CN109903575A - A kind of into and out method of automatic Pilot special lane inlet and outlet ring road - Google Patents
A kind of into and out method of automatic Pilot special lane inlet and outlet ring road Download PDFInfo
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- CN109903575A CN109903575A CN201910279014.4A CN201910279014A CN109903575A CN 109903575 A CN109903575 A CN 109903575A CN 201910279014 A CN201910279014 A CN 201910279014A CN 109903575 A CN109903575 A CN 109903575A
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Abstract
The invention discloses a kind of into and out methods of automatic Pilot special lane inlet and outlet ring road, by after completing the mutual switching of manual mode and automatic mode, RSU control unit is issued to import and leave signal and be interacted with automatic driving vehicle OBU on board unit, bus or train route cooperates with control loop technical control center TOC to carry out decision and control, judge whether to meet and import or leave requirement, the design scheme of the automatic Pilot special lane inlet and outlet ring road of this method can ensure that the autonomous driving vehicle in automatic Pilot special lane system is efficient, is safely operated.
Description
Technical field
The present invention relates to automatic Pilot technical field, the entrance of specifically a kind of automatic Pilot special lane inlet and outlet ring road with
Leave method.
Background technique
Bus or train route cooperates with the development of automatic Pilot for promoting traffic transportation efficiency, enhancing traffic trip safety, alleviating traffic
Congestion, reduction air pollution, raising driving and the comfort taken etc. have a very important significance.Although countries in the world are to certainly
The dynamic research driven is highly developed, but automatic Pilot allows the place driven still to have limitation, some countries at present
It has allowed for automatic driving vehicle to be tested on public way, but is travelled on public way and both increased the negative of test
Load, and can affect to other vehicles, while a series of safety problem can be caused.Automatic Pilot has been inevitable
Trend will be bound to largely come into operation, be applied in practice, to solve various traffic problems in future.If automatic Pilot
Vehicle and common vehicle travel on shared track road necessarily unreasonable simultaneously, this meeting is so that the development progress of automatic Pilot is delayed
Slowly, it is therefore necessary to design automatic Pilot dedicated Lanes to solve this problem.But based on present road traffic status,
Existing road can not all be reconstructed as automatic Pilot special lane, therefore automatic Pilot special lane and ordinary lane coexist and be
The necessary a certain distance of automatic Pilot.Based on such background, the design and realization of automatic Pilot accommodation road entrance ring road
It is very necessary.
Summary of the invention
Goal of the invention: It is an object of the present invention to solve the deficiency of the existing technology and provide a kind of automatic Pilot special lanes
The into and out method of ring road is imported and exported, this method passes through the automatic Pilot special lane combination different from ordinary lane,
Automatic Pilot whole process is designed, is provided safeguard for safety automation driving.
Technical solution: in order to achieve the goal above, a kind of automatic Pilot special lane inlet and outlet ring road of the present invention
Specific step is as follows for into and out method this method:
Step 1: automatic driving vehicle obtains the position of associated vehicle in range under the support of bus or train route coordination technique in real time
It sets and velocity information and makes real-time prediction, complete the mutual switching of manual mode and automatic mode, the associated vehicle
The acquisition of position and speed information is obtained by the RSU in bus or train route coordination technique, and RSU and automatic driving vehicle carry out two-way
News；
Step 2: judged by position and speed information of the RSU control unit to automatic driving vehicle, if will converge
The automatic driving vehicle for entering or leaving main road, which meets, to be imported or the safe distance requirement left, RSU control unit issue import or
Signal is left, automatic driving vehicle completes the remittance of import ring road or leaving for exit ramp；
Judged by position and speed information of the RSU control unit to automatic driving vehicle, if will import or from
The automatic driving vehicle for opening main road is unsatisfactory for the safe distance requirement for importing or leaving, and RSU control unit is to main road or common in-vehicle
Vehicle on road issues signal, to adjust the safe distance that automatic driving vehicle imported or left main road, safe distance to be met
Later, RSU control unit, which issues, imports or leaves signal, and automatic driving vehicle is completed to import or leave main road.
