CN114802259A - Unmanned control system and method based on flexible track route type dot matrix structure - Google Patents

Abstract

The invention provides an unmanned control system and method based on a flexible track route type lattice structure, which comprises the following steps: the system comprises a road surface monitoring device, a roadside monitoring device and a control center; the road surface monitoring device is arranged on a road divided into a plurality of floating dynamic running sections, is used for monitoring the road condition state in real time and all-around and transmitting the road condition state to the roadside monitoring device; and the control center receives the information uploaded by all the roadside monitoring devices in the area, performs logic analysis and judgment, transmits the result to the unmanned vehicle-mounted equipment in real time, monitors the road condition of the road in multiple directions without dead angles and controls the vehicle to run.

Description

Unmanned control system and method based on flexible track route type dot matrix structure

Technical Field

The disclosure belongs to the technical field of unmanned driving, and particularly relates to an unmanned driving control system and method based on a flexible track route type dot matrix structure.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

Currently, navigation systems mainly rely on: GPS, big dipper etc. and positioning accuracy is relatively poor, and the control to unmanned vehicle may have the condition that the information is wrong or not timely feedback when acquireing the location of vehicle.

In addition, the current road and vehicle conditions are monitored: the method is mainly realized by adopting a monitoring camera, laser radar detection, multispectral radar, a V2V communication technology (a communication technology which is not limited to a fixed base station and provides direct wireless communication from one end to the other end for moving vehicles, namely, through the technology, vehicle terminals directly exchange wireless information with each other without forwarding through the base station), and the like.

The key technology of the automatic driving vehicle is as follows: how to timely and reliably grasp the real-time state of the external road condition and the vehicle condition objectively; the potential safety hazards are avoided in the aspects of obstacle avoidance, collision avoidance, overtaking, lane changing and the like of the subjective vehicle in the driving process.

The existing automatic driving vehicle mainly monitors far and near obstacles by means of monitoring cameras and various radars which are arranged in a plurality of directions, namely front, back, left and right, and realizes the operations and the observation of the near environment by an on-board controller after the artificial intelligence analysis.

The current unmanned automobile lane change decision-making calculation method is that lane change time and safe lane change distance between vehicles are set according to the speed and position of the vehicle and surrounding vehicles, the relative distance between the vehicle and the surrounding vehicles and the road width, and the steering angle and acceleration of the vehicle are obtained through simulation calculation.

In the prior art, regardless of which of the anti-collision or lane change schemes are pre-collision or lane change schemes, the vehicle is an onboard device which is independently installed and carried by the vehicle, after a camera collects video images, various radars measure the speed of the vehicle and comprehensively analyze and judge the distance between the vehicle and other vehicles, a decision of whether to change lanes is made, which belongs to active analysis, if a certain link calculates errors, or some sudden situations on the road surface, such as sudden mud-rock flow, suddenly entering pedestrians, or whether to be occupied by other foreign matters influencing driving safety, and the like, occur, so that the danger cannot be accurately and timely monitored or pre-judged and the accurate judgment is made, and great potential safety hazards can be caused.

Through the above analysis, the inventors found in the research that the following problems exist in the current automatic driving technology:

1. the real-time dynamic information of the road condition and the vehicle condition is judged, the real-time dynamic information is completely detected by the vehicle, only adjacent vehicles and the road condition can be detected, and the road condition of distant vehicles cannot be monitored, so that a route cannot be arranged in advance, and safe driving is realized.

2. The safety of the automatic driving vehicle is not only dependent on the safety control of the vehicle, but also the safety can be ensured only by realizing mutual interlocking control of surrounding vehicles, and the prior art cannot achieve mutual interlocking and cannot prevent other vehicles from colliding with the vehicle.

3. The ground road condition and vehicle condition can be detected by ground equipment in real time, and the whole road condition is transparent, so that safe automatic driving can be realized, and the prior art can not realize the safe automatic driving.

Disclosure of Invention

In order to overcome the defects of the prior art, the unmanned control system based on the flexible track route type lattice structure can directly and real-timely monitor the road conditions and vehicle conditions of the highway and realize flexible track traffic management and automatic vehicle driving.

In order to achieve the above object, one or more embodiments of the present disclosure provide the following technical solutions:

in a first aspect, an unmanned control system based on a flexible track approach type lattice structure is disclosed, comprising:

the system comprises a road surface monitoring device, a roadside monitoring device and a control center;

the road surface monitoring device is arranged on a road divided into a plurality of floating dynamic running sections, is used for monitoring the road condition state in real time and all-around and transmitting the road condition state to the roadside monitoring device;

and the control center receives the information uploaded by all the roadside monitoring devices in the area, performs logic analysis and judgment, transmits the result to the unmanned vehicle-mounted equipment in real time, monitors the road condition of the road in multiple directions without dead angles and controls the vehicle to run.

