CN108961749A - Intelligent traffic system and intelligent traffic control method - Google Patents

Abstract

The embodiment of the invention discloses an intelligent traffic system and an intelligent traffic control method. The system includes: the ground centralized control center and unmanned motor vehicles are connected by communication; the ground centralized control center includes: traffic situation perception system, used to obtain traffic environment information; calculation and decision system, including planning decision module, used to The environmental status information determines the control information of the unmanned motor vehicle; the first communication module is used to send the control information to the unmanned motor vehicle; the unmanned motor vehicle includes: a control system, including a second communication module for receiving control information, the vehicle control module is used to generate vehicle control signals according to the control information; the execution system is used to execute vehicle control operations according to the vehicle control signals. By adopting the above technical solution, it is possible to achieve the effects of reducing the technical complexity of the delivery of the unmanned vehicle and reducing the production and maintenance costs of the unmanned vehicle.

Description

An intelligent traffic system and an intelligent traffic control method

technical field

The embodiments of the present invention relate to the technical field of unmanned driving, and in particular to an intelligent traffic system and an intelligent traffic control method.

Background technique

With the rapid development of artificial intelligence technology, unmanned driving technology has become a hot topic in this field.

Autonomous driving relies on artificial intelligence, which allows computers to automatically and safely operate motor vehicles without a human being actively operating them. Unmanned driving can not only liberate people from laborious driving operations, but also greatly improve the safety of motor vehicles and reduce traffic accidents because the accuracy, response speed and repeatability of computers far exceed those of humans; Unmanned intelligent transportation can provide great convenience for human travel, greatly improve road capacity and alleviate traffic congestion. The current unmanned driving technology mainly starts from the vehicle itself, allowing the on-board intelligent computing system to simulate all human behaviors when driving a motor vehicle. That is, let the vehicle perceive the surrounding environment and road conditions like a human, plan the driving route, make relevant analysis judgments and decisions, and complete a series of operations such as refueling, braking, and steering. However, the disadvantage of this setup is that each unmanned vehicle needs to be configured in terms of hardware and software, and strict testing is required before leaving the factory, which makes the production technology of unmanned vehicles complicated, and the production cost and maintenance cost are also extremely high. high.

Contents of the invention

Embodiments of the present invention provide an intelligent traffic system and an intelligent traffic control method, which can achieve the effects of reducing the technical complexity of the delivery of unmanned vehicles and reducing the production and maintenance costs of unmanned vehicles.

In the first aspect, an embodiment of the present invention provides an intelligent transportation system, the system includes a ground centralized control center and an unmanned motor vehicle, wherein:

The ground centralized control center and the unmanned motor vehicle are connected by communication;

The ground centralized control center includes:

Traffic situation perception system and computing decision system;

The traffic situation perception system is used to acquire traffic environment situation information;

The calculation and decision-making system includes a planning and decision-making module, which is used to determine the control information of the unmanned motor vehicle according to the traffic environment information; the calculation and decision-making system also includes a first communication module, which is used to said control information is sent to an unmanned motor vehicle;

Said unmanned motor vehicles include:

control system and execution system;

The control system includes a second communication module and a vehicle control module, the second communication module is used to receive the control information, and the vehicle control module is used to generate a vehicle control signal according to the control information;

The execution system is used to execute vehicle control operations according to the vehicle control signal.

Further, the traffic situation awareness system includes: one or more of cameras, radars, and wireless positioning devices set on the road.

Further, the calculation decision system also includes:

The information fusion module is used to fuse the traffic environment condition information obtained in the traffic condition perception system to form a traffic environment condition information set, and delete duplicate information in the traffic environment condition information set.

Further, the information fusion module is also used for:

Obtain the traffic environment condition information acquired by the unmanned motor vehicle through the first communication module; and integrate the traffic environment condition information acquired by the unmanned motor vehicle into the traffic environment condition information set, and delete the traffic environment Duplicate information in the status information collection;

Wherein, the traffic environment condition information acquired by the unmanned motor vehicle includes: one or more of vehicle positioning information, image information, radar information and vehicle speed information.