As present invention further optimization, in step 1, the mutual switching of the manual mode and automatic mode is logical
Cross that the manual mode that is equipped with of starting automatic driving vehicle switchs to automatic mode button and automatic mode switch is that manual mode is pressed
Button is realized.
As present invention further optimization, in step 1, the automatic driving vehicle refers in dedicated Lanes uplink
The automatic mode vehicle sailed.
As present invention further optimization, in step 1, for carrying out the RSU packet of both-way communication with automatic driving vehicle
Include trackside detection, trackside positioning and trackside control system.
As present invention further optimization, in step 1, the roadside unit RSU is to car speed and road
The gradient, turn information predicted, and vehicle given to calculate reasonable acceleration, be then passed on board unit OBU and bus or train route
Control loop technical control center TOC is cooperateed with, decision and control are carried out by technical control center TOC, judges whether to meet remittance
Or leave requirement.
Such as meet remittance to require, the position of soft isolation is controlled by technical control center TOC and opens soft isolation, is simultaneously emitted by
Vehicle, which imports, issues instruction, and manual mode vehicle at this time is switched to automatic mode and imports automatic Pilot special lane, is such as unsatisfactory for
It imports and requires, soft isolation continues to close, and manual mode vehicle continues to travel along current lane.
As present invention further optimization, when the vehicle imports or leaves ring road, controlled by technical control center TOC
The position for making soft isolation opens or closes soft isolation.
If satisfaction leaves requirement, the position of soft isolation is controlled by technical control center TOC and opens soft isolation, automatic mold
Formula vehicle is switched to manual mode and imports ordinary lane, is such as unsatisfactory for importing requirement, and soft isolation continues to close, and automotive vehicle edge is worked as
Preceding automatic Pilot special lane continues to travel.
As present invention further optimization, in step 2, the vehicle includes automatic driving vehicle and common vehicle.
As present invention further optimization, in step 2, the ordinary lane is used for common vehicle and manual drive
The automatic driving vehicle of mode travels.
Main road remittance, which is left, refers to that automatic driving vehicle imports or leave dedicated Lanes, direction point from main road ordinary lane
To import or extending outward away from from outside and imported from inside or left inwardly；Upper (lower) slope, which imports to leave, refers to automatic Pilot
Vehicle under the ordinary lane of overhead (sinking) (on) slope imports or dedicated Lanes are left on upper (lower) slope, direction, which is divided into from outside, converges
Enter or extends outward away from and import from inside or leave inwardly；The remittance of common vehicle, which is left, to be referred to all in ordinary lane
On, ordinary lane is imported from outside and inside；Converging for automated lane refer to all on automated lane, automatic Pilot vehicle
Converge and remittance when overhead converge in plane；Common vehicle, which is converged, to be referred to all in ordinary lane, common in-vehicle
Converge and remittance when overhead converge in plane；Crossing for automatic driving vehicle intersection refers on uni-directional cross road
The passage process of automatic driving vehicle in the case of mouth and bidirectional crossed crossing；The entrance of automatic driving vehicle main road leaves and common in-vehicle
Plane enters the combination left, and refers to that automatic driving vehicle imports on the inside of main road or leave inwardly special lane and common
The combination that vehicle outside is imported or left outward；Automatic driving vehicle descending enter upward slope leave with common in-vehicle plane enter from
The combination opened, refer to automatic driving vehicle by outside (inside) descending import or outward (inside) go up a slope leave with commonly
Vehicle plane is imported from outside or is left outward.
The utility model has the advantages that a kind of into and out method of automatic Pilot special lane inlet and outlet ring road provided by the invention, it should
Method is by importing and exporting importing and isolated design and realization for ring road to automatic Pilot special lane, it is ensured that automatic Pilot special-purpose vehicle
The operation security in road further promotes the efficiency of operation of automatic Pilot dedicated Lanes.
