Autonomous driving safety warning system based on road traffic coordinated control

Abstract

The present invention discloses an automatic driving safety warning system based on road traffic coordinated control, relates to the technical field of automatic driving safety warning, and solves the technical problem in the prior art that the difference in impact between automatic driving and manual driving cannot be inferred through road condition analysis in a traffic area, so that safety warning cannot be performed from the perspective of automatic driving execution. Specifically, during the traffic control process, an automatic driving impact analysis unit collects driving safety data and driving travel data, and infers whether automatic driving is executed in the current period based on data analysis and comparison. After the automatic driving is executed, the automatic driving performance evaluation unit evaluates the performance of the automatic driving, obtains driving control data and driving braking data, and infers whether the automatic driving performance is normal based on data processing; the traffic control analysis unit obtains non-controlled impact information and controlled impact information, and infers whether there is an impact on automatic driving in the current traffic area based on information analysis.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving safety warning technology, and specifically to an autonomous driving safety warning system based on coordinated road traffic control. Background Art

[0002] Autonomous driving safety warning is an important part of ensuring the safe operation of the autonomous driving system. In the process of autonomous driving, due to the complexity and uncertainty of road conditions, the safety warning system plays a vital role. It can detect potential dangerous situations in time and send alarms to the vehicle control system and the driver so that appropriate measures can be taken to avoid accidents.

[0003] The patent with announcement number CN117727183A provides an automatic driving safety warning method and system combined with vehicle-road collaboration, which relates to the field of data processing technology. The method includes: reading the target real-time driving data, then reading the driving-related state data set, obtaining the target driving visual model, and then performing static vehicle-road collaborative safety detection, obtaining the target static collaborative safety detection results, and then performing dynamic vehicle-road collaborative safety detection, obtaining dynamic collaborative safety detection results, generating a safety analysis report and sending it to the safety warning device for safety warning. This application mainly solves the problem that the existing methods are overly dependent on historical data, which increases the difficulty of real-time warning, may lead to a decrease in the accuracy of the warning, and cannot be adaptively adjusted according to changes in the scene, thereby limiting the real-time nature of the warning effect. According to the dynamic collaborative safety detection results, it is judged in real time whether the vehicle has safety risks or violations, and a warning is issued, which improves the real-time and accuracy of the data.

[0004] However, with the existing technology, it is impossible to infer the difference in the impact of autonomous driving and manual driving through road condition analysis in a traffic area, so it is impossible to make safety warnings from the perspective of autonomous driving execution, and it is impossible to perform real-time analysis of the performance after autonomous driving is executed. In addition, it is impossible to perform real-time analysis of the impact of autonomous driving and control warnings during the traffic area control stage, and it is impossible to make collective adjustments when autonomous driving affects road control warnings.

[0005] In view of the above technical defects, a solution is now proposed. Summary of the invention

[0006] The purpose of the present invention is to solve the above-mentioned problems and to propose an automatic driving safety warning system based on road traffic coordinated control.

[0007] The purpose of the present invention can be achieved by the following technical solutions:

[0008] An autonomous driving safety warning system based on road traffic coordinated control includes a driving safety warning platform, wherein the driving safety warning platform is communicatively connected to a road control warning unit, an autonomous driving impact analysis unit, a traffic control analysis unit, and an autonomous driving performance evaluation unit;

[0009] The road control warning unit divides the current traffic area according to the real-time passing roads, and a number of passing roads are staggered to build a passing network and fill the current traffic area. It collects road control warning information and substitutes it into the formula to obtain the control warning coefficient. According to the coefficient threshold comparison, the passing roads are divided into control warning roads and non-control warning roads; the driving safety warning platform performs traffic control according to the road type;

[0010] During the traffic control process, the autonomous driving impact analysis unit collects driving safety data and driving data, and infers whether autonomous driving is to be performed in the current period based on data analysis and comparison. After the autonomous driving is performed, the autonomous driving performance evaluation unit evaluates the performance of the autonomous driving, obtains driving control data and driving braking data, and infers whether the autonomous driving performance is normal based on data processing;

[0011] The traffic control analysis unit obtains non-control impact information and control impact information, and infers whether there is an impact on autonomous driving in the current traffic area based on information analysis. If so, it will issue an on-board warning, otherwise, it will continue monitoring.

