Intelligent high-speed vehicle driving management and control system

Abstract

The invention provides a system for intelligent highway management and control of driving of all automobiles on a highway. The system comprises at least one of a new traffic rule subsystem, a vehicle route planning subsystem, a holographic road operation sensing management and control subsystem, a vehicle real-time operation management and control subsystem, an intelligent high-speed equipment management and control subsystem and an unmanned driving simulation cockpit subsystem. Wherein the new traffic rule subsystem provides a traffic flow control method to control high-efficiency driving of high-speed vehicles, the vehicle route planning subsystem plans routes for the vehicles according to new traffic rules and controls traffic networks among areas, and the holographic road operation sensing management and control subsystem executes route planning and controls road section layout and traffic flow. The vehicle real-time operation management and control subsystem manages and controls running of a specific vehicle, and the unmanned driving simulation cockpit subsystem responds to a system instruction and manages and controls vehicle sensing equipment. According to the system, multi-level management and control of regional route planning, road section vehicle management, vehicle state control and sensing equipment monitoring are carried out, the traffic service requirements of people for different time periods, different vehicles and different energy consumptions are met, unmanned driving of vehicles with L2 auxiliary driving in the system is achieved, the vehicle use cost is reduced, the highway traffic capacity is greatly improved, and the driving safety is improved. And the national geographic information security is ensured.

Description

[0001] The present application relates to the technical field of smart highways, and more specifically, to a system for intelligently controlling vehicle travel on highways. Background Art

[0002] The tolls on traditional highways are too high, which affects the overall social benefits and investment returns of highways; if the tolls are too low, the highways may be too crowded, and the passengers' travel time becomes unreliable. The actual traffic volume on the highways is far less than its designed capacity, and traffic jams are prone to occur, which will cause the highway's capacity to be seriously reduced, the functions realized are relatively simple, and even cause accidents, which is particularly prominent during the toll-free holidays.

[0003] In the first half of 2023, the installation rate of L2 assisted driving functions for new energy vehicles has approached 40%, and the installation rate of L2 assisted driving functions for fuel vehicles is 18%. Intelligent connected vehicles are gradually becoming the largest mobile information terminals and energy carriers in transportation. Smart highways take the development of intelligent connected vehicles as the entry point and driving force. Through reasonable planning and optimization of highway infrastructure, highway road layout, and intelligent public facilities, and the formation of a mutually integrated perception system, intelligent connected vehicles above L2 level are allowed to enter smart highways. Intelligent highways control all intelligent connected vehicles to drive according to the planned time and location information, ensuring driving speed and safety while shortening the lane space time temporarily used by a single vehicle, greatly improving road traffic capacity, improving overall social benefits and highway investment returns, and realizing unmanned driving of vehicles.

[0004] The existing vehicle-road cooperative technology tends to be more focused on traffic incident detection methods and early warning systems, which does not significantly improve traffic capacity, and the overall social benefits and highway investment returns are relatively weak. Summary of the invention

[0005] The main purpose of this application is to provide an intelligent highway control system for controlling vehicle driving, ensure smooth driving on highways, greatly improve road traffic efficiency, improve overall social benefits and highway investment returns, and at the same time enable L2 assisted driving vehicles to be unmanned in this intelligent highway system.

[0006] In order to achieve the above-mentioned purpose, the present application provides a system for intelligent highway vehicle driving control, characterized in that it includes: at least one of a new traffic rule subsystem, a vehicle route planning subsystem, a holographic road operation perception control subsystem, a vehicle real-time operation control subsystem, an intelligent highway equipment control subsystem, and an unmanned driving simulation cockpit subsystem; the new traffic rule subsystem provides a traffic flow control method, which divides the road section according to the entrance and exit of the smart highway, divides each lane of the road section according to time, and controls the vehicles in the lane space at the corresponding time to travel at a set average speed to ensure that the vehicle remains unobstructed after entering or exiting the lane; the vehicle route planning subsystem is used to plan the real-time route of the vehicle, control the vehicle to travel according to the planned route, and display the overall operation status of the vehicle on a two-dimensional plane map, while displaying the overall information affecting the operation of the system. , problem events, traffic demand, road network performance and congestion at entrances and exits; the holographic road operation perception control subsystem stores information about vehicles passing through this road section, and controls lane layout, parking lot layout, temporary parking areas at intelligent highway entrances and exits, intersection layout and vehicle formations according to vehicle route information, and presents the above traffic layout and dynamic traffic in two-dimensional and three-dimensional form from a road section perspective in real time; the vehicle real-time operation control subsystem is used to control the driving status of the vehicle, including controlling the direction and speed of the vehicle, optimizing the vehicle route and the vehicle formation, and in response to the vehicle control operation on the vehicle, displays the vehicle information on the interface of the vehicle real-time operation control subsystem and displays it in a dynamic traffic two-dimensional plane map; the unmanned driving simulation cockpit subsystem is used to control the driving of the vehicle, manage the vehicle's perception equipment, and display the control information in the cockpit display module.