Detailed description of the invention
Fig. 1 is vehicles while passing mouth ring road system composition schematic diagram；
Fig. 2 is that inlet and outlet ring road imports and leave flow diagram；
Fig. 3 is that schematic diagram is imported on the outside of import ring road automatic driving vehicle main road；
Fig. 4 is that schematic diagram is imported on the inside of import ring road automatic driving vehicle main road；
Fig. 5 is that schematic diagram is imported on the outside of import ring road automatic driving vehicle；
Fig. 6 is that schematic diagram is imported on the inside of import ring road automatic driving vehicle；
Fig. 7 is that schematic diagram is imported on the outside of import ring road common vehicle；
Fig. 8 is that schematic diagram is imported on the inside of import ring road common vehicle；
Fig. 9 is that schematic diagram is imported on the outside of import ring road automatic driving vehicle；
Figure 10 is that schematic diagram is imported on the inside of import ring road automatic driving vehicle；
Figure 11 is that schematic diagram is imported on the outside of import ring road common vehicle；
Figure 12 is that schematic diagram is imported on the inside of import ring road common vehicle；
Figure 13 is that import ring road automatic driving vehicle converges schematic diagram；
Figure 14 is that import ring road common vehicle converges schematic diagram；
Figure 15 is that unidirectional automatic driving vehicle plane converges schematic diagram；
Figure 16 is that two-way automatic driving vehicle plane converges schematic diagram；
Figure 17 is to import to enter combination diagram with ordinary lane planar outboard on the inside of import ring road dedicated Lanes main road；
Figure 18 is to enter to enter combination diagram with ordinary lane planar outboard on the outside of import ring road dedicated Lanes descending；
Figure 19 is to enter to enter combination diagram with ordinary lane planar outboard on the inside of import ring road dedicated Lanes descending；
Figure 20 is to leave schematic diagram on the inside of exit ramp automatic driving vehicle main road；
Figure 21 is to leave schematic diagram on the outside of exit ramp automatic driving vehicle main road；
Figure 22 is to leave schematic diagram on the outside of exit ramp automatic driving vehicle main road goes up a slope；
Figure 23 is to leave schematic diagram on the inside of exit ramp automatic driving vehicle main road goes up a slope；
Figure 24 is to leave schematic diagram on the outside of exit ramp automatic driving vehicle main road descending；
Figure 25 is to leave schematic diagram on the inside of exit ramp automatic driving vehicle main road descending；
Figure 26 is that exit ramp automatic driving vehicle planar outboard leaves schematic diagram；
Figure 27 is that exit ramp automatic driving vehicle planar inner leaves schematic diagram；
Figure 28 is exit ramp automatic driving vehicle seperated schematic diagram；
Figure 29 is to leave to leave combination diagram with ordinary lane planar outboard on the inside of exit ramp automated lane main road；
Figure 30 is to leave to leave combination diagram with ordinary lane planar outboard on the outside of exit ramp automated lane goes up a slope；
Figure 31 is to leave to leave combination diagram with ordinary lane planar outboard on the inside of exit ramp automated lane goes up a slope；
Figure 32 is that automatic Pilot imports control method flow diagram；
Figure 33 is that automatic Pilot leaves control method flow diagram.
Specific embodiment
With reference to the accompanying drawings and examples, the present invention is furture elucidated.
As shown in Figure 1, different types of vehicle travels on corresponding road road according to different disengaging modes, inlet and outlet are realized
In vehicles while passing mouth ring road system, vehicles while passing mode imports the automatic Pilot process of ring road comprising medial/lateral, and inside/
Outside is left, and converges and crosses；Road type includes Downgrade Ramp, and plane ring road, upgrade ramp, main road motive wave, branch is certainly
Dynamic road, common main road and branch, type of vehicle include manual mode automatic driving vehicle, automatic mode automatic driving vehicle and general
It is open to traffic.
