CN110992723A - Unmanned traffic navigation signal equipment and management system thereof - Google Patents
Unmanned traffic navigation signal equipment and management system thereof Download PDFInfo
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- G—PHYSICS
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- 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
- G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G08G1/081—Plural intersections under common control
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- G—PHYSICS
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- 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
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/133—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops
- G08G1/137—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams within the vehicle ; Indicators inside the vehicles or at stops the indicator being in the form of a map
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Abstract
An unmanned traffic navigation signal device and a management system thereof are provided, which realize the synchronous tangible and intangible tracking navigation of an unmanned moving body or a moving walking robot under two modes through a tangible ground one-dimensional code or two-dimensional code and a virtual intangible digital electronic path map navigation mode associated with the tangible ground one-dimensional code or two-dimensional code, and the management system thereof. The method comprises the steps that the tangible ground one-dimensional code or two-dimensional code path information is that an unmanned control system edits intangible electronic path map information into a one-dimensional code or a two-dimensional code, and the one-dimensional code or the two-dimensional code is printed on the road surface of an actual path at a certain interval and is read by a camera or a code scanner carried by an unmanned moving body or a moving walking robot in tracing operation; an intangible virtual digital electronic path map is a collection of electronic path information map data with global electronic position digital information. Therefore, the tracking running mode is executed by indicating the ground one-dimensional code or two-dimensional code icon of the unmanned moving body or the moving walking robot, which is in one-to-one relation with the intangible electronic path map, to track through the intangible electronic path map.
Description
Technical Field
The patent relates to an unmanned traffic navigation signal device and a management system thereof, which solve the problems of unmanned mode and signal control aiming at the unmanned vehicle and the operation mode of a four-dimensional space technology in moving objects such as the unmanned vehicle, an aircraft or a robot. In order to achieve the purpose, the technical scheme of the patent provides a unique ground two-dimensional code navigation mode and a four-dimensional space mode, and an unmanned implementation mode is newly defined. The ground two-dimensional code of the path traced by the unmanned vehicle has a lot of special information for reading and controlling in advance in the tracing motion, thereby solving a series of driving problems and traffic signal control problems and the technology of planning the path in a four-dimensional space on the premise of the reading and controlling.
Compared with an invisible electronic path map, the initiative of unmanned driving on data analysis is that data created by dynamic recording and calling path planning are actively used for comparing static data related to visible ground one-dimensional codes or two-dimensional code icons, and blind and passive data receiving in a blind mode is not achieved. Meanwhile, unnecessary invalid data are not analyzed and calculated, and the unmanned driving needs effective data, namely a high-precision electronic path map, instead of a large amount of invalid data, namely a high-precision map, so that the burden of a control system is greatly reduced. A brand-new unmanned technology mode and a new concept of the electronic route map internet are created.
Background
In current unmanned vehicles, ground vehicle-mounted sensors are almost used, and the unmanned function is realized according to the navigation of global satellite positioning sensors, millimeter wave radars, laser ranging sensors and the like. However, the ground vehicle-mounted sensor is limited by height, is subject to inaccurate interference data of many factors in the aspect of measurement, and is more limited in the aspect of overtaking.
The data of the global satellite positioning sensor is surface data and not path data, and the data of the global satellite positioning sensor which is used independently has errors. Therefore, the conditional unmanned driving mode of path tracing navigation is realized by directly comparing the real-time working electronic path map of the path planning of the dynamic self-defined combination of different segmented electronic map paths with the actual one-dimensional code or two-dimensional code icon on the ground without using a GPS.
Disclosure of Invention
Detailed description of the patent content:
the unmanned vehicle comprises the following basic components:
an unmanned traffic navigation signal device and a management system thereof comprise an invisible electronic path map, a visible one-dimensional code or two-dimensional code road surface icon, an unmanned moving body control system, a vehicle-mounted one-dimensional code or two-dimensional code road surface icon printing system, a vehicle-mounted one-dimensional code or two-dimensional code road surface icon scanning code identification sensor or a camera and the like.
The working mode is as follows: the running route of the unmanned moving body is regarded as a data information combination set of a plurality of chained intangible electronic path maps with different global positioning systems or other space positioning system geographic sampling point position data series combination, the different global positioning systems or other space positioning system geographic sampling point position data information on the intangible electronic path map is printed on corresponding lane lines in the form of one-dimensional codes or two-dimensional codes through software operation processing, a tangible one-to-one associated lane road surface icon serial chained icon set is formed, and the tangible icons are also printed in a serial connection mode or are sprayed and painted in the center of the lane and extend in parallel with the lane.
For a work path map (path planning) we mean: in the unmanned movement, firstly, according to the starting point and the ending point route requirements of a client, the system automatically retrieves different segmented path map data from the large intangible electronic path map database, automatically plans a path on the intangible electronic path map according to a destination and a starting point, and combines and establishes an instant working map which generates the intangible electronic path map connecting local parts of each single path section or a combination of a plurality of path sections of the action of the user.
For the starting point position on the work map, it means: then the control system drives and matches the information data of the tangible ground one-dimensional code or two-dimensional code read by the sensor such as the card reader or the code scanner or the camera of the unmanned moving body or the moving walking robot one-to-one according to the information data of each sampling data point on the working electronic path map, thereby confirming the actual position of the moving body on the intangible electronic path map, which means that the unmanned moving body control system confirms the end of the successful operation of the position before the information position of the one-dimensional code or the two-dimensional code and the starting operation from the position. That is, the unmanned operation system determines the information position of the tangible ground one-dimensional code or two-dimensional code, that is, the associated position in the intangible electronic path map database associated therewith, so that the unmanned moving body or the moving walking robot determines the starting point to be started. Or confirming that the vehicle is automatically driven before the previous unmanned action is executed, and waiting for departure when the vehicle reaches the starting point of the invisible electronic route map. Or the operation control system directly takes the actual data position point of the information position of the one-to-one unique associated tangible ground one-dimensional code or two-dimensional code confirmed by the unmanned moving body on the intangible electronic path map as the starting point of the working electronic path map.
For the end position on the work map, it means: the method for confirming the destination data position information on the invisible electronic path map by clicking on the invisible electronic path map is adopted, and because the data position information and the actual visible ground one-dimensional code or two-dimensional code information have a one-to-one correlation relationship, the related destination position of the invisible electronic path map is confirmed by clicking at two times, the effect of simultaneously confirming the actual destination geographic position information of the specific visible ground one-dimensional code or two-dimensional code information is achieved, and the actual data position point on the confirmed invisible electronic path map is taken as the end point of the working electronic path map.
The tracking motion of the unmanned moving body or the moving walking robot is as follows: the unmanned control system indicates an unmanned moving body or a moving walking robot to establish data serial chain information on the path planning work electronic path map according to the combination of the invisible electronic path map, drives the unmanned moving body or the moving walking robot to sequentially track the position information of each data sampling sample point of the chain on the invisible work electronic path map to operate, a vehicle-mounted card reader, a code scanner or a camera and other sensors read the visible ground one-dimensional code or two-dimensional code information of the corresponding invisible electronic work path map one by one, compares and matches the related information on the corresponding invisible electronic path work electronic path map, confirms whether the unmanned operation process is correct, and simultaneously drives the moving body to correct the left-right deflection mode which is right ahead relative to the moving direction by the control system to ensure that a sensor probe target on the chassis of the unmanned moving body dynamically aligns to the longitudinally coincident ground The longitudinal serial center line of the tangible ground one-dimensional code or the two-dimensional code to be scanned ensures the accuracy of the driving of the unmanned moving body or the moving walking robot relative to the information of the intangible electronic path map and the tangible ground one-dimensional code or the two-dimensional code.
The control system continuously and repeatedly drives, reads, compares and matches one by one according to the working mode by taking the working mode as a basic working unit mode, so that the unmanned moving body or the moving walking robot drives from the starting point of the working electronic path map to the end point of the working electronic path map in an unmanned mode according to the tracking motion of the information on the invisible working electronic path map one by one.
