A method for controlling a vehicle to automatically enter and exit a tunnel based on a drive-by-wire chassis

Abstract

The application discloses a method for controlling a vehicle to automatically enter and exit a tunnel based on a drive-by-wire chassis, and relates to the field of intelligent driving of vehicles. The method comprises the following steps: acquiring tunnel information; determining whether conditions for entering the tunnel are met based on a tunnel height limit and congestion inside and outside the tunnel; when the conditions for entering the tunnel are met and the distance from the vehicle to the tunnel entrance is less than a first distance threshold, controlling the vehicle to enter the tunnel at a speed lower than the tunnel speed limit; ensuring that the vehicle speed is always kept below the tunnel speed limit inside the tunnel, and adjusting the vehicle speed and driving path in real time according to the driving state of adjacent vehicles; when the distance from the current vehicle to the tunnel exit is less than a second distance threshold, reminding the driver that the vehicle will soon exit the tunnel, and when the current vehicle exits the tunnel and the distance from the vehicle to the tunnel exit is greater than a third distance threshold, entering a manual driving mode; the vehicle speed and driving path are adjusted in real time according to the driving state of adjacent vehicles, so that the driving safety of the vehicle in the tunnel with a narrow space and insufficient light can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent driving of vehicles, in particular to a method for controlling a vehicle to automatically enter and exit a tunnel based on a drive-by-wire chassis. BACKGROUND

[0002] In most areas of China, except for special situations such as fire, traffic accident, road maintenance, and tunnel collapse, vehicles are generally prohibited from changing lanes and speeding in tunnels. However, due to the lack of monitoring and speed measurement devices in some tunnels, many drivers often engage in dangerous driving behaviors such as random lane changing and speeding after entering the tunnel. In addition, when entering and exiting the tunnel, the change in light can cause a temporary "blindness" phenomenon in the driver, which threatens road safety. Given the narrow space, limited obstacle avoidance space, and insufficient light in tunnels, the above driving behaviors not only threaten the safety of the driver, but also seriously endanger the normal operation of road traffic in the tunnel, posing a significant safety hazard. Currently, the level of intelligence and networking of vehicle chassis is not high, and the vehicle cannot perceive the adjacent environment and make autonomous decisions to control the vehicle's operating state when passing through the tunnel. Only when the vehicle is speeding does it provide a voice reminder to the driver to slow down, and there is no intervention in the vehicle's operating state, and the traffic management department will then impose appropriate penalties on the driver.

[0003] For example, patent 201910379850.X discloses a tunnel lane changing and overtaking warning device that determines whether a vehicle is speeding or changing lanes in the tunnel by comparing the time of the queue vehicles entering and exiting the tunnel and the lane of the queue vehicles entering and exiting the tunnel. However, this device cannot effectively prevent random lane changing and speeding in the tunnel. SUMMARY

[0004] The present application aims to provide a method for controlling a vehicle to automatically enter and exit a tunnel based on a drive-by-wire chassis, which adjusts the vehicle speed and driving path in real time according to the driving state of adjacent vehicles, thereby improving the driving safety of the vehicle in a narrow space and insufficient light tunnel, preventing traffic accidents caused by dangerous driving behaviors such as random lane changing and speeding, and ensuring the safety of the passengers in the vehicle and the normal driving of other vehicles.

[0005] To achieve the above-mentioned purpose, the present application provides the following solutions:

[0006] A method for a vehicle to enter and exit a tunnel based on a drive-by-wire chassis, the method comprising the following steps:

[0007] Obtaining tunnel information; the tunnel information includes tunnel length, tunnel height limit, tunnel speed limit, number of lanes in the tunnel, and congestion inside and outside the tunnel;

[0008] determine whether the current vehicle has the condition to enter the tunnel based on the tunnel height limit and the congestion inside and outside the tunnel;

[0009] when the condition to enter the tunnel is met and the distance to the tunnel entrance is less than a first distance threshold, control the vehicle to enter the tunnel at a speed lower than the tunnel speed limit;

[0010] ensure that the speed of the current vehicle is always kept below the tunnel speed limit inside the tunnel, and adjust the speed and driving path of the current vehicle in real time according to the driving state of adjacent vehicles; the adjacent vehicles include vehicles adjacent to the front of the current vehicle and vehicles on adjacent lanes of the current vehicle;

[0011] when the distance between the current vehicle and the tunnel exit is less than a second distance threshold, remind the driver that the vehicle will soon exit the tunnel, and when the current vehicle exits the tunnel and the distance to the tunnel exit is greater than a third distance threshold, enter the manual driving mode; the distance between the current vehicle and the tunnel exit is calculated based on the length of the tunnel and the distance traveled by the current vehicle inside the tunnel.

[0012] Optionally, the speed and driving path of the vehicle are adjusted in real time according to the driving state of adjacent vehicles in front of and on the sides of the vehicle, specifically including:

[0013] obtain image information of the adjacent vehicles;

[0014] obtain the relative position, relative speed and relative acceleration of the adjacent vehicles and the current vehicle, and the horizontal distance between the current vehicle and the tunnel road;

[0015] determine whether the turn signal of the adjacent vehicle is flashing based on the image information;

[0016] when the turn signal of the adjacent vehicle is flashing, determine whether the current vehicle takes evasive measures based on the relative position, relative speed and relative acceleration of the adjacent vehicles and the current vehicle, and the horizontal distance between the current vehicle and the tunnel road; the evasive measures include deceleration, lane change and braking.

[0017] Optionally, obtaining the relative position, relative speed and relative acceleration of the adjacent vehicles and the current vehicle specifically includes:

[0018] based on the time difference between the reflection time and the receiving time of the laser pulse of the laser radar arranged on the current vehicle, calculate the relative position of the adjacent vehicle and the current vehicle, and the formula for calculating the relative position of the adjacent vehicle and the current vehicle is:

[0019]

[0020] wherein d is the relative position of the adjacent vehicle and the current vehicle, Δt is the time difference between the reflection time and the receiving time of the laser pulse of the laser radar arranged on the current vehicle, and c is the speed of light.

[0021] The relative speed of the adjacent vehicle and the current vehicle is calculated based on the frequency shift of the echo signal received by the laser radar arranged on the current vehicle and the transmitted signal, and the formula for calculating the relative speed of the adjacent vehicle and the current vehicle is:

[0022]

[0023] Wherein, v r is the relative speed of the adjacent vehicle and the current vehicle, f d is the frequency shift of the echo signal received by the laser radar arranged on the current vehicle and the transmitted signal, and λ is the wavelength of the laser pulse signal.