Further, the control information of the unmanned motor vehicle includes one or more of braking information, power information and steering information.

Further, the system also includes:

The intelligent traffic monitoring center is connected with the centralized ground control center, and is used to generate display pictures or display images from the control information of the centralized ground control center and vehicle running conditions.

In a second aspect, the embodiment of the present invention also provides an intelligent traffic control method, the method comprising:

Obtaining traffic environment status information; the traffic environment status information includes: acquiring the environment image of the vehicle through the camera on the road surface, acquiring the moving speed of the environment object where the vehicle is located through the radar on the road surface, and acquiring the location of the vehicle through the wireless positioning device on the road surface. location information;

Generate control information of the unmanned motor vehicle according to the traffic environment information; the control information includes: one or more of braking information, power information and steering information;

Sending the control information to the unmanned motor vehicle through a wireless communication system for instructing the unmanned motor vehicle to perform control of the unmanned motor vehicle according to the control information.

Further, before sending the control information to the unmanned motor vehicle through the wireless communication system, the method further includes:

Identify the unmanned motor vehicle to be controlled;

Correspondingly, the control information is sent to the unmanned motor vehicle through the wireless communication system, including:

The control information is sent to the determined unmanned motor vehicle to be controlled through the wireless communication system.

Further, determine the unmanned motor vehicle to be controlled, including:

Send the first wireless positioning signal through the signal sending device at a fixed position on the road, and determine the unmanned motor vehicle to be controlled according to the strength of the first wireless positioning signal received by the unmanned motor vehicle;

or,

Obtain the second wireless positioning signal sent by the unmanned motor vehicle through the wireless positioning devices at fixed positions on at least two roads, and according to the second wireless positioning signals obtained by the wireless positioning devices at fixed positions on the at least two roads The difference of the signals determines the unmanned motor vehicle to be controlled.

Further, the method also includes:

The control result of the unmanned motor vehicle is used to generate a monitoring signal, and the monitoring signal is displayed on the setting device.

In the technical solution provided by the embodiment of the present application, a ground centralized control center and an unmanned motor vehicle are set up, wherein: the ground centralized control center and the unmanned motor vehicle are connected by communication; the ground centralized control center includes : a traffic situation awareness system and a computing decision system; the traffic situation perception system is used to obtain traffic environment information; the calculation decision system includes a planning decision module, and the planning decision module is used to determine the Control information of an unmanned motor vehicle; the calculation and decision-making system also includes a first communication module for sending the control information to the unmanned motor vehicle; the unmanned motor vehicle includes: a control system and an execution system The control system includes a second communication module and a vehicle control module, the second communication module is used to receive the control information, and the vehicle control module is used to generate a vehicle control signal according to the control information; the execution A system for performing a vehicle control operation according to the vehicle control signal. By adopting the technical solution provided by this application, the effects of reducing the technical complexity of the delivery of unmanned vehicles and reducing the production and maintenance costs of unmanned vehicles can be achieved.

Description of drawings

Fig. 1 is a structural block diagram of an intelligent transportation system provided by Embodiment 1 of the present invention;

FIG. 2 is a schematic diagram of a traffic situation perception system provided by Embodiment 1 of the present invention;

Fig. 3 is a flow chart of the intelligent traffic control method provided by Embodiment 2 of the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.

Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the steps as sequential processing, many of the steps may be performed in parallel, concurrently, or simultaneously. Additionally, the order of steps may be rearranged. The process may be terminated when its operations are complete, but may also have additional steps not included in the figure. The processing may correspond to a method, function, procedure, subroutine, subroutine, or the like.

The goal of autonomous driving technology is to allow the on-board computing system to completely simulate all human driving behaviors and thoughts, that is, to enable unmanned vehicles to have powerful capabilities such as intelligent perception, calculation, and real-time planning and decision-making. The realization of these capabilities depends on a A series of high-performance electronic equipment. The current unmanned driving system is mainly composed of three parts: the environment perception system, the computing decision center, and the execution system. The environmental perception system includes various types of sensors, such as cameras, radars, etc., as well as GPS positioning systems, mobile communication systems, and so on. The information collected by these sensors is the original basis for the next action of the motor vehicle. The essence of the computing decision-making center is powerful computing power, which mainly embodies the intelligence of autonomous vehicles and is the core component of the autonomous driving system. The vehicle control system is used to finally control the accelerator, brake and steering of the vehicle.