The unmanned moving body does not necessarily refer to a ground moving body, and if the information of the tangible ground one-dimensional code or two-dimensional code corresponding to the intangible electronic working path map is read one by one sequentially through a sensor such as a remote onboard card reader, a code scanner or a camera, relative to an aerial vehicle, the unmanned moving body also belongs to the protection scope of the claims of the patent.
A pilotless traffic navigation signal equipment and its management system includes one or more moving body sensors in lane in the icon of serial tangible ground one-dimensional code or two-dimensional code in the center of each corresponding lane, a conversion coding display capable of automatically converting instant signal lamp information into one-dimensional code or two-dimensional code icon or a signal lamp directly arranged on the ground arranged in the longitudinal row and column of tangible ground serial chained one-dimensional code or two-dimensional code icon, and a STOP SIGN signal mode sequence management control system.
For the run mode with no STOP sign and no STOP sign: the traffic light form of a ground light can be used as a traffic light arranged on the road surface of a corresponding traffic lane to prompt a driver of a man-made driving moving body or an unmanned moving body to use, and the traffic light control system is a special control system similar to the traffic light of a common intersection, and is mainly characterized in that except for being arranged on the ground, a green light starts a sequence management control system immediately after a certain vehicle passes through a certain lane, green light information is transmitted to a conversion coding display for automatically converting the traffic light information of the traffic lane at the next intersection to be subjected to the sequence into a one-dimensional code or a two-dimensional code icon, so that the moving body at each corresponding intersection can drive the priority to pass, and the STOP SIGN signal mode sequence management control system can be free of yellow light options.
The sensor can be an infrared sensor or a pressure sensor or other sensors, the purpose is to transmit the instant moving body infrared rays detected by the sensor or the information of one or more arriving moving bodies staying relative to the gravity data of the road surface to the STOP SIGN signal pattern sequence management control system of the intersection, the STOP SIGN signal pattern sequence management control system analyzes the instant arriving information and the information of whether the moving bodies exist or not input by the sensor at the corresponding position of each intersection through the software and hardware of a computer, the instant sequence passing traffic management information is calculated according to the analysis and processing of the STOP SIGN traffic signal management rule, and then the special red light and green light patterns of the sequence management control are output to the signal lights or signal light conversion codes on the corresponding lanes in the special STOP SIGN signal pattern A display; although the output red light and green light information is also in front of the stop line positioned in the middle of the related lane as before, a signal light conversion coding display which can automatically convert the instant signal light information into a one-dimensional code or a two-dimensional code icon is arranged in the longitudinal row and column of the tangible ground serial chain one-dimensional code or the two-dimensional code icon, the signal light conversion coding display can be one or a plurality of continuous or discontinuous in the longitudinal row and column of the tangible ground serial chain one-dimensional code or the two-dimensional code icon, and the signal light information of the signal light conversion coding display which reads the one-dimensional code or the two-dimensional code icon by using a vehicle-mounted card reader or a code scanner or a camera of the vehicle-mounted one-dimensional code or the two-dimensional code is transmitted to the automatic driving moving body control system.
However, the lane sensor has a traffic light management mode different from that of a common intersection, and the mode has no display mode of yellow light and only red light and green light, so that once the lane sensor detects that the traffic information on a traffic lane disappears (from the presence to the absence), the traffic information is immediately transmitted to a STOP SIGN signal mode rotation sequence management control system, and then the rotation sequence management control system changes the conversion coding display which is arranged in a longitudinal row and column of a tangible ground serial chain one-dimensional code or two-dimensional code icon on the road surface of the next corresponding intersection and can automatically convert the instant signal light information into the one-dimensional code or two-dimensional code icon signal of the green light. The STOP SIGN signal pattern round sequence management control system which passes through the intersection according to the pattern circularly transmits the priority passing permission information of the corresponding green light signal to a STOP line positioned in the middle of the relevant lane of the next corresponding lane one by one, and a conversion coding display which can automatically convert the instant signal light information into a one-dimensional code or a two-dimensional code icon is arranged in the longitudinal row and column of the tangible ground serial chain one-dimensional code or two-dimensional code icon. If no moving body arrives at the stop line position earlier on other traffic lanes, the round sequence management control system can skip the green light signal of the empty lane without the moving body to change the green light signal into the red light signal, and directly automatically convert the green light passing signal into the one-dimensional code or the two-dimensional code icon on the lane by the green light signal information to be displayed on the conversion coding display. The moving body arrival signal generator claimed in this patent may be of many kinds as long as it is aimed at detecting the arrival or absence of a moving body, and particularly refers to an infrared moving body detection sensor or a gravity sensor.
The problem of the tangible ground one-dimensional code or two-dimensional code is that: the tangible ground serial chain type one-dimensional code or two-dimensional code icon is composed of ground one-dimensional codes or two-dimensional code icons, and the information data of each sampling data point on the intangible electronic path map is in a one-to-one corresponding relation. Relative to each tangible ground one-dimensional code or two-dimensional code icon, the data corresponding to the intangible electronic path map not only comprises the road information code of the section, but also comprises the electronic azimuth angle information, the distance information, the speed limit information, the global positioning system or other space positioning system information and the like of the working serial chain intangible electronic path map aiming at the position behind the sequence, therefore, when the control system of the unmanned moving body or the moving walking robot reads information data on each invisible electronic path map in the tracking operation or prints the data on the middle road surface of the lane as a visible ground serial chain type one-dimensional code or two-dimensional code map, it is possible to determine the next data point according to the working path map when the moving body has not reached the next data point, the previous data point can be corrected and turned to the next data point according to the electronic azimuth angle or distance contained in the data. The method comprises the steps that in addition to normal section road position information, turning cross-border connection information and cross bridging information of other section roads for connecting the section road are also included, and for the turning problem, intangible electronic path map information including large turning (left turning relative to a left driving position of a steering wheel), small turning (right turning relative to a left driving position of the steering wheel) and U turning round is provided for being used as a path map database for actual combined calling when a certain working path electronic tracking map is manufactured; meanwhile, various curve information icons of corresponding tangible ground one-dimensional codes or two-dimensional codes are jet-printed at the road intersection to the centers of various turning lanes according to various curve information on the intangible electronic path map. For example, a section at an intersection includes U-shaped U-turn path serial chain one-dimensional code or two-dimensional code icon information, left-turn loop section path serial chain one-dimensional code or two-dimensional code icon information, and right-turn loop section path serial chain one-dimensional code or two-dimensional code icon information. Because the automatic driving moving body does not track the information of the tangible ground serial chain type one-dimensional code or the two-dimensional code icon, but tracks the information on the intangible working electronic path map, and the intangible working electronic path map is a single path trace without branching and crossing, the problem of tracking conflict error caused by branching of the ground serial chain type one-dimensional code or the two-dimensional code icon information and the like can not occur.
The identification of the signal lamps can be realized by reading the information of the signal lamps by using a vehicle-mounted vision sensor according to the electronic azimuth angle and the electronic distance relative to the traffic lamps on the corresponding lanes at a certain distance in front of the signal lamps. Or the information of a synchronized signal light display arranged on the ground, in particular on the corresponding lane, is read using a vehicle-mounted ground-facing vision sensor. Or a conversion coding display capable of automatically converting the instant signal lamp information into one-dimensional code or two-dimensional code icons is arranged in the longitudinal row and column of the tangible ground serial chain type one-dimensional code or two-dimensional code graph in the same direction of the vehicle head direction in the middle of a related lane in front of the signal lamp, the display can be one or a plurality of continuous or discontinuous rows and columns of the tangible ground serial chain type one-dimensional code or two-dimensional code graph, a vehicle-mounted card reader or a code scanner or a camera of the vehicle-mounted one-dimensional code or two-dimensional code is used, and the signal lamp information displayed by reading the one-dimensional code or the two-dimensional code is transmitted to the automatic driving moving body control system; the above three ways are claims of this patent, especially the last one is the most important priority claim of this patent.