[0007] Optionally, the new traffic rule provides a method for controlling vehicle flow, including: calculating that a lane of a smart highway section can safely drive a maximum of M vehicles at an average speed V, and the average vehicle length is L 车 , the average distance between vehicles is L 间 , time T = (L 车 +L 间 ) / V, and control V and L 间 Ensure that the time T of continuous lanes is the same, and control vehicles entering or exiting the lane within the Nth T time; before the calculation, the traffic flow control method also includes: dividing the intelligent highway into multiple sections according to the ramp entrances and exits; the dividing line between two adjacent target sections is a straight line passing through the ramp entrance, the ramp exit or between the ramp entrances and exits and perpendicular to the extension direction of the highway; the transition area between the intelligent highway and other roads is the traffic layout of the intelligent highway, which belongs to the control range of the intelligent highway; the lanes are divided by the system according to traffic needs, and the continuous lanes are virtually divided continuous lanes.

[0008] Optionally, when the time T of two lanes in the same direction of the road section is the same, the controlled vehicles are staggered in a direction perpendicular to the road.

[0009] Optionally, when the road does not have a central isolation strip, the lanes in one direction are designated as first-class lanes, and the lanes in the opposite direction are designated as second-class lanes. The number of first-class lanes and second-class lanes is determined based on the traffic demand at the corresponding time. Third-class lanes can be set on both sides of the first-class lanes and the second-class lanes. The third-class lanes meet functions such as emergency, isolation, or vehicle U-turn.

[0010] Optionally, when the number of lanes in the same direction in adjacent sections of the road is different and there is no vehicle entering or exiting, the ratio of the number of vehicles in the lanes in the adjacent sections to the time N*T for passing through the lanes is controlled to be the same.

[0011] Optionally, the arrival time of the vehicle before entering the intelligent highway system is random. The above-mentioned intelligent highway is composed of multiple sections. When there are few vehicles on the intelligent highway, the arriving vehicles are controlled to enter the intelligent highway system in sequence. When the intelligent highway already carries a large number of vehicles, the entry time to meet the traffic needs of the vehicle may be at the Nth T time later, and the vehicle stops at the temporary parking area at the entrance to wait for entry, or the vehicle enters the system and drives at the Nth T time and stops at the temporary parking area at the intersection or service area parking lot, and waits to enter the highway according to the time of re-entering the highway.

[0012] Optionally, the traffic layout implements preset corresponding layouts of entrances and exits, parking lots, intersections, etc. according to real-time changes in vehicle length, vehicle type, and traffic demand.

[0013] Optionally, the vehicle route planning subsystem includes at least one of the following: a road network status display module, a road overall information module, a problem event proportion module, a road network performance utilization module, a vehicle real-time management and control data module, a traffic demand index module, a traffic congestion road section module, and a daily vehicle volume and income statistics module; the road network status display module is used to display a two-dimensional plane map and display the real-time road status on the two-dimensional plane map; the road overall information displays the main factors affecting road operation; the problem event proportion module displays the probability of problem events occurring in the current year; the traffic demand index module road network performance utilization module The utilization rate module displays the change in the ratio of the number of vehicles passing through the road to the maximum number of vehicles allowed to pass through the road within a year. This ratio displays the change in the overall road capacity, and its values ​​in previous years are displayed as a dotted curve; the real-time vehicle management and control data module displays the number of vehicles currently on the road, the number of vehicles preparing to enter, and the number of vehicles that have been entered into the system and will enter in the next few hours; the road network performance utilization rate module displays the predicted capacity change for the rest of the day and displays it as a dotted curve; the traffic congestion section module displays the ranking information of the current traffic demand at some road ends; the daily vehicle volume and income statistics module displays the number of vehicles passing through the road and the settled charges.

