are obtained from the server, and whether the current road section is a overtaking road section or not is analyzed; responding to the current road section as the overtaking road section, and adjusting the distance between the current road section and the adjacent vehicle according to the relative position information; and sending a overtaking signal to the vehicle to be overtaken according to the adjusted distance information. The identification information of the vehicle may include a color of the vehicle, a model of the vehicle, a license plate number of the vehicle, and the like. Because the geographical position information and the lane information are prestored in the data management module, when the vehicle passes through the reader-writer, the position information and the lane information of the current vehicle can be known, and the lane information specifically comprises whether lane changing and overtaking can be carried out on the lane where the current module is located according to the traffic rules. Compared with the method of using other detection indicator signs, the method has the advantages that the obtained lane information result is more accurate, and the misjudgment caused by the missed detection of the indication license plate is prevented.
Specifically, the adjusting the distance between the current road segment and the adjacent vehicle according to the relative position information in response to the current road segment being the overtaking road segment includes: adjusting a distance between the unmanned vehicle and a first vehicle and a second vehicle when the vehicle to be overtaken is located on a right side of the unmanned vehicle with respect to a traveling direction of the unmanned vehicle, wherein the first vehicle is located directly in front of the unmanned vehicle and the second vehicle is located on a right front of the unmanned vehicle; adjusting a distance between the unmanned vehicle and the first and third vehicles when the vehicle to be overtaken is positioned to a left side of the unmanned vehicle with respect to a traveling direction of the unmanned vehicle, wherein the third vehicle is positioned to a left front of the unmanned vehicle.
Specifically, the responding to the current road section as the overtaking road section, and adjusting the distance between the current road section and the adjacent vehicle according to the relative position information, further includes: determining whether the distance to be adjusted is smaller than a preset safe distance threshold value; and responding to the fact that the distance to be adjusted is smaller than a preset safe distance threshold value, adjusting the speed and/or the direction of the unmanned vehicle, and enabling the distance to be adjusted to be larger than the safe distance threshold value.
The driving speed of the unmanned vehicle may be first obtained, and the safe distance threshold may be determined by multiplying the driving speed by the brake application time, the duration of braking, and the release time, respectively. The unmanned vehicle has different minimum safe distances at different driving speeds. The unmanned vehicle has different continuous braking time on different road surfaces, and the road surfaces can be roughly divided into a dry cement road, a dry asphalt road, a wet asphalt road and a wet cement road, wherein the adhesion coefficient of the dry cement road is the largest, namely the continuous braking time is the shortest, the adhesion coefficient of the wet cement road is the smallest, and the continuous braking time is the longest. Taking 100km/h as an example, the braking distance of the dry asphalt road is 65.62m, and when the brake application time of the unmanned vehicle is 0.5s, the brake application time is 13.89 m. Therefore, the minimum safe distance when the unmanned vehicle has a traveling speed of 100km/h is 80 m. Therefore, at 100km/h, the safe distance threshold of the unmanned vehicle is 80m, and the safe distance threshold at the current vehicle speed can be determined according to the vehicle speed of the unmanned vehicle.
Example 2
As shown in fig. 4, the present embodiment provides a passing control system for an unmanned vehicle applied to a photovoltaic highway, which is different from embodiment 1 in that the vehicle monitoring module 2 includes a plurality of sets of electric signal monitoring units 2010, a plurality of sets of ultrasonic sensors 202, a photosensitive switch control unit 203, a counting unit 204, a speed measuring unit 205, and a radio frequency identification unit 206, and the electric signal monitoring units 2010 are disposed in a photovoltaic panel of the photovoltaic highway. When a vehicle passes through one photovoltaic panel, the electric signal change of the photovoltaic panel and the duration time of the electric signal change can be monitored through the electric signal monitoring unit, and the detected data are sent to the data management module 1. The data management module 1 calculates the running speed of the vehicle according to the monitored duration time of the electric signal change on the single photovoltaic panel and the distance between the two ends of the single photovoltaic panel.
The reader/writer and/or the electric signal monitoring unit 2010/the ultrasonic sensor 202 are further connected with a timer, and when the reader/writer is triggered by radio frequency or triggered by a sensor, the timer is started to time for monitoring the passing time of the vehicle.
