Automatic driving flexible track pavement monitoring system and signal scanning method

Abstract

The present disclosure proposes an autonomous driving flexible track pavement monitoring system and a signal scanning method, which are used to scan the pressure detection unit signal to determine the working state of the pressure detection unit, including: a pavement monitoring device and a controller; the pavement monitoring devices are electrically connected to the controller, and the controller is configured to: send a pulse electrical signal to any column of pressure detection units in the pavement monitoring device, and make a judgment on each row of pressure detection units. If any one or more rows can detect the contact short-circuit pulse signal transmitted by the sensor closure, it is judged that the intersection is in a sensor trigger state, and the state is sent in real time for display; scan in a periodic cycle to obtain the contact closure state of the sensor in the entire area. The technical solution of the present disclosure utilizes the above-mentioned pavement monitoring device to realize accurate and real-time monitoring of the vehicle condition of all road conditions, and the road condition and vehicle condition information is reliable, realizing transparency of all road conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of road surface monitoring, and in particular to an autonomous driving flexible track road surface monitoring system and a signal scanning method. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] At present, the navigation system mainly relies on GPS, Beidou, etc., and the positioning accuracy is relatively poor. There may be information errors or untimely feedback.

[0004] The current road condition and vehicle condition monitoring: the vehicle's autonomously installed on-board equipment uses cameras to collect video images, various radars to measure vehicle speed, and the distance to other vehicles and other factors for comprehensive analysis and judgment. This is an active analysis and is unable to accurately and timely monitor or predict danger and make accurate judgments, which will cause great safety hazards.

[0005] The inventors discovered during their research that in order to better realize unmanned driving, the existing related technologies also disclose grid-based road division. However, the above-mentioned division method and specific road surface detection technology cannot accurately monitor the road occupancy situation, and there are cases of missed detection and false detection. Road occupancy is the most critical technology for unmanned driving technology. If the data monitoring is incorrect, it will greatly affect the subsequent precise control of autonomous driving.

[0006] Therefore, from the above-mentioned aspects of navigation and vehicle condition monitoring, the current unmanned driving technologies have the problem of insufficiently accurate and timely detection information. The information lag directly affects the normal operation of unmanned vehicles. Therefore, one of the core technical problems solved by this application is: how to ensure the real-time and accuracy of the detection of driving road information. Summary of the invention

[0007] In order to overcome the above-mentioned deficiencies of the prior art, the present disclosure provides an autonomous driving flexible track pavement monitoring system and a signal scanning method, which can realize real-time and accurate detection of the dot matrix sensor area within the floating section.

[0008] To achieve the above objectives, one or more embodiments of the present disclosure provide the following technical solutions:

[0009] In a first aspect, an autonomous driving flexible track pavement monitoring system is disclosed, which is used to scan a pressure detection unit signal to determine the working state of the pressure detection unit, including: a pavement monitoring device and a controller;

[0010] The road surface monitoring devices are all electrically connected to a controller, and the controller is configured as follows:

[0011] Send a pulse electrical signal to any column of pressure detection units in the road surface monitoring device, and judge each row of pressure detection units. If any row or multiple rows can detect the contact short-circuit pulse signal transmitted by the sensor closure, it is judged that the intersection is in the sensor trigger state, and the state is sent in real time for display;

[0012] Scan periodically to obtain the contact closure status of the sensors in the entire area.

[0013] According to a further technical solution, the controller also communicates with a pulse signal generating unit, and the pulse signal generating unit sends corresponding pulse information based on the received instructions of the controller and transmits it to the pressure detection unit in the road surface monitoring device.

[0014] According to a further technical solution, the pressure detection unit signal scanning is performed after the pressure detection unit is determined to be intact.

[0015] According to a further technical solution, the controller records the number of scanned rows and the closing information of the marked intersections during the control scanning process, and outputs the array working status of the sensor after the scanning is completed.