[0014] Optionally, the holographic road operation perception and control subsystem also includes at least one of the following: a section information display module, a section adjustment display module, a section perception display module, a service area parking lot adjustment display module, a vehicle formation adjustment display module, an entrance and exit adjustment display module, and a today's traffic volume and total revenue display module; the section information display module is used to display basic information of the road, and the basic information includes at least one of the following: section operation image, operation status, traffic status, section pile number, average vehicle speed and weather environment; the section operation image displays the section layout and vehicle status on a two-dimensional map, and is also used to respond to map zooming in and out operations; the traffic is also used to receive the selection list acting on the traffic horizontal line The traffic status is displayed on the traffic status horizontal line, and in response to the above operation, the above road section is displayed on the display interface, and the equipment of this road section performs the operation of closing or passing the road; the section pile number is also used to receive the section pile number of the selection list acting on the section pile number horizontal line and display it on the section pile number horizontal line, and at the same time, the real-time image information of the road of the selected section pile number is displayed on the system interface; the average speed of the vehicle is also used to receive the average speed of the vehicle in the selection list acting on the average speed horizontal line of the vehicle and display it on the horizontal line of the average speed of the vehicle, the vehicle route planning subsystem responds to the average speed selection of the vehicle, re-plans the vehicle route passing through the section pile number, and operates the vehicle passing through the above road section according to Drive according to the new planning information; the road section adjustment display module is used to display the relevant settings for adjusting the traffic efficiency, vehicle energy efficiency ratio and riding experience of this section of road, and can also be automatically set according to the overall situation of the road. The relevant overall settings are divided into four types: efficiency type, energy saving type, comfort type and automatic setting. Each type of parameter includes at least one of the following: lane number, lane direction, vehicle average speed and vehicle spacing; the lane number is also used to receive the lane number of the selection list acting on the lane number horizontal line and display it on the lane number horizontal line, the lane direction is also used to receive the lane direction of the selection list acting on the lane direction horizontal line and display it on the lane direction horizontal line, and the average speed of the vehicle is also used to receive the selection list acting on the average speed horizontal line of the vehicle. The vehicle speed in the selection list is selected and displayed on the horizontal line of the average vehicle speed, the vehicle route planning subsystem responds to the speed selection and displays the average speed of the selected vehicle, the vehicle spacing is also used to receive the spacing selection in the selection list acting on the vehicle spacing horizontal line and display it on the vehicle spacing horizontal line, according to the selected lane number, lane direction, average vehicle speed and vehicle spacing selection information, the vehicle route planning subsystem re-plans the vehicle route passing through the lane, and operates the vehicle to drive according to the new planning information; the road segment perception display module is used to display the three-dimensional image corresponding to the local two-dimensional plane map in the interface, and the radar point cloud button or the real-time video button is operated to display the corresponding three-dimensional torus in the road segment perception display module;The service area parking lot adjustment display module is used to display text options of passenger car layout, truck layout and balanced layout and thumbnail images of associated preset virtual parking layouts. The service area parking lot adjustment display module is also used to receive operations acting on the layout orbit to display the preset service area parking lot. The vehicle route planning subsystem re-plans the route for vehicles entering the above service area, and operates the above vehicles to travel according to the new planning information to maximize the satisfaction of parking service needs and the use of parking lot space; the vehicle formation adjustment display module is used to display the vehicle formation type and corresponding adjustable parameters. The formation type includes at least one of the following: free formation, energy-saving formation, passenger car formation, truck formation, military vehicle formation and automatic formation. The vehicle formation adjustment display module is also used to select one of the formation types and apply it to the road section. The vehicle route planning subsystem re-plans the route for vehicles entering the road section, and operates the above vehicles to travel according to the new planning information. The vehicle formation can also be cancelled according to changes in road conditions and vehicle needs. The corresponding adjustable parameters include at least one of the following: the number of vehicles in the formation, the distance between vehicles in the formation, the speed of vehicles in the formation and the distance between formations. The number of vehicles in the formation is also used to receive the number of vehicles in the formation from the list of vehicles in the formation acting on the vehicle formation number selection line and display it on the horizontal line of the number of vehicles in the formation. The distance between vehicles in the formation is also used to receive the distance between vehicles in the formation from the list of vehicles in the formation acting on the horizontal line of the distance between vehicles in the formation selection line and display it on the horizontal line of the distance between vehicles in the formation. The speed of vehicles in the formation is also used to receive the speed of vehicles in the formation from the list of vehicles in the formation acting on the horizontal line of the speed of vehicles in the formation selection line and display it on the horizontal line of the speed of vehicles in the formation. The distance between formations is also used to receive the distance between formations from the list of distances between formations acting on the distance between formations selection line and display it on the horizontal line of distances between formations.The entrance and exit adjustment display module is used to display the relevant settings for adjusting the entrance and exit efficiency, including at least one of the following: entrance and exit traffic, in-and-out traffic flow, entrance traffic flow, cache parking spaces and emergency parking spaces, and can also be automatically set according to route planning requirements. The entrance and exit traffic is also used to receive the traffic status of the selection list acting on the entrance and exit traffic horizontal line and display it on the traffic status horizontal line. The exit traffic flow is also used to receive the exit traffic flow of the selection list acting on the entrance and exit traffic flow horizontal line and display it on the exit traffic flow horizontal line. The entrance traffic flow is also used to receive the entrance traffic flow of the selection list acting on the entrance traffic flow horizontal line and display it on the entrance traffic flow horizontal line. The cache parking The parking space ratio is also used to receive the cache parking space ratio of the selection list acting on the cache parking space ratio horizontal line and display it on the cache parking space ratio horizontal line. The emergency parking space ratio is also used to receive the emergency parking space ratio of the selection list acting on the emergency parking space ratio horizontal line and display it on the cache parking space ratio horizontal line. According to the selected entrance and exit traffic status, exit vehicle flow, entrance vehicle flow, temporary parking space ratio and emergency parking space ratio selection information, the vehicle route planning subsystem re-plans the vehicle route passing through the above entrance and exit, and operates the above vehicle to travel according to the new planning information; today's vehicle flow and total revenue display module is used to display the number of toll vehicles and the total fee of this road section on that day. ;

