CN113096442A - Intelligent bus control system based on bus road cloud cooperation - Google Patents
Intelligent bus control system based on bus road cloud cooperation Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- 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
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or aircraft
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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Abstract
The invention relates to an intelligent bus control system based on bus route cloud cooperation, which comprises: the perception subsystem is used for carrying out data acquisition and data processing on target information of the intelligent bus and the surrounding environment of the road end to generate vehicle end perception information and road end perception information; the cloud control subsystem is used for acquiring data information for carrying out intelligent scheduling, signal priority guidance and remote monitoring and intervention control on the intelligent bus and generating a cloud instruction; the communication subsystem is used for realizing wireless communication among the vehicle end, the road end and the cloud end; and the bus road cloud cooperative decision and control subsystem controls the intelligent bus to automatically run according to the cloud instruction, the bus end sensing information and the road end sensing information. Compared with the prior art, the intelligent bus running control method has the advantages that the intelligent bus can be guaranteed to run efficiently and orderly under the conventional working condition, the running safety of the intelligent bus under the unconventional working condition can be guaranteed, and the like.
Description
Technical Field
The invention relates to the field of intelligent networked automobiles, in particular to an intelligent bus control system based on bus route cloud cooperation.
Background
At present, the intelligent internet bus mainly takes 'single-bus intelligence', namely, the intelligent internet bus depends on a vehicle-mounted sensing system, a positioning system and a decision control system to automatically drive and control the bus. However, the intelligent bus only depends on 'single-bus intelligence' and can not be orderly managed and dispatched in a unified way, and can not realize high-efficiency passing of signal priority, and can not be automatically and effectively processed under the condition of system faults.
With the development of vehicle networking technologies such as LTE-V and 5G, intelligent decision and control based on vehicle-road-cloud coordination becomes an important means for solving the above problems, and is particularly suitable for buses with fixed driving routes and scenes and high possibility of landing at the present stage, so how to utilize multi-source information such as vehicles, roads and clouds to control the intelligent buses to run efficiently and orderly, and the remote takeover capability under the fault condition becomes a problem that needs to be solved urgently by technical personnel in the field.
Disclosure of Invention
The invention aims to overcome the defects that an intelligent bus cannot be orderly and uniformly managed and scheduled only by 'single-bus intelligence', cannot realize high-efficiency passing of signal priority, cannot be effectively processed by self under the condition of system faults and the like, and provides an intelligent bus control system based on bus path cloud cooperation.
The purpose of the invention can be realized by the following technical scheme:
an intelligent bus control system based on vehicle road cloud cooperation comprises:
the perception subsystem is used for carrying out data acquisition and data processing on target information of the intelligent bus and the surrounding environment of the road end to generate vehicle end perception information and road end perception information;
the cloud control subsystem is used for acquiring data information for carrying out intelligent scheduling, signal priority guidance and remote monitoring and intervention control on the intelligent bus and generating a cloud instruction;
the communication subsystem is used for realizing wireless communication among the vehicle end, the road end and the cloud end;
and the bus road cloud cooperative decision and control subsystem controls the intelligent bus to automatically run according to the cloud instruction, the bus end perception information and the road end perception information.
The sensing subsystem is provided with a vehicle end sensing module and a road end sensing module, vehicle end sensing information is generated through the vehicle end sensing module, and road end sensing information is generated through the road end sensing module.
The communication subsystem comprises a vehicle-end V2X communication module and a road/cloud end V2X communication module, wherein the road/cloud end V2X communication module is connected with the vehicle-end V2X communication module in an LTE-V or 5G wireless communication mode.
Further, the road/cloud end V2X communication module is connected to the road end sensing module and the cloud control subsystem through ethernet, and the vehicle end V2X communication module is connected to the vehicle road cloud cooperative decision and control subsystem through ethernet.
The cloud control subsystem is provided with a cloud intelligent scheduling module, a cloud signal priority module, a cloud remote monitoring module and a cloud remote intervention and control module.
Furthermore, the cloud intelligent scheduling module acquires a high-precision map of a running area of the intelligent bus and plans a global running path of the intelligent bus; the cloud signal priority module acquires the real-time position of the intelligent bus and intersection traffic signal lamp information, and calculates the guiding speed of the intelligent bus; the cloud remote monitoring module monitors the running states and key parameters of the equipment at the vehicle end and the road end; the cloud remote intervention and control module judges whether the intelligent bus runs abnormally or not according to the monitoring information of the cloud remote monitoring module, and if so, the cloud remote intervention and control module acquires a remote control instruction of a cloud cockpit and sends the remote control instruction to the vehicle road cloud cooperative decision and control subsystem.