As shown in Fig. 2, the manual mode that starting automatic driving vehicle is equipped with switchs to automatic mold when needing to enter main road
Formula button, RSU control unit are issued to import and leave signal and be interacted with automatic driving vehicle OBU on board unit, bus or train route association
Decision and control are carried out with control loop technical control center TOC, judge whether to meet remittance or leaves requirement.RSU control is single
Member judges the position and speed information of automatic driving vehicle, if ring road meets the gap entered, then by RSU control unit
Control automatic driving vehicle enters main road, and if ring road is unsatisfactory for the gap entered, RSU control unit is issued on signal adjustment main road
The safe distance of automatic driving vehicle, allows main road fleet to reserve the gap into ring road, and RSU control unit controls automatic Pilot vehicle
Enter main road；
When needing to leave main road, the automatic mode switch that starting automatic driving vehicle is equipped with is manual mode button,
RSU control unit is issued to import and leave signal and be interacted with automatic driving vehicle OBU on board unit, and bus or train route collaboration drives system
The technical control center TOC that unites carries out decision and control, judges whether to meet remittance or leaves requirement.RSU control unit is to automatic
The position and speed information for driving vehicle is judged, if ring road satisfaction leaves gap, is then driven automatically by the control of RSU control unit
It sails vehicle and leaves main road, if ring road is unsatisfactory for leaving distance, RSU control unit issues the peace of vehicle in signal adjustment ordinary lane
Full distance allows ordinary lane to reserve the gap that vehicle leaves ring road, is then left by RSU control unit control automatic driving vehicle
Main road.
As shown in the picture, mark the lane of AL for the accommodation road of automatic mode vehicle driving；Unmarked lane is suitable
With the ordinary lane of manual model vehicle driving；Marking above vehicle mark with WIFI is automatic mode vehicle, no symbol
Label is manual mode automotive vehicle or common vehicle；Curve with the arrow indicates entry into or leaves the path of ring road；Vehicle
Inside is defined as on the left of driving direction, right side is outside；
Embodiment
It is illustrated in figure 3 on the outside of import ring road automatic driving vehicle main road and imports schematic diagram, this scene is directed to automatic vehicle
Road and ordinary lane hybird environment, 301, which become automatic driving vehicle 302 by pattern switching, travels one section in main road, in condition
In the case where permission motive wave AL is imported by main road Entrance ramp outward, continues to travel for automatic driving vehicle 303 at this time.
It is illustrated in figure 4 on the inside of import ring road automatic driving vehicle main road and imports schematic diagram, this scene is directed to automatic vehicle
Road and ordinary lane hybird environment, 401, which become automatic driving vehicle 402 by pattern switching, travels one section in main road, in condition
Motive wave AL is inwardly imported by main road Entrance ramp in the case where permission, continues to travel for automatic driving vehicle 403 at this time.
It is illustrated in figure 5 on the outside of import ring road automatic driving vehicle and imports schematic diagram,
5-1: this scene is directed to automated lane and ordinary lane hybird environment, and 501 process pattern switchings become drives automatically
It sails vehicle 502 and travels one section in overpass, motive wave AL is imported by Downgrade Ramp outward when conditions permit, at this time
Continue to travel for automatic driving vehicle 503；
5-2: this scene is directed to automated lane and ordinary lane hybird environment, and 504 process pattern switchings become drives automatically
It sails vehicle 505 and travels one section in underground driveway, motive wave AL is imported by upgrade ramp outward when conditions permit, this
When continue to travel for automatic driving vehicle 506.
It is illustrated in figure 6 on the inside of import ring road automatic driving vehicle and imports schematic diagram,
6-1: this scene is directed to automated lane and ordinary lane hybird environment, and 601 process pattern switchings become drives automatically
It sails vehicle 602 and travels one section in overpass, motive wave AL is inwardly imported by Downgrade Ramp when conditions permit, at this time
Continue to travel for automatic driving vehicle 603；
6-2: this scene is directed to automated lane and ordinary lane hybird environment, and 604 process pattern switchings become drives automatically
It sails vehicle 605 and travels one section in underground driveway, inwardly gone up a slope by upgrade ramp import motive wave when conditions permit
AL continues to travel for automatic driving vehicle 606 at this time.
It is illustrated in figure 7 on the outside of import ring road common vehicle and imports schematic diagram,
7-1: this scene is directed to ordinary lane environment, and common vehicle 701 travels a period of time in overpass, permits in condition
Perhaps common vehicle 702 imports main road by Downgrade Ramp outward in the case where, and common vehicle 703 continues to travel at this time.