In the automatic parking mode of the unmanned vehicle, when the unmanned vehicle tracks nearby parking spaces according to an invisible electronic path map and a visible corresponding ground one-dimensional code or two-dimensional code image, each parking space has associated parking space electronic azimuth angle or distance data on the invisible electronic path map or the visible corresponding ground one-dimensional code or two-dimensional code image, therefore, after the control system of the unmanned vehicle automatically starts the function mode in the automatic parking mode, the control system of the unmanned vehicle receives the electronic azimuth angle or distance data of the parking space with the association from the invisible electronic path map or the visible corresponding ground one-dimensional code or two-dimensional code image, a vehicle-mounted vision sensor can be started, and the double parallel lines or rectangular parking spaces of the parking spaces at the azimuth angle distance position are detected according to the electronic azimuth angle, if the integrity of the stitches detected by the vision sensor does not reach the set integrity parameter value; or if the vehicle-mounted millimeter wave or infrared sensor or other sensors detect that the electronic azimuth position is occupied by other vehicles, the parking space is automatically abandoned to be searched continuously, and other parking spaces in the route sequence are searched continuously according to the sequence.
In addition, under the execution of the automatic vehicle-taking calling mode, the unmanned vehicle is driven by the control system to automatically start the unmanned vehicle from a parking space at a starting point, and the unmanned vehicle passes through an invisible electronic route map or a visible corresponding ground one-dimensional code or two-dimensional code icon nearest to the parking lot and performs path planning to reach an invisible electronic route map or a visible corresponding ground one-dimensional code or two-dimensional code icon nearest to a person sending a vehicle-taking calling instruction as a destination according to the invisible electronic route map database to establish the invisible electronic route map under the calling working mode; then the unmanned vehicle does a tracing unmanned driving mode according to the invisible electronic path map, traces corresponding invisible working electronic path map data through a road wheel sequence and confirms that a corresponding visible corresponding ground one-dimensional code or two-dimensional code icon reaches a destination, and stops for standby.
One-dimensional code or two-dimensional code encryption problem: the one-dimensional code or two-dimensional code pattern may contain encrypted information so that the control system software must have a corresponding decoding authorization to successfully and effectively read the information of the tangible ground one-dimensional code or two-dimensional code pattern.
And a four-dimensional space problem of sharing data with a modeling combination of augmented virtual reality: the virtual reality VR technology can share the association relationship between the geographic sampling point data information of each different global positioning system or other space positioning systems on the intangible electronic path map and the one-dimensional code or two-dimensional code icon associated with the tangible ground in a one-to-one manner through the parameter or non-parametric modeling mode of the virtual reality VR technology and by combining the geographic sampling point data information of each different global positioning system or other space positioning systems on the intangible electronic path map, so that the virtual reality can be materialized. The virtual reality VR technology and the intangible electronic path map and the tangible ground one-to-one associated one-dimensional code or two-dimensional code icon are seamlessly associated and combined to share data, the intangible electronic path map and the virtual reality modeling with parameters or nonparametric are combined, so that data position points on the intangible electronic path map can be formed as a bridge in the same software system environment, and the accurate position association relationship between the intangible virtual reality modeling information with parameters or nonparametric and the tangible ground icon one-dimensional code or two-dimensional code specific position points is determined in a connecting mode, and therefore brand-new cognitive experience and real industry application are brought. The user can find the corresponding invisible electronic path map in the invisible virtual world through the client by the virtual reality technology, and quickly reach the point of the needed related data position according to the invisible electronic path map, because the data point on the invisible electronic path map only has one visible real one-dimensional code or two-dimensional code icon position point in the objective world to be associated with the invisible real one-dimensional code or two-dimensional code icon position point, the user can quickly determine the position of the user on the visible ground through the virtual reality client, and determine the destination position of the automatic driving moving body, and the activity can also be operated in the reverse direction, namely, the data point on the invisible electronic path map or the parameter or non-parameter body in the virtual reality is associated through the position of the visible bearing surface one-dimensional code or two-dimensional code icon. The technology realizes full-parameter or nonparametric butt joint of a three-dimensional virtual world and three-dimensional tangible reality, realizes spanning from a three-dimensional space to a four-dimensional space, realizes recognition, creation, existence, calling and conversion of the four-dimensional space, and is particularly suitable for LBS-Based AR to realize augmented reality.
The four-dimensional space referred to in this patent refers to the correlation between the virtual reality space and the three-dimensional space, which are not related to time.
The virtual reality of the world is still basically at the initial level of the entertainment stage, the virtual reality and the augmented virtual reality are basically random works of students of the computer and art institute without parameters, the industrially designed virtual reality such as UG modeling has parameters or non-parameters which can support printing in different places, but the parameters or the non-parameter virtual reality is a space of which the product space is only an object, and has low relevance with the social life of people, and most importantly, the parameters or the non-parameter virtual reality has no spatial positioning coordinate system shared by the parameters or the non-parameter virtual reality and no electronic azimuth angle, which is just like the free and chaotic world of the world before the founder century. Therefore, the virtual electronic path sampling data point with the space positioning coordinate system and the electronic azimuth angle and the serial data path are established to be branches connected with the virtual reality leaves.
The most important is to associate the virtual electronic path with the objective three-dimensional world, which is why the patent emphasizes the spatial positioning coordinate system and the electronic azimuth angle, because only they enable the sampling data point of each virtual electronic path to find the carrier on the objective three-dimensional world, and the carrier can be printed and sprayed on the fixed carrier of the three-dimensional world in the form of one-dimensional code or two-dimensional code (i preferably use the middle of the highway lane as the carrier), so as to find the soil tie root | rather than the branches and leaves!
The correlation of the leaves of each virtual reality to the correlation of the three-dimensional world of the root soil is the essence of the four-dimensional space. The unmanned technology is a typical application example of the technology.
The term virtual reality is always understood as meaning non-real and anti-real things in a narrow sense, and the patent aims to achieve the true famous and plain 'virtual reality' or 'super reality' by defining the content and the interrelation of the virtual reality and how to interconnect and intercommunicate. (since it enables instant efficient crossing of space)
The existing virtual reality has two disadvantages:
a-it is only a single machine version, in the content, my virtual reality is different from the current virtual reality content, the current virtual reality single machine version is only game content, and the virtual reality of my single machine version is the embodiment of the projection of the objective world in the virtual reality. The former is a random artistic animated content story without parameters that is substantially independent of the author's own self-spoken words of the objective world. Meanwhile, the virtual reality of the world is just like a computer thirty years ago, namely a typewriter game machine without internet access, and has no relation with a network as a single machine, and the concept of neighbor basically does not exist. And I let it realize the span from virtual to real, let each virtual reality machine be connected to the network, each virtual reality client knows "I is who, where, my is near who, where can I go, what there is, what can do there realize what brings back what … …" under the system of thing networking "
B-at spatial distance position: in the aspect of internet of things transmission, because i can locate very accurately through a medium one-dimensional code or two-dimensional code, the location has no data drift at all, and can reach the accuracy degree of millimeter and micron, under such technical conditions, the value of a so-called global positioning system or other space positioning systems becomes the same as an automatic symbol of data coding, just like a coordinate system with time as a time dimension, and the global positioning system or other space positioning systems only play a role in coding symbol names in a space dimension. All augmented reality singles really become network clients from now on, and the Internet of things is really realized.
The three bearing factors of all objective contents of the Internet of things are objective: the codes of the global positioning system or other space positioning systems, the electronic azimuth and the one-dimensional codes or the two-dimensional codes on the bearing surface, in other words, all the internet of things and the virtual reality are established in the same global positioning system or other space positioning systems and the three-dimensional coordinate system of the electronic azimuth (as long as the three-dimensional coordinate system has the electronic azimuth, any two-dimensional coordinate XY axis can be determined, and the Z axis can also be determined).