[0024] The relative acceleration of the adjacent vehicle and the current vehicle is calculated based on the time difference between the reflection time and the receiving time of the laser pulse of the laser radar arranged on the current vehicle and the relative speed of the adjacent vehicle and the current vehicle, and the formula for calculating the relative acceleration of the adjacent vehicle and the current vehicle is:

[0025]

[0026] Wherein, a is the relative acceleration of the adjacent vehicle and the current vehicle, Δv is the relative speed of the adjacent vehicle and the current vehicle, and Δt is the time difference between the reflection time and the receiving time of the laser pulse.

[0027] Optionally, the method for controlling the vehicle to automatically enter and exit the tunnel based on the drive-by-wire chassis comprises the following steps.

[0028] The horizontal distance between the current vehicle and the tunnel road is calculated based on the time difference between the reflection time and the receiving time of the laser pulse of the ranging radar arranged on the current vehicle, and the formula for calculating the horizontal distance between the current vehicle and the tunnel road is:

[0029]

[0030] Wherein, R is the horizontal distance between the current vehicle and the tunnel road, c is the speed of light, and t r is the time difference between the reflection time and the receiving time of the laser pulse.

[0031] Optionally, the tunnel information is obtained by communication with the tunnel information controller arranged in the tunnel.

[0032] A system for controlling the vehicle to automatically enter and exit the tunnel based on the drive-by-wire chassis, wherein the system is applied to the method described in any one of the above, and the system specifically comprises:

[0033] An information acquisition module is configured to acquire tunnel information, wherein the tunnel information comprises a tunnel length, a tunnel height limit, a tunnel speed limit, a number of lanes in the tunnel, and congestion inside and outside the tunnel.

[0034] An admission module is configured to determine whether a current vehicle meets a condition for entering the tunnel based on the tunnel height limit and the congestion inside and outside the tunnel, and to control the vehicle to enter the tunnel at a speed lower than the tunnel speed limit when the condition for entering the tunnel is met and a distance from the tunnel entrance is less than a first distance threshold.

[0035] A guiding module is configured to ensure that a speed of the current vehicle is always kept below the tunnel speed limit inside the tunnel, and to adjust the speed and a driving path of the current vehicle in real time according to driving states of adjacent vehicles, wherein the adjacent vehicles comprise vehicles adjacent to the current vehicle in front of the current vehicle and vehicles on adjacent lanes of the current vehicle.

[0036] An exit module is configured to remind a driver that the vehicle is about to exit the tunnel when a distance from a tunnel exit is less than a second distance threshold, and to enter a manual driving mode when the current vehicle exits the tunnel and the distance from the tunnel exit is greater than a third distance threshold, wherein the distance from the tunnel exit is calculated based on the tunnel length and a distance at which the current vehicle drives in the tunnel.

[0037] A device for controlling a vehicle to automatically enter and exit a tunnel based on a drive-by-wire chassis, wherein the device comprises:

[0038] a vehicle perception system, a vehicle chassis domain controller, and a tunnel information controller.

[0039] a vehicle perception system, a vehicle chassis domain controller, and a tunnel information controller.

[0040] The tunnel information controller is arranged outside a tunnel entrance, and the tunnel information controller internally stores tunnel information, wherein the tunnel information comprises a tunnel length, a tunnel height limit, a tunnel speed limit, a number of lanes in the tunnel, and congestion inside and outside the tunnel.

[0041] The vehicle perception system is arranged outside a vehicle body, and the vehicle perception system is electrically connected to the vehicle chassis domain controller, and the vehicle perception system is configured to perceive driving states of adjacent vehicles.

[0042] The vehicle chassis domain controller is wirelessly connected to the tunnel information controller, and the vehicle chassis domain controller is configured to receive the tunnel information and the driving states of the adjacent vehicles, and to adjust a speed and a driving path of a current vehicle in real time by using any one of the above methods.

[0043] Optionally, the vehicle perception system specifically comprises a distance measuring radar arranged on a side of the vehicle body, a laser radar arranged in front of and on a side of the vehicle body, and a high-definition vehicle camera arranged in front of and on a side of the vehicle body.

[0044] Optionally, the tunnel information controller is further connected with a tunnel sensing system;

[0045] The tunnel sensing system specifically comprises: a speed radar, a millimeter wave radar and a tunnel high-definition camera; the speed radar, the millimeter wave radar and the tunnel high-definition camera are all arranged on the top of a tunnel entrance and a wall in a tunnel;

[0046] The speed radar is used for detecting driving speed information of a vehicle in the tunnel;

[0047] The millimeter wave radar is used for detecting vehicle passing information of the tunnel entrance;

[0048] The tunnel high-definition camera is used for shooting video image information of a driving state of the vehicle in the tunnel;

[0049] The tunnel information controller is used for determining congestion conditions inside and outside the tunnel based on the driving speed information, the vehicle passing information and / or the video image information.

[0050] Optionally, the tunnel information controller is further connected with a positioning base station;

[0051] The positioning base stations are arranged at intervals in the tunnel, are used for wirelessly communicating with a positioning module in the vehicle chassis domain controller of a vehicle in the tunnel, are used for receiving positioning information sent by the positioning module, and transmit the positioning information to the tunnel information controller.

[0052] According to the specific embodiments of the present application, the following technical effects are disclosed:

[0053] According to the present application, the driving speed and driving path of the current vehicle are adjusted in real time according to the driving state of the adjacent vehicle, so that the driving safety of the vehicle in the tunnel with narrow space and insufficient light can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0055] Figure 1 A vehicle sensing system distribution diagram provided for the embodiments of the present application;

[0056] Figure 2 A vehicle and tunnel communication flowchart provided for the embodiments of the present application;

[0057] Figure 3Vehicle chassis information transmission flowchart provided for the embodiment of the present application;

[0058] Figure 4 Vehicle entering tunnel flowchart provided for the embodiment of the present application;

[0059] Figure 5 Vehicle driving out of tunnel flowchart provided for the embodiment of the present application;

[0060] Figure 6 Tunnel external layout provided for the embodiment of the present application;

[0061] Figure 7 Tunnel internal layout provided for the embodiment of the present application;

[0062] Figure 8 Vehicle drive-by-wire chassis layout provided for the embodiment of the present application;

[0063] Figure 9 Vehicle drive-by-wire execution system diagram provided for the embodiment of the present application.

