CN112482265A - Barrier gate system, automatic driving vehicle and method for vehicle to pass through barrier gate - Google Patents
Barrier gate system, automatic driving vehicle and method for vehicle to pass through barrier gate Download PDFInfo
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- CN112482265A CN112482265A CN201910866978.9A CN201910866978A CN112482265A CN 112482265 A CN112482265 A CN 112482265A CN 201910866978 A CN201910866978 A CN 201910866978A CN 112482265 A CN112482265 A CN 112482265A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
- E01F13/04—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F11/00—Road engineering aspects of Embedding pads or other sensitive devices in paving or other road surfaces, e.g. traffic detectors, vehicle-operated pressure-sensitive actuators, devices for monitoring atmospheric or road conditions
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
- E01F13/04—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage
- E01F13/06—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage by swinging into open position about a vertical or horizontal axis parallel to the road direction, i.e. swinging gates
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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Abstract
The invention discloses a barrier gate system, an automatic driving vehicle, a method for the vehicle to pass through the barrier gate and a medium, wherein the barrier gate system comprises: the ground induction coil is used for detecting that a vehicle stops in front of the brake lever and outputting a vehicle sensing signal; a vehicle detector for identifying the vehicle according to the vehicle sensing signal and outputting a pass signal when it is determined that the vehicle is legitimate; the brake lever controller is used for detecting the passing signal and controlling the brake lever to lift; and the light emitter is used for emitting light after the brake lever is completely lifted so as to prompt the vehicle to pass. According to the barrier gate system provided by the embodiment of the invention, the potential safety hazard of vehicle passing when the gate rod is not completely lifted can be eliminated, the automation degree of the automatic driving vehicle passing barrier gate is improved, and the cost is low.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a barrier gate system, an automatic driving vehicle and a method for the automatic driving vehicle to pass through a barrier gate.
Background
When the automatic driving vehicle passes through the barrier gate, because common gate bars are generally slender, the vehicle-mounted sensors of various types cannot correctly identify and estimate the gate bars, so that the vehicle has great safety risk when passing through the barrier gate automatically. The electronic toll collection system can enable automatic vehicles to pass through a toll station barrier without stopping, but the technology is not suitable for a vehicle inspection type barrier, such as a closed park.
The existing method for automatically driving the vehicle to pass through the barrier gate mainly comprises the steps of installing vehicle networking equipment, changing a single-bar type barrier gate into a barrier type, manually controlling the lifting of a gate rod and the like. The installation of the car networking equipment is expensive in cost and high in cost; the horizontal bar type barrier gate is changed into a fence type barrier gate, so that the cost is high; the brake lever is manually controlled to lift, so that the manual intervention times of the automatic driving system can be improved. In the related art, some schemes implement information interaction between a barrier and an automatic driving vehicle by adopting a method of establishing connection between a two-dimensional code identification signboard and a barrier device. However, the method does not consider the situation that the identification time of the barrier end is uncertain, and the automatic driving vehicle may be started when the brake lever is not completely lifted, so that certain potential safety hazard exists.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a barrier gate system, which can eliminate the potential safety hazard of vehicle passing when the gate bar is not completely lifted, can improve the automation degree of the automatic driving vehicle passing barrier gate, and has low cost.
The second purpose of the invention is to provide an automatic driving vehicle.
The invention also aims to provide a method for automatically driving the vehicle to pass through the barrier gate.
It is a fourth object of the present invention to provide a computer readable storage medium.
In order to solve the above problem, a barrier gate system according to an embodiment of the first aspect of the present invention includes: the ground induction coil is used for detecting that a vehicle stops in front of the brake lever and outputting a vehicle sensing signal; a vehicle detector for identifying the vehicle according to the vehicle sensing signal and outputting a pass signal when it is determined that the vehicle is legitimate; the brake lever controller is used for detecting the passing signal and controlling the brake lever to lift; and the light emitter is used for emitting light after the brake lever is completely lifted so as to prompt the vehicle to pass.
According to the barrier gate system provided by the embodiment of the invention, the light emitter is arranged, after the gate rod is controlled by the gate rod controller to be completely lifted, the light emitter emits light to prompt a vehicle to pass, so that the potential safety hazard of vehicle passing when the gate rod is not completely lifted can be eliminated, the light emitter emits light to realize light sensing communication with the vehicle, the automatic passing of the vehicle through the barrier gate system is realized, the cost is low, manual intervention is not required under the normal working of equipment, and the automation degree of the automatic driving vehicle passing through the barrier gate can be improved.