According to the technical scheme, each route of the road is divided into dot matrixes with adjustable length and width, a unique number is arranged at the dot matrix position of each route, and the road surface monitoring device capable of monitoring the dead angle of the road surface is arranged at the dot matrix position of each route.

According to the technical scheme, the road surface monitoring device comprises a plurality of monitoring modules arranged at intervals in the driving direction of the vehicle and sensors arranged in a dot matrix mode, and the monitoring modules are connected to the roadside monitoring device in different bus modes.

According to the technical scheme, the sensors arranged in the dot matrix mode are respectively numbered according to the arrangement rows and columns of the sensors, and the plurality of floating type dynamic operation zones are divided by adjusting the sensors with different numbers, namely the lengths and the positions of the floating type dynamic operation zones are adjustable.

The technical scheme is further that the system further comprises a monitoring station located in the service area, and the roadside monitoring device in the service area is communicated with the monitoring station in the service area.

According to the technical scheme, the control center is a vehicle-mounted control system, the vehicle-mounted control system comprises a vehicle-mounted controller, the monitoring station of the service area transmits vehicle condition and road condition information to the vehicle-mounted controller, and the vehicle-mounted controller directly acquires occupied road surface, sheltered road surface and vehicle condition real-time information to control vehicle operation based on full-route dot matrix monitoring.

According to the further technical scheme, the control center is a centralized control system, the centralized control system comprises a monitoring station located in a service area, the unmanned vehicle sends out a navigation request, and the monitoring station of the nearby service area controls the vehicle: the vehicle in the automatic driving mode completely follows the command issued by the monitoring station; the vehicle without automatic driving operates according to the command information based on the received server command information; when no other vehicles are arranged around the vehicle, no automatic driving vehicle is arranged, and the vehicle can freely run according to the flexible rail traffic rule.

The technical scheme is further that the control center is a cloud control system and comprises cloud equipment, the monitoring station directly transmits real-time dynamic information of ground road conditions and vehicle conditions to the cloud equipment, road tracks are planned in a unified mode through the cloud equipment, a driving route is formulated for each driving vehicle, the routes are locked, and interlocking control of adjacent vehicles and the routes is achieved.

According to the technical scheme, the control center sets a certain distance between the lane and a front vehicle as a locking section when the speed of a rear vehicle is greater than a certain value based on the fact that the current vehicle speed is a certain value, the rear vehicle is not allowed to enter, a locked access notification is sent to the vehicle-mounted controller, and the rear vehicle is allowed to overtake under the condition that the safety of other lanes is guaranteed;

when the automobile drives out of the current lane or is far enough away from the automobile, the lane needs to be unlocked when the automobile needs to change into the lane, namely, the automobile is in a non-occupied state, and an unlocking notice is sent to the vehicle-mounted controller.

According to the further technical scheme, when the control center carries out interlocking control on adjacent vehicles and routes, after the route of the vehicle is opened, all sections on the route are locked, and other vehicles can not arrange the routes to the locked sections to realize locking;

when the vehicle approaches the locked section, the route cannot be arranged to the section to realize route locking, and meanwhile, the vehicle-mounted controller cannot send a control command for steering the route to realize control locking;

when the non-automatic driving vehicle is allowed to run, a vehicle-mounted display is required to be equipped to display that the front section is locked and the vehicle cannot run to the locked section.

In a second aspect, a flexible track approach type lattice structure-based unmanned control method is disclosed, which comprises the following steps:

dividing a road into a plurality of routes according to a certain rule, further dividing each route into route type lattices, connecting all the lattices, dividing the lattices into track sections, and locking and unlocking the routes according to vehicle conditions and road conditions;

the lattice position of each access road is provided with a unique number, and each access road lattice position is provided with the road surface monitoring device capable of monitoring the road surface without dead angles;

the vehicle-mounted controller judges and analyzes the vehicle operation in real time according to the received road condition and vehicle condition

The vehicle-mounted display receives real-time dynamic information of road conditions and vehicle conditions sent in the service area, updates in real time and clearly displays the road conditions and the vehicle conditions, wherein the road conditions comprise the clear display of the route state of the locking track.