Therefore, the client end around the world can establish a self parametric or nonparametric virtual reality modeling entity on a platform capable of sharing data under the same global positioning system or other space positioning system coding systems, can browse or participate in modeling on the platform capable of sharing data and the unified space positioning system coding system by directly crossing the virtual reality of the self client end to the virtual reality of other client ends, and can also independently establish entity modeling with parameters or nonparametric on the platform capable of sharing data and the unified space positioning system coding system in different places.
The platform for sharing data and the uniform space positioning system coding system are directly related with the information data of the sampling data points on the indirect and intangible electronic path map, and the situation is the same as that the houses of each person are directly or indirectly far and near with a certain distance relation with the road. Information data of sampling data points on each electronic path map are associated with fixed one-to-one ground one-dimensional codes or two-dimensional code icons in a tangible three-dimensional space world, which is similar to that of a ship, an anchor chain is the electronic path map, and anchors are the ground one-dimensional codes or the two-dimensional code icons.
Therefore, thousands of ships, thousands of anchor chains and thousands of anchors can be jointly built and shared with the three-dimensional world, namely the four-dimensional space formed by combining the virtual reality and the three-dimensional space is provided with no time label and is completely unrelated to the space-time four-dimensional space.
If Archimedes 'gives me a fulcrum and can pry the earth', the fulcrum of the patent is information data of each sampling data point on a network working electronic path map with code information of a global positioning system or other space positioning systems, and one-to-one correlation of one-dimensional codes or two-dimensional codes printed on a carrier simultaneously matches tangible ground one-dimensional codes or two-dimensional code information data read by sensors such as a card reader, a code scanner or a camera of an unmanned moving body or a moving walking robot one-to-one, so that virtual reality and accurate geographic position information are interconnected and communicated.
The virtual reality not only has the concepts of azimuth angles and short-distance space, but also has accurate association of the whole world and even universe three-dimensional space, namely, as long as a bearing surface receptor printed by electronic path map data with a global positioning system or other space positioning system data is arranged, the bearing surface receptor can be communicated by the virtual reality; similarly, where the positioning system data of the universe and the bearing surface receptor printed by the electronic path map data under the data exist, the positioning system data and the bearing surface receptor can be communicated by virtual reality. Virtual reality is directly and accurately spanned to real life. Such as: i buy a commodity in a virtual reality store or game platform and can place it in virtual reality into a residence in the virtual reality world or on the real world, which is a determined location unit information on an electronic road map with real global positioning system or other spatial positioning system data. So saying that I's shopping in virtual reality, i.e. my Internet of things associated with the information network, can achieve perfect intercommunication! This intercommunication is not only a intercommunication in three-dimensional space but also in four-dimensional space.
Since the virtual-reality online store seller receives the information in the virtual reality, the goods of the seller are directly defined to my address in the virtual-reality world through the Internet of things and are dispatched. The unmanned moving body navigation technology and the virtual reality technology are different in that the virtual reality technology solves three-dimensional information on each local area unit such as trees, the unmanned moving body navigation technology solves the mutual relation of the local area units such as trees and defines the relation of each local area unit and a forest formed by the local area units and the trees, just like the small-range person and object related by a person and a surrounding scenery or a surrounding group at most in the virtual reality, and the unmanned moving body navigation technology enables the person and the object to be related in a wide-range meaning that accurate positioning can be realized in an infinite span space according to a global positioning system or other space positioning system coordinate systems, the practicability of the relation between the person and the object relative to the real world is realized in a real meaning, and the virtual reality is changed into a component part of reality with very practicability from a simple game, just like the difference that three-dimensional design software modeling is divided into modeling with parameters or non-parameters, the modeling of the three-dimensional design software is only an artwork, and the modeling of the three-dimensional design software can be directly printed into a specific real object with a size.
If the virtual reality game machine of each family in the prior art is just similar to a single machine version without surfing the internet, the my patent is to realize networking of all virtual reality internet, namely the internet of things in the true sense. The technology is the next generation technology of the internet, and the technology realizes the spanning from a three-dimensional space to a four-dimensional space. For another example: two decades ago, a television station has a program, namely a so-called network survival experiment which gives money on the network and enables a user to shop against QQ and E-mail under the condition that the user does not pay for treasures and Taobao online stores at that time.
The purpose of the patent is to enable a person to arrive at the virtual reality world of the Paris Eiffel tower instantly in a real dream, travel and shop at the virtual reality world, and place a delivery address to a certain delivery address by the way, and no character table is required to be input in the whole process. After such south-north pole in tokyo in paris, if you feel that you want to really go to reach in addition to the interesting virtual world, you click on this virtual reality, which automatically associates with the global positioning system or other space positioning system address to reach by unmanned moving body or airplane (my one-dimensional code or two-dimensional code is mainly aimed at the moving body on the ground, and can also support the code scanning with deflection angle in long distance high altitude of the aircraft).
Processing road sections needing red light parking, such as intersections or pedestrian crossing lines: because the signal lamp ground display can be a plurality of continuous or discontinuous ones in a certain distance range in the longitudinal row and column of the tangible ground serial chain type one-dimensional code or two-dimensional code icons on the corresponding traffic lane in front of the signal lamp, the real-time signal lamp information can be read by a moving body control system of the unmanned moving body or the moving walking robot in the distance range through a card reader or a code scanner or a camera and other sensors of the unmanned moving body or the moving walking robot so as to control the speed of the unmanned moving body or the moving walking robot, the signal lamp ground display can pass through according to a certain speed limit when not displaying red light signals or yellow light signals, and when displaying red light signals, the one-dimensional code or two-dimensional code icons display the same or different speed limit information or brake information in steps according to different distance values of a distance line, the real-time red light signal lamp information of each position is read by a control system of the unmanned moving body or the moving walking robot through sensors such as a card reader, a code scanner or a camera of the unmanned moving body or the moving walking robot, so that the control of the running speed of the unmanned moving body or the moving walking robot or the braking and the parking in front of a parking line are successfully ensured.
For example, the speed limit of a moving body running at 80 kilometers is 100 kilometers per hour at a distance of thirty meters in front of a traffic light stop line, the speed limit has no influence on the moving body running at 80 kilometers, then the speed limit is 60 kilometers per hour at a distance of 15 meters, at the moment, the moving body starts to decelerate according to the speed difference of 20 kilometers per hour, then the moving body limits the speed of a one-dimensional code or a two-dimensional code at a position of 10 meters again to 30 kilometers per hour, and thus, a multi-stage speed limit mode is used for ensuring that the moving body does not exceed the stop line; the range of the echelon segmented multistage speed limit is the protection range of the patent claims from 3 km/h to 100 km/h, the last road surface one-dimensional code or two-dimensional code with speed limit information in front of a parking line indicates that a moving body does not exceed the speed and turns straight or left and right or stops the vehicle under the information of the signal lamp one-dimensional code or two-dimensional code, and the automatic moving body control system controls the power driving system of the moving body on the premise that the unmanned moving body or the moving walking robot has the previous speed limit on a series of ground multiple signal lamp displays, so that the moving body can be ensured to successfully park at a proper distance position in front of the parking line without line crossing after the signal lamp sensor or the road surface one-dimensional code or two-dimensional code sensor reads red light information.
The method for processing the signal lamp before the red light changes from green light to yellow light by the moving body control system comprises the following steps: when the green light signal is changed into the yellow light signal, the automatic driving moving body control system starts to start automatic timing, the automatic driving moving body control system requires the advance of a time period within the range of 1-100 seconds for the time management of the yellow light according to the traffic regulation of the local road section, and the unmanned moving body or the moving walking robot control system automatically determines the yellow light signal at the time after the time period as the red light signal by setting the advance.
Because the signal lamp ground display can be a plurality of continuous or discontinuous ones in a certain distance range in the longitudinal row and column of the tangible ground serial chain type one-dimensional code or two-dimensional code icons on the corresponding traffic lane in front of the signal lamp, the control system of the moving body of the unmanned moving body or the moving walking robot can read the instant signal lamp information through the card reader or the code scanner or the camera and other sensors of the unmanned moving body or the moving walking robot in the distance range, thereby controlling the speed of the unmanned moving body or the moving walking robot.