7-2: this scene is directed to ordinary lane environment, and common vehicle 704 travels a period of time in underground driveway, in condition
Common vehicle 705 imports main road by upgrade ramp outward in the case where permission, and common vehicle 706 continues to travel at this time.
It is illustrated in figure 8 on the inside of import ring road common vehicle and imports schematic diagram,
8-1: this scene is directed to ordinary lane environment, and common vehicle 801 travels a period of time in overpass, permits in condition
Perhaps common vehicle 802 inwardly imports main road by Downgrade Ramp in the case where, and common vehicle 803 continues to travel at this time.
8-2: this scene is directed to ordinary lane environment, and common vehicle 804 travels a period of time in underground driveway, in condition
Common vehicle 805 inwardly imports main road by upgrade ramp in the case where permission, and common vehicle 806 continues to travel at this time.
Be illustrated in figure 9 on the outside of import ring road automatic driving vehicle and import schematic diagram, this scene be directed to automated lane and
Ordinary lane hybird environment, 901 travel a period of time in ring road for automatic driving vehicle 902 by pattern switching, permit in condition
Perhaps in the case where, motive wave AL is imported outward by ring road, automatic driving vehicle 903 continues to travel along motive wave at this time.
As shown in Figure 10 to import schematic diagram on the inside of import ring road automatic driving vehicle, this scene be directed to automated lane and
Ordinary lane hybird environment, 1001 travel a period of time in ring road for automatic driving vehicle 1002 by pattern switching, in condition
In the case where permission, motive wave AL is inwardly imported by ring road, automatic driving vehicle 1003 continues to travel along motive wave at this time.
It is as shown in figure 11 remittance schematic diagram on the outside of import ring road common vehicle；This scene is directed to ordinary lane environment,
In the case where conditions permit, common vehicle 1101 is 1102 remittance main roads by outside ring road to catchment area, and is continued along main road is prolonged
Traveling is 1103, and keeps certain safe distance with front truck.
As shown in figure 12 to import schematic diagram on the inside of import ring road common vehicle, this scene is directed to ordinary lane environment,
In the case where conditions permit, common vehicle 1201 is 1202 remittance main roads by inside ring road to catchment area, and is continued along main road is prolonged
Traveling is 1203, and keeps certain safe distance with front truck.
Converge schematic diagram as shown in figure 13 for import ring road automatic driving vehicle, this scene is directed to automated lane environment,
When conditions permit, automatic driving vehicle 1301 imports main road automated lane (AL) by branch automated lane (AL), and
Certain safe distance is kept with front automatic driving vehicle 1302, importing road type can be upward slope, descending and plane
Any combination.
Converge schematic diagram as shown in figure 14 for import ring road common vehicle, this scene is directed to ordinary lane environment, in item
In the case that part allows, common vehicle 1401 imports main road lane by branch lane, and keeps one with front common vehicle 1402
Fixed safe distance, importing branch can be upward slope, descending and surface road.
Converge schematic diagram as shown in figure 15 for unidirectional automatic driving vehicle plane, this scene is directed to automated lane environment,
When two-way four automated lanes level-crossing converges, according to trackside signal, when conditions permit, 1501 Hes
Automatic driving vehicle on automatic driving vehicle and lane normal thereto on 1502 automated lanes alternately passes through.
Converge schematic diagram as shown in figure 16 for two-way automatic driving vehicle plane, this scene is directed to automated lane environment,
When unidirectional automated lane level-crossing converges, according to trackside signal, when conditions permit, 1601 automatic vehicles
Automatic driving vehicle on automatic driving vehicle and lane normal thereto on road alternately passes through.
Enter combination as shown in figure 17 for remittance and ordinary lane planar outboard on the inside of import ring road dedicated Lanes main road to show
It is intended to, this scene is directed to automated lane and ordinary lane hybird environment, and 1701 is special from ordinary road preparation remittance automatic Pilot
Use road.1702 when conditions permit, and vehicle accelerates to suitable speed per hour, imports automatic Pilot accommodation road 1703 and continues
Traveling.In the case where conditions permit, common vehicle accelerates to suitable speed per hour, enters ordinary lane 1704 after continuing from medial plane
It sails.