The above one or more technical solutions have the following beneficial effects:

the technical scheme of the disclosure realizes road condition and vehicle condition monitoring of full-entry (a route allowing forward movement) type dot matrix monitoring based on dividing and disposing the roads according to a certain rule, and mainly adopts two methods when the roads are subjected to flexible track definition: firstly, the highway pavement is divided in a dot matrix mode according to a certain rule, and a section which can be adjusted in a floating mode at will is formed, monitoring equipment (such as a pressure sensor, digital quantity and analog quantity) is arranged according to a certain requirement, secondly, a radio frequency identification card and a probe which is installed in a certain range and is used for identifying the radio frequency identification card are arranged in the monitoring section, the highway road condition and the vehicle condition are monitored in a full-access dot matrix mode, information is transmitted to a certain distance (about 200 meters and adjustable) in a wired transmission mode and is arranged in roadside monitoring devices, monitoring stations are arranged in a service area with the interval of about 40-50KM, the information of all roadside monitoring devices is received and is preliminarily analyzed and judged, the information is uploaded to a cloud server to be logically analyzed and judged, results are transmitted quickly in real time and timely transmitted to a vehicle-mounted controller, The display is in seamless butt joint, the vehicle condition on a road can be monitored in a multidirectional and dead-angle-free mode, the vehicle can be controlled in time, and the reliability and safety of automatic driving are guaranteed.

The technical scheme of the disclosure can timely, directly, comprehensively, safely and reliably acquire the information of the road conditions in front of and around the road and the vehicle conditions. The information can be used as automatic driving control information, a closed-loop control system can be formed, and automatic driving becomes a 100% safe and reliable automatic control system.

The technical scheme of the method comprises the steps that a road is reasonably planned according to a certain rule, and floating type dynamic operation sections are divided; the method comprises the steps of full-route dot matrix monitoring, starting a running route, locking a running route and locking surrounding vehicle routes, and realizes flexible rail traffic management and automatic vehicle driving (control).

The GPS navigation determines the position of the vehicle according to the position information sent by a GPS system, the system determines whether the position of the vehicle and other roads are occupied according to the dot matrix condition of the road surface occupied by the vehicle, and the road condition is caused by the occupation of the vehicle, so that the real state of the road condition of the vehicle can be reflected most directly and accurately, and the system is used as an automatic driving and automatic control system as well as a complete closed-loop control system as the rail condition and the train position are determined according to the occupied information of a rail section, thereby realizing a 100% safe and reliable control system. The vehicle self, the road condition, the vehicle condition and the like are combined together to form a complete closed loop, and the reliability and the safety of unmanned driving are ensured in many aspects.

The technical scheme of the disclosure realizes high-precision transparency of all road conditions: the road surface monitoring device realizes the accurate real-time monitoring of the vehicle condition state of all road conditions, has reliable information of the vehicle condition of the road conditions and realizes the transparentization of the all road conditions.

The technical scheme of the disclosure realizes a real closed-loop control system: the collected road and vehicle condition information is the feedback of the direct running state of the ground vehicle, and the road and vehicle condition information directly controls the running of the vehicle, so that the system has high precision and high reliability, and a real closed-loop automatic control system is realized.

The technical scheme of the disclosure is that the rail transit management is flexible: the vehicle-mounted controller, or the area (service area) controller, or the cloud-end controller can plan the driving route of the vehicle in time according to the real-time dynamic information of the road condition and the vehicle condition, realize the flexible rail transportation management, realize the interlocking control of related vehicles and the route, and realize the 100% automatic driving safety.

The vehicle-mounted display can display all road conditions and vehicle condition information in real time in a full-transparent mode and can provide high-precision navigation for non-automatic driving vehicles.

The technical scheme greatly simplifies the vehicle-mounted equipment, unifies the vehicle-mounted control standard and the road running rule, ensures safety and greatly improves the road management order and the road passing capacity.

Advantages of additional aspects 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 accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.

FIG. 1 is a schematic illustration of a control system in accordance with an exemplary embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a cloud control system according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of a roadside monitoring device according to an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a centralized control system according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of vehicle-mounted and cloud server communication according to an embodiment of the disclosure;

FIG. 6 is a schematic diagram of lattice monitoring in an example embodiment of the present disclosure;

FIG. 7 is a schematic diagram illustrating flexible track segment division according to an exemplary embodiment of the present disclosure;

FIG. 8 is a schematic view of an exemplary test according to the present disclosure;

FIG. 9 is a schematic diagram of an RFID according to an embodiment of the present disclosure;

FIG. 10 is a schematic view of a sensor integrity test in accordance with an exemplary embodiment of the present disclosure;

FIG. 11 is a schematic view of a sensor scan according to an example embodiment of the present disclosure;

fig. 12 is a signal scanning flowchart according to an embodiment of the disclosure.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.