[0012] As a preferred embodiment of the present invention, the road control warning information includes the maximum reduction peak value of the average traffic speed of the entrance and exit of any road in the traffic area, the corresponding numerical ratio of the reduction span value of the traffic flow merging speed of adjacent roads during the stage of decreasing average traffic speed of the entrance and exit of the current road to the corresponding speed reduction peak value of the waiting time for the merging traffic on the adjacent roads, and the corresponding span numerical ratio of the increase span of the corresponding traffic flow rate and the traffic speed increase span of the roads other than the current road in the traffic area after the average traffic speed of the entrance and exit of any road decreases.

[0013] As a preferred embodiment of the present invention, if the control warning coefficient exceeds the control warning coefficient threshold, the current road will be marked as a control warning road and a control warning signal will be generated; if the control warning coefficient does not exceed the control warning coefficient threshold, the current road will be marked as a non-control warning road and a cancellation warning signal will be generated.

[0014] As a preferred embodiment of the present invention, the driving safety data and the driving data are respectively the accumulated excess of the reserved driving safety distance corresponding to the accumulated driving time in the automatic driving state and the manual driving state within the real-time driving conditions in the traffic area, and the instantaneous increase span of the overtaking speed of the vehicle under the real-time driving conditions in the traffic area.

[0015] As a preferred embodiment of the present invention, if the driving safety data exceeds the cumulative excess distance threshold, or the driving data exceeds the acceleration increase span threshold, an automatic driving impact signal is generated; if the driving safety data does not exceed the cumulative excess distance threshold, and the driving data does not exceed the acceleration increase span threshold, an automatic driving signal is generated.

[0016] As a preferred embodiment of the present invention, the driving safety data and the driving data are respectively the buffering time of the autonomous driving vehicle sensing that the current vehicle speed is lower than the average speed of the traffic flow in the traffic area, the continuous time for stably adjusting the vehicle speed to the average speed of the traffic flow after sensing the low speed, and the corresponding time value ratio, and the cumulative distance value of the vehicles before and after the vehicle completes the braking distance when the traffic flow around the autonomous driving vehicle in the traffic area fluctuates back and forth.

[0017] As a preferred embodiment of the present invention, if the driving safety data exceeds the duration value ratio threshold, or the driving data is not within the cumulative distance value threshold range, a performance monitoring signal is generated; if the driving safety data does not exceed the duration value ratio threshold, and the driving data is within the cumulative distance value threshold range, a performance qualification signal is generated.

[0018] As a preferred embodiment of the present invention, the non-controlled impact information and the controlled impact information are respectively the shortest transition time of the non-controlled warning road to the controlled warning road when the number of autonomous driving vehicles on the non-controlled warning road in the traffic area increases, and the maximum speed ratio of the increase speed of the to-be-passed traffic flow on the controlled warning road to the increase speed of the completed traffic flow when the number of autonomous driving vehicles on the controlled warning road in the traffic area increases.

[0019] As a preferred embodiment of the present invention, if the non-regulated impact information does not exceed the shortest transition duration threshold, or the regulated impact information exceeds the maximum speed ratio threshold, a high impact signal is generated; if the non-regulated impact information exceeds the shortest transition duration threshold, and the regulated impact information does not exceed the maximum speed ratio threshold, a low impact signal is generated.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. In the present invention, real-time traffic control warning is carried out on the passing roads, road traffic control is carried out through real-time road condition warning, and safety warning is carried out for automatic driving according to the traffic control situation, and driving scene analysis and warning are carried out to ensure the safety of automatic driving. At the same time, automatic driving intervention control can be carried out according to the road control area to reduce the impact of automatic driving on traffic;

[0022] Conduct an impact analysis of autonomous driving on traffic areas to infer whether there are differences between autonomous driving and manual driving in the current traffic areas. This will help reduce the risk of congestion in traffic areas by reducing the frequency of autonomous driving when artificial intelligence processing cannot accurately plan routes. At the same time, manual driving can ensure vehicle traffic efficiency and select the optimal route when multiple paths are available, thereby promoting smooth traffic efficiency in traffic areas.