In the daytime or under the light condition, the photosensitive switch control unit 203 disconnects the electric connection between the ultrasonic sensor 202 and the counting unit 204 and the speed measuring unit 205; at night or under the condition of no light, the photosensitive switch control unit 203 controls the ultrasonic sensor 202 to be electrically connected with the counting unit 204 and the speed measuring unit 205, the photosensitive switch control unit 203 realizes that the ultrasonic sensor 202 only works at night or under the condition of no light, can also realize the monitoring of the vehicle at night, and simultaneously can reduce the burden of the sensor and avoid the damage caused by long-time work.
In particular, the data processing unit 102 in the data management module 1 comprises an estimator configured to determine the speed of travel of the vehicle based on the duration of the change of the electrical signal on one photovoltaic panel and the distance between the two ends of said photovoltaic panel, when the vehicle travels over said photovoltaic panel.
Specifically, the electric signal monitoring unit 2010 is an electric energy metering chip, and is used for monitoring voltage, current, power, electric quantity and the like on the photovoltaic panel;
further, the estimator is configured to determine a travel speed of the vehicle based on a duration of a change in the electrical signal on one of the photovoltaic panels and a distance between the ends of the photovoltaic panel as the vehicle travels over the one photovoltaic panel. In practical applications, the photovoltaic panel is a crystalline silicon solar panel, the size of which is 2000 × 1000 × 35mm, the rated power is 180W, the conversion efficiency is 80%, the center positions of the two ends of the photovoltaic panel are provided with end points A, B, the distance L from the end point a to the end point B is 2000mm, when no vehicle runs through the photovoltaic panel, the output power W1 × W × η — 180 × 80 — 140W of the photovoltaic panel, when a vehicle runs through the photovoltaic panel, the front part of the vehicle passes through the end point a, the output power W1 starts to gradually decrease until the front part of the vehicle reaches the end point B, the output power drops to the lowest point W2, at this time, the photovoltaic panel is completely shielded by the vehicle, direct irradiation of light cannot be obtained, but indirect irradiation of light can be obtained through reflection, scattering and the like of light irradiated on the adjacent photovoltaic panel, and then lower output power is obtained through conversion, w2 is defined as W2 — W1 × 10% — 14W, the time for the output power to decrease from W1 to W2 is 0.12S, the output power is maintained at W2 until the vehicle tail travels away from the endpoint a, the time for the output power to remain at W2 is 0.18S, the output power starts to gradually increase until W1, the time for the output power to increase from W2 to W1 is 0.12S, the traveling speed v of the vehicle is 60KM/h is calculated according to the speed formula v — L/t, and the length S of the vehicle is 5m by the traveling speed v of the vehicle and the time for the output power to remain at W2.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The overtaking control system of the unmanned vehicle is characterized by being applied to a photovoltaic road and comprising a vehicle information management control system, a vehicle data acquisition system and a server; the vehicle data acquisition system comprises a data management module and a vehicle monitoring module; the vehicle monitoring module comprises a plurality of groups of electric signal monitoring units, a plurality of groups of ultrasonic sensors, a photosensitive switch control unit, a counting unit, a speed measuring unit and a radio frequency identification unit, wherein the electric signal monitoring units are arranged in a photovoltaic panel of the photovoltaic road; the electric signal monitoring unit is connected with a timer and is used for monitoring the passing time of the vehicle; when a vehicle passes through one photovoltaic panel, monitoring the electric signal change of the photovoltaic panel and the duration time of the electric signal change through an electric signal monitoring unit, and sending the detected data to a data management module, wherein the data management module calculates the running speed of the vehicle according to the monitored duration time of the electric signal change on a single photovoltaic panel and the distance between two ends of the single photovoltaic panel; the radio frequency identification unit comprises a radio frequency card arranged in the vehicle and a reader-writer arranged on a road surface, wherein the radio frequency card stores the identity information of a vehicle owner and the information of the vehicle; the data management module comprises a data receiving unit, a data processing unit, a data storage unit and a data sending unit; the data storage unit stores the geographical position and the lane information of each reader-writer in advance; the data management module is used for receiving, processing, storing and uploading data information detected by the vehicle monitoring module and storing the collected information in a server; the data processing unit in the data management module comprises an estimator configured to determine the driving speed of the vehicle based on the duration of the change of the electrical signal on one photovoltaic panel and the distance between the two ends of the photovoltaic panel when the vehicle passes by on the photovoltaic panel; the vehicle information management control system adjusts and controls the unmanned vehicle and sends out a vehicle overtaking signal by receiving the information of the server and the vehicle overtaking request information;
the data management module analyzes and obtains the illumination intensity change of the road section where the photovoltaic panels are located according to the monitored electric signal change on the photovoltaic panels, analyzes and obtains the weather condition of the road section according to the illumination intensity change, analyzes and obtains the proper road running speed, and carries out speed limit reminding on the vehicle through the display interface of the vehicle.