Example one

Referring to fig. 1, the present embodiment discloses an unmanned control system based on a flexible track approach type lattice structure, which includes:

the system comprises a road surface monitoring device, a roadside monitoring device and a control center;

the road surface monitoring device is arranged on a road divided into a plurality of floating dynamic running sections, is used for monitoring the road condition state in real time and all-around and transmitting the road condition state to the roadside monitoring device, and is shown in the attached figure 3;

and the control center receives the information uploaded by all the roadside monitoring devices in the area, performs logic analysis and judgment, transmits the result to the unmanned vehicle-mounted equipment in real time, monitors the road condition of the road in multiple directions without dead angles and controls the vehicle to run.

The real-time road condition and vehicle condition data collected by the road surface monitoring device are collected by the roadside monitoring device in real time and at high frequency, transmitted to a monitoring station arranged in a nearby service area in a wired or wireless mode and reported to a general service station. The system is communicated with the vehicle-mounted controller in real time in a wireless transmission mode (5G \ microsecond level can be adopted), and timely lane changing or overtaking measures are taken after comprehensive intelligent analysis and judgment are carried out by combining the vehicle-mounted controller or a server, so that safety and reliability are guaranteed.

The control system relates to three system technical architecture modes in concrete implementation:

the first construction method: and the vehicle-mounted control system provides vehicle condition and road condition information by a monitoring station of the service area, and the vehicle-mounted controller performs calculation, decision and execution.

By the technical means, the arrangement of non-vehicle-mounted equipment and a road surface monitoring device realizes full-route lattice monitoring, directly obtains information such as occupied and sheltered road surfaces, and transmits the information to a vehicle-mounted controller of a vehicle in a 5G high-speed communication mode.

The road surface is divided into sections, and a plurality of ground monitoring devices such as pressure sensors or radio frequency identification cards and probes.

Referring to fig. 4, a second configuration is shown: the centralized control system is basically similar to a high-speed rail and is completely decided and commanded by a server in a service area, the server in the service area can also be called a monitoring station and a microcomputer interlocking system, a vehicle sends out a navigation request, and an intelligent system of the monitoring station in the nearby service area completely controls the vehicle: the vehicle in the autonomous driving mode must fully comply with the command; the vehicle without automatic driving must also receive the server command information to obey the command; when other vehicles do not exist around, the vehicle does not automatically drive, and can freely run according to the flexible rail traffic rule. The second structure mode only needs the vehicle-mounted display can, the relative operation is simple and much, and the unified command is facilitated.

Referring to fig. 2 and 5, a third architecture: and (5) a cloud control system architecture.

Real-time dynamic information of ground road conditions and vehicle conditions is directly transmitted to cloud equipment, a road track is planned in a unified mode through a cloud control system, a driving route is made for each driving vehicle, the route is locked, and interlocking control of adjacent vehicles and the routes is achieved.

The most central in the above embodiments is the full-route lattice monitoring scheme of the road and the division of the flexible track, which is shown in fig. 6, 7 and 8.

In order to realize flexible control of the highway sections, the technical scheme of the application divides the pavement into a plurality of floating sections according to a certain rule, and constructs a full-route lattice monitoring, wherein the rule is as follows: according to the principle of the rail sections of railway rail traffic, each section is divided into a section at a certain distance, the front and the back of each section can be adjusted, the distance of a lane is divided into a fixed section and the left and the right, and the road surface monitoring devices are arranged in the sections according to a certain size interval. The size in the section guarantees that different speeds and different vehicle types are monitored, and the temporary 50 x 50mm is adjustable.

The highway pavement of the technical scheme is divided according to a certain rule, and the full-route type dot matrix is realized: each access dot matrix has a unique number, so that the accurate position of the vehicle can be determined in time to make accurate judgment; each route lattice is provided with a plurality of ground monitoring devices (such as pressure sensors and radio frequency identification cards), and relative to each wheel of the vehicle, the monitoring of each route lattice by the monitoring devices has no dead angle and is transmitted in a wired mode, so that all route lattices can be reliably monitored, and whether the road surface of each lattice is occupied or not; when the foreign body suddenly invades and occupies the space, the state change can be monitored in time, and information is uploaded to send out early warning; information is transmitted to a rear-end server and is in real-time butt joint with a vehicle-mounted receiver, and the vehicle is actively and passively combined by combining a self-contained processor of the vehicle, so that timely lane changing or overtaking measures are taken, and the safety and the reliability of vehicle running are guaranteed.