[0064] Symbol explanation:

[0065] Vehicle chassis domain controller-100, drive-by-wire execution system-101, vehicle perception system-102, ranging radar-103, left rear wheel-105, left front wheel-106, right front wheel-107, right rear wheel-108, first hub drive motor-109, second hub drive motor-110, third hub drive motor-111, fourth hub drive motor-112, first brake-113, second brake-114, third brake-115, fourth brake-116, first steering drive motor-117, second steering drive motor-118, third steering drive motor-119, fourth steering drive motor-120, battery system-121, axle-122, steering mechanism-123, first suspension system-124, second suspension system-125, vehicle high-definition camera-126, laser radar-127, vehicle wireless communication module-128, perception system information processing module-129, path planning module-130, vehicle kinematics module-131, battery system management module-132, vehicle positioning module-133, tunnel perception system-201, positioning base station-202, tunnel wireless communication device-203, speed radar-204, millimeter wave radar-205, vehicle flow calculation system-206, tunnel information controller-207, road edge-208, lane-209, tunnel high-definition camera-210. DETAILED DESCRIPTION

[0066] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0067] The present application aims to provide a method for controlling a vehicle to automatically enter and exit a tunnel based on a drive-by-wire chassis, which adjusts the speed and driving path of the current vehicle in real time according to the driving state of the adjacent vehicle, and can improve the driving safety of the vehicle in a tunnel with narrow space and insufficient light.

[0068] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0069] Embodiment 1

[0070] As shown in Figure 1 and Figure 2 The present application provides a device for controlling a vehicle to automatically enter and exit a tunnel based on a drive-by-wire chassis, which specifically comprises:

[0071] A vehicle perception system 102, a vehicle chassis domain controller 100 and a tunnel information controller 207.

[0072] The vehicle perception system 102 is located outside the vehicle body, and is electrically connected with the vehicle chassis domain controller 100. The vehicle perception system 102 is used to perceive the driving state of the adjacent vehicle. The vehicle chassis domain controller 100 is wirelessly connected with the tunnel information controller 207 in the tunnel. The vehicle chassis domain controller 100 uses the method described below to adjust the speed and driving path of the current vehicle in real time, and receives the tunnel information of the tunnel information controller 207.

[0073] The tunnel information specifically includes: tunnel length, tunnel height limit, tunnel speed limit, number of lanes in the tunnel, and congestion inside and outside the tunnel.

[0074] The vehicle perception system 102, the vehicle chassis domain controller 100 and the tunnel information controller 207;

[0075] The tunnel information controller 207 is arranged outside the tunnel entrance, and the tunnel information controller 207 internally stores tunnel information. The tunnel information includes: tunnel length, tunnel height limit, tunnel speed limit, number of lanes in the tunnel, and congestion inside and outside the tunnel. The tunnel information can also include: tunnel name, tunnel map, etc.

[0076] The vehicle perception system 102 is located outside the vehicle body and is electrically connected to the vehicle chassis domain controller 100. The vehicle perception system 102 is used to perceive the driving status of adjacent vehicles.

[0077] The vehicle chassis domain controller 100 is wirelessly connected to the tunnel information controller 207. The vehicle chassis domain controller 100 is used to receive the tunnel information and the driving status of the adjacent vehicles, and to adjust the current vehicle speed and driving path in real time using any of the methods described above.

[0078] like Figure 3 As shown, the vehicle chassis domain controller 100 consists of a primary and a secondary vehicle chassis domain controller, achieving dual redundancy. Both chassis controllers 100 include a wireless communication module 128, a perception system information processing module 129, a path planning module 130, a vehicle kinematics module 131, a battery system management module 132, and a vehicle positioning module 133. During normal vehicle operation, only one chassis controller 100 is in operation.

[0079] The wireless communication module 128 includes a signal transmitter and a signal receiver, which are installed in the chassis of the vehicle to enable communication between the vehicle and the tunnel information controller 207 and remotely with the road traffic supervision department.

[0080] The perception system information processing module 129 receives information from the lidar 127, the ranging radar 103, and the vehicle high-definition camera 126 installed at the front, rear, and sides of the vehicle. The high-definition camera 126 at the front of the vehicle records a first-person view of the scene when the vehicle encounters emergencies such as fire, traffic accidents, or tunnel collapses while driving through the tunnel after entering the tunnel. This information is then transmitted by the wireless communication module 128 to the tunnel wireless communication device 203, and via the tunnel information controller 207, to the road traffic supervision department for judgment regarding the vehicle's next steps. The system can determine whether to continue driving, wait in place, or return along the same route; it can also record the flashing of turn signals of vehicles ahead and whether they are changing lanes; 2. The high-definition camera 126 on the side of the vehicle records the flashing of turn signals and changes in wheel angles of vehicles in adjacent lanes during the vehicle's journey. The vehicle chassis domain controller 100 determines whether a vehicle intends to change lanes based on the information obtained by the high-definition camera 126 and the speed changes and lateral distance changes of vehicles in adjacent lanes obtained by the lidar 127 on the side of the vehicle, and promptly takes deceleration, braking, or lane-changing strategies to avoid collisions. The received information is then fused and processed as follows:

[0081] The perception system information processing module 129 obtains the time Δt from the laser pulse emitted by the laser radar 127 to the reflected laser pulse from the front and side of the vehicle, and calculates the horizontal distance between the vehicle and the tunnel road according to the TOF time-of-flight method of the laser radar 127 ranging principle, and obtains the speed, acceleration, and change of the driving path of the surrounding vehicles and the distance between the vehicle and the surrounding vehicles and the tunnel road.

[0082] The path planning module 130 receives the information of the perception system information processing module 129 and plans the driving path of the vehicle in real time.

[0083] The vehicle kinematics module 131 receives the surrounding vehicle state information obtained by the perception system information processing module 129 and the vehicle driving path planned by the path planning module 130, calculates the torque required by each wheel hub drive motor, the braking force of the brake, and the wheel steering angle when the vehicle is decelerated, braked, and turned, and the corresponding drive motor and steering drive motor voltage, brake current, and transmits the control command to each wheel hub drive motor, brake, and steering drive motor. The wheel hub drive motor specifically includes: a first wheel hub drive motor 109, a second wheel hub drive motor 110, a third wheel hub drive motor 111, and a fourth wheel hub drive motor 112; the brake specifically includes: a first brake 113, a second brake 114, a third brake 115, and a fourth brake 116; the steering drive motor specifically includes: a first steering drive motor 117, a second steering drive motor 118, a third steering drive motor 119, and a fourth steering drive motor 120.

[0084] The battery system management module 132 receives information from the vehicle kinematics module 131, calculates the power required by the battery to output to each wheel, and transmits the control command to the battery system 121.

[0085] The satellite navigation system available to the vehicle positioning module 133 can include, for example, GPS in the United States, Beidou in China, Galileo in the European Union, and GLONASS in Russia, and can also communicate with the positioning base station 202 in the tunnel for real-time positioning.

[0086] As shown in Figure 9 The drive-by-wire execution system includes a brake, a steering drive motor, and a drive-by-wire drive system. The brake is preferably an electronic mechanical brake EMB 113, which can shorten the braking time; the steering drive motor 118 drives the steering mechanism 123 to deflect the wheels; and the wheel hub drive motor 111 of the drive-by-wire drive system directly drives the wheel rotation.