[0016] A further technical solution is that the road surface where the road surface monitoring device is located is divided into a number of approach dot matrixes, different approach dot matrixes can be composed of a number of floating sections with adjustable positions and lengths, each approach dot matrix has a unique number for determining the exact position of the vehicle, and each approach dot matrix is ​​provided with a number of road surface monitoring devices.

[0017] According to a further technical solution, the controller is arranged in the roadside monitoring device, and the pressure detection units are connected to a bus, and the data is transmitted to the controller through the bus.

[0018] According to a further technical solution, the road surface monitoring device comprises:

[0019] Lines are arranged along the first direction and the second direction respectively, the lines in the first direction and the lines in the second direction intersect, and a pressure detection unit is arranged at the intersection;

[0020] The pressure detection unit at one end of the line in the first direction is serially connected with a unidirectional conductive unit and a matching resistor unit, and the matching resistor unit is connected to the line in the second direction where the pressure detection unit at this end is located.

[0021] A further technical solution is that all approaches are defined in the east-west, south-north directions to ensure that each floating section and approach dot matrix has certain directional parameters, including GPS parameters, that is, location information. The width of each approach is one lane and the length is different floating sections with adjustable length.

[0022] According to a further technical solution, the pressure detection unit is a radio frequency identification card, and the probe receives the signal detected by the radio frequency identification card and transmits it to the roadside monitoring device.

[0023] According to a further technical solution, the unidirectional conducting unit is a unidirectional diode or a switch-controllable transistor.

[0024] According to a further technical solution, the pressure detection unit is attached to a metal object, and the pressure detection units located in the same direction are distributed with equal or unequal spacing to ensure comprehensive monitoring of the occupancy status of the road surface.

[0025] According to a further technical solution, the surface of the metal object where the pressure detection unit is located is plastic-sealed for waterproofing, and is laid perpendicular to the road surface. The surface is treated with paint to achieve waterproofing, rust prevention and insulation.

[0026] According to a further technical solution, the pressure detection unit adopts a redundant arrangement.

[0027] According to a further technical solution, the roadside monitoring device transmits information to a monitoring station installed in a nearby service area via wired or wireless means, and reports to a general service station at the same time, and communicates with the vehicle-mounted controller in real time via wireless transmission.

[0028] In a second aspect, a signal scanning method of an autonomous driving flexible track pavement monitoring system is disclosed, which is used to scan a pressure detection unit signal to determine a working state of the pressure detection unit, including:

[0029] Send a pulse electrical signal to any column of pressure detection units in the road surface monitoring device, and judge each row of pressure detection units. If any row or multiple rows can detect the contact short-circuit pulse signal transmitted by the sensor closure, it is judged that the intersection is in the sensor trigger state, and the state is sent in real time for display;

[0030] Scan periodically to obtain the contact closure status of the sensors in the entire area.

[0031] One or more of the above technical solutions have the following beneficial effects:

[0032] 1. The purpose of the technical solution disclosed in the present invention is to realize the signal scanning of the pressure detection unit and determine its working status. This is carried out after determining its integrity. After the sensors in the area are complete and normal devices, the sensor status is scanned, which can accurately and timely display its status to facilitate subsequent driving control. When scanning, if the sensor is in a closed state, it means that the road surface corresponding to the part of the area is occupied, otherwise it is not occupied. Whether the vehicle continues to move forward is determined based on the occupancy of the road surface.

[0033] 2. The technical solution disclosed in the present invention utilizes the above-mentioned road surface monitoring device to realize accurate and real-time monitoring of the status of all road conditions and vehicle conditions. The road condition and vehicle condition information is reliable, and the transparency of all road conditions is achieved.

[0034] 3. The technical solution disclosed in the present invention is that when the pressure detection unit is subjected to a certain pressure, the metal sheets will contact and produce a short circuit. The presence of personnel or vehicles is determined by whether the horizontal and vertical intersections are in contact and short circuit. When there are no vehicles or personnel above, since the overall horizontal and vertical circuits are in an open-circuit state, it is impossible to ensure whether the sensor is damaged or broken in the middle, etc. A high-resistance state is added to detect the integrity of the sensor signal path.