[0023] 2. In the present invention, the performance of the automatic driving of vehicles in the traffic area is evaluated, and the automatic driving performance evaluation is used to infer whether the current automatic driving vehicle has safety hazards. At the same time, real-time monitoring of the automatic driving performance can accurately infer whether the current vehicle condition affects the automatic driving, thereby avoiding accidents caused by automatic driving that lead to traffic control in the traffic area, resulting in the need for subsequent automatic driving vehicles to make new decisions;

[0024] Conduct an impact analysis on autonomous driving and traffic control in the traffic area, infer whether there is a risk of autonomous driving leading to road control in the current traffic area, so as to rationally plan autonomous driving vehicle data and driving sections, reduce the impact of autonomous driving on road conditions, improve the rationality and stability of autonomous driving, and ensure the traffic efficiency of the traffic area, so that autonomous driving and traffic area traffic can be in a promoting relationship. High-performance autonomous driving can reduce the accident rate and promote the smooth flow of traffic areas. At the same time, smooth traffic areas can also reduce the driving risks of autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0026] Figure 1 This is a principle block diagram of Embodiment 1 of the present invention;

[0027] Figure 2 This is a principle block diagram of the second embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0030] Embodiment 1

[0031] This embodiment provides an automatic driving safety warning for the road, and combines the traffic coordination control to perform automatic driving control. Please refer to Figure 1 As shown, an automatic driving safety warning system based on road traffic coordinated control includes a driving safety warning platform, wherein the driving safety warning platform is communicatively connected with a road control warning unit, an automatic driving impact analysis unit, and an automatic driving performance evaluation unit;

[0032] The driving safety warning platform generates a road control warning signal and sends it to the road control warning unit. After receiving the road control warning signal, the road control warning unit conducts real-time traffic control warnings on the roads through which the vehicles pass. It conducts road traffic control through real-time road condition warnings, and conducts safety warnings for autonomous driving based on the traffic control conditions. It also conducts analysis and warnings on driving scenarios to ensure the safety of autonomous driving. At the same time, it can conduct autonomous driving intervention control based on the road control area to reduce the impact of autonomous driving on traffic.

[0033] The current traffic area is divided according to the real-time traffic roads, and a number of traffic roads are staggered to construct a traffic network and fill the current traffic area. When the traffic volume in the traffic area increases, the traffic road control warning analysis is performed on the traffic area to obtain the maximum reduction peak value of the average speed of the traffic flow at the entrance and exit of any traffic road in the traffic area, and at the same time, the corresponding numerical ratio of the reduction span value of the traffic flow merging speed of the adjacent traffic road in the current traffic road entrance and exit traffic average speed reduction stage and the corresponding numerical ratio of the reduction speed of the peak value of the waiting time for the traffic flow to merge into the adjacent traffic road is obtained, wherein the numerical ratio compares the two types of speeds, eliminates the influence of the inconsistency of the two data units, and only analyzes the influence of the numerical fluctuation of the data; and the maximum reduction peak value of the traffic flow at the entrance and exit of any traffic road in the traffic area is marked as DFZ; and the corresponding numerical ratio of the reduction span value of the traffic flow merging speed of the adjacent traffic road in the current traffic road entrance and exit traffic average speed reduction stage and the corresponding numerical ratio of the reduction speed of the peak value of the waiting time for the traffic flow to merge into the adjacent traffic road is marked as SDB;

[0034] Obtain the numerical ratio of the corresponding span of the increase in traffic volume and the corresponding span of the increase in traffic speed of the roads other than the current road in the traffic area after the average speed of traffic flow at the entrance and exit of any road decreases, and mark the numerical ratio of the corresponding span of the average increase in traffic volume and the corresponding span of the average increase in traffic speed of the roads other than the current road in the traffic area after the average speed of traffic flow at the entrance and exit of any road decreases as JKB;

[0035] The above collected data are uniformly marked as road control warning information, and substituted into the formula to obtain the control warning coefficient of the roads in the traffic area, where the formula is: , where D is the control warning coefficient, hfx1, hfx2 and hfx3 are preset proportional coefficients, e is a natural constant, and α is an error correction factor with a value of 1.05;

[0036] Compare the control warning coefficient of the roads in the traffic area with the control warning coefficient threshold:

[0037] If the control warning coefficient of the road in the traffic area exceeds the control warning coefficient threshold, it is inferred that there is a risk of traffic congestion on the current road in the traffic area, and the current road is marked as a control warning road, and a control warning signal is generated and sent together with the control warning signal and the control warning road to the driving safety warning platform;

[0038] If the control warning coefficient of the road in the traffic area does not exceed the control warning coefficient threshold, it is inferred that there is no traffic congestion risk on the current road in the traffic area, and the current road is marked as a non-controlled warning road, and a cancellation warning signal is generated and sent together with the cancellation warning signal and the non-controlled warning road to the driving safety warning platform;

[0039] After receiving the controlled warning roads and non-controlled warning roads, the driving safety warning platform will perform operations such as road planning and flow restriction according to the traffic status of the traffic area, and intervene in the navigation route planning during the current period through the Internet;

[0040] At the same time, an automatic driving impact analysis signal is generated and sent to an automatic driving impact analysis unit. After receiving the automatic driving impact analysis signal, the automatic driving impact analysis unit performs automatic driving impact analysis on the traffic area, and infers whether there is a difference between automatic driving and manual driving in the current traffic area, so that when artificial intelligence processing cannot accurately plan the route, reducing the frequency of automatic driving can better reduce the risk of congestion in the traffic area. At the same time, according to the manual driving, the vehicle traffic efficiency can be guaranteed, and the optimal route is selected when multiple paths are passable, so as to promote the traffic efficiency of the traffic area;

[0041] The accumulated excess of reserved driving safety distances corresponding to the accumulated driving time of the automatic driving state and the manual driving state in the real-time driving conditions of the traffic area is obtained. The reserved driving safety distances of both are based on safe driving. When the vehicle is moving at high speed, artificial intelligence is prone to over-reserving the current safety distance according to the set safety distance, while manual driving can reserve a more accurate safety distance according to the real-time vehicle conditions. The instantaneous speed increase span of the overtaking speed of the vehicle under the real-time driving conditions of the traffic area is obtained. The automatic driving state needs to detect the turn signal or driving trajectory of the vehicle in front. Then, in actual driving, the vehicle in front may turn on the turn signal or the trajectory may change but then return to the original trajectory without changing lanes. At this time, the automatic driving state will not execute overtaking according to data collection.

[0042] The accumulated excess of the reserved driving safety distance corresponding to the accumulated driving time of the automatic driving state and the manual driving state in the real-time driving conditions of the traffic area, and the instantaneous speed increase span of the overtaking speed of the vehicle under the real-time driving conditions of the traffic area are marked as driving safety data and driving data, respectively, and compared with the accumulated excess distance threshold and the speed increase span threshold, respectively:

[0043] If the accumulated excess of the reserved safe driving distance corresponding to the accumulated driving time of the automatic driving state and the manual driving state in the real-time driving conditions of the traffic area exceeds the accumulated excess distance threshold, or the instantaneous speed increase span of the overtaking speed of the driving vehicle under the real-time driving conditions of the traffic area exceeds the speed increase span threshold, it is inferred that there is a difference between automatic driving and manual driving under the current road conditions, and an automatic driving impact signal is generated and sent to the driving safety warning platform. After the driving safety warning platform receives the automatic driving impact signal, when the passing vehicle initiates an instruction to enter the automatic driving state, the vehicle-mounted impact warning notification is issued. If the average driving speed of the current road continues to decrease, the automatic driving state of the current period is stopped;

[0044] If the accumulated excess of the reserved driving safety distance corresponding to the accumulated driving time of the automatic driving state and the manual driving state in the real-time driving conditions of the traffic area does not exceed the accumulated excess distance threshold, and the instantaneous speed increase span of the overtaking speed of the driving vehicle under the real-time driving conditions of the traffic area does not exceed the speed increase span threshold, it is inferred that the difference between automatic driving and manual driving is small under the current road conditions, and an automatic driving signal is generated and sent to the driving safety warning platform. After receiving the automatic driving signal, the driving safety warning platform approves the automatic driving application of the vehicle that has initiated the command to enter the automatic driving state in the traffic area;