[0015] Optionally, the vehicle real-time operation control subsystem module includes at least one of the following: a basic traffic information display module, an operation vehicle control display module, a problem vehicle control display module, a VIP vehicle management display module, a team vehicle control display module and a special vehicle control display module. The basic traffic information display module includes at least one of the following: a local road section operation image, road surface material, road surface smoothness, road grade, speeding lane, average speed of vehicles and weather conditions; the local road section operation image displays the local road section layout and vehicle status on a two-dimensional map, and also responds to map zooming operations; the operation vehicle control display module to At least one of the following is included: vehicle number, passage and control times and control accuracy image; the vehicle number selection is also used to receive the vehicle number selection of the selection list acting on the vehicle number horizontal line and display it on the vehicle number horizontal line, and respond to the above operation to display the corresponding control times and control accuracy image of the vehicle, the operation year or month is used to display the control times and control accuracy images of different speeds corresponding to the vehicle number on the display interface, and the control passage is also used to receive the passage status of the selection list acting on the passage status horizontal line and display it on the passage status horizontal line. When the vehicle accuracy meets the minimum requirements of the intelligent highway, the system operates the above vehicle to enter the intelligent highway. Expressway, when the vehicle control accuracy cannot meet the intelligent expressway, operate the vehicle to drive out of the intelligent expressway system, and send the vehicle control accuracy to the corresponding vehicle; the problem vehicle control display module includes at least one of the following: vehicle number, vehicle location, vehicle problem, traffic impact, rescue time and rescue progress, the vehicle number selection is also used to receive the vehicle number of the selection list acting on the vehicle number horizontal line and display it on the vehicle number horizontal line, and display the corresponding vehicle location, vehicle problem, traffic impact, rescue time and rescue progress information; the VIP vehicle control display module includes at least one of the following: vehicle number, maximum operating speed, speeding road The vehicle number selection is also used to receive the vehicle number of the selection list acting on the vehicle number horizontal line and display it on the vehicle number horizontal line, and display the corresponding vehicle maximum speed, speeding section ratio, time saving, comfortable section ratio and improved experience time and road resource ratio information. The vehicle maximum speed is also used to receive the selection of the vehicle maximum speed of the selection list acting on the vehicle maximum speed horizontal line, and display the corresponding speeding section ratio, time saving, comfortable section ratio and improved experience time and road resource ratio information;The team vehicle control display module includes at least one of the following: vehicle number, formation number, formation speed, vehicle speed, vehicle spacing within the formation, formation road section ratio and expected energy saving ratio. The vehicle number selection is also used to receive the vehicle number of the selection list acting on the vehicle number horizontal line and display it on the vehicle number horizontal line, and in response to the above operation, the corresponding formation number, formation speed, vehicle speed, vehicle spacing within the formation, formation road section ratio and expected energy saving ratio information are displayed. The vehicle spacing selection within the formation is also used to receive the vehicle spacing selection within the formation from the selection list acting on the vehicle spacing horizontal line within the formation and display it on the vehicle spacing horizontal line within the formation; the special vehicle control display module includes at least one of the following: special vehicle The total number of vehicles, special vehicle types and numbers, special vehicle speeds, and task execution status. The special vehicle types are also used to receive the special vehicle types in the selection list acting on the special vehicle type horizontal line and display them on the special vehicle type horizontal line. In response to the above operation, the number of corresponding vehicles is displayed. The special vehicle speed is also used to receive the special vehicle speed in the selection list acting on the special vehicle speed selection horizontal line and display them on the special vehicle speed horizontal line. The task execution level is also used to receive the task execution level in the selection list acting on the task execution level selection horizontal line and display them on the task execution level horizontal line. The automatic setting operation is to automatically select the above data according to the requirements of the vehicle route planning subsystem and display them in the special vehicle adjustment display module. ;

[0016] Optionally, the intelligent high-speed equipment management and control subsystem includes at least one of the following: equipment overall information display module, route planning server supervision display module, roadside management and control server supervision display module, perception equipment pole supervision display module, emergency vehicle supervision display module and standby equipment supervision display module; the equipment overall information display module includes at least one of the following: equipment distribution image, route planning server online rate, roadside management and control server online rate, roadside perception monitoring equipment online rate and guarantee vehicle online rate; the equipment distribution image displays the location of equipment distribution on a two-dimensional map, and also responds to map zoom in and out operations; the route planning server supervision includes at least one of the following: server name, route optimization status and The server real-time utilization linear graph; the server name is also used to receive the server name in the selection list acting on the server name selection line and display it on the server name line, displaying the route optimization status and real-time utilization linear graph of the corresponding server; the route optimization status is also used to receive the route optimization status in the selection list acting on the route optimization status line and display it on the route optimization status line, and operate the above server to turn on or off the vehicle's route optimization; the roadside control server supervision display module includes at least one of the following: server name, auxiliary calculation status and server real-time utilization linear graph; the server name is also used to receive the server name in the server name list acting on the server name selection line and display it on The server name horizontal line displays the route optimization status and real-time utilization linear graph of the corresponding server; the auxiliary calculation is also used to receive the auxiliary calculation status of the selection list acting on the auxiliary calculation horizontal line, and operate the above server to turn on or off the server's auxiliary route planning calculation; the sensing device pole supervision display module is used to display the online devices, problem devices, device numbers, offline rates, fault causes, performance utilization, storage capacity, camera status, radar status and processor status of the device; the device number is also used to receive the device number of the selection list acting on the device number horizontal line and display it on the device number horizontal line, displaying the offline rate, fault cause, performance utilization, storage capacity, camera, radar and processor information of the above device; The camera status is also used to receive the camera status of the selection list acting on the camera horizontal line and display it on the camera horizontal line, and the camera is turned on or off in response to the above operation; the radar is also used to receive the radar status of the selection list acting on the radar horizontal line and display it on the radar horizontal line, and the radar is turned on or off in response to the above operation; the processor status is also used to receive the processor status of the selection list acting on the processor status horizontal line and display it on the processor horizontal line, and the processor is turned on or off in response to the above operation; the emergency vehicle supervision display module includes at least one of the following: the number of ambulance rescue and standby, the number of fire truck rescue and standby, the number of police cars dispatched and standby, the number of engineering vehicles dispatched and standby, problem events, equipment numbers and tasks;The problem event is also used to receive the problem event in the selection list acting on the problem event horizontal line and display it on the problem event horizontal line, and the equipment number and the task content of the attendance vehicle in the problem event are displayed in response to the above operation; the automatic allocation function is used to automatically allocate the attendance vehicle according to the problem event type and display the corresponding problem event, equipment number and task, and multiple problem events will scroll to display the above content; the spare equipment supervision display module includes at least one of the following: the number of spare equipment poles, the number of spare laser radars, the number of spare millimeter wave radars, the number of route planning servers and the number of roadside control servers. ;