Enter as shown in figure 18 for import ring road dedicated Lanes descending outside and ordinary lane planar outboard enters combination and shows
It is intended to, this scene is directed to automated lane and ordinary lane hybird environment, and automatic driving vehicle is converted to from manual mode 1801
Mode 1802 is automatically taken over, prepares to import automatic Pilot accommodation road from outside descending road.When conditions permit, vehicle
Suitable speed per hour is accelerated to, automatic Pilot accommodation road 1803 is imported and continues to travel.In the case where conditions permit, common vehicle adds
Speed enters ordinary lane 1804 from medial plane and continues to travel to suitable speed per hour.
Enter as shown in figure 19 for import ring road dedicated Lanes descending inside and ordinary lane planar outboard enters combination and shows
It is intended to, this scene is directed to automated lane and ordinary lane hybird environment, and automatic driving vehicle is converted to from manual mode 1901
Mode 1902 is automatically taken over, prepares to import automatic Pilot accommodation road from inside descending road.When conditions permit, vehicle
Suitable speed per hour is accelerated to, automatic Pilot accommodation road 1903 is imported and continues to travel.In the case where conditions permit, common vehicle adds
Speed enters ordinary lane 1904 from medial plane and continues to travel to suitable speed per hour.
As shown in figure 20 to leave schematic diagram on the inside of exit ramp automatic driving vehicle main road, this scene is directed to automatic vehicle
Road and ordinary lane hybird environment, in the case where conditions permit, automatic driving vehicle 2001 is converted to hand from the mode of automatically taking over
Dynamic model formula leaves main road from main road inside and continues to travel for 2002.
As shown in figure 21 to leave schematic diagram on the outside of exit ramp automatic driving vehicle main road, this scene is directed to automatic vehicle
Road and ordinary lane hybird environment, in the case where conditions permit, automatic driving vehicle 2101 slows down, and from automatically taking over mould
Formula is converted to manual mode, leaves main road 2102 from main road outside and continues to travel.
Schematic diagram is left for exit ramp automatic driving vehicle main road upward slope outside as shown in figure 22, this scene is directed to certainly
Motor-car road and ordinary lane hybird environment, in the case where conditions permit, automatic driving vehicle 2201 slows down, and drives into road
Outside go up a slope leave main road, into upward slope road after from the mode of automatically taking over be converted to manual mode be 2202, along go up a slope leave
Main road.
Schematic diagram is left for exit ramp automatic driving vehicle main road upward slope inside as shown in figure 23, this scene is directed to certainly
Motor-car road and ordinary lane hybird environment, in the case where conditions permit, automatic driving vehicle 2301 slows down, and drives into road
Inside goes up a slope and leaves main road, is 2302 into manual mode is converted to from the mode of automatically taking over after overhead, leaves main road along going up a slope.
As shown in figure 24 to leave schematic diagram on the outside of exit ramp automatic driving vehicle main road descending, this scene is directed to certainly
Motor-car road and ordinary lane hybird environment, in the case where conditions permit, automatic driving vehicle 2401 slows down, and drives into road
Outside descending leaves main road, and into after descending road, automatic driving vehicle 2402 is converted to manual mode from the mode of automatically taking over,
Manual mode vehicle 2403 leaves main road along descending road at this time.
As shown in figure 25 to leave schematic diagram on the inside of exit ramp automatic driving vehicle main road descending, this scene is directed to certainly
Motor-car road and ordinary lane hybird environment, in the case where conditions permit, automatic driving vehicle 2501 slows down, and drives into road
Inside descending road leaves main road, and into after descending road, automatic driving vehicle 2502 is converted to manually from the mode of automatically taking over
Mode, manual mode vehicle 2503 leaves main road along descending road at this time.
Schematic diagram is left for exit ramp automatic driving vehicle planar outboard as shown in figure 26, this scene is directed to automatic vehicle
Road and ordinary lane hybird environment, in the case where conditions permit, automatic driving vehicle 2601 slows down, and drives on the outside of road
Road leaves main road, and into after the road of outside, automatic driving vehicle 2602 is converted to manual mode from the mode of automatically taking over, at this time
Manual mode vehicle 2603 leaves main road along outside road.