[0087] The battery system 121 distributes the power required by each wheel according to the control instructions transmitted by the battery system management module 132. As shown in the figure, the control instructions of the vehicle chassis domain controller 100 and the battery system 121 are transmitted to the wire control execution system through the wire harness. The second wheel hub drive motor 110 and the third wheel hub drive motor 111 output corresponding torque to drive the wheels to rotate according to the control instructions, the brake generates corresponding braking force to slow down the wheels 106 and 107, and the steering drive motor 118 drives the steering mechanism 123 to realize wheel deflection. Figure 9

[0088] The tunnel information controller 207 is arranged outside the tunnel entrance, and the tunnel information controller 207 internally stores the tunnel information.

[0089] The vehicle perception system 102 specifically includes: a ranging radar 103 arranged on the side of the vehicle body, a laser radar 127 arranged in front of and on the side of the vehicle body, and a vehicle high-definition camera 126 arranged in front of and on the side of the vehicle body.

[0090] The ranging radar 103 is located on the side of the vehicle body; the ranging radar 103 is used to calculate the horizontal distance between the current vehicle and the tunnel direction through the vehicle chassis domain control system. The ranging radar 103 has four ranging radars arranged on the side of the vehicle body, and is preferably a millimeter wave ranging radar.

[0091] The laser radar 127 is located in front of and on the side of the vehicle body; the laser radar 127 calculates and obtains the relative position, relative speed and relative acceleration of the adjacent vehicle and the current vehicle through the vehicle chassis domain controller 100.

[0092] The vehicle high-definition camera 126 is located in front of and on the side of the vehicle body. The high-definition camera 126 arranged on the side of the vehicle body is used to determine whether the turn signal of the adjacent vehicle is flashing based on the image information, and the high-definition camera 126 arranged in front of the vehicle body is mainly used to record the first perspective picture of the special situation occurring in the tunnel.

[0093] As shown in the figure, as an optional embodiment, the tunnel information controller 207 is also connected with the tunnel perception system 201. Figure 6 Figure 7 As shown in the figure, as an optional embodiment, the tunnel information controller 207 is also connected with the tunnel perception system 201.

[0094] The tunnel perception system 201 is used to detect the vehicle speed and the number of vehicles, and specifically includes.

[0095] The tunnel perception system specifically includes: a speed radar 204, a millimeter wave radar 205 and a tunnel high-definition camera 210; the speed radar 204, the millimeter wave radar 205 and the tunnel high-definition camera 210 are all arranged on the top of the tunnel entrance and the wall inside the tunnel.​​

[0096] The speed measurement radar 204 is used to detect the driving speed information of the vehicle in the tunnel.

[0097] The millimeter wave radar 205 is used to detect the vehicle passing information of the tunnel portal.

[0098] The tunnel high-definition camera 210 is used to shoot the video image information of the driving state of the vehicle in the tunnel.

[0099] Among them, the millimeter wave radar 205 and the tunnel high-definition camera 210 are used together to perceive the number of vehicles, to prevent the night and rain, snow and fog weather from affecting the shooting effect of the tunnel high-definition camera 210; the speed measurement radar 204 is used to perceive the speed of the vehicle driving.

[0100] Preferably, the detection of the congestion degree of the tunnel can also be integrated into the tunnel vehicle flow calculation system 206, which is used to receive and fuse the information from the millimeter wave radar 205, the speed measurement radar 204 and the tunnel high-definition camera 210 to obtain the passing speed of the vehicle, the process is as follows: the millimeter wave radar 205 has the characteristics of all-weather and all-day work, and can identify multiple targets at the same time, the vehicle flow calculation system 206 calculates the number of vehicles passing according to the data input by the millimeter wave radar 205 using the pulse ranging method; at the same time, the tunnel high-definition camera 210 can obtain the situation inside and outside the tunnel according to the digital signal input by the tunnel high-definition camera 210, and the number of vehicles passing can be obtained by comparing the number of vehicles disappearing in the picture at different times, the millimeter wave radar 205 and the tunnel high-definition camera 210 are used together to perceive the number of vehicles passing in and out of the tunnel, to avoid the influence of night or rain, snow and fog weather on the shooting effect of the tunnel high-definition camera 210; the vehicle flow calculation system 206 calculates the number of vehicles passing according to the data input by the speed measurement radar 204 using the Doppler shift formula The vehicle driving and the speed measurement radar 204 have a relative speed, the echo signal received by the speed measurement radar 204 and the transmitted signal produce a frequency shift, f d is the Doppler shift, v r is the speed of the vehicle driving relative to the speed measurement radar 204, and λ is the wavelength of the pulse signal, and according to the threshold value of the number of vehicles passing per unit time and the vehicle passing speed set by the system, the congestion situation inside and outside the tunnel is judged. The number of vehicles passing per unit time and the passing speed of the tunnel outside are obtained, the congestion situation inside and outside the tunnel is judged, and the result is transmitted to the tunnel information controller 207.

[0101] Further, the vehicle chassis domain controller 100 can also be connected with a communication system in the tunnel, which is the tunnel wireless communication device 203 arranged at intervals in the tunnel, and the communication range covers the whole tunnel, which can realize real-time wireless communication with the vehicle chassis domain controller 100 of the vehicle in the tunnel and transmit the obtained information to the tunnel information controller 207.

[0102] The tunnel information controller 207 is used to determine the congestion situation inside and outside the tunnel based on the driving speed information, the vehicle passing information and / or the video image information. The tunnel information controller 207 comprises a signal transmitting device and a signal receiving device. The signal transmitting device transmits the tunnel information to the wireless communication module 128 of the vehicle chassis domain controller 100; the signal receiving device can receive the information of the positioning base station 202, the tunnel wireless communication device 203 and the sensing system arranged in the tunnel, and the information of the remote road traffic supervision department. The congestion situation inside and outside the tunnel is obtained by the vehicle flow calculation system 206 of the tunnel intelligent control system, stored in the tunnel information controller 207 and can be updated by the remote road traffic supervision department in real time.

[0103] The speed measurement radar 204, the millimeter wave radar 205 and the tunnel high-definition camera 210 are used to detect the congestion situation in the tunnel.

[0104] The tunnel information controller 207 is also connected with the positioning base station 202. The positioning base station 202 is arranged at intervals in the tunnel, used for wireless communication with the positioning module of the vehicle chassis domain controller 100 of the vehicle in the tunnel, used for receiving the positioning information emitted by the positioning module and transmitting the positioning information to the tunnel information controller 207. Since the signal in the tunnel is weak and the vehicle can only navigate by inertia, it cannot be accurately positioned by satellite and the positioning base station 202, the vehicle positioning module 133 of the vehicle chassis domain controller 100 can obtain the real-time position of the vehicle in the tunnel by wireless communication with the positioning base station 202 arranged at intervals in the tunnel.