In some embodiments, the light emitter is embedded in the ground in front of the brake bar.
In some embodiments, the light emitter and the lead wire of the ground induction coil are separately arranged and share the same lead wire slot, and the lead wire of the light emitter to the ground induction coil part is arranged close to the ground.
In some embodiments, the light emitter has a preset distance between the slot on the ground and the slot on the ground of the ground sensing coil, and the shielding member is wrapped around the slot of the light emitter.
In some embodiments, a metal gasket is disposed around the light emitter.
An autonomous vehicle according to an embodiment of a second aspect of the present invention includes: the light sensor is used for detecting light for prompting the vehicle to pass and outputting a passing trigger signal, wherein the light for prompting the vehicle to pass is emitted by the light emitter of the barrier gate system in the embodiment; and the automatic driving controller is used for receiving the passing trigger signal and controlling the vehicle to pass through the barrier gate system.
According to the automatic driving vehicle disclosed by the embodiment of the invention, the light sensor is arranged to realize light sensing with the barrier system, the light sensor senses the prompt light and controls the vehicle to pass through the barrier system, the method is simple, reliable and low in cost, and after the brake lever is completely lifted, the light sensor receives the light which passes through the prompt to trigger the vehicle to start, so that the potential safety hazard that the vehicle is possibly started when the brake lever is not completely lifted can be eliminated, manual intervention is not needed when the system is in normal operation, and the automation degree of the automatic driving vehicle passing through the barrier system is improved.
In some embodiments, the light sensor is disposed under a chassis of the vehicle, the light sensor being opposite the light emitter when the autonomous vehicle is parked in front of a brake lever.
In some embodiments, a light barrier is disposed at the side wall of the light sensor.
In some embodiments, the automatic driving controller is further configured to send a human intervention command when the light sensor failure is monitored; the automatic driving vehicle further comprises a prompter, and the prompter is used for prompting according to the manual intervention command.
A method of passing a barrier by an autonomous vehicle in an embodiment of a third aspect of the invention, wherein the barrier system includes a light emitter and the autonomous vehicle includes a light sensor, the method comprising: detecting that the vehicle stops in front of the brake lever, and outputting a vehicle sensing signal; identifying the vehicle according to the vehicle sensing signal, determining that the vehicle is legal, and outputting a passing signal; controlling the brake lever to lift according to the passing signal; after the brake lever is completely lifted, controlling the light emitter to emit light to prompt the vehicle to pass; and judging that the light sensor detects light for prompting the vehicle to pass, and controlling the vehicle to pass through the barrier gate system.
According to the method for automatically driving the vehicle to pass through the barrier gate, the light transmitter on the side of the barrier gate system and the light sensor on the side of the automatically driving vehicle are used for sensing light, information interaction of passing signals is achieved, simplicity, reliability and low cost are achieved, the light transmitter emits light after the gate rod is completely lifted, safety of passing of the automatically driving vehicle is guaranteed, manual intervention is not needed, and automation degree of the automatically driving vehicle when passing through the barrier gate system is improved.
In some embodiments, the method further comprises: and when the vehicle is detected to pass through, controlling the light emitter to stop emitting light, and controlling the brake lever to fall down.
In some embodiments, the method further comprises: judging whether the light sensor fails or not; if so, sending a manual intervention command, and prompting according to the manual intervention command.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a block diagram of a barrier gate system according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of an arrangement at a roadway of a barrier gate system according to an embodiment of the present invention;
FIG. 3 is a schematic view of a cross-sectional layout of a pavement of a barrier gate system according to an embodiment of the invention;
FIG. 4 is a block diagram of an autonomous vehicle according to an embodiment of the invention;
FIG. 5 is a schematic side view of an autonomous vehicle barrier transit according to an embodiment of the invention;
FIG. 6 is a block diagram of an autonomous traffic barrier system for autonomous vehicles according to an embodiment of the present invention;
FIG. 7 is a flow chart of a method of automatically driving a vehicle through a barrier according to an embodiment of the present invention;
FIG. 8 is a schematic workflow diagram of an autonomous vehicle transit barrier system according to an embodiment of the present invention;
reference numerals:
a barrier gate system 1; an autonomous vehicle 2;
a ground induction coil 10; a vehicle detector 20; a brake lever controller 30; a light emitter 40; a prompter 50; an automatic driving controller 60; a light sensor 70; a positioning device 80; a vehicle control unit 90; a brake lever 301.