[0035] 4. The real-time road and vehicle condition data collected by the road monitoring device of the disclosed technical solution are collected frequently and transmitted to the monitoring switchboard or server set up in the nearest service area through wired or wireless means, and reported to the general service station. Through real-time docking with the on-board receiver and combined with the comprehensive intelligent analysis and judgment of the car's own server, timely lane change or overtaking measures are made to ensure safety and reliability.

[0036] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings constituting a part of the present disclosure are used to provide a further understanding of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure.

[0038] Figure 1 This is a flow chart of sensor signal scanning according to an embodiment of the present disclosure;

[0039] Figure 2 This is a schematic diagram of the route-type dot matrix division structure of the embodiment of the present disclosure;

[0040] Figure 3 This is a schematic diagram of the structure of the floating section of the highway according to the embodiment of the present disclosure;

[0041] Figure 4 This is a schematic diagram of the arrangement of sensors of the dot matrix road surface monitoring device according to an embodiment of the present disclosure;

[0042] Figure 5 This is a schematic diagram of the arrangement of the radio frequency identification card of the dot matrix road surface monitoring device according to the embodiment of the present disclosure;

[0043] Figure 6 This is a system flow chart of an embodiment of the present disclosure;

[0044] Figure 7 This is a sensor self-test flow chart of an embodiment of the present disclosure. DETAILED DESCRIPTION

[0045] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present disclosure belongs.

[0046] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0047] In the absence of conflict, the embodiments in the present disclosure and the features in the embodiments may be combined with each other.

[0048] Embodiment 1

[0049] See attached Figure 1 As shown, this embodiment discloses an autonomous driving flexible track pavement monitoring system, including: In a first aspect, an autonomous driving flexible track pavement monitoring system is disclosed, which is used to scan a pressure detection unit signal to determine the working state of the pressure detection unit, including: a pavement monitoring device and a controller;

[0050] The road surface monitoring devices are all electrically connected to a controller, and the controller is configured as follows:

[0051] Send a pulse electrical signal to any column of pressure detection units in the road surface monitoring device, and judge each row of pressure detection units. If any row or multiple rows can detect the contact short-circuit pulse signal transmitted by the sensor closure, it is judged that the intersection is in the sensor trigger state, and the state is sent in real time for display;

[0052] Scan periodically to obtain the contact closure status of the sensors in the entire area.

[0053] The controller also communicates with the pulse signal generating unit, and the pulse signal generating unit sends corresponding pulse information based on the received instructions of the controller and transmits it to the pressure detection unit in the road surface monitoring device.

[0054] The pressure detection unit signal scanning is performed after the pressure detection unit is determined to be intact.

[0055] The controller records the number of scanned rows and the closing information of the marked intersections during the control scanning process, and outputs the array working status of the sensor after the scanning is completed.

[0056] For details, see the attached Figure 6As shown, the system is first initialized to determine the integrity of the sensor. If it is complete, the status of the detection area is scanned. If it is incomplete, a sensor fault signal is issued and the fault information is sent to the back end for repair or replacement. Since each sensor has its own code and position, it can find its location in a timely and accurate manner. After scanning the status of the detection area, the sensor status information in the area is sent to the controller or monitoring device.

[0057] The integrity of the pressure detection unit is tested in real time to ensure that all pressure detection units on the entire road surface are in normal working condition and can detect pressure signals, so as to avoid the failure of certain sensors leading to incomplete pressure detection information. When all pressure detection units are intact, all vehicles and other objects on the road surface can be detected, and the accuracy of road condition detection information can be ensured in real time.