Schematic diagram is left for exit ramp automatic driving vehicle planar inner as shown in figure 27, this scene is directed to automatic vehicle
Road and ordinary lane hybird environment, in the case where conditions permit, automatic driving vehicle 2701 slows down, and drives on the inside of road
Road leaves main road, and into after the road of inside, automatic driving vehicle 2702 is converted to manual mode from the mode of automatically taking over, at this time
Manual mode vehicle 2703 leaves main road along inside road.
It is as shown in figure 28 exit ramp automatic driving vehicle seperated schematic diagram, this scene is directed to automated lane environment,
In the case where main road traveling encounters the scene of bifurcated, automatic driving vehicle slows down automatic driving vehicle 2801, and keeps connecing automatically
Pipe die formula is constant, and according to actual travel route 2802 automatically into branch AL1,2803 automatically into branch AL2, and bifurcated branch can
Think upward slope, descending or surface road；
As shown in figure 29 combination is left with ordinary lane planar outboard show to leave on the inside of exit ramp automated lane main road
It is intended to, this scene is directed to automated lane and ordinary lane hybird environment, and automatic driving vehicle 2901 turns from mode of automatically taking over
It is changed to manual mode 2902, prepares to exit automatic Pilot accommodation road from automatic Pilot accommodation road.The conditions permit the case where
Under, vehicle deceleration imports ordinary lane 2903.In the case where conditions permit, common vehicle 2904 is decelerated to suitable speed per hour, from outer
Side plane leaves ordinary lane.
It leaves for exit ramp automated lane outside of going up a slope as shown in figure 30 and leaves combination with ordinary lane planar outboard and show
It is intended to, this scene is directed to automated lane and ordinary lane hybird environment, when conditions permit, automatic driving vehicle
3001 leave automatic Pilot accommodation road 3002 from outside upgrade ramp, slow down and are converted to manual mode from the mode of automatically taking over
3003.In the case where conditions permit, common vehicle 3004 is decelerated to suitable speed per hour, leaves ordinary lane from medial plane.
It leaves for exit ramp automated lane inside of going up a slope as shown in figure 31 and leaves combination with ordinary lane planar outboard and show
It is intended to, this scene is directed to automated lane and ordinary lane hybird environment, when conditions permit, automatic driving vehicle
3101 leave automatic Pilot accommodation road 3102 from inside upward slope road, slow down and are converted to manual mode from the mode of automatically taking over
3103.In the case where conditions permit, common vehicle 3104 is decelerated to suitable speed per hour, leaves ordinary lane from medial plane.
Control method flow diagram, the vehicle of ordinary lane manual mode are imported as shown in figure 32 for automatic Pilot
Issue the request for importing automatic Pilot special lane, roadside unit RSU and on board unit OBU perception car speed and road
The information such as the gradient, turning, and reasonable acceleration is calculated to vehicle, it is then passed in bus or train route collaboration control loop technical controlling
Heart TOC.Technical control center TOC carries out decision and control, judges whether that meeting remittance requires, and such as meets and imports requirement, by skill
Art control centre TOC controls the position of soft isolation and opens soft isolation, is simultaneously emitted by vehicle and imports and issues instruction, at this time manual
Mode vehicle is switched to automatic mode and imports automatic Pilot special lane, is such as unsatisfactory for importing requirement, soft isolation continues to close, manually
Mode vehicle continues to travel along current lane.
Control method flow diagram, the automatic vehicle of automatic Pilot special lane are left as shown in figure 33 for automatic Pilot
It issues and to leave the request of automatic Pilot special lane, roadside unit RSU perceives the slope of ordinary lane car speed and road
The information such as degree, turning, and reasonable acceleration is calculated to vehicle, it is then passed on board unit OBU and bus or train route collaboration drives system
Unite technical control center TOC.Technical control center TOC carries out decision and control, judges whether to meet and leaves requirement, if met
Requirement is left, the position of soft isolation is controlled by technical control center TOC and opens soft isolation, automatic mode vehicle is switched to manually
Mode imports ordinary lane, is such as unsatisfactory for importing requirement, soft isolation continues to close, and automotive vehicle is along current automatic Pilot special lane
Continue to travel.