[0045] After the driving safety warning platform detects the presence of an autonomous driving vehicle in the traffic area, it generates an autonomous driving performance evaluation signal and sends the autonomous driving performance evaluation signal to the autonomous driving performance evaluation unit. After receiving the autonomous driving performance evaluation signal, the autonomous driving performance evaluation unit evaluates the performance of the autonomous driving of vehicles in the traffic area, and infers whether the current autonomous driving vehicle has safety hazards through the autonomous driving performance evaluation. At the same time, real-time monitoring of the autonomous driving performance can accurately infer whether the current vehicle condition affects the autonomous driving, thereby avoiding accidents caused by autonomous driving that require traffic control in the traffic area, resulting in the need for subsequent autonomous driving vehicles to make new decisions;

[0046] The buffering time when the autonomous driving vehicle perceives that the current speed is lower than the average speed of the traffic flow in the traffic area, and the duration corresponding to the duration of the vehicle speed being stably adjusted to the average speed of the traffic flow after perceiving the low speed are obtained, where the stable adjustment is represented by the speed being adjusted to the average speed of the traffic flow, and the deviation between the real-time speed and the average speed of the traffic flow does not exceed the set threshold. At the same time, the cumulative distance value of the vehicles before and after the vehicle completes the braking distance when the traffic flow around the autonomous driving vehicle in the traffic area fluctuates back and forth is obtained, and the buffering time when the autonomous driving vehicle perceives that the current speed is lower than the average speed of the traffic flow in the traffic area, and the duration corresponding to the duration of the vehicle speed being stably adjusted to the average speed of the traffic flow after perceiving the low speed, and the cumulative distance value of the vehicles before and after the vehicle completes the braking distance when the traffic flow around the autonomous driving vehicle in the traffic area fluctuates back and forth are marked as driving control data and driving braking data, respectively, and compared with the duration value ratio threshold and the cumulative distance value threshold range, respectively:

[0047] If the buffering time during which the autonomous driving vehicle perceives that the current speed is lower than the average speed of the traffic flow and the duration of the stable adjustment of the speed to the average speed of the traffic flow after perceiving the low speed correspond to a time value ratio that exceeds a time value ratio threshold, or if the cumulative distance value of the vehicles before and after the vehicle completes the braking distance when the traffic volume around the autonomous driving vehicle in the traffic area fluctuates back and forth is not within the cumulative distance value threshold range, it is inferred that the current autonomous driving performance in the traffic area is abnormal, and a performance monitoring signal is generated and sent to the driving safety warning platform. After receiving the performance monitoring signal, the driving safety warning platform performs autonomous driving performance detection and adjustment on the current autonomous driving vehicle, regulates the perception performance of the surrounding driving conditions, and accurately controls the processing of the surrounding perceived road conditions, so as to avoid the increased risk of road traffic congestion caused by excessive distance between the front and rear vehicles during braking, and to avoid accidents caused by excessive distance between the front and rear vehicles during braking, thereby reducing road traffic risks;

[0048] If the buffering time during which the autonomous driving vehicle perceives that the current speed is lower than the average speed of the traffic flow and the duration during which the speed is stably adjusted to the average speed of the traffic flow after sensing the low speed do not exceed the time value ratio threshold, and the cumulative distance value of the vehicles before and after the vehicle completes the braking distance when the traffic flow around the autonomous driving vehicle in the traffic area fluctuates back and forth is within the cumulative distance value threshold range, it is inferred that the current autonomous driving performance in the traffic area is normal, and a qualified performance signal is generated and sent to the driving safety warning platform;

[0049] Embodiment 2

[0050] This embodiment adds a traffic control analysis unit based on the previous embodiment. Figure 2 As shown, after completing the road control warning and the analysis of the impact of autonomous driving, a traffic control analysis signal is generated and sent to the traffic control analysis unit. After receiving the traffic control analysis signal, the traffic control analysis unit performs an impact analysis on the autonomous driving and traffic control in the traffic area, and infers whether there is a risk of road control caused by autonomous driving in the current traffic area, so as to reasonably plan the autonomous driving vehicle data and driving sections, reduce the impact of autonomous driving on road conditions, improve the rationality and stability of autonomous driving, and ensure the traffic efficiency of the traffic area, so that the autonomous driving and traffic area can be in a promoting relationship. High-performance autonomous driving reduces the accident rate and can also promote the smooth flow of traffic areas. At the same time, smooth traffic areas can also reduce the driving risks of autonomous driving.