[0017] Optionally, the unmanned driving simulation cockpit subsystem includes at least one of the following: a cockpit display module and a vehicle-side perception control module. The cockpit display module is used to display the cockpit status of the simulated vehicle, the driving speed of the simulated vehicle, and the simulated three-dimensional road picture of the area where the simulated vehicle is located based on the navigation map. The vehicle-side perception control module is used to control the vehicle's laser radar, millimeter wave radar, camera and other equipment, on the one hand to assist the intelligent road system management and control work, and on the other hand to ensure the security of national geographic information in special areas by shutting down the above equipment.

[0018] The present application provides a system for intelligent highway management and control of all vehicles on the highway. The system includes: at least one of a new traffic rule subsystem, a vehicle route planning subsystem, a holographic road operation perception control subsystem, a vehicle real-time operation control subsystem, an intelligent highway equipment control subsystem, and an unmanned driving simulation cockpit subsystem, wherein the new traffic rule subsystem provides a traffic flow control method to control the efficient driving of high-speed vehicles, the vehicle route planning subsystem plans routes for vehicles according to the new traffic rules and controls the traffic network between regions, the holographic road operation perception control subsystem executes route planning and controls the layout of sections and traffic flow, the vehicle real-time operation control subsystem controls the driving of specific vehicles, and the unmanned driving simulation cockpit subsystem responds to system instructions and controls vehicle perception equipment. The present application meets people's transportation service needs for different time periods, different vehicles, and different energy consumption from the multi-level control of regional route planning, section vehicle management, vehicle status control, and perception equipment monitoring, so that vehicles with L2 assisted driving can be unmanned in this system, reducing the cost of vehicle use, greatly improving the traffic capacity of highways, and ensuring national geographic information security. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A structural block diagram of a system for intelligently controlling vehicle travel on highways provided according to an embodiment of the present application is shown; Figure 2 A schematic diagram of a vehicle flow control method provided according to an embodiment of the present application is shown; Figure 3 A schematic diagram of lane control provided according to an embodiment of the present application is shown; Figure 4 A schematic diagram of an intelligent highway entrance and exit provided according to an embodiment of the present application is shown; Figure 5 A schematic diagram showing partial interconnection between an intelligent highway and other roads provided according to an embodiment of the present application is shown; Figure 6 A partial software schematic diagram of a vehicle route planning subsystem provided according to an embodiment of the present application is shown; Figure 7 A partial software schematic diagram of a holographic road operation perception and control subsystem provided according to an embodiment of the present application is shown; Figure 8 A partial software schematic diagram of a vehicle real-time operation control subsystem provided according to an embodiment of the present application is shown; Fig. 9 A partial software schematic diagram of an intelligent high-speed equipment control subsystem provided according to an embodiment of the present application is shown; Fig.10 A partial software schematic diagram of an unmanned driving simulation cockpit subsystem provided according to an embodiment of the present application is shown; DETAILED DESCRIPTION

[0020] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0021] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0023] As introduced in the background technology, in the prior art, the actual traffic volume of highways is far less than their designed capacity, and traffic congestion is prone to occur, which will cause a serious reduction in the capacity of the highway and the functions implemented are relatively single. In order to solve the technical problems existing in the above-mentioned prior art, the embodiments of the present application provide a system for intelligent highway vehicle driving control.

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0025] In this embodiment, a system for intelligent highway vehicle control running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the system shown in the connection diagram of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the connection order is shown in the connection diagram, in some cases, the connection structure shown or described can be executed in an order different from that shown here.

[0026] Figure 1 It is a system for intelligent highway vehicle driving control according to the embodiment of the present application. The system includes: at least one of a new traffic rule subsystem 101, a vehicle route planning subsystem 102, a holographic road operation perception control subsystem 103, a vehicle real-time operation control subsystem 104, an intelligent highway equipment control subsystem 105, and an unmanned driving simulation cockpit subsystem 106.