[0105] Embodiment 2

[0106] As shown in Figure 4 and Figure 5 The present application is a kind of based on drive-by-wire chassis vehicle in and out of tunnel method, the method comprises the following steps:

[0107] Obtaining tunnel information; the tunnel information includes: tunnel length, tunnel height limit, tunnel speed limit, number of lanes in the tunnel and congestion situation inside and outside the tunnel. The tunnel information also includes: tunnel name, tunnel map, return route that cannot enter the tunnel, etc.

[0108] Determine whether the current vehicle has the condition to enter the tunnel based on the tunnel height limit and the congestion inside and outside the tunnel.

[0109] When the condition to enter the tunnel is met and the distance to the tunnel entrance is less than the first distance threshold, control the vehicle to enter the tunnel at a speed lower than the tunnel speed limit.

[0110] Specifically, the vehicle enters the tunnel before the process is as shown in Figure 4

[0111] Step 301: Determine whether the condition to enter the tunnel is met.

[0112] Step 302: Wait outside the tunnel.

[0113] Step 303: The driver manually drives the vehicle to leave the tunnel along the given route.

[0114] Step 304: Calculate the distance between the vehicle and the tunnel entrance.

[0115] Step 305: Determine whether the distance is less than the set threshold.

[0116] Step 306: Switch to an automatic driving state.

[0117] Step 307: Determine whether the height limit speed is exceeded.

[0118] Step 308: Exceed the height limit, the driver manually drives the vehicle to leave the tunnel along the given route.

[0119] Step 309: The vehicle exceeds the speed limit, and the chassis domain controller 100 controls the vehicle speed to be below the tunnel speed limit.

[0120] Step 310: Determine whether the vehicle needs to change lanes.

[0121] Step 311: Enter the tunnel along the current vehicle.

[0122] Step 312: The chassis domain controller controls the vehicle to enter the lane with less traffic through the drive-by-wire execution system.

[0123] Before the vehicle enters the tunnel, the vehicle chassis domain controller 100 communicates wirelessly with the tunnel information controller 207 outside the tunnel through the wireless communication module 128 to obtain relevant tunnel information, and confirms with the tunnel information controller 207 whether there is an abnormal situation inside the tunnel, such as fire, traffic accident, road maintenance, tunnel collapse, etc., and executes step 301. The path planning module 130 of the vehicle chassis domain controller 100 plans the vehicle path in real time according to the tunnel map obtained from the tunnel information controller 207 and the environmental information obtained through the vehicle perception system 102. ​

[0124] The vehicle decides whether to enter the tunnel according to the tunnel information obtained from the tunnel information controller 207. If it cannot enter, it follows the return route fed back to the tunnel information controller 207 by the traffic management department to execute step 303 or step 302, and then enters the tunnel after the traffic resumes. If it can enter, it executes steps 304 and 305 according to the vehicle positioning module 133 of the vehicle chassis domain controller 100, and executes step 306 after the distance is less than the set threshold.

[0125] The wireless communication module 128 of the vehicle chassis domain controller 100 of the vehicle compares the tunnel speed limit and height limit information obtained by the tunnel information controller 207 with the current speed and height of the vehicle, and executes step 307. If the height limit is exceeded, step 308 is executed. If the vehicle is speeding, step 309 is executed, which is as follows: the vehicle kinematics module 131 of the vehicle chassis domain controller 100 calculates the current required by each brake when the vehicle is decelerating, and transmits control instructions to the battery system management module 132 and the drive-by-wire execution system 101 of each wheel to control the vehicle speed until it is below the tunnel speed limit. If the vehicle does not exceed the height limit and is not speeding, it continues to travel at the current speed.

[0126] The wireless communication module 128 of the vehicle chassis domain controller 100 of the vehicle receives the congestion situation of each lane inside and outside the tunnel calculated by the tunnel traffic volume calculation system through the tunnel information controller 207. The path planning module 130 of the vehicle chassis domain controller 100 executes step 310 to determine whether the vehicle needs to change lanes to enter the lane with less traffic before entering the tunnel. If so, the vehicle kinematics module 131 of the vehicle chassis domain controller 100 calculates the torque required by each wheel drive motor, the braking force of the brake, and the wheel angle, as well as the corresponding voltage of the hub drive motor and steering drive motor, the current of the brake, and transmits control instructions to the battery system management module 132 and the drive-by-wire execution system 101 of each wheel to execute step 312. If not, step is executed.

[0127] Inside the tunnel, the speed of the current vehicle is always maintained below the tunnel speed limit, and the speed and driving path of the current vehicle are adjusted in real time according to the driving state of the adjacent vehicles, which include the vehicles adjacent to the front of the current vehicle and the vehicles on the adjacent lanes of the current vehicle.

[0128] Specifically, when the vehicle is driving in the tunnel, the vehicle chassis domain controller 100 sends a control instruction to turn on the front and rear vehicle lights and the clearance lights to indicate the front and rear vehicles. The path planning module 130 of the vehicle chassis domain controller 100 obtains information of the ranging radar 103 and the high-definition camera 126 installed on the side of the vehicle through the perception system information processing module 129, and performs real-time positioning based on the tunnel map information obtained before entering the tunnel and the positioning base station 202 information obtained in the tunnel through the wireless communication module 128, so that the vehicle can drive in the same lane in the tunnel and keep a certain distance from the road edge or vehicles in the adjacent lanes at all times.

[0129] The information obtained by the laser radar 127 installed in front of the vehicle is fused and processed by the perception system information processing module 129 of the vehicle chassis domain controller 100: the perception system information processing module 129 obtains the time Δt from the emission of the laser pulse measured by the front and side laser radars 127 to the reflection back from the front and adjacent lane vehicles. According to the TOF (Time of Flight) method of the ranging principle of the laser radar 127, the speed, acceleration, and distance from the front vehicle can be detected. The vehicle kinematics module 131 of the vehicle chassis domain controller 100 calculates the voltage of the hub drive motor and the steering drive motor of each wheel and the current of the brake based on the information obtained by the perception system information processing module 129 and the driving path planned by the path planning module 130, and transmits control instructions to the drive-by-wire execution system of each wheel to control the driving speed of the vehicle and keep a safe distance from the front vehicle. The laser radar 127 and the high-definition camera 126 on the side of the vehicle can perceive the speed change, turn signal blinking, wheel angle, and lateral distance change of the vehicles in the adjacent lanes. After fusion processing by the perception system information processing module 129, it is determined whether the vehicles in the adjacent lanes have the intention to change lanes. If so, the vehicle kinematics module 131 of the vehicle chassis domain controller 100 calculates based on the vehicle speed, distance from the lane-changing vehicle, lane-changing vehicle speed, and other information, and sends control instructions to the battery system management module 132 and the drive-by-wire execution system 101 to make the vehicle decelerate, brake, or change lanes in time to avoid collision with the lane-changing vehicle.