The parameter time point of a certain lead before the yellow light signal is changed into the red light signal is used as a boundary, the unmanned moving body or the moving walking robot at the time point is set to run at a normal speed when the distance from the stop line is less than a plurality of distances, and the speed is reduced if the distance is greater than or equal to the distance, so that the unmanned moving body or the moving walking robot can be ensured to brake and stop in front of the stop line if no vehicle exists in front of the unmanned moving body or the moving walking robot because the time of the lead and the sufficient stopping distance from the stop line exist; if the unmanned moving body or the moving walking robot has a vehicle in front, the vehicle is stopped by trailing the keeping distance without overtaking; therefore, when the yellow light is changed into the red light, the unmanned moving body or the moving walking robot which is too close to the stop line can not pass the stop line after braking, or the unmanned moving body or the moving walking robot which is too far away from the stop line wastes the stopping distance after braking.
The step-by-step segmented multi-stage braking is to stop at fixed points by step speed limit at different distances relative to a stop line according to the conventional braking distance of a common moving body, and the aim is to safely, naturally and reasonably brake a vehicle in front of the stop line of a traffic light at an intersection more efficiently and naturally and smoothly under the condition of no front vehicle blocking; the red light parking mode is different from the front vehicle obstruction, and is speed limiting and positioning parking under the condition of no vehicle obstruction; the brake level control system adopts non-emergency brake with different and emergency brake, short distance relative to the emergency brake, or named as signal lamp automatic brake mode.
Three curve mode problems: when the vehicle passes through the intersection, except for passing through at a reduced speed, special information labeling can be carried out on information data on an invisible electronic path map or a curve icon of a visible ground serial chain type one-dimensional code or two-dimensional code for a special left-turn or right-turn or U-turn of the intersection, when the control system of the unmanned moving body or the moving walking robot reads the position information, the unmanned moving body or the moving walking robot in the section is automatically controlled to correspondingly reduce parameters of a warning angle and a distance of an obstacle avoidance sensor so as to avoid misunderstanding of the opposite turning moving body during vehicle meeting, the setting is limited by places and ranges, and once the unmanned moving body or the moving walking robot leaves the section, the vehicle speed, the early warning monitoring distance and the angle in a normal mode are recovered.
Surface layer problem of infrared ray: the road sign printer prints one-dimensional codes or two-dimensional codes of road signs in series automatically in the middle of corresponding lanes according to the distance set by a system, the one-dimensional codes or the two-dimensional codes can be infrared coatings, the one-dimensional codes or the two-dimensional codes can be directly sprayed with the infrared coatings, the infrared-absorbing coatings or the primers with large infrared contrast can be sprayed on the one-dimensional codes or the two-dimensional codes, the infrared strong-reflection coatings are sprayed on the one-dimensional codes or the two-dimensional codes, the colors of the coatings on the infrared layers can be the same as those of the road surfaces, and therefore the interference.
The problem of correcting the position of the unmanned moving body is as follows: the unmanned moving body or moving walking robot card reader or code scanner or camera and other sensors can be provided with a driving device with transverse left-right displacement relative to the moving direction on the equipment, and the driving device can be used for driving the unmanned moving body or moving walking robot card reader or code scanner or camera and other sensors, during the movement, the control system of the unmanned moving body or the moving walking robot drives the sensor such as the card reader or the code scanner or the camera of the unmanned moving body or the moving walking robot to assist in correcting the left and right horizontal movement of the movement direction during the driving so as to assist in correcting and maintaining the dynamic relative position relationship, and the fine adjustment and the maintenance are dynamically superposed with the relative position relationship of the longitudinal center line of the path of the one-dimensional code or the two-dimensional code on the road surface.
The signal lights of autonomous vehicles may involve problems that are realized in a number of ways: the signal lamp of the automatic driving automobile can be realized in various modes, such as a one-dimensional code or a two-dimensional code for an on-board vision sensor to detect according to the azimuth marked by the one-dimensional code or the two-dimensional code on the ground of the path or one or more on-board one-dimensional codes or two-dimensional codes for an on-board one-dimensional code or two-dimensional code scanner to read; the one-dimensional code or the two-dimensional code can be independent and linked with a common signal lamp in a wired or wireless mode, and the dynamic one-dimensional code or the two-dimensional code (red, green and yellow colors are automatically converted into different three one-dimensional codes or two-dimensional code patterns) automatically operated and executed by a computer controller is displayed in a one-dimensional code or two-dimensional code serial of the route map;
the signal lamp display can be in one-dimensional code or two-dimensional code serial intervals of the ground icons, and can be a pattern with the shape, which is not necessarily a one-dimensional code or a two-dimensional code, and can be a luminous pattern; or three kinds of one-dimensional code or two-dimensional code pattern lamps which can respectively correspond to different colors are laid in the one-dimensional code or two-dimensional code serial chain, no pattern exists when the lamp is not lightened, and the lamp is lightened after receiving a signal.
Detail of components:
1. unmanned automobile
2. Two-dimensional code or one-dimensional code
3. Vehicle-mounted two-dimensional code or one-dimensional code sensor
4. Lane line
5. Pedestrian crossing line
6. Stop line
7. Signal lamp one-dimensional code or two-dimensional code display
8. One-dimensional code or two-dimensional code icon for left turn at intersection
9. Intersection right-turn one-dimensional code or two-dimensional code icon
10. U-shaped turning one-dimensional code or two-dimensional code icon at intersection
11. One-dimensional code or two-dimensional code icon for straight-going at intersection
12. Lane yellow line dividing line
13. Vehicle-mounted vision sensor
14. Vehicle-mounted sensor
15. Double parallel vehicle identification of parking spaces associated with intangible electronic path map or tangible corresponding ground one-dimensional code or two-dimensional code icon
16. Parking spaces associated with intangible electronic path maps or tangible corresponding ground one-dimensional codes or two-dimensional code icons
17. Rectangular parking space line identification of parking space associated with invisible electronic path map or visible corresponding ground one-dimensional code or two-dimensional code icon
Description of the drawings:
FIG. 1 is a working principle diagram of a two-dimensional code of an unmanned vehicle and a ground of a crossroad
FIG. 2 is a top view of the two-dimensional code of the ground of the road surface of the unmanned vehicle in the traffic lane
FIG. 3 is a side view of a two-dimensional code or a one-dimensional code of a road surface and a ground of an unmanned vehicle in a lane
FIG. 4 is a top view of a one-dimensional code or a two-dimensional code of a road surface ground in a traffic lane
FIG. 5 is a top view of a signal lamp coding display for a plurality of one-dimensional codes or two-dimensional codes of road surfaces and grounds in stop lines of a traffic lane intersection
Fig. 6 is a schematic diagram illustrating the operation of the unmanned vehicle in the automatic parking mode in relation to the parking space in the vicinity of the lane.