[0027] The new traffic rule subsystem 101 provides a schematic diagram of a vehicle flow control method, including: calculating that a lane of a smart highway section can safely drive a maximum of M vehicles at an average speed V, and the average length of the vehicle is L 车 , the average distance between vehicles is L 间 , time T = (L 车 +L 间 ) / V, and control V and L 间Ensure that the time T of continuous lanes is the same, and control vehicles entering or exiting the lane within the Nth T time; before the calculation, the traffic flow control method also includes: dividing the intelligent highway into multiple sections according to the ramp entrances and exits; the dividing line between two adjacent target sections is a straight line passing through the ramp entrance, the ramp exit or between the ramp entrances and exits and perpendicular to the extension direction of the highway; the transition area between the intelligent highway and other roads is the traffic layout of the intelligent highway and belongs to the control range of the intelligent highway; the lanes are divided by the system according to traffic needs, and the continuous lanes are virtually divided continuous lanes; refer to Figure 2 , Figure 2 This is a partial software diagram of the new traffic rules subsystem.

[0028] In an optional implementation, when the time T of two lanes in the same direction of the road section is the same, the controlled vehicles are staggered in a direction perpendicular to the road.

[0029] Figure 3 It is a lane control diagram, in which the lanes to the left are designated as first-class lanes, and the lanes to the right are designated as second-class lanes. According to the traffic demand at the corresponding time, the number of second-class lanes is determined from two lanes to three lanes, and the number of first-class lanes is changed from two lanes to one lane. The third-class lanes are changed accordingly. The above lane line changes are calculated and displayed within the system. The third-class lanes meet the functions of emergency, isolation or vehicle U-turn, which is equivalent to some lanes having the function of tidal lanes.

[0030] In an optional implementation, when the number of lanes in the same direction in adjacent sections of the road is different and no vehicles enter or exit, the ratio of the number of vehicles in the lanes in the adjacent sections to the time N*T for passing through the lanes is controlled to be the same.

[0031] Figure 4 It is a schematic diagram of the entrance and exit of an intelligent highway. In the figure, vehicles from other roads queue up randomly to enter the intelligent highway channel. When the traffic volume of the intelligent highway is small, vehicles can enter the intelligent highway in turn. If the traffic volume of the intelligent highway is large and the traffic carrying capacity is reached in some periods, vehicles need to wait to enter. Traffic demands of short distances that are easy to meet are lined up in one line, and traffic demands of long distances that are not easy to meet are lined up in another line. Hazardous chemicals and large trucks that pose a greater threat to people if an accident occurs are lined up in another line, and special vehicles are lined up in another line, so that they can be re-arranged according to the time of entering the intelligent highway and arranged separately according to traffic demand. The type of arrangement changes according to demand and is virtually displayed in the system interface to improve the utilization of intelligent highway resources.

[0032] Figure 5It is a schematic diagram of the partial interconnection between an intelligent highway and other roads. Other roads in the figure can be intelligent highways or other non-intelligent roads. When vehicles enter the intelligent highway, if the traffic volume of the intelligent highway is small, vehicles can enter the intelligent highway in turn. If the traffic volume of the intelligent highway is large and the traffic carrying capacity is reached in some periods, vehicles need to wait to enter. The traffic needs of vehicles with short distances that are easy to meet are arranged in one row, and the traffic needs of vehicles with long distances that are not easy to meet are arranged in another row. Hazardous chemicals and large trucks that pose a greater threat to people if an accident occurs are arranged in another row, and special vehicles are arranged in another row, so as to facilitate re-sorting according to the time of entering the intelligent highway and arrange them separately according to traffic needs. The types of arrangements change according to the needs and are virtually displayed in the system interface to improve the utilization of intelligent highway resources; when vehicles exit the intelligent highway, the control directly enters other roads and drives a certain distance before being handed over to manual takeover and driving, or the control vehicle stops in a temporary parking area and waits to enter other roads and drive a certain distance before being handed over to manual takeover and driving.

[0033] In an optional implementation, the traffic layout implements preset corresponding layouts of entrances and exits, parking lots, intersections, etc. according to real-time changes in vehicle length, vehicle type, and traffic demand.