[0130] When the distance between the current vehicle and the tunnel exit is less than a second distance threshold, the driver is reminded that the vehicle will soon exit the tunnel. When the current vehicle exits the tunnel and the distance from the tunnel exit is greater than a third distance threshold, the manual driving mode is entered. The distance between the current vehicle and the tunnel exit is calculated based on the tunnel length and the distance traveled by the current vehicle in the tunnel.

[0131] Specifically, when the vehicle exits the tunnel, the light change between inside and outside of the tunnel will cause the driver to have a short "blindness" phenomenon, thereby affecting the driving safety. Therefore, a distance threshold of the vehicle from the tunnel exit is set, and the vehicle positioning module 133 obtains the distance of the vehicle from the tunnel exit in real time through the positioning base station 202. When the distance is less than the set threshold, the vehicle prompts the driver through voice that "the vehicle will exit the tunnel soon, and will switch to the manual driving mode". Meanwhile, a distance threshold of the vehicle from the tunnel exit is set, and the vehicle positioning module 133 obtains the distance of the vehicle from the tunnel exit in real time through the global satellite navigation system. When the distance is greater than the set threshold, the vehicle chassis domain controller 100 outputs a control instruction to make the vehicle switch to the manual driving mode and prompts the driver through voice to drive the vehicle to exit the tunnel manually.

[0132] By adopting the chassis-by-wire of the present application, the vehicle is equipped with two vehicle chassis domain controllers 100, which have double safety redundancy. When the vehicle is running normally, the vehicle chassis domain controller 100 makes decisions and issues control instructions to control the running state of the vehicle. The main and auxiliary controllers of the chassis domain are connected and connected with the vehicle perception system 102 and the chassis-by-wire execution system 101 respectively. Meanwhile, the auxiliary controller backs up the information received and issued by the main controller. When a module of the main controller of the chassis domain fails to receive or transmit information, the auxiliary controller recognizes the abnormal working state of the main controller, then takes over the main controller to complete the unfinished work when the vehicle fails, and executes the same function as the main controller in the subsequent vehicle running process to ensure the normal running of the vehicle and prompt the driver on the instrument that the main controller of the chassis domain has failed.

[0133] The vehicle can obtain surrounding environment information through the wireless communication module 128 and the vehicle perception system 102 arranged in the vehicle chassis domain controller 100 and the vehicle body, and make decisions, while sending control instructions to drive the drive-by-wire actuator to work, so that the vehicle safely drives out of the tunnel. Specifically, when the vehicle receives information from the tunnel information controller 207 and determines that it can enter the tunnel, the vehicle switches to an automatic driving state when the distance between the vehicle and the tunnel entrance is less than a set threshold, and the vehicle can automatically change lanes before entering the tunnel according to the received information. In the tunnel, ensure that the vehicle speed is always below the tunnel speed limit and adjust the vehicle speed and driving path in real time according to the driving state of the adjacent vehicle; special situation information in the tunnel can be sent to the tunnel by the wireless communication module 128 of the vehicle, if the vehicle encounters a road maintenance section in the tunnel, the vehicle automatically drives out of the maintenance section according to the planned passing path; if the vehicle encounters an uncertain section and lane such as fire, traffic accident, tunnel collapse, etc., the vehicle switches to a manual driving mode and is manually operated by the driver to drive out of the section or return to the original road, and resumes the automatic driving state after entering the normal section. Except for the above-mentioned special situations in the tunnel, the vehicle generally drives in the same lane in the tunnel.

[0134] In addition, when the vehicle encounters a special situation in the tunnel, for example, a special situation such as fire, traffic accident, road maintenance, tunnel collapse occurs after the vehicle enters the tunnel, the vehicle chassis domain controller 100 first controls the vehicle to slow down until complete braking, and at the same time, the special situation in the tunnel obtained by the vehicle perception system 102 can be sent to the tunnel wireless communication device 203 through the wireless communication module 128, and transmitted remotely to the road traffic supervision department via the tunnel information controller 207, and the road traffic supervision department determines whether the vehicle can continue to pass through the tunnel, the path through the tunnel or return to the original road or wait in place according to the severity of the special situation in the tunnel, and transmits control instructions remotely to the tunnel information controller 207. As shown in Figure 2 The tunnel information controller 207 transmits the instructions issued by the road traffic supervision department to the vehicles outside the tunnel through the signal transmission device and to the vehicles inside the tunnel through the tunnel wireless communication device 203, and the path planning module 130 and the vehicle kinematics module 131 of the vehicle calculate and send control instructions to the battery system management module 132 and the drive-by-wire execution system 101 to change the motion state of the vehicle. If it needs to return to the original road, the vehicle switches from the automatic driving state to the manual driving state of the driver and turns to drive out of the tunnel.

[0135] When the road maintenance occupies the determined road section and lane in the tunnel, the vehicle path planning module 130 plans the route according to the instruction issued by the road traffic regulatory department, obtains the real-time positioning of the vehicle in the tunnel through the vehicle positioning module 133, and the vehicle kinematics module 131 fuses the above information to calculate the parameters required by each component of the line control execution system when the vehicle drives off the road maintenance road section, and the calculation process is as follows:

[0136] 1. The vehicle kinematics module 131 calculates the front wheel steering angle β required for the vehicle to turn according to the turning radius calculation formula , wherein R is the turning radius required for the vehicle to turn to the planned route at the current position in the tunnel, L is the wheelbase of the vehicle, and β is the front wheel steering angle of the vehicle.

[0137] 2. The vehicle starts with constant acceleration , and the vehicle kinematics module 131 calculates the torque required for the hub drive motor according to the motor torque and vehicle acceleration relationship , wherein T e is the drive motor torque, m is the total mass of the vehicle, g is the acceleration of gravity, f is the ground rolling resistance coefficient, C D is the air resistance coefficient, A is the frontal area of the vehicle, V is the current vehicle speed, r is the wheel radius, and η e is the drive motor efficiency, and the control instruction is transmitted to the battery system management module 132 and the line control execution system 101.

[0138] When the road section and lane are occupied by uncertain road sections and lanes such as fire, traffic accident, tunnel collapse, etc. in the tunnel, the vehicle cannot completely avoid the road obstacles, and the vehicle switches from the automatic driving state to the manual driving state of the driver to drive off the road section, and after entering the normal road section, the vehicle restores the automatic driving state and reminds the driver.

[0139] Before the vehicle enters the tunnel, the vehicle receives the special situation information occurring in the tunnel and the instruction issued by the road traffic regulatory department through the wireless communication module 128, and sends the control instruction to the battery system management module 132 and the line control execution system according to the calculation results of the vehicle path planning module 130 and the vehicle kinematics module 131 to change the motion state of the vehicle.