Set up the roadside monitoring device at every certain distance, the dot matrix monitoring is connected to the roadside monitoring device through wired mode, because the sensor range in every district has certain interval, can place a monitoring module that has independent chip every interval 20 meters (adjustable), and a plurality of monitoring module are connected to the roadside monitoring device through different bus modes, so these a plurality of districts equal to can adjust through the sensor of different serial numbers, also be exactly that length, position all can change.

The distributed road surface monitoring device, such as a pressure sensor and a radio frequency identification card, can monitor the road condition state in real time and in all-round mode, ensure that the road condition is monitored, the vehicle condition has no dead angle and blind area, timely and reliable monitoring whether the road surface is occupied by other vehicles or foreign matters enough to influence the driving safety or not, ensure that the vehicle can make overtaking or lane changing measures at reasonable speed and reasonable time nodes in time and reliably, prevent collision, solve the self defect of the unmanned vehicle, avoid generating potential safety hazard, realize the reliable monitoring of an active mode and a passive mode, and ensure the safety of the unmanned vehicle.

Specifically, the road surface monitoring device comprises lines which are respectively arranged along a first direction and a second direction, the lines in the first direction and the second direction are intersected, and a pressure detection unit is arranged at the intersection point;

the pressure detection unit at one end of the line in the first direction is connected in series with a one-way conduction unit and a matching resistance unit, and the matching resistance unit is connected to the line in the second direction where the pressure detection unit at the end is located.

In particular implementations, the pressure detection unit may be a digital or on-off pressure sensor, a radio frequency identification card, and a probe.

The pavement monitoring device is directly covered on the pavement of the highway according to certain density and arrangement mode after special surface treatment, has simple installation and construction, is suitable for outdoor severe environment and has lower maintenance and replacement cost. The road surface has good consistency with the road surface, and the existing traffic regulation line is not damaged and influenced.

In order to ensure that no blind area exists in road surface monitoring, the method is realized based on two indexes of sensor distribution density and sensor integrity self-checking, wherein the sensor distribution density is that the transverse and longitudinal spacing width of a sensor is about 50mm (adjustable) and is not higher than one half of the minimum wheel width, the sensor integrity self-checking is that the sensor detects the integrity of the sensor when the sensor does not have a trigger state, the acquisition frequency is 100 mu s, and the condition that an automobile is broken or signals are not interrupted when passing through at a high speed is ensured.

A plurality of sensors are fixed to a certain metal sheet, and the interval is 50mm and arranges, and the metal sheet can bear most of automobile pressure, guarantees that multifrequency rolls and the life-span keeps more than several years, and the surface carries out plastic envelope water repellent treatment and is applicable to the outdoor environment, can lay according to perpendicular to road surface direction, and the surface is done waterproof rust-resistant insulating and is good with the uniformity on ordinary road surface with some form paint outward appearance treatment. The distance between the horizontal sides of the plurality of road surface monitoring devices is 50mm (adjustable according to different scenes), the distance between the front side and the rear side is 50mm (adjustable according to different scenes), the fact that tires of the vehicle cannot be missed is guaranteed, the tires of the vehicle can be monitored, and the tires of the vehicle cannot be missed due to the fact that the vehicle speed is too fast. The sensors in the key areas are arranged in double sets and are in redundant configuration, so that the sensors can normally work at ordinary times, and the reliability of the system is improved.

The lattice sensors in each floating section use metal objects as attachments, small gaps are formed between transverse and longitudinal metal objects and are temporarily set to be about 50mm, metal sheets can contact to generate short circuits after certain pressure is applied, whether personnel or vehicles exist is judged according to whether transverse and longitudinal cross points contact the short circuits, and when no vehicles or personnel are above, whether the sensors are damaged or not and are broken cannot be ensured due to the fact that integral transverse and longitudinal loops are in an open circuit state.

In order to ensure the monitoring integrity of the sensor, each node is in the structure shown in fig. 8. Matched resistors and signal control diodes connected as shown in fig. 8 are provided at the full field terminals a1 and B21. The matching resistor is high in resistance value, such as 100K omega, the closing resistance value of the sensor does not exceed 100 omega in a normal alarm state, and the sensor can be reliably distinguished from a closing signal formed by triggering of the sensor. Meanwhile, the diode connected with the matching resistor can effectively ensure the flow direction of signals when the sensor signals are scanned, and mutual interference cannot be caused through the matching resistor when multiple points are triggered.

The combination of the resistor and the diode solves the problems that a common switching value sensor only has two signals of on and off, and can not monitor whether a device signal path is complete, and a third high-resistance state is specially added, so that the integrity of the sensor signal path can be detected.