The computing decision center is mainly composed of information fusion, decision planning, vehicle control and other parts. The role of the information fusion part is to fuse, analyze and process the information sent by various types of sensors, so as to determine the position of the vehicle, road conditions and other surrounding environmental information, and send the relevant results to the decision-making planning unit. The decision-making planning unit plans the vehicle movement according to the processing results of the information fusion unit, and the related results are sent to the vehicle control system. Based on the input information from the decision-making planning unit and the current status of the vehicle, the vehicle control system calculates the control quantities such as accelerator, brake, and steering according to a certain control algorithm, and forms control commands to the underlying execution system.

It can be seen that the current autonomous driving system relies on many high-performance, high-cost sensing devices, as well as powerful computing capabilities. Integrating so many things into a single vehicle makes the vehicle's self-driving system complex and expensive.

Embodiment one

Fig. 1 is a structural block diagram of an intelligent transportation system provided by Embodiment 1 of the present invention. This embodiment is applicable to the control of unmanned vehicles, and the system can be implemented by software and/or hardware.

As shown in Figure 1, the intelligent transportation system includes:

Ground centralized control center 10 and unmanned motor vehicle 20, wherein:

The ground centralized control center 10 and the unmanned motor vehicle 20 are connected by communication;

The ground centralized control center 10 includes:

traffic situation awareness system 110 and computing decision system 120;

The traffic condition perception system 110 is used to obtain traffic environment condition information;

The calculation and decision-making system 120 includes a planning decision-making module 121, and the planning and decision-making module 121 is used to determine the control information of the unmanned motor vehicle according to the traffic environment information; the calculation and decision-making system also includes a first communication module 122 , for sending the control information to the unmanned motor vehicle;

The unmanned motor vehicle 20 includes:

control system 210 and execution system 220;

The control system 210 includes a second communication module 211 and a vehicle control module 212, the second communication module 211 is used to receive the control information, and the vehicle control module 212 is used to generate a vehicle control signal according to the control information ;

The execution system 220 is configured to execute a vehicle control operation according to the vehicle control signal.

In this embodiment, the traffic condition perception system is set in the centralized control center on the ground, rather than on the unmanned motor vehicle, so as to avoid the need for each unmanned motor vehicle to be equipped with extremely complicated traffic condition perception equipment , and the ground centralized control center determines the control information of the unmanned motor vehicle according to the traffic environment information, so that the task of software calculation is handed over to the ground centralized control center to complete, thereby reducing the software aspect of the unmanned motor vehicle configuration burden. The ground centralized control center sends the control information to the unmanned motor vehicle through wireless communication, so that only a communication device can be installed on the unmanned motor vehicle to complete the reception of the control information, and then determine the vehicle according to the control information. control signal, and then execute the vehicle control signal, which can realize the timely reflection of the road conditions by the unmanned motor vehicle.

In addition, since the control information is obtained from the ground centralized control center, the ground centralized control center can set the corresponding speed limit information for each specific road section in a preset way, for example, in the school road section, the speed limit is 30Km/h , then when the unmanned motor vehicle travels to the school road section, the corresponding speed limit information can be sent to the unmanned motor vehicle through the ground centralized control center at the school road section, and the vehicle can, according to its own current speed, Make sure to perform operations such as deceleration.

In this embodiment, optionally, the traffic condition awareness system includes: one or more of a camera, a radar, and a wireless positioning device arranged on the road surface. Fig. 2 is a schematic diagram of the traffic situation perception system provided by Embodiment 1 of the present invention. In this embodiment, cameras, radars and wireless positioning devices can be installed on the signal light poles to the side of the road. In addition, it is also possible to install In roadside buildings and other positions, the advantage of this embodiment is that it can reduce the detection range of unmanned motor vehicles due to the height of surrounding vehicles, and can obtain all-round road surface information, which improves the detection range of unmanned motor vehicles. driving safety.