[0140] Secondly, the speed and driving path of the vehicle are adjusted in real time according to the driving state of the adjacent vehicles in front of and beside the vehicle, which specifically includes:

[0141] Obtain the image information of the adjacent vehicles.

[0142] Obtain the relative position, relative speed and relative acceleration of the adjacent vehicles and the current vehicle, and the horizontal distance between the current vehicle and the tunnel road.

[0143] determine whether a turn signal of the adjacent vehicle is flashing based on the image information.

[0144] When the turn signal of the adjacent vehicle is flashing, determine whether the current vehicle takes an avoidance measure based on relative position, relative speed and relative acceleration of the adjacent vehicle and the current vehicle, and horizontal distance of the current vehicle and the tunnel road alignment; the avoidance measure includes deceleration, lane change and braking.

[0145] Further, the relative position, the relative speed and the relative acceleration of the adjacent vehicle and the current vehicle are obtained, specifically including:

[0146] The relative position of the adjacent vehicle and the current vehicle is calculated based on the time difference between the reflection time and the receiving time of the laser pulse of the laser radar 127 arranged on the current vehicle, and the formula for calculating the relative position of the adjacent vehicle and the current vehicle is: Wherein, d is the relative position of the adjacent vehicle and the current vehicle, Δt is the time difference between the reflection time and the receiving time of the laser pulse of the laser radar 127 arranged on the current vehicle, and c is the speed of light.

[0147] The relative speed of the adjacent vehicle and the current vehicle is calculated based on the frequency shift generated by the echo signal received by the laser radar 127 arranged on the current vehicle and the transmission signal, and the formula for calculating the relative speed of the adjacent vehicle and the current vehicle is: Wherein, v r is the relative speed of the adjacent vehicle and the current vehicle, f d is the frequency shift generated by the echo signal received by the laser radar 127 arranged on the current vehicle and the transmission signal, and λ is the wavelength of the laser pulse signal.

[0148] The relative acceleration of the adjacent vehicle and the current vehicle is calculated based on the time difference between the reflection time and the receiving time of the laser pulse of the laser radar 127 arranged on the current vehicle and the relative speed of the adjacent vehicle and the current vehicle, and the formula for calculating the relative acceleration of the adjacent vehicle and the current vehicle is: Wherein, a is the relative acceleration of the adjacent vehicle and the current vehicle, Δv is the relative speed of the adjacent vehicle and the current vehicle, and Δt is the time difference between the reflection time and the receiving time of the laser pulse.

[0149] Further, the horizontal distance of the current vehicle and the tunnel road alignment is obtained, specifically including:

[0150] The horizontal distance of the current vehicle and the tunnel road alignment is calculated based on the time difference between the reflection time and the receiving time of the laser pulse of the ranging radar 103 arranged on the current vehicle, and the formula for calculating the horizontal distance of the current vehicle and the tunnel road alignment is: Wherein, R is the horizontal distance of the current vehicle and the tunnel road alignment, c is the speed of light, t rThe time difference between the reflection time and the receiving time of the laser pulse.

[0151] The tunnel information is obtained by the tunnel information controller 207 arranged in the tunnel.

[0152] Embodiment 3

[0153] The application further provides a system for automatically entering and exiting a tunnel by a vehicle based on a drive-by-wire chassis, which is applied to the method described in any one of the preceding embodiments, and specifically comprises:

[0154] An information obtaining module is configured to obtain tunnel information, wherein the tunnel information comprises a tunnel length, a tunnel height limit, a tunnel speed limit, a number of lanes in the tunnel, and congestion inside and outside the tunnel.

[0155] An access module is configured to determine whether the current vehicle meets the conditions for entering the tunnel based on the tunnel height limit and the congestion inside and outside the tunnel, and control the vehicle to enter the tunnel at a speed lower than the tunnel speed limit when the conditions for entering the tunnel are met and the distance to the tunnel entrance is less than a first distance threshold.

[0156] A guiding module is configured to ensure that the speed of the current vehicle is always kept below the tunnel speed limit inside the tunnel, and to adjust the speed and driving path of the current vehicle in real time according to the driving state of adjacent vehicles, wherein the adjacent vehicles include vehicles adjacent to the front of the current vehicle and vehicles on adjacent lanes of the current vehicle.

[0157] An exiting module is configured to remind the driver that the vehicle is about to exit the tunnel when the distance between the current vehicle and the tunnel exit is less than a second distance threshold, and to enter a manual driving mode when the current vehicle exits the tunnel and the distance between the current vehicle and the tunnel exit is greater than a third distance threshold, wherein the distance between the current vehicle and the tunnel exit is calculated based on the tunnel length and the distance traveled by the current vehicle inside the tunnel.

[0158] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts of each embodiment can be referred to each other. For the system disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts are described in the method part.

[0159] The principles and implementation manners of the application are described by using specific examples in this paper, and the above embodiment description is only used to help understand the method and core idea of the application; meanwhile, for those skilled in the art, the specific implementation manners and application ranges will be changed according to the idea of the application. In conclusion, the content of the specification should not be understood as a limitation of the application.

Claims

1. A method for vehicles entering and exiting tunnels based on a drive-by-wire chassis, characterized in that, The method includes the following steps: Obtain tunnel information; the tunnel information includes: tunnel length, tunnel height limit, tunnel speed limit, number of lanes inside the tunnel, and congestion conditions inside and outside the tunnel; Based on the tunnel height restriction and the congestion situation inside and outside the tunnel, determine whether the current vehicle meets the conditions for entering the tunnel; When the conditions for entering the tunnel are met and the distance to the tunnel entrance is less than a first distance threshold, the vehicle is controlled to enter the tunnel at a speed lower than the tunnel speed limit. Inside the tunnel, ensure that the current vehicle's speed is always below the tunnel speed limit, and adjust the current vehicle's speed and driving path in real time according to the driving status of adjacent vehicles; the adjacent vehicles include the vehicle in front of the current vehicle and the vehicle in the adjacent lane of the current vehicle. When the distance between the current vehicle and the tunnel exit is less than the second distance threshold, the driver is reminded that the vehicle is about to exit the tunnel. When the current vehicle exits the tunnel and the distance between it and the tunnel exit is greater than the third distance threshold, manual driving mode is entered. The distance between the current vehicle and the tunnel exit is calculated based on the tunnel length and the distance the current vehicle has traveled inside the tunnel.

2. The method for controlling a vehicle to automatically enter and exit a tunnel based on a drive-by-wire chassis according to claim 1, characterized in that, The vehicle's speed and path are adjusted in real time based on the driving status of adjacent vehicles in front and to the side, specifically including: Acquire image information of adjacent vehicles; Obtain the relative position, relative speed, and relative acceleration of adjacent vehicles and the current vehicle, as well as the horizontal distance between the current vehicle and the tunnel curb; Based on the image information, determine whether the turn signals of adjacent vehicles are flashing; When the turn signal of an adjacent vehicle flashes, the system determines whether the current vehicle should take evasive action based on the relative position, relative speed, and relative acceleration of the adjacent vehicle and the current vehicle, as well as the horizontal distance between the current vehicle and the tunnel curb. The evasive action includes deceleration, lane changing, and braking.