[0058] For more specific examples, see the attached Figure 7 As shown, the integrity of the dot matrix sensor area in the floating section is determined:

[0059] First, a positive pulse electrical signal is sent to the A1 column, and each row is judged. If each row from B1 to B20 can detect the non-contact short-circuit closed loop information transmitted by the large resistance matching resistor, it means that the horizontal sensors are all complete. Similarly, a pulse electrical signal is sent to the B21 row, and each column is judged. If each column from A1 to A23 can detect the pulse signal transmitted by the matching resistor, it means that the vertical sensors are all complete.

[0060] In order to better illustrate the above scheme, the flexible track entry type lattice structure is explained as follows: Figure 2 , 3 As shown in the figure, the road surface is divided into different monitoring sections according to certain rules, and the road-type dot matrix is ​​realized: each road-type dot matrix has a unique number, such as "Beijing-Shanghai 0123092101" for the Beijing-Shanghai Expressway. The section and dot matrix are adjustable in length (driving direction) by 1 meter and width (road width direction) by 0.5 meters. It can also be composed into several different floating sections with adjustable positions and lengths.

[0061] The rules for dividing highway floating sections and access routes into dot matrix are as follows:

[0062] The direction of the car's forward movement is the Y axis, and the width of the road is the X axis. S (Sectiom) represents the section, and each S is equal to 3y / 6x adjacent area, which is about 3 meters * 3 meters of domestic lane width. Generally, one car occupies one S.

[0063] All routes are defined in the east, west, south, and north directions to ensure that the route has direction, that is, each section, dot matrix and route has a certain direction parameter, including GPS parameters, that is, location information. The width of each route is specified as one lane, and the length is different floating sections with adjustable length.

[0064] The real-time road and vehicle condition data collected by the road monitoring device are collected frequently and transmitted to the monitoring switchboard or server set up in the nearest service area through wired or wireless means, and reported to the general service station. Through real-time docking with the on-board receiver and combined with the comprehensive intelligent analysis and judgment of the car's own server, timely lane change or overtaking measures are made to ensure safety and reliability.

[0065] Specifically, the ground monitoring device includes:

[0066] Lines are arranged along the first direction and the second direction respectively, the lines in the first direction and the lines in the second direction intersect, and a pressure detection unit is arranged at the intersection;

[0067] The pressure detection unit at one end of the line in the first direction is serially connected with a unidirectional conductive unit and a matching resistor unit, and the matching resistor unit is connected to the line in the second direction where the pressure detection unit at this end is located.

[0068] The angle between the lines in the first direction and the lines in the second direction is 70-90 degrees. In this embodiment, the lines are arranged vertically and in the horizontal and vertical directions.

[0069] Several dot matrix sensors in each floating section are attached to metal objects. There is a small gap between the horizontal and vertical metal objects, which is tentatively set at about 50mm. After being subjected to a certain pressure, the metal sheets will touch and produce a short circuit. The presence of personnel or vehicles is determined by whether the horizontal and vertical intersections are in contact and short circuit. When there are no vehicles or personnel above, the overall horizontal and vertical circuits are in an open state, and it is impossible to ensure whether the sensor is damaged or broken in the middle.

[0070] The disclosed technical solution utilizes a combination of a resistor and a diode to solve the problem that ordinary switch sensors only have two signals, closed and open, and cannot monitor whether the signal path of the device is complete. A third high-resistance state is specially added to detect the integrity of the sensor signal path.

[0071] In order to ensure the monitoring integrity of the sensor, each node is Figure 4 At the ends of the entire region A1 and B21, there is Figure 4The matching resistor and signal control diode are connected as shown. The matching resistor has a relatively high resistance, such as 100KΩ. The closed resistance of the sensor in the normal alarm state will not exceed 100Ω, which can be reliably distinguished from the closed signal formed by the sensor trigger. At the same time, the diode connected to the matching resistor can effectively ensure the flow of the signal when the sensor signal is scanned, and there will be no interference between the matching resistors when multiple points are triggered.