In this embodiment, optionally, the calculation and decision-making system further includes: an information fusion module, configured to fuse the traffic environment condition information acquired in the traffic condition perception system to form a traffic environment condition information set, and delete all Duplicate information in the above traffic environment condition information set. The advantage of this setting is that it can integrate the traffic environment information obtained by cameras, radars and wireless positioning devices, avoid repeated identification and calculation of repeated information, reduce the calculation speed, increase the calculation burden, and further ensure that no one Driving safety of motor vehicles.

On the basis of the above technical solutions, optionally, the information fusion module is further configured to: obtain the traffic environment condition information obtained by the unmanned motor vehicle through the first communication module; The traffic environment condition information acquired by the vehicle is integrated into the traffic environment condition information set, and duplicate information in the traffic environment condition information set is deleted; wherein, the traffic environment condition information acquired by the unmanned motor vehicle includes: vehicle One or more of positioning information, image information, radar information and vehicle speed information.

This technical solution provides a way to obtain the traffic environment status information through the communication device under the condition that the unmanned motor vehicle can also obtain the traffic environment status information, and fuse it with the traffic environment status information obtained by the ground centralized control center to obtain the fused The traffic condition environment information method can realize the simultaneous acquisition of the traffic environment condition information by the ground centralized control center and the unmanned motor vehicle, respond more accurately according to the traffic condition, and improve the driving safety during the operation of the vehicle.

In this embodiment, optionally, the control information of the unmanned motor vehicle includes one or more of braking information, power information and steering information. The advantage of this setting is that various reactions such as acceleration, deceleration, braking, and steering can be made in a timely manner according to the traffic environment, and the comprehensive controllability of the vehicle during driving is realized.

In this embodiment, optionally, the system further includes: an intelligent traffic monitoring center, which is connected to the centralized ground control center, and is used to generate display pictures or Generate a display image. The advantage of this setting is that it can display the corresponding pictures or images of the road traffic control situation to the staff, which can be used for real-time supervision by the staff, and can realize the effect of simultaneous road traffic control and monitoring, providing a deeper level for road traffic safety. protection.

In the technical solution of this embodiment, by setting the ground centralized control center and the unmanned motor vehicle, wherein: the ground centralized control center and the described unmanned motor vehicle are connected by communication; the ground centralized control center includes: traffic conditions A perception system and a calculation decision system; the traffic situation perception system is used to obtain traffic environment information; the calculation decision system includes a planning decision module, and the planning decision module is used to determine the unmanned driving The control information of the motor vehicle; the calculation and decision-making system also includes a first communication module, which is used to send the control information to the unmanned motor vehicle; the unmanned motor vehicle includes: a control system and an execution system; the The control system includes a second communication module and a vehicle control module, the second communication module is used to receive the control information, and the vehicle control module is used to generate a vehicle control signal according to the control information; the execution system uses and performing a vehicle control operation according to the vehicle control signal. By adopting the technical solution provided by this application, the effects of reducing the technical complexity of the delivery of unmanned vehicles and reducing the production and maintenance costs of unmanned vehicles can be achieved.

Embodiment two

Fig. 3 is a flow chart of the intelligent traffic control method provided by Embodiment 2 of the present invention. The intelligent traffic control method can be implemented on the basis of the intelligent traffic system provided in the above-mentioned embodiments. And can be integrated in the intelligent transportation system.

As shown in Figure 3, the intelligent traffic control method includes:

S310. Acquiring traffic environment status information; the traffic environment status information includes: acquiring the image of the environment where the vehicle is located through a camera on the road, acquiring the moving speed of objects in the environment where the vehicle is located through a radar on the road, and acquiring through a wireless positioning device on the road Vehicle location information.

S320. Generate control information of the unmanned motor vehicle according to the traffic environment condition information; the control information includes: one or more of braking information, power information, and steering information.

S330. Send the control information to the unmanned motor vehicle through the wireless communication system, for instructing the unmanned motor vehicle to execute the control of the unmanned motor vehicle according to the control information.