[0051] The shortest transition time from non-controlled warning roads to controlled warning roads when the number of autonomous driving vehicles on non-controlled warning roads in the traffic area is obtained, and the maximum speed ratio of the increase speed of the waiting traffic flow to the completed traffic flow on the controlled warning roads when the number of autonomous driving vehicles on the controlled warning roads in the traffic area is obtained. The shortest transition time from non-controlled warning roads to controlled warning roads when the number of autonomous driving vehicles on non-controlled warning roads in the traffic area is increased, and the maximum speed ratio of the increase speed of the waiting traffic flow to the completed traffic flow on the controlled warning roads when the number of autonomous driving vehicles on non-controlled warning roads in the traffic area is increased are marked as non-controlled impact information and controlled impact information, and are compared with the shortest transition time threshold and the maximum speed ratio threshold, respectively:

[0052] If the shortest transition time from a non-controlled warning road to a controlled warning road does not exceed the shortest transition time threshold when the number of autonomous driving vehicles on the non-controlled warning road in the traffic area increases, or the maximum speed ratio of the increase speed of the waiting traffic flow on the controlled warning road to the increase speed of the completed traffic flow on the controlled warning road exceeds the maximum speed ratio threshold when the number of autonomous driving vehicles on the controlled warning road in the traffic area increases, it is inferred that the autonomous driving impact analysis in the current traffic area is abnormal, a high impact signal is generated and sent to the driving safety warning platform. After the driving safety warning platform receives the high impact signal, when the passing vehicle issues an autonomous driving command, the vehicle analyzes the current driving road onboard and issues an onboard warning, and does not enter the autonomous driving state temporarily;

[0053] If the shortest transition time from a non-controlled warning road to a controlled warning road when the number of autonomous driving vehicles on the non-controlled warning road in the traffic area exceeds the shortest transition time threshold, and the maximum speed ratio of the increase speed of the waiting traffic flow on the controlled warning road to the increase speed of the completed traffic flow when the number of autonomous driving vehicles on the controlled warning road in the traffic area does not exceed the maximum speed ratio threshold, it is inferred that the autonomous driving impact analysis in the current traffic area is normal, and a low impact signal is generated and sent to the driving safety warning platform. After the driving safety warning platform receives the low impact signal, the vehicle automatically asks whether it needs to enter the autonomous driving state when the passing vehicle is on the current road.

[0054] The above formula is obtained by collecting a large amount of data and performing software simulation, and a formula close to the actual value is selected. The coefficients in the formula are set by technicians in this field according to actual conditions;

[0055] When the present invention is in use, the road control and warning unit divides the current traffic area according to the real-time traffic roads, and a number of traffic roads are staggered to construct a traffic network and fill the current traffic area, collects road control and warning information, and substitutes it into the formula to obtain the control and warning coefficient, and divides the traffic roads into control and warning roads and non-control and warning roads according to the coefficient threshold comparison; the driving safety warning platform performs traffic control according to the road type; during the traffic control process, the automatic driving impact analysis unit collects driving safety data and driving travel data, and infers whether automatic driving is executed in the current period based on data analysis and comparison, and after the automatic driving is executed, the automatic driving performance evaluation unit evaluates the performance of the automatic driving, obtains driving control data and driving braking data, and infers whether the automatic driving performance is normal based on data processing; the traffic control analysis unit obtains non-control impact information and control impact information, and infers whether there is an impact on automatic driving in the current traffic area based on information analysis. If yes, a vehicle-mounted warning is performed, and if not, continued monitoring is performed.