Detailed Description
Embodiments of the present invention will be described in detail below, the embodiments described with reference to the drawings being illustrative, and the embodiments of the present invention will be described in detail below.
For the automatic driving vehicle, if the vehicle networking equipment is installed, the vehicle is stopped at the brake lever based on the high-precision map, after the vehicle identification device identifies the vehicle and the brake lever is completely lifted, a passing command is sent to the automatic driving vehicle through the radio frequency equipment, and the automatic driving vehicle receiving end starts the vehicle to pass through the barrier system after receiving the command. The vehicle networking communication equipment is based on an LTE-D2D communication standard, the existing mobile communication cellular network is used, the flow cards are inserted into the radio frequency equipment at the vehicle-mounted end and the gateway end, certain flow cost needs to be paid during work, and the technology maturity at the current stage is low. Therefore, the installation of the car networking equipment to solve the problem that the automatic driving car passes through the barrier system is expensive, and the stability and the economy of the service performance of the car networking equipment also need sufficient test verification.
For the barrier gate system, the response time of the barrier gate is defined as the sum of the license plate identification time, the starting time of the parking rod and the complete lifting time of the parking rod. However, when the automatically driven vehicle passes through the brake bar, the sensing module of the automatic driving system cannot correctly identify the brake bar, and because whether the license plate identifier at the barrier gate can normally identify or not identify the uncertainty of time, it is unreasonable to set a fixed parking-starting mode to pass through the barrier gate, and the situation that the vehicle is started when the brake bar is not completely lifted up may occur, so that a great potential safety hazard exists, and an interactive means is needed to ensure that the vehicle can safely pass through the barrier gate when the vehicle is not operated by people.
Or, the single-rod type barrier gate is changed into a barrier type, and due to the fact that the size of the gate rod is large, the sensing unit of the automatic driving system can easily recognize the gate rod as an obstacle and reasonably respond. However, the road gate of the type has high manufacturing cost, needs a motor with larger power to drive and has large power consumption. For the road section with large traffic flow, the lifting speed of the brake bar is low, and the efficiency of the vehicle passing through the road brake is obviously reduced. Or the gate rod is manually controlled to lift, and the gate rod is manually controlled to lift by a worker at the gate according to the running condition of the automatic driving vehicle. The method is basically manual operation, has higher operation risk and can obviously increase the manual intervention times of the automatic driving system.
In order to solve the above problem, a barrier gate system provided according to an embodiment of the first aspect of the present invention is described below with reference to the drawings. The system can eliminate the potential safety hazard that the vehicle may be started when the brake lever is not completely lifted, realizes the full automation of the system under the normal work of the equipment, ensures the safe passing of the vehicle, is easy to realize and has low cost.
Fig. 1 is a block diagram of a barrier gate system according to an embodiment of the present invention. As shown in fig. 1, a barrier gate system 1 according to an embodiment of the present invention includes a ground induction coil 10, a vehicle detector 20, a gate bar controller 30, and a light emitter 40.
The ground induction coil 10 is used for detecting that a vehicle stops in front of the brake lever and outputting a vehicle sensing signal. Specifically, when the autonomous driving vehicle passes through the barrier, the oscillation frequency of the ground induction coil 10 changes due to the change of the space medium, and particularly, the oscillation frequency increases in the presence of a metal object, so that the change of the oscillation frequency can be used as a sensing signal when the vehicle passes through the ground induction coil, and the time interval between the beginning and the end of the signal can also be used for measuring the moving speed of the vehicle.
The vehicle detector 20 is used to identify the vehicle from the vehicle sensing signal and output a pass signal when it is determined that the vehicle is legitimate. Specifically, for example, a camera visual detection method may be adopted to collect a license plate number of a vehicle, identify the vehicle by the license plate number, determine whether the license plate number is present and valid, determine that the vehicle is legal if the license plate number is present and the vehicle detector 20 outputs a vehicle passing signal, and if the license plate number is not present, the vehicle is an illegal vehicle and needs manual intervention. The method has low false detection rate, and meanwhile, the vehicle detector 20 has a strong auxiliary light source when working at night, so that the normal detection of the vehicle detection camera can be ensured.
The brake lever controller 30 is used for detecting the passing signal and controlling the brake lever to be lifted.