Judging the integrity of the lattice sensor area in the floating section:

firstly, a positive pulse electrical signal is sent to the column A1, each row is judged, and if each row B1 to B20 can detect the information of a non-contact short circuit closed loop transmitted by the large-resistance matching resistor, the transverse sensors are complete. Similarly, the pulse electrical signal is sent to the row B21, and each column is judged, if the pulse signal transmitted by the matched resistor can be detected by each column a1 to a23, it indicates that the longitudinal sensors are all complete.

Scanning the signals of the dot matrix sensor in the floating zone:

firstly, a pulse electric signal is sent to the column A1, each row is judged, if any row or a plurality of rows B1 to B21 can detect a contact short circuit pulse signal transmitted by sensor closing, the cross point can be judged to be in a sensor trigger state. Similarly, a pulse electric signal is sent to the column a2, and the cross point sensor contact closed state is determined for each row. The status of the whole area sensor can be scanned by rapid cycle scanning according to the sequence period. The diode has the function that when a plurality of points in the same column are triggered, signals cannot interfere other areas through the matching resistor due to the unidirectional conduction of the diode.

Wayside monitoring devices: the roadside monitoring device (comprising a collection transmission module) can be arranged at intervals of a certain distance, such as 200 meters, and has the main functions of collecting, processing and transmitting information, the device adopts a dot matrix monitoring technology, receives pressure change information (sampling frequency is microsecond level) of a sensor or whether a radio frequency card is shielded or not in real time, and simultaneously transmits the collected dynamic information to a monitoring station in time.

A back-end monitoring service station:

and setting service area monitoring stations at intervals of 40-50km, namely the distance between two expressway service areas, collecting and sorting all vehicle condition monitoring information in the administration path of the service area, transmitting the information to vehicles in adjacent areas in time, and transmitting the real-time path vehicle condition to a general service station.

Real-time information transmission with the car:

the roadside monitoring device, the vehicle-mounted receiver and the vehicle-mounted display are transmitted in a real-time wireless mode, 5G transmission can be adopted, and the microsecond level of the transmission rate is guaranteed.

And controlling the vehicle, namely providing a standard protocol interface by the vehicle-mounted receiver, providing operation results such as road and vehicle condition information and the like to a self-contained server of the vehicle, carrying out comprehensive intelligent analysis and judgment by means of self equipment of the vehicle, and then taking timely lane change or overtaking measures to ensure safety and reliability.

The vehicle-mounted controller in the embodiment of the disclosure is a closed-loop control system based on logic intelligence. The biggest difference between logic intelligence and AI artificial intelligence is that the logic intelligence is completely based on determined (real-time information of road conditions and vehicle conditions) information to perform logic operation, so as to obtain a 100% safe and reliable 'closed-loop control system'.

Specifically, an onboard controller installed in an automobile: according to the received real-time dynamic information of road conditions and vehicle conditions, the following effects can be achieved:

1) and the basic safety information of the road condition and the vehicle condition of the closed-loop control system is provided.

2) The method can carry out 'flexible track' processing on the road surface, control the vehicles to run on the reserved tracks, strictly comply with the standard made by 'track', and when lane changing and overtaking are carried out, the reasonable 'running tracks', 'overtaking tracks', 'tracking tracks' and the like of the vehicle are calculated according to the vehicle speed and the surrounding vehicle speed and a reliable logic calculation algorithm, and control compliance rules are sent out.

3) And the controller commands to control the safe operation of the vehicle and simultaneously send out warning to surrounding vehicles to forbid changing the track.

4) The logic intelligence will be the core component of the onboard controller.

5) And the hardware structure of the vehicle-mounted controller needs to adopt dynamic logic control, thereby realizing the principle of fault guiding safety.

Example II

The embodiment of the disclosure discloses an unmanned control method based on a flexible track route type lattice structure, which comprises the following steps:

firstly, dividing a highway pavement into different monitoring sections according to a certain rule, and realizing the access type dot matrix: each route type lattice has a unique number, for example, jinghu highway, such as "jinghu 0123092101", the length, i.e., the driving direction, of the section and the lattice is adjustable by 1 meter, and the width, i.e., the width direction of the highway is adjustable by 0.5 meter. And may be grouped into a number of different adjustable position and length floating sections.

The highway floating section and the access type lattice division rule are as follows:

the direction of the vehicle advancing is the Y axis, the direction of the left and right road widths is the X axis, S (section) represents the sectors, each S is equal to 3Y/6X adjacent area, about 3 m X3 m. Generally, a vehicle occupies one S.