2. The passing control system of the unmanned vehicle according to claim 1, wherein the vehicle information management control system comprises an information receiving unit, a data analysis processing unit, a distance adjusting unit, a signal emitting unit; the information receiving unit receives overtaking request information sent by a vehicle to be overtaken through a server; the overtaking request information comprises identification information of the vehicle to be overtaken and relative position information of the unmanned vehicle; the data analysis processing unit acquires nearby vehicle data information, lane information and road condition information from the server and analyzes whether overtaking is available or not; the distance adjusting unit is used for adjusting the distance between the vehicles in response to the data analysis processing unit; and the signal sending unit sends the overtaking signal to the vehicle to be overtaken through the server according to the adjusted distance information.
3. The passing control system of the unmanned vehicle according to claim 1, wherein each of the plurality of sets of ultrasonic sensors is provided with two ultrasonic sensors, and a distance between the two ultrasonic sensors is fixed.
4. A passing control system of an unmanned vehicle according to claim 3, wherein a reader/writer is provided between each set of ultrasonic sensors.
5. The passing control system of the unmanned vehicle of claim 1, wherein the photosensitive switch control unit is electrically connected to the plurality of sets of electric signal monitoring units, the plurality of sets of ultrasonic sensors, the counting unit and the speed measuring unit, and is configured to control the ultrasonic sensors to operate in place of the electric signal monitoring units in a no-light condition.
6. The passing control system of the unmanned vehicle of claim 2, characterized in that the distance adjusting unit comprises a safe distance threshold subunit and an adjusting subunit; the safe distance threshold subunit is used for determining whether the distance to be adjusted is smaller than a preset safe distance threshold; the adjustment subunit is configured to adjust the distance to be greater than a safe distance threshold in response to the speed and/or direction of the unmanned vehicle.
7. A passing control method of an unmanned vehicle using the passing control system of the unmanned vehicle according to any one of claims 1 to 6, characterized by comprising: receiving overtaking request information sent by a vehicle to be overtaken, wherein the overtaking request information comprises identification information and relative position information of the unmanned vehicle; meanwhile, nearby vehicle data information, lane information and road condition information are obtained from the server, and whether the current road section is a overtaking road section or not is analyzed; responding to the current road section as the overtaking road section, and adjusting the distance between the current road section and the adjacent vehicle according to the relative position information; and sending a overtaking signal to the vehicle to be overtaken according to the adjusted distance information.
8. The passing control method of the unmanned vehicle according to claim 7, wherein the adjusting the distance to the adjacent vehicle according to the relative position information in response to the current segment being the passable segment comprises: adjusting a distance between the unmanned vehicle and a first vehicle and a second vehicle when the vehicle to be overtaken is located on a right side of the unmanned vehicle with respect to a traveling direction of the unmanned vehicle, wherein the first vehicle is located directly in front of the unmanned vehicle and the second vehicle is located on a right front of the unmanned vehicle; adjusting a distance between the unmanned vehicle and the first and third vehicles when the vehicle to be overtaken is positioned to a left side of the unmanned vehicle with respect to a traveling direction of the unmanned vehicle, wherein the third vehicle is positioned to a left front of the unmanned vehicle.
9. The passing control method of the unmanned vehicle according to claim 7, wherein the adjusting the distance to the adjacent vehicle according to the relative position information in response to the current segment being the passable segment comprises: determining whether the distance to be adjusted is smaller than a preset safe distance threshold value; and responding to the fact that the distance to be adjusted is smaller than a preset safe distance threshold value, adjusting the speed and/or the direction of the unmanned vehicle, and enabling the distance to be adjusted to be larger than the safe distance threshold value.
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| CN110260872B (en) * | 2019-05-06 | 2023-08-01 | 合肥工业大学 | Dynamic overtaking track planning system based on GPS under vehicle-road cooperative environment |
| CN111326019A (en) * | 2020-02-27 | 2020-06-23 | 腾讯科技（深圳）有限公司 | Driving risk early warning method and device, computer medium and electronic equipment |
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