Further, the global path comprises position coordinate information between a starting point and an end point of the running line; the equipment at the vehicle end comprises sensing and calculating equipment at the vehicle end and a chassis system, and the equipment at the road end comprises sensing and calculating equipment at the road end; the remote control instruction comprises a steering wheel rotating angle, an accelerator pedal opening degree and a brake pedal opening degree.
The vehicle road cloud collaborative decision and control subsystem comprises an information fusion module, a decision instruction judgment module, a local motion planning module, a motion control module and a line control chassis module.
Furthermore, the vehicle-end sensing module acquires and processes data of target information of the peripheral environment of the intelligent bus, generates vehicle-end sensing information according to a processing result and transmits the vehicle-end sensing information to the information fusion module of the vehicle-road cloud cooperative decision and control subsystem; and the road end sensing module acquires and processes data of the road end environment target information, generates road end sensing information according to a processing result, and transmits the road end sensing information to the information fusion module of the vehicle road cloud cooperative decision and control subsystem through the communication subsystem.
Further, the information fusion module fuses and processes the vehicle-end perception information and the road-end perception information transmitted by the perception subsystem to form a grid map occupied by obstacles of other traffic participants;
the decision instruction judging module judges whether a traffic participant with a collision risk exists on the global path according to the grid map, if so, the local motion planning module is started, otherwise, the traffic participant drives according to the guiding vehicle speed of the cloud signal priority module;
the local motion planning module is used for carrying out local motion planning according to the information of the traffic participants with collision risks, including local paths and local vehicle speeds, and sending the local paths and the local vehicle speeds to the motion control module;
the motion control module outputs a driving instruction required by the vehicle according to the global path and the guide vehicle speed of the cloud control subsystem or the local path and the local vehicle speed and transmits the driving instruction to the line control chassis module;
and the line control chassis module judges whether the intelligent bus runs abnormally or not, if not, executes a running instruction output by the motion control module, and if so, executes a remote control instruction sent by the cloud remote intervention and control module.
Further, when the motion control module judges that a traffic participant with a collision risk appears according to the decision instruction judgment module, the motion control module outputs a driving instruction according to the local path and the local vehicle speed, and after the decision instruction judgment module judges that the collision risk is relieved, the motion control module outputs the driving instruction according to the global path and the guided vehicle speed.
Compared with the prior art, the invention has the following beneficial effects:
the intelligent bus management system is based on LTE-V and 5G advanced vehicle networking technologies, orderly and unified management and scheduling are carried out, the intelligent bus is controlled to automatically run according to intelligent scheduling and signal priority guide instructions of a cloud under the conventional working condition, the intelligent bus is controlled to realize local motion planning or remote intervention control through the cloud under the unconventional working conditions such as abnormal cloud monitoring or collision risk, and the like, so that efficient and orderly running of the intelligent bus under the conventional working condition can be guaranteed, and the running safety of the intelligent bus under the unconventional working condition can also be guaranteed.
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FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of a data processing flow according to the present invention.
Reference numerals:
1-a perception subsystem; 2-a cloud control subsystem; 3-a communication subsystem; 4-vehicle road cloud cooperative decision and control subsystem; 11-vehicle end sensing module; 12-a way end sensing module; 21-cloud intelligent scheduling module; 22-cloud signal priority module; 23-a cloud remote monitoring module; 24-a cloud remote intervention and control module; 31-vehicle end V2X communication module; a 32-way/cloud V2X communication module; 41-information fusion module; 42-decision instruction judgment module; 43-local motion planning module; 44-a motion control module; 45-drive-by-wire chassis module.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Examples
As shown in fig. 1, an embodiment of the present invention discloses an intelligent bus control system based on vehicle-road cloud coordination, which includes:
the perception subsystem 1 is used for carrying out data acquisition and data processing on target information of the intelligent bus and the surrounding environment of the road end to generate vehicle end perception information and road end perception information;
the cloud control subsystem 2 is used for acquiring data information for carrying out intelligent scheduling, signal priority guidance and remote monitoring and intervention control on the intelligent bus and generating a cloud instruction;
the communication subsystem 3 is used for realizing wireless communication among a vehicle end, a road end and a cloud end;
and the bus road cloud cooperative decision and control subsystem 4 controls the intelligent bus to automatically run according to the cloud instruction, the bus end sensing information and the road end sensing information.
The perception subsystem 1 is provided with a vehicle-end perception module 11 and a road-end perception module 12, the vehicle-end perception module 11 collects and processes data of target information of the peripheral environment of the intelligent bus, generates vehicle-end perception information according to a processing result and transmits the vehicle-end perception information to an information fusion module 41 of the vehicle-road cloud collaborative decision and control subsystem 4; the road side sensing module 12 collects and processes data of the road side environment target information, generates road side sensing information according to a processing result, and transmits the road side sensing information to the information fusion module 41 of the vehicle road cloud cooperative decision and control subsystem 4 through the communication subsystem 3.