The light emitter 40, which may be a light emitting device such as a light emitting diode-based spotlight, specifically, emits light after the brake lever is completely lifted, establishes a connection with the light sensor of the autonomous vehicle to prompt the vehicle to pass through in a light sensing interactive manner, has a simple and reliable overall working mechanism, is low in cost and easy to maintain, and does not require a radio frequency device or a cellular network in the interactive manner.
Specifically, when the autonomous driving vehicle passes through the barrier gate, the ground induction coil 10 induces that the vehicle stops, outputs a vehicle sensing signal and transmits the vehicle sensing signal to the vehicle detector 20, and the vehicle detector 20 identifies the vehicle and detects whether the vehicle is a legal vehicle that can enter according to the acquired vehicle sensing signal. If the vehicle is determined to be legal, a passing signal is output and sent to the brake lever controller 30, the brake lever controller 30 controls the brake lever to lift up, and then after the brake lever is completely lifted up, the brake lever controller 30 can output a trigger signal to control the light emitter 40 to emit light, correspondingly, a light sensor corresponding to the light emitter 40 can be arranged on the automatic driving vehicle, the light sensor receives the light, driving control is triggered, and the automatic driving vehicle can automatically pass through the barrier gate system 1.
Compared with the method for identifying the connection between the two-dimensional code signboard and the barrier, the barrier system 1 provided by the embodiment of the invention has the advantages that by arranging the light emitter 40, after the gate rod controller 30 controls the gate rod to be completely lifted, the light emitter 40 emits light to prompt the vehicle to pass, so that the vehicle can correctly identify the state of the gate rod at the barrier end, the hidden danger that the vehicle can be started when the gate rod is not completely lifted is solved, and the feasibility is high; if the vehicle is illegal, manual intervention is needed. After the vehicle passes, the brake lever controller 30 controls the brake lever to fall according to the signal of the ground induction coil 10, thereby realizing the full automation of the barrier gate system 1 under the normal operation of the device.
According to the barrier system 1 provided by the embodiment of the invention, through light sensing communication between the light emitter and the light sensor, after the brake lever is controlled by the brake lever controller 30 to be completely lifted, the light emitter 40 is controlled to emit light to prompt a vehicle to pass, so that the potential safety hazard of vehicle passing when the brake lever is not completely lifted is eliminated.
Further, as shown in fig. 2, the arrangement of the barrier gate system 1 of the embodiment of the present invention at the road surface includes the arrangement of the ground induction coil 10, the vehicle detector 20, the gate lever controller 30 and the light emitter 40. As shown, the ground induction coil 10 and the brake lever controller 30 are in the same balance position; the light emitter 40 and the lead wire of the ground induction coil 10 are separately arranged, but share the same lead wire slot, and the lead wire from the light emitter 40 to the ground induction coil 10 is closely arranged on the ground, so that the later maintenance is convenient, and in addition, the length of the lead wire cable is required to be as short as possible when the lead wire is arranged because the detection sensitivity of the ground induction coil 10 is reduced along with the increase of the length of the lead wire.
In some embodiments, the light emitter 40 is embedded in the ground in front of the brake rod and ensures that the road surface is level. Correspondingly, the light sensor of the automatic driving vehicle side can be arranged at the bottom of the vehicle, when the automatic driving vehicle parked in front of the brake lever can pass, the light sensor can receive the prompting light of the light emitter 40, and then smoothly trigger the driving control, and pass through the barrier gate system 1.
Further, fig. 3 is a schematic diagram of the arrangement of the barrier gate system on the ground section according to the embodiment of the present invention, as shown in fig. 3, a ground induction coil 10 has a certain preset distance between a slot 301 on the ground and a slot 302 of the light emitter 40 on the ground, and a protective member is wrapped around the slot 302 of the light emitter 40, for example, rubber may be wrapped around the slot 302 of the light emitter 40 to ensure that the light emitter 40 is waterproof, moisture-proof and dust-proof.
In some embodiments, a metal sealing gasket is attached around the light emitter 40, and after the light emitter 40 is embedded, the notch may be sealed and cured by using a material such as asphalt, epoxy resin, or cement, so as to ensure a firm sealing. In addition, in order to prevent the damage of the equipment caused by other road construction operations of the barrier gate system 1, a striking mark can be arranged at the light emitter 40 and the lead wire, so that the equipment can be protected conveniently.