Claims (10)
1. An unmanned traffic navigation signal device and a management system thereof comprise an invisible electronic path map, a visible one-dimensional code or two-dimensional code road surface icon, an unmanned moving body control system, a vehicle-mounted one-dimensional code or two-dimensional code road surface icon printing system, a vehicle-mounted one-dimensional code or two-dimensional code road surface icon scanning code identification sensor or a camera and the like; the method is characterized in that: the running route of the unmanned moving body is regarded as a data information combination set of a plurality of chained intangible electronic path maps with different global positioning systems or other space positioning system geographic sampling point position data series combination, the different global positioning systems or other space positioning system geographic sampling point position data information on the intangible electronic path map is printed on corresponding lane lines in the form of one-dimensional codes or two-dimensional codes through software operation processing to form a tangible one-to-one associated lane road surface icon serial chained icon set, and the tangible icons are also printed in a serial connection mode or are sprayed and painted in the center of the lane and extend in parallel with the lane;
for a work path map (path planning) we mean: in the unmanned movement, firstly, according to the starting point and end point route requirements of a client, a system automatically retrieves different segmented path map data from an invisible electronic path map large database, automatically plans a path on the invisible electronic path map according to a destination and a starting point, and combines and establishes an instant working map which is used for generating the invisible electronic path map which connects local parts of each single path section or a combination of a plurality of path sections of the user action; for the starting point position on the work map, it means: then the control system drives and matches the information data of the tangible ground one-dimensional code or two-dimensional code read by a sensor such as a card reader or a code scanner or a camera of the unmanned moving body or the moving walking robot one-to-one according to the information data of each sampling data point on the working electronic path map, thereby confirming the actual position of the moving body on the intangible electronic path map, which means that the unmanned moving body control system confirms the end of the successful operation of the position before the information position of the one-dimensional code or the two-dimensional code and the operation from the beginning of the position; the unmanned operation system determines the starting point of the unmanned moving body or the moving walking robot to be started according to the information position of the tangible ground one-dimensional code or two-dimensional code, namely the associated position in the intangible electronic path map database associated with the information position; or confirming that the vehicle automatically runs before the previous unmanned action is executed, and waiting for departure when reaching the starting point of the invisible electronic route map; or the operation control system directly takes the actual data position point of the information position of the one-to-one unique associated tangible ground one-dimensional code or two-dimensional code confirmed by the unmanned moving body on the intangible electronic path map as the starting point of the working electronic path map;
for the end position on the work map, it means: the method of clicking and confirming the position information of the destination data on the invisible electronic route map is adopted, because the position information of the destination data has one-to-one correlation with the actual visible ground one-dimensional code or two-dimensional code information,
therefore, the related destination position of the intangible electronic path map is confirmed by clicking and selecting at two steps, the effect of simultaneously confirming the actual destination geographical position information of the specific tangible ground one-dimensional code or two-dimensional code information is achieved, and the actual data position point on the confirmed intangible electronic path map is taken as the terminal point of the working electronic path map; the tracking motion of the unmanned moving body or the moving walking robot is as follows: the unmanned control system indicates an unmanned moving body or a moving robot to establish data serial chain information on the working electronic path map according to the combination of the invisible electronic path map, drives the unmanned moving body or the moving robot to sequentially track the position information of each data sampling sample point of the chain on the invisible working electronic path map to operate, during operation, sensors such as a vehicle-mounted card reader, a code scanner or a camera read the visible ground one-dimensional code or two-dimensional code information of the corresponding invisible electronic working path map one by one, compares and matches the related information on the corresponding invisible electronic path working electronic path map, confirms whether the unmanned operation process is correct, and simultaneously drives the moving body to correct the left-right deflection mode which is right ahead relative to the moving direction by the control system to ensure that a sensor probe target on a chassis of the unmanned moving body dynamically aligns to the code required to be scanned by longitudinally coinciding the ground The longitudinal serial center line of the tangible ground one-dimensional code or two-dimensional code is used for ensuring the accuracy of the driving of the unmanned moving body or the moving walking robot relative to an intangible electronic path map and information of the tangible ground one-dimensional code or two-dimensional code; the unmanned moving body or the moving walking robot does not necessarily refer to the ground moving body singly, and if the unmanned moving body or the moving walking robot also reads the information of the tangible ground one-dimensional code or the two-dimensional code corresponding to the intangible electronic working path map one by one sequentially through a sensor such as a remote onboard card reader or a code scanner or a camera and the like relative to an aerial aircraft, the unmanned moving body or the moving walking robot also belongs to the protection scope of the claim of the patent.
2. An unmanned traffic navigation signal device and a management system thereof comprise one or more moving body sensors in lanes in icons of serial tangible ground one-dimensional codes or two-dimensional codes in the centers of all corresponding lanes, a conversion coding display which is arranged in longitudinal rows and columns of the tangible ground serial chained one-dimensional codes or two-dimensional codes and can automatically convert instant signal lamp information into one-dimensional codes or two-dimensional codes icons or a signal lamp which is directly arranged on the ground, and a STOP SIGN signal mode wheel sequence management control system; the method is characterized in that: for the run mode with no STOP sign and no STOP sign: the traffic light form of a ground light can be used as a traffic light arranged on the road surface of a corresponding traffic lane to prompt a driver of a manually-driven moving body or an unmanned moving body for use, and the traffic light control system is a special control system similar to a traffic light of a common intersection, and is mainly characterized in that a green light starts a sequence management control system immediately after a certain vehicle passes through a certain lane except the ground, green light information is transmitted to a conversion code display for automatically converting the traffic light information of the traffic lane at the next intersection to which the sequence is transmitted into a one-dimensional code or a two-dimensional code icon, so that the moving body at each corresponding intersection can drive a priority to pass, and the STOP SIGN signal mode sequence management control system can be free of a yellow light option; the sensor can be an infrared sensor or a pressure sensor or other sensors, the purpose is to transmit the instant moving body infrared rays detected by the sensor or the information of one or more arriving moving bodies staying relative to the gravity data of the road surface to the STOP SIGN signal pattern sequence management control system of the intersection, the STOP SIGN signal pattern sequence management control system analyzes the instant arriving information and the information of whether the moving bodies exist or not input by the sensor at the corresponding position of each intersection through the software and hardware of a computer, the instant sequence passing traffic management information is calculated according to the analysis and processing of the STOP SIGN traffic signal management rule, and then the special red light and green light patterns of the sequence management control are output to the signal lights or signal light conversion codes on the corresponding lanes in the special STOP SIGN signal pattern A display; although the output red light and green light information is also in front of the stop line positioned in the middle of the related lane as before, a signal light conversion coding display which can automatically convert the instant signal light information into a one-dimensional code or a two-dimensional code icon is arranged in the longitudinal row and column of the tangible ground serial chain one-dimensional code or the two-dimensional code icon, the signal light conversion coding display can be one or a plurality of continuous or discontinuous in the longitudinal row and column of the tangible ground serial chain one-dimensional code or the two-dimensional code icon, and the signal light information of the signal light conversion coding display of the one-dimensional code or the two-dimensional code icon is read by a vehicle-mounted card reader or a code scanner or a camera of the vehicle-mounted one-dimensional code or the two-dimensional code and transmitted to the automatic driving moving body control system; however, the lane sensor has a traffic light management mode which is different from a common intersection and has no display mode of yellow light and only red light and green light, so that once the lane sensor detects that the traffic information on a lane disappears (from the presence to the absence), the traffic information is immediately transmitted to a STOP SIGN signal mode wheel sequence management control system, and then the wheel sequence management control system changes the visible ground serial chain type one-dimensional code or two-dimensional code icon arranged in the longitudinal row and column of the road surface of the next corresponding intersection into a one-dimensional code or two-dimensional code icon signal which can automatically convert the instant signal light information into a one-dimensional code or two-dimensional code icon; the STOP SIGN signal pattern round sequence management control system which passes through the intersection according to the pattern circularly transmits the priority passing permission information of the corresponding green light signal to the STOP line positioned in the middle of the relevant lane of the next corresponding lane one by one, and a conversion coding display which can automatically convert the instant signal light information into a one-dimensional code or a two-dimensional code icon is arranged in the longitudinal row and column of the tangible ground serial chain one-dimensional code or two-dimensional code icon; if no moving body arrives at the position of the stop line earlier on other lanes, the round sequence management control system can skip the green light signal of the empty lane without the moving body to change the green light signal into a red light signal, and directly automatically convert the green light passing signal into a one-dimensional code or a two-dimensional code icon on the lane by using green signal light information to be displayed on a conversion coding display; the moving body arrival signal generator claimed in this patent may be of many kinds as long as it is aimed at detecting the arrival or absence of a moving body, and particularly refers to an infrared moving body detection sensor or a gravity sensor.