The technical solution provided by this embodiment obtains the traffic environment status information; the traffic environment status information includes: acquiring the environment image of the vehicle through the camera on the road surface, acquiring the moving speed of the environment object of the vehicle through the radar on the road surface, and Obtain vehicle positioning information through wireless positioning devices on the road; generate control information for unmanned motor vehicles according to the traffic environment information; the control information includes: one of braking information, power information and steering information or multiple types; sending the control information to the unmanned motor vehicle through the wireless communication system, for instructing the unmanned motor vehicle to execute the control of the unmanned motor vehicle according to the control information. By adopting the above technical solution, it is possible to achieve the effects of reducing the technical complexity of the delivery of the unmanned vehicle and reducing the production and maintenance costs of the unmanned vehicle.

On the basis of the above technical solutions, optionally, before sending the control information to the unmanned motor vehicle through the wireless communication system, the method further includes: determining the unmanned motor vehicle to be controlled; , sending the control information to the unmanned motor vehicle through a wireless communication system includes: sending the control information to the determined unmanned motor vehicle to be controlled through the wireless communication system. Among them, since there are many vehicles driving on a road, it is necessary to determine the unmanned motor vehicle to be controlled before communicating with the unmanned motor vehicle. During the driving process of the motor vehicle, the information that does not belong to the control itself is filtered and deleted, so as to achieve the effect of eliminating noise.

On the basis of the above technical solution, optionally, determining the unmanned motor vehicle to be controlled includes: sending the first wireless positioning signal through a signal sending device at a fixed position on the road surface, and according to the first wireless positioning signal received by the unmanned motor vehicle A wireless positioning signal strength, to determine the unmanned motor vehicle to be controlled; or, through at least two wireless positioning devices at fixed positions on the road, to obtain the second wireless positioning signal sent by the unmanned motor vehicle, according to the at least two The difference between the second wireless positioning signals acquired by the wireless positioning devices at fixed positions on the two roads is used to determine the unmanned motor vehicle to be controlled.

Among them, there are two methods for determining the unmanned motor vehicle to be controlled in this technical solution. One is to send the first wireless positioning signal through a signal sending device at a fixed position on the road surface. The strength of the first wireless positioning signal is used to determine the unmanned motor vehicle to be controlled. The smaller the strength, the farther the distance from the first wireless positioning signal is. The specific value can be determined through the mapping relationship obtained through experiments, and then Determine the unmanned motor vehicle to be controlled. Another method is to send the second wireless positioning signal to at least two wireless positioning devices from the unmanned motor vehicle to be controlled, and determine to send the second wireless positioning signal according to the difference between the second wireless positioning signals acquired by the at least two wireless positioning devices. 2. The unmanned motor vehicle to be controlled by the wireless positioning signal.

On the basis of the above technical solution, optionally, the method further includes: generating a monitoring signal from the control result of the unmanned motor vehicle, and displaying the monitoring signal on the setting device. The advantage of this setting is that the vehicle control results can be monitored in real time, and problems can be found in time to formulate countermeasures to ensure traffic safety.

Key point of the present invention is:

Think of the pavement system as a large active transportation system rather than just a vehicle for motor vehicles. The road system and motor vehicles cooperate to realize the automatic driving function of the vehicle;

In this system, the pavement system is more like a transportation pipeline, and the motor vehicles are more like goods. During the process of the motor vehicle from the departure point to the destination, the main driving judgment and decision-making are completed by the road system, and the motor vehicle only needs to execute the instructions.

Under this centralized control model, the driving function of each motor vehicle is greatly simplified, so the implementation cost of the motor vehicle can be greatly reduced.

Under this centralized control model, relatively speaking, the road system is less sensitive to cost and less constrained by space, so higher-performance electronic equipment can be used, which is more conducive to the realization of automatic driving functions.

When the road surface system arranges sensing equipment such as radars and cameras, compared with vehicles, it can be flexibly selected in terms of density, height, and viewing angle according to different road conditions. The system arranged in this way has a better and more comprehensive control over the overall condition of the road surface.