In some embodiments, the number of the light emitters 40 may be one or more, and a plurality of light emitters may be arranged according to the length of different autonomous vehicles, or a redundant design may be performed on the light sensor on the autonomous vehicle side according to the performance of the light emitters 40, which is not limited to this, but it needs to be ensured that the light sensor on the autonomous vehicle side can receive the prompt light of the light emitters 40, so that interaction through light signals is realized, and automatic passing of the autonomous vehicle through the barrier gate system 1 is facilitated.
According to the barrier gate system of the embodiment of the invention, the information interaction between the barrier gate and the automatic driving vehicle is realized by adopting the light sensing between the light emitter and the light sensor, namely, after the brake lever controller controls the brake lever to be completely lifted, the light emitter emits light to prompt the vehicle to pass, compared with the method for identifying the connection between the two-dimensional code signboard and the barrier gate, the hidden danger that the vehicle can be started when the brake lever is not completely lifted can be eliminated, the safe passing of the vehicle is ensured, in addition, by utilizing the mode of optical signal interaction, without radio frequency device and cellular network, realizes information interaction of traffic signals, is simple and reliable, has low cost, and after the brake lever is completely lifted, the light emitter emits light, the passing safety of the automatic driving vehicle can be ensured, manual intervention is not needed, and the automation degree of the automatic driving vehicle when passing the barrier gate system is improved.
The above description is made on the barrier system side, and in the embodiment of the present invention, the barrier system is adapted to be provided in conjunction with the automatically-driven vehicle side to realize the passage of the automatically-driven vehicle through the barrier. An autonomous vehicle according to an embodiment of the second aspect of the present invention will be described with reference to the accompanying drawings.
Fig. 4 is a block diagram of an autonomous vehicle according to an embodiment of the present invention, and as shown in fig. 4, the autonomous vehicle 2 includes a light sensor 70 and an autonomous controller 60, and of course, other corresponding structures of the autonomous vehicle, such as a vehicle control system, a transmission system, etc., which are not listed in detail herein.
The light sensor 70 is configured to detect light that indicates a vehicle passing, and output a passing trigger signal, where the light that indicates a vehicle passing is emitted by the light emitter 40 of the barrier gate system 1 of the above embodiment.
The automatic driving controller 60 is used for receiving the passing trigger signal and controlling the vehicle to pass through the barrier gate system.
Specifically, when the autonomous vehicle 2 passes through the barrier gate system 1, the ground induction coil 10 may detect that the autonomous vehicle 2 stops, and output a vehicle sensing signal to the vehicle detector 20, and then the vehicle detector 20 performs identification detection on the vehicle according to the acquired vehicle sensing signal to determine whether the vehicle is a legal vehicle. If the vehicle is determined to be legal, a passing signal is output and sent to the brake lever controller 30, the brake lever controller 30 controls the brake lever to be lifted, further, after the brake lever is completely lifted, the brake lever controller 30 outputs a trigger signal to control the light emitter 40 to emit light, at this time, the light sensor 70 on the automatic driving vehicle 2 side can receive the prompt light of the light emitter 40, further, the automatic driving controller 60 is smoothly triggered, the automatic driving vehicle 2 is controlled to be started, and the light passes through the barrier system 1. After the autonomous vehicle 2 passes, the brake lever controller 30 controls the brake lever to be lowered according to the vehicle sensing signal of the ground induction coil 10, thereby implementing full automation of the barrier gate system 1 under normal operation of the apparatus. If the vehicle is determined to be illegal, manual intervention is required.
According to the automatic driving vehicle 2 provided by the embodiment of the invention, the light sensor 70 is arranged, so that the vehicle can be controlled to pass through the barrier system 1 according to the light sensing between the light emitter 40 and the light sensor 70 at the side of the automatic driving vehicle 2, the method is simple, reliable and low in cost, meanwhile, after the brake lever is completely lifted, the light sensor 70 receives the light emitted by the light emitter 40 to trigger the vehicle to start, and further, the potential safety hazard that the vehicle can be started when the brake lever is not completely lifted can be eliminated, manual intervention is not needed when the system is normally operated, and the automation degree of the automatic driving vehicle 2 passing through the barrier system 1 is improved.
In some embodiments, the light sensor 70 may be disposed under the chassis of the vehicle, and when the autonomous vehicle stops in front of the brake lever, the light sensor 70 is opposite to the light emitter 40, so that when the light emitter 40 emits light for prompting the vehicle to pass through, the light sensor 70 can accurately receive the light, and the passing interaction is realized through the light signal.