3. The method for controlling a vehicle to automatically enter and exit a tunnel based on a drive-by-wire chassis according to claim 2, characterized in that, Obtain the relative position, relative velocity, and relative acceleration of adjacent vehicles and the current vehicle, specifically including: Based on the time difference between the reflection and reception times of the laser pulse from the lidar installed on the current vehicle, the relative position between the current vehicle and adjacent vehicles is calculated. The formula for calculating the relative position between the current vehicle and adjacent vehicles is as follows: Where d is the relative position of the adjacent vehicle and the current vehicle, Δt is the time difference between the reflection time and the reception time of the laser pulse of the lidar set on the current vehicle, and c is the speed of light; Based on the frequency shift caused by the echo signal received by the lidar installed on the current vehicle and the transmitted signal, the relative speed between the current vehicle and adjacent vehicles is calculated. The formula for calculating the relative speed between adjacent vehicles and the current vehicle is: Among them, v r f represents the relative speed between the adjacent vehicle and the current vehicle. d λ is the frequency shift between the echo signal received by the lidar on the current vehicle and the transmitted signal, where λ is the wavelength of the laser pulse signal. Based on the time difference between the reflection and reception times of the laser pulse from the lidar installed on the current vehicle and the relative speeds of adjacent vehicles and the current vehicle, the relative acceleration between the adjacent vehicles and the current vehicle is calculated. The formula for calculating the relative acceleration between the adjacent vehicles and the current vehicle is: Where a is the relative acceleration between the adjacent vehicle and the current vehicle, Δv is the relative velocity between the adjacent vehicle and the current vehicle, and Δt is the time difference between the reflection time and the reception time of the laser pulse.

4. The method for controlling a vehicle to automatically enter and exit a tunnel based on a drive-by-wire chassis according to claim 2, characterized in that, Obtain the horizontal distance between the current vehicle and the tunnel curb, specifically including: Based on the time difference between the reflection and reception times of the laser pulse from the ranging radar installed on the current vehicle, the horizontal distance between the current vehicle and the tunnel curb is calculated. The formula for calculating the horizontal distance between the current vehicle and the tunnel curb is: Where R is the current horizontal distance between the vehicle and the tunnel curb, c is the speed of light, and t is the speed of light. r This is the time difference between the reflection time and the reception time of the laser pulse.

5. The method for controlling a vehicle to automatically enter and exit a tunnel based on a drive-by-wire chassis according to claim 1, characterized in that, The tunnel information is obtained through communication with a tunnel information controller installed inside the tunnel.

6. A system for automatically controlling vehicles to enter and exit tunnels based on a drive-by-wire chassis, characterized in that, The system is applied to the method according to any one of claims 1-5, and the system specifically includes: The information acquisition module is used to acquire tunnel information, including: tunnel length, tunnel height limit, tunnel speed limit, number of lanes inside the tunnel, and congestion conditions inside and outside the tunnel. The access module is used to determine whether the current vehicle meets the conditions for entering the tunnel based on the tunnel height limit and the congestion situation inside and outside the tunnel; when the conditions for entering the tunnel are met and the distance to the tunnel entrance is less than a first distance threshold, the vehicle is controlled to enter the tunnel at a speed lower than the tunnel speed limit. The guidance module is used to ensure that the speed of the current vehicle is always kept below the tunnel speed limit in the tunnel, and to adjust the speed and driving path of the current vehicle in real time according to the driving status of adjacent vehicles; the adjacent vehicles include the vehicle in front of the current vehicle and the vehicle in the adjacent lane of the current vehicle. The exit module is used to remind the driver that the vehicle is about to exit the tunnel when the distance between the current vehicle and the tunnel exit is less than a second distance threshold. When the current vehicle exits the tunnel and the distance between it and the tunnel exit is greater than a third distance threshold, it enters manual driving mode. The distance between the current vehicle and the tunnel exit is calculated based on the tunnel length and the distance the current vehicle has traveled in the tunnel.

7. A device for automatically controlling vehicles to enter and exit tunnels based on a drive-by-wire chassis, characterized in that, The device includes: Vehicle perception system, vehicle chassis domain controller, and tunnel information controller; The tunnel information controller is located outside the tunnel entrance, and stores tunnel information inside the tunnel information controller; the tunnel information includes: tunnel length, tunnel height limit, tunnel speed limit, number of lanes inside the tunnel, and congestion status inside and outside the tunnel; The vehicle perception system is located outside the vehicle body and is electrically connected to the vehicle chassis domain controller. The vehicle perception system is used to perceive the driving status of adjacent vehicles. The vehicle chassis domain controller is wirelessly connected to the tunnel information controller. The vehicle chassis domain controller is used to receive the tunnel information and the driving status of the adjacent vehicles, and to adjust the current vehicle speed and driving path in real time using the method described in any one of claims 1-5.

8. The device for automatically controlling vehicles to enter and exit tunnels based on a drive-by-wire chassis according to claim 7, characterized in that, The vehicle perception system specifically includes: a ranging radar located on the side of the vehicle body, a lidar located on the front and side of the vehicle body, and a high-definition vehicle camera located on the front and side of the vehicle body.

9. The device for automatically controlling vehicles to enter and exit tunnels based on a drive-by-wire chassis according to claim 7, characterized in that, The tunnel information controller is also connected to the tunnel sensing system; The tunnel sensing system specifically includes: a speed measuring radar, a millimeter-wave radar, and a high-definition tunnel camera; the speed measuring radar, the millimeter-wave radar, and the high-definition tunnel camera are all installed on the top of the tunnel entrance and on the walls inside the tunnel; The speed-measuring radar is used to detect the speed of vehicles inside the tunnel. The millimeter-wave radar is used to detect vehicle passage information at the tunnel entrance; The high-definition tunnel camera is used to capture video images of the vehicle's driving status inside the tunnel. The tunnel information controller is used to determine the congestion situation inside and outside the tunnel based on the driving speed information, the vehicle passage information and / or the video image information.

10. The device for automatically controlling a vehicle to enter and exit a tunnel based on a drive-by-wire chassis according to claim 7, characterized in that, The tunnel information controller is also connected to a positioning base station; The positioning base stations are spaced apart inside the tunnel and are used to wirelessly communicate with the positioning module in the vehicle chassis domain controller of the vehicles inside the tunnel. They are used to receive positioning information sent by the positioning module and transmit the positioning information to the tunnel information controller.

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