Since the pavement system has an overall grasp of the entire traffic situation, it can flexibly adjust the traffic flow in real time according to the actual situation, which is of great significance for improving the ability of road travel and alleviating traffic congestion.

Note that the above are only preferred embodiments of the present invention and applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention, and the present invention The scope is determined by the scope of the appended claims.

Claims (10)

1. An intelligent transportation system, comprising a ground centralized control center and an unmanned motor vehicle, wherein:

the ground centralized control center is in communication connection with the unmanned motor vehicle;

the ground centralized control center comprises:

a traffic condition perception system and a calculation decision system;

the traffic condition sensing system is used for acquiring traffic environment condition information;

the calculation decision system comprises a planning decision module, and the planning decision module is used for determining control information of the unmanned motor vehicle according to the traffic environment condition information; the computational decision system further includes a first communication module for sending the control information to an unmanned motor vehicle;

the unmanned motor vehicle includes:

a control system and an execution system;

the control system comprises a second communication module and a vehicle control module, wherein the second communication module is used for receiving the control information, and the vehicle control module is used for generating a vehicle control signal according to the control information;

and the execution system is used for executing vehicle control operation according to the vehicle control signal.

2. The system of claim 1, wherein the traffic condition awareness system comprises: one or more of a camera, a radar and a wireless positioning device arranged on the road surface.

3. The system of claim 2, wherein the computational decision system further comprises:

and the information fusion module is used for fusing the acquired traffic environment condition information in the traffic condition sensing system to form a traffic environment condition information set and deleting the repeated information in the traffic environment condition information set.

4. The system of claim 3, wherein the information fusion module is further configured to:

acquiring traffic environment condition information acquired by an unmanned motor vehicle through a first communication module; fusing the traffic environment condition information acquired by the unmanned motor vehicle into a traffic environment condition information set, and deleting repeated information in the traffic environment condition information set;

wherein the traffic environment condition information acquired by the unmanned motor vehicle comprises: one or more of vehicle positioning information, image information, radar information, and vehicle speed information.

5. The system of claim 1, wherein the control information of the unmanned motor vehicle includes one or more of braking information, power information, and steering information.

6. The system of claim 1, further comprising:

and the intelligent traffic monitoring center is connected with the ground centralized control center and is used for generating display pictures or display images according to the control information of the ground centralized control center and the vehicle running condition.

7. An intelligent traffic control method, comprising:

acquiring traffic environment condition information; the traffic environment condition information includes: acquiring an environment image of a vehicle through a camera on a road surface, acquiring the moving speed of an environment object of the vehicle through a radar on the road surface, and acquiring positioning information of the vehicle through a wireless positioning device on the road surface;

generating control information of the unmanned motor vehicle according to the traffic environment condition information; the control information includes: one or more of braking information, power information, and steering information;

and sending the control information to the unmanned motor vehicle through a wireless communication system, and instructing the unmanned motor vehicle to execute the unmanned motor vehicle control according to the control information.

8. The method of claim 7, wherein prior to transmitting the control information to the unmanned motor vehicle over the wireless communication system, the method further comprises:

determining an unmanned motor vehicle to be controlled;

correspondingly, the control information is transmitted to the unmanned motor vehicle through a wireless communication system, and the method comprises the following steps:

and sending the control information to the determined unmanned motor vehicle to be controlled through a wireless communication system.

9. The method of claim 8, wherein determining the unmanned motor vehicle to control comprises:

sending a first wireless positioning signal through signal sending equipment at a fixed position on a road surface, and determining the unmanned motor vehicle to be controlled according to the strength of the first wireless positioning signal received by the unmanned motor vehicle;

or,

and acquiring second wireless positioning signals sent by the unmanned motor vehicle through the wireless positioning devices at the fixed positions on at least two road surfaces, and determining the unmanned motor vehicle to be controlled according to the difference of the second wireless positioning signals acquired by the wireless positioning devices at the fixed positions on the at least two road surfaces.

10. The method of claim 7, further comprising:

and generating a monitoring signal according to a control result of the unmanned motor vehicle, and displaying the monitoring signal on a setting device.