In an embodiment, the light sensor 70 may include a photo resistor, which is based on a photoconductive effect and whose resistance value decreases as light increases. Specifically, when light is irradiated onto the photoresistor photoconductor, if the photoconductor is made of an intrinsic semiconductor material and the light irradiation energy is strong enough, electrons in the valence band of the photoconductive material are excited onto the conduction band, so that electrons in the conduction band and holes in the valence band increase, and the conductivity of the photoconductor becomes large. To realize the energy level transition, the energy of the incident light must be larger than the forbidden band gap level Ε of the photoconductor materialgI.e. by
Wherein ν and λ are the frequency and wavelength of the incident light. In addition, the sensitivity of the photo-resistor in the light sensor 70 is susceptible to humidity, and thus a tightly-packaged glass can be provided thereto.
Further, in some embodiments, light barriers are provided around the sides of the light sensor 70 to block interference from unrelated light sources. For example, when passing through a barrier at night, many lighting lights may interfere with the light received by the light sensor 70, which is likely to cause erroneous determination, and the light blocking plate may be arranged to reduce the influence of the interfering light, thereby improving the accuracy of light reception.
In some embodiments, the number of the light sensors 70 may be one or more, a plurality of light sensors 70 may be arranged according to the length of different autonomous vehicles 2, or a redundant design may be made according to the performance of the light sensors 70, without limitation.
In some embodiments, the autonomous vehicle 2 further includes a positioning device 80 for positioning the position of the ground induction coil 10 of the barrier gate system 1 so that the vehicle stops at the position of the ground induction coil 10, as shown in fig. 4. Further, the ground induction coil 10 can detect that the vehicle is parked.
In some embodiments, autonomous vehicle 2 further includes a reminder 50, reminder 50 for prompting in accordance with a human intervention command. Specifically, the automatic driving controller 60 sends a manual intervention command when detecting that the light sensor 70 is faulty, and the prompter receives the manual intervention command to prompt, for example, by displaying a prompt message through a buzzer or a display screen or by illuminating an indicator light.
The process of passing the barrier gate system 1 by the autonomous vehicle 2 will be exemplified below with reference to the drawings.
Fig. 5 is a schematic side view of an autonomous vehicle passing barrier gate system according to an embodiment of the present invention, wherein 40 is three light emitters 40 arranged at the center of the ground, and the installation positions are slightly protruded from the ground, and the specific arrangement mode can take the length of the autonomous vehicle 2 into consideration. In the figure 70 is a light sensor with light barriers mounted at its side walls to prevent interference of light from both sides of the autonomous vehicle 2. In addition, considering the actual situation, the autonomous vehicle 2 should maintain a certain safety distance from the brake lever 301 depending on the positioning device 80.
Fig. 6 is a schematic diagram of signal transmission during operation of each module of the automatic passing barrier system for the autonomous vehicle according to an embodiment of the present invention. As shown, on the autonomous vehicle side, the light sensor 70 based on the photo resistor, the autonomous controller 60, the vehicle controller 90, and other modules are mainly involved.
Referring to fig. 5 and 6, when an autonomous vehicle 2 approaches a barrier system 1, the autonomous vehicle 2 stops at a position of a ground sensing coil 10 according to a positioning device 80, meanwhile, a vehicle detector 20 identifies whether the vehicle is legal or not, and allows passing when the vehicle is legal, a brake lever controller 30 controls a brake lever 301 to lift up, a light emitter 40 emits light to a vehicle chassis 50 after the brake lever 301 is completely lifted up, and then a light sensor 70 at the vehicle chassis 50 senses the light and sends a start signal to an autonomous controller 60, and a vehicle controller 90 controls the vehicle to automatically start, so that the autonomous vehicle 2 automatically passes through the barrier system 1 based on light signal interaction through the barrier system 1.
According to the automatic driving vehicle 2 provided by the embodiment of the invention, the light sensor 70 is arranged to realize light sensing with the light sensor 40 of the barrier system 1, and information interaction with the barrier system of the embodiment is established, namely the automatic driving controller 60 controls the automatic driving vehicle 2 to pass through the barrier system 1 after receiving the passing trigger signal output by the light sensor 70. In addition, the light sensing interaction mode is adopted, the cost is low, the maintenance is easy, the working mechanism is simpler and more feasible, the dependence on cellular network communication and a radio frequency device is not needed, meanwhile, the interference is eliminated when the automatic driving vehicle passes through the barrier gate from multiple aspects by arranging the positioning device, the baffle and the like, and the modules are ensured to work on the correct occasions.