The cloud control subsystem 2 is provided with a cloud intelligent scheduling module 21, a cloud signal priority module 22, a cloud remote monitoring module 23 and a cloud remote intervention and control module 24.
The cloud intelligent scheduling module 21 acquires a high-precision map of a running area of the intelligent bus and plans a running global path of the intelligent bus; the cloud signal priority module 22 acquires the real-time position of the intelligent bus and the intersection traffic signal lamp information, and calculates the guiding speed of the intelligent bus; the cloud remote monitoring module 23 monitors the running states and key parameters of the equipment at the vehicle end and the road end; the cloud remote intervention and control module 24 judges whether the intelligent bus runs abnormally according to the monitoring information of the cloud remote monitoring module, and if so, acquires a remote control instruction of the cloud cockpit and sends the remote control instruction to the vehicle road cloud cooperative decision and control subsystem 4.
When the intelligent bus runs abnormally, a security worker in the cloud cockpit remotely controls the intelligent bus and sends a remote control instruction to the bus route cloud cooperative decision and control subsystem 4.
The global path comprises position coordinate information between a starting point and an end point of the operation line; the equipment at the vehicle end comprises sensing and calculating equipment at the vehicle end and a chassis system, and the equipment at the road end comprises sensing and calculating equipment at the road end; the remote control command comprises a steering wheel angle, an accelerator pedal opening degree and a brake pedal opening degree.
The communication subsystem 3 comprises a vehicle-end V2X communication module 31 and a road/cloud end V2X communication module 32, wherein the road/cloud end V2X communication module 32 is connected with the vehicle-end V2X communication module 31 in an LTE-V or 5G wireless communication mode.
The road/cloud end V2X communication module 32 is connected with the road end sensing module 12 and the cloud control subsystem 2 through Ethernet, and the vehicle end V2X communication module 31 is connected with the vehicle road cloud cooperative decision and control subsystem 4 through Ethernet.
The vehicle-road cloud collaborative decision and control subsystem 4 comprises an information fusion module 41, a decision instruction judgment module 42, a local motion planning module 43, a motion control module 44 and a drive-by-wire chassis module 45.
The information fusion module 41 is used for fusing and processing the vehicle-end perception information and the road-end perception information transmitted by the perception subsystem 1 to form a grid map occupied by obstacles including other traffic participants;
the decision instruction judging module 42 judges whether a traffic participant with a collision risk exists on the global path according to the grid map, if so, the local motion planning module 43 is started, otherwise, the vehicle runs according to the guiding vehicle speed of the cloud signal priority module 22;
the local motion planning module 43 performs local motion planning according to the information of the traffic participants with collision risks, including local paths and local vehicle speeds, and sends the local motion planning to the motion control module 44;
the motion control module 44 outputs a driving instruction required by the vehicle according to the global path and the guide vehicle speed of the cloud control subsystem 2, or the local path and the local vehicle speed, wherein the driving instruction comprises a steering wheel angle, a driving motor torque and a brake fluid pressure, and the driving instruction is transmitted to the drive-by-wire chassis module 45;
and the line control chassis module 45 is used for judging whether the intelligent bus runs abnormally or not, executing a running instruction output by the motion control module 44 if the intelligent bus runs abnormally, and executing a remote control instruction sent by the cloud remote intervention and control module 24 if the intelligent bus runs abnormally.
In this embodiment, the traffic participants include vehicles, pedestrians, and bicycles, and the travel command includes a steering wheel angle, a driving motor torque, and a brake fluid pressure.
When the motion control module 44 judges that a traffic participant with a collision risk appears according to the decision instruction judgment module 42, a driving instruction is output according to the local path and the local vehicle speed, and after the decision instruction judgment module 42 judges that the collision risk is relieved, the motion control module 44 outputs a driving instruction according to the global path and the guided vehicle speed.
In addition, it should be noted that the specific embodiments described in the present specification may have different names, and the above descriptions in the present specification are only illustrations of the structures of the present invention. All equivalent or simple changes in the structure, characteristics and principles of the invention are included in the protection scope of the invention. Various modifications or additions may be made to the described embodiments or methods may be similarly employed by those skilled in the art without departing from the scope of the invention as defined in the appending claims.
Claims (10)
1. The utility model provides an intelligence bus control system based on bus route cloud is cooperative which characterized in that includes:
the perception subsystem (1) is used for carrying out data acquisition and data processing on target information of the intelligent bus and the surrounding environment of the road end to generate vehicle end perception information and road end perception information;
the cloud control subsystem (2) is used for acquiring data information for carrying out intelligent scheduling, signal priority guidance and remote monitoring and intervention control on the intelligent bus and generating a cloud instruction;
the communication subsystem (3) is used for realizing wireless communication among the vehicle end, the road end and the cloud end;
and the bus road cloud cooperative decision and control subsystem (4) controls the intelligent bus to automatically run according to the cloud instruction, the bus end perception information and the road end perception information.