3. An unmanned traffic guidance signal device and management system thereof according to any preceding claim, wherein: the tangible ground serial chain type one-dimensional code or two-dimensional code icon is composed of ground one-dimensional codes or two-dimensional code icons, and is in a one-to-one corresponding relation with information data of each sampling data point on the intangible electronic path map; relative to each tangible ground one-dimensional code or two-dimensional code icon, the data corresponding to the intangible electronic path map not only comprises the road information code of the section, but also comprises the electronic azimuth angle information, the distance information, the speed limit information, the global positioning system or other space positioning system information and the like of the working serial chain intangible electronic path map aiming at the position behind the sequence, therefore, when the control system of the unmanned moving body or the moving walking robot reads information data on each invisible electronic path map in the tracking operation or prints the data on the middle road surface of the lane as a visible ground serial chain type one-dimensional code or two-dimensional code map, it is possible to determine the next data point according to the working path map when the moving body has not reached the next data point, the next data point can be corrected and turned according to the electronic azimuth angle or distance contained in the data accurately at the previous data point; the method comprises the steps that in addition to normal section road position information, turning cross-border connection information and cross bridging information of other section roads for connecting the section road are also included, and for the turning problem, intangible electronic path map information including large turning (left turning relative to a left driving position of a steering wheel), small turning (right turning relative to a left driving position of the steering wheel) and U turning round is provided for being used as a path map database for actual combined calling when a certain working path electronic tracking map is manufactured; meanwhile, various curve information icons of corresponding tangible ground one-dimensional codes or two-dimensional codes are jet-printed at the road intersection to the centers of various turning lanes according to various curve information on an intangible electronic path map; for example, a section at an intersection contains U-shaped U-turn path serial chain one-dimensional code or two-dimensional code icon information, left-turn annular section path serial chain one-dimensional code or two-dimensional code icon information, and right-turn annular section path serial chain one-dimensional code or two-dimensional code icon information; because the automatic driving moving body does not track the information of the tangible ground serial chain type one-dimensional code or the two-dimensional code icon, but tracks the information on the intangible working electronic path map, and the intangible working electronic path map is a single path trace without branching and crossing, the problem of tracking conflict error caused by branching of the ground serial chain type one-dimensional code or the two-dimensional code icon information and the like can not occur.
4. An unmanned traffic guidance signal device and management system thereof according to any preceding claim, wherein:
the identification of the signal lamp can adopt the method that the vehicle-mounted vision sensor is used for reading the signal lamp information according to the electronic azimuth angle and the distance relative to the traffic light on the corresponding lane at a certain distance in front of the signal lamp; or reading the information of the synchronous signal light display arranged on the ground, particularly on the corresponding lane by using a vehicle-mounted visual sensor facing the ground; or a conversion coding display capable of automatically converting the instant signal lamp information into one-dimensional code or two-dimensional code icons is arranged in the longitudinal row and column of the tangible ground serial chain type one-dimensional code or two-dimensional code graph in the same direction of the vehicle head direction in the middle of a related lane in front of the signal lamp, the display can be one or a plurality of continuous or discontinuous rows and columns of the tangible ground serial chain type one-dimensional code or two-dimensional code graph, a vehicle-mounted card reader or a code scanner or a camera of the vehicle-mounted one-dimensional code or two-dimensional code is used, and the signal lamp information displayed by reading the one-dimensional code or the two-dimensional code is transmitted to the automatic driving moving body control system; the above three ways are claims of this patent, especially the last one is the most important priority claim of this patent;
meanwhile, in the mode of automatic parking of the unmanned vehicle, when the unmanned vehicle tracks nearby parking spaces according to an invisible electronic path map or a visible corresponding ground one-dimensional code or a two-dimensional code image, each parking space has associated parking space electronic azimuth angle or distance data on the invisible electronic path map or the visible corresponding ground one-dimensional code or the two-dimensional code image, therefore, after the control system of the unmanned vehicle automatically starts the function mode in the automatic parking mode, the control system of the unmanned vehicle receives the electronic azimuth angle or distance data from the invisible electronic path map or the visible corresponding ground one-dimensional code or the two-dimensional code image, and the associated parking space electronic azimuth angle or distance data on the visible corresponding ground one-dimensional code or the two-dimensional code image, starts a vehicle-mounted visual sensor, detects the parking space ground double parallel lines or rectangular parking spaces of the azimuth angle distance position according to the electronic azimuth angle, if the integrity of the trace detected by the vision sensor does not reach the set integrity parameter value, or the vehicle-mounted millimeter wave or infrared sensor or other sensors detect that the electronic azimuth position is occupied by other vehicles, automatically giving up to continue the search of the parking space, and continuing to search other parking spaces in the path sequence according to the sequence; in addition, under the automatic vehicle-taking calling mode, the unmanned vehicle is driven by the control system to automatically start the vehicle from a parking space of a starting point, passes through an invisible electronic path map nearest to the parking lot or a visible corresponding ground one-dimensional code or two-dimensional code icon, and performs path planning to reach an invisible electronic path map or a visible corresponding ground one-dimensional code or two-dimensional code icon closest distance position which is the closest distance to a person sending a vehicle-taking calling instruction and serves as a destination to establish the invisible electronic path map according to the invisible electronic path map database; and then, a tracing unmanned driving mode is carried out according to the intangible electronic path map, the corresponding intangible working electronic path map is traced through a path of wheel sequence, and the corresponding tangible corresponding ground one-dimensional code or two-dimensional code icon is confirmed to arrive at the destination for parking and standby.
5. An unmanned traffic guidance signal device and management system thereof according to any preceding claim, wherein: the one-dimensional code or the two-dimensional code pattern can contain encrypted information, so that the control system software can successfully and effectively read the information of the tangible ground one-dimensional code or the two-dimensional code pattern only by having corresponding decoding authorization; the virtual reality VR technology can share the association relationship between the geographic sampling point data information of each different global positioning system or other space positioning systems on the intangible electronic path map and one-to-one associated one-dimensional codes or two-dimensional code icons on the tangible ground by combining the geographic sampling point data information of each different global positioning system or other space positioning systems on the intangible electronic path map in a self-parameter or non-parametric modeling mode, so as to realize the materialization result of the virtual reality; the virtual reality VR technology and the intangible electronic path map and the tangible ground one-to-one associated one-dimensional code or two-dimensional code icon are seamlessly associated and combined to share data, the intangible electronic path map and the virtual reality modeling with parameters or nonparametric are combined, so that data position points on the intangible electronic path map can be formed as a bridge in the same software system environment, and the accurate position association relationship between the intangible virtual reality modeling information with parameters or nonparametric and the tangible ground icon one-dimensional code or two-dimensional code specific position points is determined in a connecting manner, thereby bringing brand-new cognitive experience and application of the real industry; the user can find a corresponding invisible electronic path map in an invisible virtual world through a client by virtue of a virtual reality technology, and quickly reach a point of a required related data position according to the invisible electronic path map, because a data point on the invisible electronic path map only has a one-dimensional code or two-dimensional code icon position point of a visible reality in an objective world to be associated with the invisible electronic path map, the user can quickly determine the position of the invisible electronic path map on a visible ground through the virtual reality client and determine the destination position of an automatic driving moving body, and the activity can also be operated in a reverse direction, namely the position of the one-dimensional code or two-dimensional code icon on a visible bearing surface is associated with the data point on the invisible electronic path map or a parameter or a non-parameter body in the virtual reality; the technology realizes full-parameter or nonparametric butt joint of a three-dimensional virtual world and three-dimensional tangible reality, realizes spanning from a three-dimensional space to a four-dimensional space, realizes recognition, creation, existence, calling and conversion of the four-dimensional space, and is particularly suitable for LBS-Based AR to realize augmented virtual reality.