A method of automatically driving a vehicle passing barrier according to a fourth aspect of the present invention will be described with reference to the accompanying drawings.
As shown in fig. 7, the method for passing a barrier of an autonomous vehicle according to an embodiment of the present invention includes at least steps S1 to S5. Wherein the barrier system comprises a light emitter and the autonomous vehicle comprises a light sensor.
Step S1: detecting that the vehicle stops in front of the brake lever, and outputting a vehicle sensing signal;
step S2: identifying the vehicle according to the vehicle sensing signal, determining that the vehicle is legal, and outputting a passing signal;
step S3: controlling the brake bar to lift up according to the passing signal;
step S4: after the brake bar is completely lifted, the light emitter is controlled to emit light to prompt the vehicle to pass;
step S5: and judging that the light sensor detects light for prompting the vehicle to pass through, and controlling the vehicle to pass through the barrier gate system.
Specifically, the automatic driving vehicle parks in front of a barrier gate rod based on a high-precision map positioning mode, a barrier gate system detects the parking vehicle in front of the gate rod and outputs a vehicle sensing signal, wherein the precision of the automatic driving vehicle can reach 10cm level based on a real-time dynamic positioning mode, and the automatic driving vehicle can be parked at a specified position accurately. Further, a vehicle identifier at the barrier gate identifies whether the current vehicle is legal and can enter, after the current vehicle is legal, a passing signal is output and the gate rod is controlled to lift, and after the gate rod is completely lifted, a light emitter at a parking position emits light, so that a light sensor under a vehicle chassis detects the light for prompting the vehicle to pass and outputs a passing trigger signal, and an automatic driving controller of the vehicle is automatically started according to the received passing trigger signal to control the vehicle to pass through the barrier gate system.
According to the method for automatically driving the vehicle to pass through the barrier gate, light sensing is carried out on the light emitter on the side of the barrier gate system and the light sensor on the side of the automatically driving vehicle, information interaction of passing signals is achieved, and the method is simple, reliable and low in cost. In addition, through setting up at the brake lever back of lifting up completely, control light emitter transmission light to the suggestion vehicle passes through, can ensure the current security of automatic driving vehicle, simultaneously, need not artifical the intervention under equipment normal work, degree of automation when improving the current banister system of automatic driving vehicle.
In some embodiments, as shown in fig. 7, the method for automatically driving a vehicle to pass through a barrier gate according to an embodiment of the present invention further includes a step S6 of controlling the light emitter to stop emitting light after the vehicle passes through the barrier gate, and controlling the gate rod to fall down, so as to facilitate the passing detection and control of the vehicle behind the barrier gate.
Further, in the embodiment, as shown in fig. 7, the method for automatically driving the vehicle passing barrier according to the embodiment of the present invention further includes step S7, determining whether the light sensor is faulty, if so, sending a manual intervention command, and prompting according to the manual intervention command. Specifically, the light sensor may be incorporated into a hardware monitoring module in the automatic driving controller, so as to simplify a troubleshooting process of the automatic driving controller, and when the automatic driving monitoring module monitors the light sensing fault, the automatic driving monitoring module sends a manual intervention alarm, for example, a buzzer alarms, or a display screen displays a prompt message or an indicator light reminds the automatic driving monitoring module.
The method for automatically driving the vehicle to pass through the barrier gate is illustrated according to the attached drawings, and the detailed flow is shown in fig. 8 and comprises the following steps.
S101: and (6) the vehicle is positioned based on the high-precision map, is stopped at the entrance of the barrier and is executed to S106.
S102: and judging whether the vehicle identification at the barrier gate is legal or not. If the verification is legal, S103 is executed; if not, S105 is executed.
S103: and the ground induction coil induces that the vehicle stops, the stop lever is completely lifted, and S104 is executed.
S104: the light emitter at the parking position is turned on, and S107 is performed.
S105: and (4) manual intervention.
S106: the light sensor at the bottom of the vehicle is turned on and S107 is performed.
S107: and judging whether the light sensor senses light or not. If yes, executing S109; if not, go to S108.
S108: and the automatic driving monitoring module monitors the light perception fault, sends a manual intervention instruction and executes S105.