Secondly, each route type lattice is provided with a ground monitoring device, the monitoring device can adopt a pressure sensor or a radio frequency identification card to correspond to each wheel, and each route lattice has no monitoring dead angle so as to reliably monitor whether the section and the lattice pavement are occupied.

The sensor arrangement in the ground monitoring device adopts a redundancy mode, each access type dot matrix has no monitoring dead angle relative to each wheel or enough large foreign matters, pedestrians, non-motor vehicles and the like, and the roadside monitoring device monitors the occupation condition of the sections and the dot matrix in real time. Since the highest speed limit of the expressway is 120km/h, namely 33.33 m/s, the monitoring speed should be in the microsecond level, and overspeed vehicle monitoring is ensured without vehicle loss.

When the scheme of the pressure sensor of the pavement monitoring device in the floating zone is replaced by arranging the radio frequency identification card at the proper position of each dot matrix, a probe is arranged at the proper position in the identifiable region, and when the radio frequency card at a certain position is blocked by a vehicle, a large enough object or people, the probe can monitor in time and transmit information to the roadside monitoring device, so that whether the pavement is occupied or not can be reliably monitored.

All routes can be defined according to the directions of east, west, south, north and the like, and the routes are ensured to have directions, namely each section, dot matrix and route have determined direction parameters, including GPS parameters, namely position information. Each of the approaches has a width defined as a lane and a length defined as a variable length floating section.

The data of real-time road conditions and vehicle conditions collected by the road surface monitoring device are collected at high frequency, transmitted to a monitoring switchboard or a server arranged in a nearby service area in a wired or wireless mode and reported to a general service station. The vehicle-mounted receiver is in real-time butt joint, and timely lane changing or overtaking measures are taken after the vehicle is comprehensively and intelligently analyzed and judged by combining the self-contained server of the vehicle, so that safety and reliability are guaranteed.

In one embodiment, each route state is dispersedly collected by a road surface monitoring device, and is centrally controlled:

all vehicles can be collected by the monitoring stations of the respective roadside monitoring devices and the service area after entering the access road, and are controlled in a centralized manner. And the route and the speed of the vehicle where the vehicle is located, whether the vehicle changes lanes or not and whether the vehicle is overspeed or not are determined by the monitoring station according to whether the road conditions are occupied or not, the sizes of other vehicles, the distance between the vehicle and the like. If the vehicle on the current lane needs to change lanes, the lane change method can be determined according to whether the peripheral lanes are occupied or not, the distance between the front vehicle and the rear vehicle is larger than a set value, and the service area monitoring station or the cloud server directly issues related steering, lane change, acceleration and deceleration and other commands to the vehicle-mounted controller according to the speed of the front vehicle and the rear vehicle as a comprehensive consideration factor.

The route locking means that when the speed of the current vehicle is a certain value and the speed of the rear vehicle is greater than the value, a certain distance between the lane and the front vehicle is set as a locking section, the rear vehicle is not allowed to enter, and the rear vehicle is allowed to overtake under the condition of ensuring the safety of other lanes. When the automobile drives out of the current lane or is far enough away from the automobile, the lane needs to be unlocked when the automobile changes lane to enter, namely, the automobile is in a non-occupied state, and an unlocking notice is sent to the vehicle-mounted controller to realize locking and unlocking.

Realizing mutual interlocking control: when the vehicle-mounted controller system 1 is opened, all sections on the approach are locked, and other vehicles can not arrange the approach to the locked sections to realize locking. 2. When the vehicle approaches the locked section in the vehicle-mounted controller system, the route cannot be arranged in the section, and route locking is realized. Meanwhile, the vehicle-mounted controller cannot send a control command for steering the access, so that locking is controlled. 3. When the non-automatic driving vehicle is allowed to run, a vehicle-mounted display is required to be equipped to display the condition that the front section is locked, the vehicle cannot run to the locked section, once the vehicle is forced to run to the locked section, illegal behaviors can be recorded, and meanwhile, the road vehicle adopts emergency deceleration and parking! And then readjust the route.

The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.

Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.

Claims (10)

1. Unmanned control system based on flexible track formula dot matrix structure of marcing, characterized by includes:

the system comprises a road surface monitoring device, a roadside monitoring device and a control center;

the road surface monitoring device is arranged on a road divided into a plurality of floating dynamic running sections, is used for monitoring the road condition state in real time and all-around and transmitting the road condition state to the roadside monitoring device;

and the control center receives the information uploaded by all the roadside monitoring devices in the area, performs logic analysis and judgment, transmits the result to the unmanned vehicle-mounted equipment in real time, monitors the road condition of the road in multiple directions without dead angles and controls the vehicle to run.