[0056] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. The autonomous driving safety warning system based on road traffic coordinated control is characterized by: It includes a driving safety warning platform, wherein the driving safety warning platform is communicatively connected with a road control warning unit, an autonomous driving impact analysis unit, a traffic control analysis unit, and an autonomous driving performance evaluation unit; The road control warning unit divides the current traffic area according to the real-time traffic roads, and several traffic roads are staggered to build a traffic network and fill the current traffic area, collect road control warning information, and substitute it into the formula to obtain the control warning coefficient. According to the coefficient threshold comparison, the traffic roads are divided into controlled warning roads and non-controlled warning roads; the driving safety warning platform performs traffic control according to the road type; the road control warning information includes the maximum reduction peak value of the average speed of traffic flow at the entrance and exit of any traffic road in the traffic area, the corresponding ratio of the reduction span value of the traffic flow merging speed of the adjacent traffic road during the current traffic flow entrance and exit average speed reduction stage and the corresponding ratio of the peak value of the waiting time for the adjacent traffic flow to merge, and the corresponding span value ratio of the traffic flow increase span of the traffic flow in the traffic area except the current traffic road after the traffic flow average speed of the entrance and exit of any traffic road decreases; and the labels DFZ, SDB and JKB are set respectively; the formula is: , where D is the control warning coefficient, hfx1, hfx2 and hfx3 are preset proportional coefficients, e is a natural constant, and α is an error correction factor with a value of 1.05; if the control warning coefficient exceeds the control warning coefficient threshold, the current road is marked as a control warning road, and a control warning signal is generated; if the control warning coefficient does not exceed the control warning coefficient threshold, the current road is marked as a non-control warning road, and a cancellation warning signal is generated; During the traffic control process, the automatic driving impact analysis unit collects driving safety data and driving data, and infers whether automatic driving is executed in the current period based on data analysis and comparison. After the automatic driving is executed, the automatic driving performance evaluation unit evaluates the performance of the automatic driving, obtains driving control data and driving braking data, and infers whether the automatic driving performance is normal based on data processing; the driving safety data and driving data are respectively the accumulated excess of the reserved driving safety distance corresponding to the accumulated driving time of the automatic driving state and the manual driving state in the real-time driving road conditions of the traffic area, and the instantaneous speed increase span of the overtaking speed of the driving vehicle under the real-time driving road conditions of the traffic area; If the driving safety data exceeds the cumulative excess distance threshold, or the driving data exceeds the speed increase span threshold, an automatic driving influence signal is generated; if the driving safety data does not exceed the cumulative excess distance threshold, and the driving data does not exceed the speed increase span threshold, an automatic driving signal is generated; The traffic control analysis unit obtains non-control impact information and control impact information, and infers whether there is an impact on autonomous driving in the current traffic area based on information analysis. If so, it will issue an on-board warning, otherwise, it will continue monitoring.

2. The automatic driving safety warning system based on road traffic coordinated control according to claim 1 is characterized in that: The driving safety data and driving data are respectively the buffering time when the autonomous driving vehicle perceives that the current vehicle speed is lower than the average speed of the traffic flow in the traffic area, the duration of the vehicle speed being stably adjusted to the average speed of the traffic flow after perceiving the low speed, and the cumulative distance value of the vehicles before and after the vehicle completes the braking distance when the traffic flow around the autonomous driving vehicle fluctuates back and forth in the traffic area.

3. The automatic driving safety warning system based on road traffic coordinated control according to claim 2, characterized in that: If the driving safety data exceeds the duration value ratio threshold, or the driving data is not within the cumulative distance value threshold range, a performance monitoring signal is generated; If the driving safety data does not exceed the duration value ratio threshold and the driving data is within the cumulative distance value threshold range, a performance qualification signal is generated.

4. The automatic driving safety warning system based on road traffic coordinated control according to claim 1, characterized in that: The non-controlled impact information and the controlled impact information are respectively the shortest transition time from a non-controlled warning road to a controlled warning road when the number of autonomous driving vehicles on the non-controlled warning roads in the traffic area increases, and the maximum speed ratio of the increase speed of the waiting traffic flow to the increase speed of the completed traffic flow on the controlled warning roads when the number of autonomous driving vehicles on the controlled warning roads in the traffic area increases.

5. The automatic driving safety warning system based on road traffic coordinated control according to claim 4 is characterized in that: If the non-regulated impact information does not exceed the minimum transition duration threshold, or the regulated impact information exceeds the maximum speed ratio threshold, a high impact signal is generated; if the non-regulated impact information exceeds the shortest transition duration threshold and the regulated impact information does not exceed the maximum speed ratio threshold, a low impact signal is generated.

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