[0034] In an optional implementation, a simplified example is as follows: an intelligent two-way 4-lane highway has entrances A, B, C, D and E in order along one direction, AB distance is 40km, BC distance is 57km, CD distance is 35km, one lane system setting time T=2.5s, the road lanes between AB are smooth, the height difference change can be ignored, and L is set 车 +L 间 =80m, the single-lane road between AB can travel at most 500 vehicles, then the vehicles in the above lanes of the above section are controlled to travel at an average speed of V=115.2km / h. The road between BC is smooth but has elevation changes. Set L 车 +L 间 =75m, the maximum number of vehicles that can travel on a single lane between BC is 766, so the vehicles on this section are controlled to travel at an average speed of V=108km / h; the system setting time for the other lane in the same direction as above is T=3s, and L is set between AB 车 +L 间=130m, a single-lane road can travel a maximum of 307 vehicles, then the vehicles in the above lanes of the above section are controlled to travel at an average speed of V=156km / h; within a period of time, the traffic demand from C to D is large, and the traffic demand from D to C is small. The lane layout can be changed to increase the number of lanes from C to D to 3 lanes, and reduce the number of lanes from D to C to 1 lane during the above time, and then restore the original lane layout after the above time; the maximum daily traffic volume of the above T=2.5s lane is 34,560 vehicles / day, while the daily traffic volume of a single lane of the Beijing-Shanghai Expressway is 4,000 vehicles / day. The cost of highway construction is more than 10 million yuan / km / lane, and the cost of intelligent transformation accounts for about 10% of the highway. The proportion of construction cost is 3%, and the traffic volume of a single lane can be increased to 8.6 times, which greatly improves the traffic capacity of the road; the maximum traffic volume of the above-mentioned T=3s lane is 28,800 vehicles / day, and the average speed is 156km / h, which shortens the travel time for passengers by 26% compared with the average speed of 115km / h, and reduces driving fatigue for drivers; according to the L2 assisted driving electric vehicle with a price of 70,000 yuan, it travels 1 million kilometers on the smart highway in 5 years without driving, and the insurance and maintenance are 3,000 yuan / year, and the electricity fee is 10 yuan per 100 kilometers. The comprehensive vehicle use cost is 0.19 yuan / km, which is much lower than the taxi fare of 2.4 yuan / km, and has high economic value.

[0035] In an optional embodiment, the vehicle route planning subsystem 102 includes at least one of the following: a road network status display module, a road overall information module, a problem event proportion module, a road network performance utilization module, a vehicle real-time control data module, a traffic demand index module, a traffic congestion section module, and a daily vehicle volume and income statistics module; Figure 6 , Figure 6 Schematic diagram of some software of vehicle route planning subsystem; the road network status display module is used to display a two-dimensional plane map and display the real-time road status on the two-dimensional plane map; the overall road information displays the main factors affecting road operation; the problem event proportion module displays the probability of problem events occurring in the current year; the traffic demand index module road network performance utilization module displays the change in the ratio of road-passing vehicles to the maximum number of vehicles allowed on the road within a year. This ratio shows the change in the overall road capacity, and its previous years' values ​​are displayed as dotted curves; the vehicle real-time management and control data module displays the number of vehicles currently on the road, the number of vehicles ready to enter, and the number of vehicles that have been entered into the system and will enter in the next few hours; the road network performance utilization module displays the predicted capacity change for the rest of the day and displays it as a dotted curve; the traffic congestion section module displays the ranking information of the current part of the road end traffic demand; the vehicle volume and income statistics module of the day displays the number of vehicles passing the road and the settled charges.