2. The intelligent bus control system based on vehicle-road cloud coordination according to claim 1, wherein the perception subsystem (1) is provided with a vehicle-end perception module (11) and a road-end perception module (12), vehicle-end perception information is generated through the vehicle-end perception module (11), and road-end perception information is generated through the road-end perception module (12).
3. The intelligent bus control system based on vehicle-road-cloud coordination according to claim 2, wherein the communication subsystem (3) comprises a vehicle-end V2X communication module (31) and a road/cloud end V2X communication module (32), and the road/cloud end V2X communication module (32) is connected with the vehicle-end V2X communication module (31) in a LTE-V or 5G wireless communication mode.
4. The intelligent bus control system based on vehicle-road cloud coordination as claimed in claim 3, wherein the road/cloud end V2X communication module (32) is connected with the road end sensing module (12) and the cloud control subsystem (2) through Ethernet, and the vehicle end V2X communication module (31) is connected with the vehicle-road cloud coordination decision and control subsystem (4) through Ethernet.
5. The intelligent bus control system based on vehicle-road cloud cooperation according to claim 1, wherein the cloud control subsystem (2) is provided with a cloud intelligent scheduling module (21), a cloud signal priority module (22), a cloud remote monitoring module (23) and a cloud remote intervention and control module (24).
6. The intelligent bus control system based on vehicle-road-cloud cooperation according to claim 5, wherein the cloud intelligent scheduling module (21) acquires a high-precision map of a driving area of the intelligent bus and plans a global path of the driving of the intelligent bus; the cloud signal priority module (22) acquires the real-time position of the intelligent bus and intersection traffic signal lamp information, and calculates the guiding speed of the intelligent bus; the cloud remote monitoring module (23) monitors the running states and key parameters of the equipment at the vehicle end and the road end; the cloud remote intervention and control module (24) judges whether the intelligent bus runs abnormally or not according to the monitoring information of the cloud remote monitoring module, acquires a remote control instruction of a cloud cockpit if the intelligent bus runs abnormally, and sends the remote control instruction to the bus route cloud cooperative decision and control subsystem (4).
7. The intelligent bus control system based on vehicle road cloud coordination according to claim 6, wherein the global path comprises position coordinate information between a starting point and an end point of a running route; the equipment at the vehicle end comprises sensing and calculating equipment at the vehicle end and a chassis system, and the equipment at the road end comprises sensing and calculating equipment at the road end; the remote control instruction comprises a steering wheel rotating angle, an accelerator pedal opening degree and a brake pedal opening degree.
8. The intelligent bus control system based on vehicle road cloud cooperation according to claim 6, wherein the vehicle road cloud cooperation decision and control subsystem (4) comprises an information fusion module (41), a decision instruction judgment module (42), a local motion planning module (43), a motion control module (44) and a line control chassis module (45).
9. The intelligent bus control system based on vehicle-road cloud coordination according to claim 8, wherein the information fusion module (41) fuses and processes vehicle-end perception information and road-end perception information transmitted by the perception subsystem (1) to form a grid map occupied by obstacles of other traffic participants;
the decision instruction judging module (42) judges whether a traffic participant with a collision risk exists on the global path according to the grid map, if the traffic participant with the collision risk appears, the local motion planning module (43) is started, and if the traffic participant with the collision risk does not appear, the vehicle runs according to the guiding vehicle speed of the cloud signal priority module (22);
the local motion planning module (43) performs local motion planning according to the information of the traffic participants with collision risks, including local paths and local vehicle speeds, and sends the information to the motion control module (44);
the motion control module (44) outputs a driving instruction required by the vehicle according to the global path and the guide vehicle speed of the cloud control subsystem (2) or the local path and the local vehicle speed, and transmits the driving instruction to the drive-by-wire chassis module (45);
and the line control chassis module (45) judges whether the intelligent bus runs abnormally or not, if not, executes a running instruction output by the motion control module (44), and if so, executes a remote control instruction sent by the cloud remote intervention and control module (24).
10. The intelligent bus control system based on vehicle-road cloud coordination according to claim 9, wherein when the motion control module (44) judges that a traffic participant with a collision risk appears according to the decision instruction judgment module (42), a driving instruction is output according to a local path and a local vehicle speed, and after the decision instruction judgment module (42) judges that the collision risk is relieved, the motion control module (44) outputs a driving instruction according to a global path and a guided vehicle speed.
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