S109: and (4) automatically starting the vehicle, enabling the vehicle to run straight at a low speed to pass through the barrier, closing the bottom light sensor, and ending.
In summary, according to the method for automatically driving the vehicle to pass through the barrier gate of the embodiment of the invention, the information interaction between the automatically driving vehicle and the barrier gate system is realized in a light sensing communication mode, that is, the light emitter and the light sensor are adopted for light signal interactive communication, compared with the method for establishing connection between the identification two-dimensional code signboard and the barrier gate device, the method of the embodiment of the invention can control the light emitter to emit light after the gate rod controller controls the gate rod to be completely lifted so as to prompt the vehicle to pass, so that the vehicle can correctly identify the state of the gate rod at the barrier gate end, thereby eliminating the potential safety hazard of vehicle passing when the gate rod is not completely lifted, in addition, the method of the embodiment of the invention can make the communication mode between the vehicle and the barrier gate end simpler and more reliable by utilizing light interaction, get rid of dependence on cellular network communication, and simultaneously, need not artifical intervention under equipment normal operating, degree of automation when improving the current banister system of automatic driving vehicle.
A fourth aspect embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed, implements the method of automatically driving a vehicle passing barrier of the above-described embodiments.
It should be noted that in the description of this specification, any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of custom logic functions or processes, and that the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In the description of the present invention, "a plurality" means two or more.
In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A barrier gate system, comprising:
the ground induction coil is used for outputting a vehicle sensing signal when a vehicle is parked in front of the brake lever;
a vehicle detector for identifying the vehicle according to the vehicle sensing signal and outputting a pass signal when it is determined that the vehicle is legitimate;
the brake lever controller is used for controlling the brake lever to be lifted when the passing signal is detected; and
and the light emitter is used for emitting light after the brake lever is completely lifted so as to prompt the vehicle to pass.
2. The barrier gate system according to claim 1, wherein said light emitter is embedded in the ground in front of said gate rod, and a metal sealing gasket is disposed around said light emitter. .
3. The barrier gate system of claim 2, wherein the light emitter and the lead wire of the ground induction coil are separately arranged and share the same lead wire slot, the lead wire from the light emitter to the ground induction coil is arranged to be close to the ground, the light emitter has a preset distance between the slot on the ground and the slot on the ground of the ground induction coil, and the slot of the light emitter is wrapped with a protection member.
4. An autonomous vehicle, comprising:
a light sensor for outputting a passage trigger signal when detecting a light for prompting a vehicle to pass, wherein the light for prompting the vehicle to pass is emitted by a light emitter of the barrier gate system according to any one of claims 1 to 5; and
and the automatic driving controller is used for controlling the vehicle to pass through the barrier gate system when receiving the passing trigger signal.
5. The autonomous-capable vehicle of claim 4, wherein the light sensor is disposed under a chassis of the vehicle, the light sensor being opposite the light emitter when the autonomous-capable vehicle is parked in front of a brake lever.
6. The autonomous-capable vehicle of claim 4 or 5, wherein a light barrier is provided at a side wall of the light sensor.
7. The autonomous-capable vehicle of claim 4,
the automatic driving controller is also used for sending a manual intervention command when the light sensor is monitored to be in fault;
the automatic driving vehicle further comprises a prompter, and the prompter is used for prompting according to the manual intervention command.
8. A method of passing a barrier by an autonomous vehicle, the barrier system comprising a light emitter, the autonomous vehicle comprising a light sensor, the method comprising:
when the vehicle is detected to stop in front of the brake lever, outputting a vehicle sensing signal;
identifying the vehicle according to the vehicle sensing signal, and outputting a passing signal when the vehicle is determined to be legal;
controlling the brake lever to lift according to the passing signal;
after the brake lever is completely lifted, controlling the light emitter to emit light to prompt the vehicle to pass;
and when the light sensor detects light for prompting the vehicle to pass, controlling the vehicle to pass through the barrier system.
9. The method of automatically driving a vehicle passing barrier according to claim 8, further comprising:
and when the vehicle is detected to pass through, controlling the light emitter to stop emitting light, and controlling the brake lever to fall down.
10. The method of automatically driving a vehicle passing barrier according to claim 8, further comprising:
judging whether the light sensor fails or not;
if so, sending a manual intervention command, and prompting according to the manual intervention command.
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| CN112482265B (en) | 2022-02-08 |
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