6. An unmanned traffic guidance signal device and management system thereof according to any preceding claim, wherein: because the signal lamp ground display can be a plurality of continuous or discontinuous ones in a certain distance range in the longitudinal row and column of the tangible ground serial chain type one-dimensional code or two-dimensional code icons on the corresponding traffic lane in front of the signal lamp, the real-time signal lamp information can be read by a moving body control system of the unmanned moving body or the moving walking robot in the distance range through a card reader or a code scanner or a camera and other sensors of the unmanned moving body or the moving walking robot so as to control the speed of the unmanned moving body or the moving walking robot, the signal lamp ground display can pass through according to a certain speed limit when not displaying red light signals or yellow light signals, and when displaying red light signals, the one-dimensional code or two-dimensional code icons display the same or different speed limit information or brake information in steps according to different distance values of a distance line, the real-time red light signal lamp information of each position is read by a control system of the unmanned moving body or the moving walking robot through sensors such as a card reader, a code scanner or a camera of the unmanned moving body or the moving walking robot, so that the control of the running speed of the unmanned moving body or the moving walking robot or the braking parking in front of a parking line is successfully ensured; for example, the speed limit of a moving body running at 80 kilometers is 100 kilometers per hour at a distance of thirty meters in front of a traffic light stop line, the speed limit has no influence on the moving body running at 80 kilometers, then the speed limit is 60 kilometers per hour at a distance of 15 meters, at the moment, the moving body starts to decelerate according to the speed difference of 20 kilometers per hour, then the moving body limits the speed of a one-dimensional code or a two-dimensional code at a position of 10 meters again to 30 kilometers per hour, and thus, a multi-stage speed limit mode is used for ensuring that the moving body does not exceed the stop line; the range of the echelon segmented multistage speed limit is the protection range of the patent claims from 3 km/h to 100 km/h, the last road surface one-dimensional code or two-dimensional code with speed limit information in front of a parking line indicates that a moving body does not exceed the speed and turns straight or left and right or stops the vehicle under the information of the signal lamp one-dimensional code or two-dimensional code, and the automatic moving body control system controls the power driving system of the moving body on the premise that the unmanned moving body or the moving walking robot has the previous speed limit on a series of ground multiple signal lamp displays, so that the moving body can be ensured to successfully park at a proper distance position in front of the parking line without line crossing after the signal lamp sensor or the road surface one-dimensional code or two-dimensional code sensor reads red light information.
7. An unmanned traffic guidance signal device and management system thereof according to any preceding claim, wherein: when the green light signal is changed into the yellow light signal, the automatic driving moving body control system starts to start automatic timing, the automatic driving moving body control system presets an advance amount of a time period within a range of 1-100 seconds according to the requirement of traffic regulations of the local road section on the time management of the yellow light, and the yellow light is automatically timed by the unmanned moving body or the moving walking robot control system after the time period by setting the advance amount to judge the yellow light signal at the time point as the red light signal; because the signal lamp ground display can be a plurality of continuous or discontinuous ones in a certain distance range in the longitudinal row and column of the tangible ground serial chain type one-dimensional code or two-dimensional code icons on the corresponding traffic lane in front of the signal lamp, the control system of the moving body of the unmanned moving body or the moving walking robot can read the instant signal lamp information through the card reader or the code scanner or the camera and other sensors of the unmanned moving body or the moving walking robot in the distance range, thereby controlling the speed of the unmanned moving body or the moving walking robot; the parameter time point of a certain lead before the yellow light signal is changed into the red light signal is used as a boundary, the unmanned moving body or the moving walking robot at the time point is set to run at a normal speed when the distance from the stop line is less than a plurality of distances, and the speed is reduced if the distance is greater than or equal to the distance, so that the unmanned moving body or the moving walking robot can be ensured to brake and stop in front of the stop line if no vehicle exists in front of the unmanned moving body or the moving walking robot because the time of the lead and the sufficient stopping distance from the stop line exist; if the unmanned moving body or the moving walking robot has a vehicle in front, the vehicle is stopped by trailing the keeping distance without overtaking; therefore, when the yellow light is changed into the red light, the unmanned moving body or the moving walking robot which is too close to the stop line can not cross the stop line after braking, or the unmanned moving body or the moving walking robot which is too far away from the stop line wastes the stopping distance after braking; the step-by-step segmented multi-stage braking is to stop at fixed points by step speed limit at different distances relative to a stop line according to the conventional braking distance of a common moving body, and the aim is to safely, naturally and reasonably brake a vehicle in front of the stop line of a traffic light at an intersection more efficiently and naturally and smoothly under the condition of no front vehicle blocking; the red light parking mode is different from the front vehicle obstruction, and is speed limiting and positioning parking under the condition of no vehicle obstruction; the brake level control system adopts non-emergency brake with different and emergency brake, short distance relative to the emergency brake, or named as signal lamp automatic brake mode.
8. An unmanned traffic guidance signal device and management system thereof according to any preceding claim, wherein: when the vehicle passes through the intersection, except for passing through at a reduced speed, special information labeling can be carried out on information data on an invisible electronic path map or a curve icon of a visible ground serial chain type one-dimensional code or two-dimensional code of the intersection for a special left-turn or right-turn or U-shaped turn, when the control system of the unmanned moving body or the moving walking robot reads the position information, the unmanned moving body or the moving walking robot in the interval is automatically controlled to correspondingly reduce parameters of a warning angle and a distance of an obstacle avoidance sensor so as to avoid misunderstanding of the opposite turning moving body during meeting, the setting is limited by places and ranges, and once the unmanned moving body or the moving walking robot leaves the road section, the vehicle speed, the early warning monitoring distance and the angle in a normal mode are recovered; the road sign printer prints one-dimensional codes or two-dimensional codes of road signs in series automatically in the middle of corresponding lanes according to the distance set by a system, the one-dimensional codes or the two-dimensional codes can be infrared coatings, the one-dimensional codes or the two-dimensional codes can be directly sprayed with the infrared coatings, the infrared-absorbing coatings or the primers with large infrared contrast can be sprayed on the one-dimensional codes or the two-dimensional codes, the infrared strong-reflection coatings are sprayed on the one-dimensional codes or the two-dimensional codes, the colors of the coatings on the infrared layers can be the same as those of the road surfaces, and therefore the interference.
9. An unmanned traffic guidance signal device and management system thereof according to any preceding claim, wherein: the unmanned moving body or moving walking robot card reader or code scanner or camera and other sensors can be provided with a driving device with transverse left-right displacement relative to the moving direction on the equipment, and the driving device can be used for driving the unmanned moving body or moving walking robot card reader or code scanner or camera and other sensors, during the movement, the control system of the unmanned moving body or the moving walking robot drives the sensor such as the card reader or the code scanner or the camera of the unmanned moving body or the moving walking robot to assist in correcting the left and right horizontal movement of the movement direction during the driving so as to assist in correcting and maintaining the dynamic relative position relationship, and the fine adjustment and the maintenance are dynamically superposed with the relative position relationship of the longitudinal center line of the path of the one-dimensional code or the two-dimensional code on the road surface.
10. An unmanned traffic guidance signal device and management system thereof according to any preceding claim, wherein: the signal lamp of the automatic driving automobile can be realized in various modes, such as a one-dimensional code or a two-dimensional code for an on-board vision sensor to detect according to the azimuth marked by the one-dimensional code or the two-dimensional code on the ground of the path or one or more on-board one-dimensional codes or two-dimensional codes for an on-board one-dimensional code or two-dimensional code scanner to read; the one-dimensional code or the two-dimensional code can be independent and linked with a common signal lamp in a wired or wireless mode, and the dynamic one-dimensional code or the two-dimensional code (red, green and yellow colors are automatically converted into different three one-dimensional codes or two-dimensional code patterns) automatically operated and executed by a computer controller is displayed in a one-dimensional code or two-dimensional code serial of the route map; the signal lamp display can be in one-dimensional code or two-dimensional code serial intervals of the ground icons, and can be a pattern with the shape, which is not necessarily a one-dimensional code or a two-dimensional code, and can be a luminous pattern; or three kinds of one-dimensional code or two-dimensional code pattern lamps which can respectively correspond to different colors are laid in the one-dimensional code or two-dimensional code serial chain, no pattern exists when the lamp is not lightened, and the lamp is lightened after receiving a signal.
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