[0072] In another implementation example, each approach dot matrix is ​​equipped with a ground monitoring device. The monitoring device can use a pressure sensor or a radio frequency identification card relative to each wheel. There is no monitoring blind spot on each approach dot matrix, so as to reliably monitor whether the section and dot matrix road surface are occupied.

[0073] Specifically, Figure 5 As shown, the pressure sensor solution of the road surface monitoring device is replaced by placing a radio frequency identification card at a suitable position in each dot matrix, and a probe is set at a suitable position in the identifiable area. When the radio frequency card at a certain position is blocked by a car, a large enough object or human interference, the probe will detect it in time and transmit the information to the roadside monitoring device, thereby reliably monitoring whether the road surface is occupied.

[0074] In one embodiment, the unidirectional conduction unit is a unidirectional diode or a switch-controllable triode. When it is a switch-controllable triode, a controller sends a corresponding control signal to control the opening and closing of the triode to achieve unidirectional conduction.

[0075] The pressure detection unit is attached to a metal object, and the pressure detection units located in the same direction are distributed with equal or unequal spacing to ensure comprehensive monitoring of the occupancy status of the road surface.

[0076] The surface of the metal object where the pressure detection unit is located is plastic-sealed for waterproofing, and is laid perpendicular to the road surface. The surface is treated with paint to achieve waterproof, rust-proof and insulation.

[0077] Each access point matrix, the arrangement of ground monitoring devices, and roadside monitoring devices, the sensor layout adopts a redundant method, relative to each wheel (or sufficiently large foreign objects, pedestrians, non-motor vehicles, etc.), each access point matrix has no monitoring blind spot, and the roadside monitoring device monitors the occupancy of the section and matrix in real time. Since the maximum speed limit on the highway is 120km / h, that is, 33.33 meters / second, the monitoring speed should be microseconds, and ensure that speeding vehicles are monitored and vehicles are not lost.

[0078] The roadside monitoring device transmits data to the monitoring station set up in the nearest service area via wired or wireless means, and reports to the main service station at the same time, and communicates with the on-board controller in real time via wireless transmission.

[0079] Specifically, roadside monitoring devices: roadside monitoring devices (including collection and transmission modules) can be set up at certain intervals such as 200 meters on the roadside. The main function is to collect, process and transmit information. The device uses dot matrix monitoring technology to receive real-time sensor pressure change information (the sampling frequency is also in microseconds) or whether the radio frequency card is blocked. At the same time, the real-time monitoring device will transmit the collected dynamic information to the monitoring station in a timely manner.

[0080] Back-end monitoring service station: Service area monitoring stations are set up at certain intervals, such as 40-50km, which is the distance between two highway service areas. They collect and organize all vehicle condition monitoring information within the jurisdiction of the service area, transmit it to vehicles in adjacent intervals in a timely manner, and transmit the real-time path vehicle condition to the general service station.

[0081] Real-time information transmission with the car: Real-time wireless transmission between the roadside monitoring device and the on-board receiver and on-board display (5G transmission is recommended to ensure a transmission rate of microseconds).

[0082] Control vehicle: The on-board receiver provides a standard protocol interface to provide the calculation results such as road and vehicle conditions to the car's own server, and makes timely lane changes or overtaking measures after comprehensive intelligent analysis and judgment with the help of the vehicle's own equipment to ensure safety and reliability.

[0083] In the technical solution disclosed in the present invention, a plurality of dot matrices at every section of the route constitute a section, and this section can be adjusted in a floating manner according to actual needs, including position and size.

[0084] Flexible trackization is to divide the highway into several routes according to certain rules, and then divide them into route-type dot matrix, and then connect all these dot matrixes to divide them into track sections, similar to the track sections of railways. In this way, according to the principle of using track sections, the entry, occupation and exit of the route are planned. Each vehicle must strictly follow the established running track G planned by the monitoring and management station, and lock the surrounding vehicles at the same time, and it is strictly forbidden to enter the track G. Since the track (route) can be flexibly locked and unlocked according to the vehicle and road conditions, it is called flexible track, or flexible trackization.