Claims (8)
1. a kind of into and out method of automatic Pilot special lane inlet and outlet ring road, which is characterized in that the specific step of this method
It is rapid as follows:
Step 1: automatic driving vehicle under the support of bus or train route coordination technique, in real time obtain range in associated vehicle position and
Velocity information simultaneously makes real-time prediction, completes the mutual switching of manual mode and automatic mode, the position of the associated vehicle
Acquisition with velocity information is obtained by the RSU in bus or train route coordination technique, and RSU and automatic driving vehicle carry out both-way communication；
Step 2: being judged by position and speed information of the RSU control unit to automatic driving vehicle, if will import or
The automatic driving vehicle for leaving main road meets the safe distance requirement for importing or leaving, and RSU control unit, which issues, to be imported or leave
Signal, automatic driving vehicle complete the remittance of import ring road or leaving for exit ramp；
Judged by position and speed information of the RSU control unit to automatic driving vehicle, if master will be imported or be left
The automatic driving vehicle on road is unsatisfactory for the safe distance requirement for importing or leaving, and RSU control unit is on main road or ordinary lane
Vehicle issue signal, import or leave the safe distance of main road to adjust automatic driving vehicle, after meeting safe distance,
RSU control unit, which issues, imports or leaves signal, and automatic driving vehicle is completed to import or leave main road.
2. a kind of into and out method of automatic Pilot special lane inlet and outlet ring road according to claim 1, feature
It is: in step 1, what the mutual switching of the manual mode and automatic mode was equipped with by starting automatic driving vehicle
Manual mode switchs to automatic mode button and automatic mode switch is manual mode button to realize.
3. a kind of into and out method of automatic Pilot special lane inlet and outlet ring road according to claim 1, feature
Be: in step 1, the automatic driving vehicle refers to the automatic mode vehicle travelled on dedicated Lanes.
4. a kind of into and out method of automatic Pilot special lane inlet and outlet ring road according to claim 1, feature
Be: in step 1, the RSU for carrying out both-way communication with automatic driving vehicle includes trackside detection, trackside positioning and trackside
Control system.
5. a kind of into and out method of automatic Pilot special lane inlet and outlet ring road according to claim 1, feature
Be: in step 1, the roadside unit RSU predicts the gradient of car speed and road, turn information, and
Reasonable acceleration is calculated to vehicle, is then passed on board unit OBU and bus or train route collaboration control loop technical control center
TOC carries out decision and control by technical control center TOC, judges whether to meet remittance or leaves requirement.
6. a kind of into and out method of automatic Pilot special lane inlet and outlet ring road according to claim 5, feature
It is: when the vehicle imports or leaves ring road, is opened or closed by the position that technical control center TOC controls soft isolation soft
Isolation.
7. a kind of into and out method of automatic Pilot special lane inlet and outlet ring road according to claim 1, feature
Be: in step 2, the vehicle includes automatic driving vehicle and common vehicle.
8. a kind of into and out method of automatic Pilot special lane inlet and outlet ring road according to claim 1, feature
Be: in step 2, the ordinary lane is for the automatic driving vehicle of common vehicle and manual drive mode traveling.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910279014.4A CN109903575A (en) | 2019-04-09 | 2019-04-09 | A kind of into and out method of automatic Pilot special lane inlet and outlet ring road |
| US16/839,852 US20200327812A1 (en) | 2019-04-09 | 2020-04-03 | Systems and methods for connected and automated vehicle highway systems dedicated lane management and control |
| US18/119,599 US12424101B2 (en) | 2019-04-09 | 2023-03-09 | Systems and methods for connected and automated vehicle highway systems dedicated lane management and control |
| US19/333,577 US20260018061A1 (en) | 2019-04-09 | 2025-09-19 | Mode switching and merging operations and control for autonomous vehicles |
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