2. The unmanned control system based on flexible track route type lattice structure as claimed in claim 1, wherein each route of the road is divided into lattice with adjustable length and width, each route lattice position is provided with a unique number, each route lattice position is provided with said road surface monitoring device capable of monitoring the dead angle of the road surface.

3. The unmanned aerial vehicle control system based on flexible track approach type lattice structure of claim 1, wherein the road surface monitoring device comprises a plurality of monitoring modules placed at a set distance along the vehicle running direction and a sensor arranged in lattice manner, and the plurality of monitoring modules are connected to the roadside monitoring device by different bus means.

4. The unmanned control system based on flexible track approach type lattice structure of claim 1, wherein the sensors arranged in lattice mode are numbered according to their arrangement rows and columns, and the plurality of floating dynamic operation sections are divided by adjusting the sensors with different numbers, i.e. the length and position of the floating dynamic operation sections are adjustable.

5. The unmanned control system of claim 1 wherein said unmanned control system is further comprised of a monitoring station located in a service area, said wayside monitoring device in said service area communicating with said monitoring station of said service area.

6. The unmanned control system based on flexible track route-entering lattice structure as claimed in claim 1, wherein the control center is a vehicle-mounted control system, the vehicle-mounted control system comprises a vehicle-mounted controller, a monitoring station in the service area transmits vehicle condition and road condition information to the vehicle-mounted controller, and the vehicle-mounted controller directly obtains the occupied road surface, the shielding road surface and the vehicle condition real-time information based on the full route-entering lattice monitoring to control the vehicle to run.

7. The unmanned control system based on flexible track route type lattice structure as claimed in claim 1, wherein said control center is a centralized control system, the centralized control system comprises a monitoring station located in a service area, the unmanned vehicle sends out a navigation request, and the vehicle is controlled by the monitoring station of the nearby service area: the vehicle in the automatic driving mode completely follows the command issued by the monitoring station; the vehicle without automatic driving operates according to the command information based on the received server command information; when no other vehicles are arranged around the vehicle, no automatic driving vehicle is arranged, and the vehicle can freely run according to the flexible rail traffic rule.

8. The unmanned control system based on flexible track route type lattice structure as claimed in claim 1, wherein the control center is a cloud control system, and comprises a cloud device, the monitoring station directly transmits real-time dynamic information of ground road conditions and vehicle conditions to the cloud device, the cloud device uniformly plans the road tracks, a route is made for each running vehicle, the route is locked, and interlocking control of adjacent vehicles and routes is realized.

9. The unmanned control system based on flexible track route type lattice structure as claimed in claim 1, wherein said control center sets a certain distance from the vehicle in the lane to the vehicle in front as a locking section when the vehicle speed is greater than a certain value, the vehicle in the rear is not allowed to enter, a route locking notification is sent to the vehicle-mounted controller, and the vehicle in the rear is allowed to overtake under the condition of ensuring the safety of other lanes;

when the automobile drives out of the current lane or is far enough away from the automobile, the lane needs to be unlocked when the automobile needs to change into the lane, namely, the automobile is in a non-occupied state, and an unlocking notice is sent to the vehicle-mounted controller.

According to the further technical scheme, when the control center carries out interlocking control on adjacent vehicles and routes, after the route of the vehicle is opened, all sections on the route are locked, and other vehicles can not arrange the routes to the locked sections to realize locking;

when the vehicle approaches the locked section, the route cannot be arranged to the section to realize route locking, and meanwhile, the vehicle-mounted controller cannot send a control command for steering the route to realize control locking;

when the non-automatic driving vehicle is allowed to run, a vehicle-mounted display is required to be equipped to display that the front section is locked and the vehicle cannot run to the locked section.

10. The unmanned control method based on flexible track approach type lattice structure as claimed in any one of claims 1 to 9, characterized by comprising:

dividing a road into a plurality of routes according to a certain rule, further dividing each route into route type lattices, connecting all the lattices, dividing the lattices into track sections, and locking and unlocking the routes according to vehicle conditions and road conditions;

the lattice position of each access road is provided with a unique number, and each access road lattice position is provided with the road surface monitoring device capable of monitoring the road surface without dead angles;

the vehicle-mounted controller judges and analyzes the vehicle operation in real time according to the received road condition and vehicle condition

The vehicle-mounted display receives real-time dynamic information of road conditions and vehicle conditions sent in the service area, updates in real time and clearly displays the road conditions and the vehicle conditions, wherein the road conditions comprise the clear display of the route state of the locking track.

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