[0085] Embodiment 2

[0086] The embodiment example of the present disclosure provides a road surface structure, on which the dot matrix road surface monitoring device for autonomous driving in the above-mentioned embodiment example 1 is laid.

[0087] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

[0088] Although the above describes the specific implementation methods of the present disclosure in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present disclosure. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present disclosure.

Claims

1. The autonomous driving flexible track pavement monitoring system is characterized by: Used to scan the pressure detection unit signal to determine the working state of the pressure detection unit, including: a road surface monitoring device and a controller; The road surface monitoring devices are all electrically connected to a controller, and the controller is configured as follows: Send a pulse electrical signal to any column of pressure detection units in the road surface monitoring device, and judge each row of pressure detection units. If any row or multiple rows can detect the contact short-circuit pulse signal transmitted by the sensor closure, it is judged that the intersection is in the sensor trigger state, and the state is sent in real time for display; Scan periodically to obtain the contact closure status of the sensors in the entire area; The road surface where the road surface monitoring device is located is divided into a plurality of route-type dot matrices, and different route-type dot matrices can be composed of a plurality of floating sections with adjustable positions and lengths. Each route-type dot matrix has a unique number for determining the exact position of the vehicle, and each route-type dot matrix is ​​provided with a plurality of road surface monitoring devices; The road surface monitoring device comprises: Lines are arranged along the first direction and the second direction respectively, the lines in the first direction and the lines in the second direction intersect, and a pressure detection unit is arranged at the intersection; The pressure detection unit at one end of the line in the first direction is connected in series with a unidirectional conduction unit and a matching resistor unit, and the matching resistor unit is connected to the line in the second direction where the pressure detection unit at this end is located; All approaches are defined in the east-west, south-north directions to ensure that each floating section and approach dot matrix has certain directional parameters, including GPS parameters or Beidou parameters, that is, location information. The width of each approach is one lane and the length is a different floating section with adjustable length.

2. The automatic driving flexible track pavement monitoring system according to claim 1, characterized in that: The controller also communicates with a pulse signal generating unit, and the pulse signal generating unit sends corresponding pulse information based on the received instructions of the controller and transmits it to the pressure detection unit in the road surface monitoring device.

3. The automatic driving flexible track pavement monitoring system according to claim 1, characterized in that: The pressure detection unit signal scanning is performed after the pressure detection unit is determined to be intact.

4. The automatic driving flexible track pavement monitoring system according to claim 1, characterized in that: The controller records the number of scanned rows and the closing information of the marked intersections during the process of controlling the scan, and outputs the array working state of the sensor after the scan is completed.

5. The automatic driving flexible track pavement monitoring system according to claim 1, characterized in that: The controller is arranged in the roadside monitoring device, and the pressure detection units are all connected to the bus, and the data are transmitted to the controller through the bus.

6. The automatic driving flexible track pavement monitoring system according to claim 1, characterized in that: The roadside monitoring device transmits data to the monitoring station set up in the nearest service area via wired or wireless means, and reports to the main service station at the same time, and communicates with the on-board controller in real time via wireless transmission.

7. A signal scanning method for an autonomous driving flexible track pavement monitoring system, using the autonomous driving flexible track pavement monitoring system as claimed in any one of claims 1 to 6, characterized in that: Used to scan the pressure detection unit signal to determine the working state of the pressure detection unit, including: Send a pulse electrical signal to any column of pressure detection units in the road surface monitoring device, and judge each row of pressure detection units. If any row or multiple rows can detect the contact short-circuit pulse signal transmitted by the sensor closure, it is judged that the intersection is in the sensor trigger state, and the state is sent in real time for display; Scan periodically to obtain the contact closure status of the sensors in the entire area.

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