[0036] In an optional implementation, the holographic road operation perception control subsystem includes at least one of the following: a road section information display module, a road section adjustment display module, a road section perception display module, a service area parking lot adjustment display module, a vehicle formation adjustment display module, an entrance and exit adjustment display module, and a today's traffic flow and total revenue display module; Figure 7 , Figure 7It is a partial software schematic diagram of the holographic road operation perception and control subsystem. The road section information display module is used to display basic information of the road, and the basic information includes at least one of the following: road section operation image, operation status, traffic status, road section stake number, average vehicle speed and weather environment; the road section operation image displays the road section layout and vehicle status on a two-dimensional map, and is also used to respond to the zoom-in and zoom-out operations of the map; the traffic is also used to receive the traffic status of the selection list acting on the traffic horizontal line and display it on the traffic status horizontal line, and in response to the above operation, the above road section is displayed on the display interface, and the equipment of this road section performs the operation of closing or passing the road; The road section pile number is also used to receive the road section pile number in the selection list acting on the road section pile number horizontal line and display it on the road section pile number horizontal line, and at the same time, the real-time image information of the road of the selected road section pile number is displayed on the system interface; the average speed of the vehicle is also used to receive the average speed of the vehicle in the selection list acting on the vehicle's average speed horizontal line and display it on the vehicle's average speed horizontal line, and the vehicle route planning subsystem responds to the vehicle's average speed selection, re-plans the vehicle route passing through the road section pile number, and operates the vehicle passing through the above-mentioned road section to travel according to the new planning information; the road section adjustment display module is used to display and adjust the traffic efficiency of this section of road, the vehicle energy efficiency ratio, The relevant settings of the riding experience can also be automatically set according to the overall road conditions. The relevant overall settings are divided into four types: efficiency, energy-saving, comfort and automatic settings. The parameters of each type include at least one of the following: lane number, lane direction, average vehicle speed and vehicle spacing; the lane number is also used to receive the lane number of the selection list acting on the lane number horizontal line and display it on the lane number horizontal line, the lane direction is also used to receive the lane direction of the selection list acting on the lane direction horizontal line and display it on the lane direction horizontal line, and the average speed of the vehicle is also used to receive the vehicle speed selection from the selection list acting on the average speed horizontal line of the vehicle and display it on the average speed of the vehicle. On the horizontal line, the vehicle route planning subsystem responds to the speed selection and displays the average speed of the selected vehicle. The vehicle spacing is also used to receive the spacing selection of the selection list acting on the vehicle spacing horizontal line and display it on the vehicle spacing horizontal line. According to the selected lane number, lane direction, average speed of the vehicle and selection information of the vehicle spacing, the vehicle route planning subsystem re-plans the vehicle route passing through the lane, and operates the vehicle to drive according to the new planning information; the road segment perception display module is used to display the three-dimensional image corresponding to the local two-dimensional plane map in the interface, and operate the radar point cloud button or the real-time video button to display the corresponding three-dimensional torus in the road segment perception display module;The service area parking lot adjustment display module is used to display text options of passenger car layout, truck layout and balanced layout and thumbnail images of associated preset virtual parking layouts. The service area parking lot adjustment display module is also used to receive operations acting on the layout orbit to display the preset service area parking lot. The vehicle route planning subsystem re-plans the route for vehicles entering the above service area, and operates the above vehicles to travel according to the new planning information to maximize the satisfaction of parking service needs and the use of parking lot space; the vehicle formation adjustment display module is used to display the vehicle formation type and corresponding adjustable parameters. The formation type includes at least one of the following: free formation, energy-saving formation, passenger car formation, truck formation, military vehicle formation and automatic formation. The vehicle formation adjustment display module is also used to select one of the formation types and apply it to the road section. The vehicle route planning subsystem re-plans the route for vehicles entering the road section, and operates the above vehicles to travel according to the new planning information. The vehicle formation can also be cancelled according to changes in road conditions and vehicle needs. The corresponding adjustable parameters include at least one of the following: the number of vehicles in the formation, the distance between vehicles in the formation, the speed of vehicles in the formation and the distance between formations. The number of vehicles in the formation is also used to receive the number of vehicles in the formation from the list of vehicles in the formation acting on the vehicle formation number selection line and display it on the horizontal line of the number of vehicles in the formation. The distance between vehicles in the formation is also used to receive the distance between vehicles in the formation from the list of vehicles in the formation acting on the horizontal line of the distance between vehicles in the formation selection line and display it on the horizontal line of the distance between vehicles in the formation. The speed of vehicles in the formation is also used to receive the speed of vehicles in the formation from the list of vehicles in the formation acting on the horizontal line of the speed of vehicles in the formation selection line and display it on the horizontal line of the speed of vehicles in the formation. The distance between formations is also used to receive the distance between formations from the list of distances between formations acting on the distance between formations selection line and display it on the horizontal line of distances between formations.The entrance and exit adjustment display module is used to display the relevant settings for adjusting the entrance and exit efficiency, including at least one of the following: entrance and exit traffic, in-and-out traffic flow, entrance traffic flow, cache parking spaces and emergency parking spaces, and can also be automatically set according to route planning requirements. The entrance and exit traffic is also used to receive the traffic status of the selection list acting on the entrance and exit traffic horizontal line and display it on the traffic status horizontal line. The exit traffic flow is also used to receive the exit traffic flow of the selection list acting on the entrance and exit traffic flow horizontal line and display it on the exit traffic flow horizontal line. The entrance traffic flow is also used to receive the entrance traffic flow of the selection list acting on the entrance traffic flow horizontal line and display it on the entrance traffic flow horizontal line. The cache parking space The ratio is also used to receive the cache parking space ratio of the selection list acting on the cache parking space ratio horizontal line and display it on the cache parking space ratio horizontal line. The emergency parking space ratio is also used to receive the emergency parking space ratio of the selection list acting on the emergency parking space ratio horizontal line and display it on the cache parking space ratio horizontal line. According to the selected entrance and exit traffic status, exit vehicle flow, entrance vehicle flow, temporary parking space ratio and emergency parking space ratio selection information, the vehicle route planning subsystem re-plans the vehicle route passing through the above entrance and exit, and operates the above vehicle to travel according to the new planning information. The today's vehicle flow and total revenue display module is used to display the number of toll vehicles and the total fee of this road section on that day. ;

[0037] In an optional embodiment, the vehicle real-time operation control subsystem includes at least one of the following: a traffic basic information display module, an operating vehicle control display module, a problem vehicle control display module, a VIP vehicle management display module, a team vehicle control display module and a special vehicle control display module; Figure 8 , Figure 8It is a software schematic diagram of a vehicle real-time operation control subsystem; the basic traffic information display module includes at least one of the following: local road section operation image, road surface material, road surface smoothness, road grade, speeding lane, average speed of vehicles and weather environment; the local road section operation image displays the local road section layout and vehicle status on a two-dimensional map, and is also used to respond to map zooming operations; the operation vehicle control display module includes at least one of the following: vehicle number, passage and control times and control accuracy images; the vehicle number selection is also used to receive the vehicle number selection of the selection list acting on the vehicle number horizontal line and display it on the vehicle number horizontal line, and respond to the above operation to display the corresponding control times and control accuracy images of the vehicle, the operation year or month is used to display the control times and control accuracy images of different speeds corresponding to the vehicle number on the display interface, and the control passage is also used to receive the passage status of the selection list acting on the passage status horizontal line and display it on the passage status horizontal line. When the vehicle accuracy meets the minimum requirements of the intelligent highway, the system operates the above vehicle to enter the intelligent highway, and when the vehicle control accuracy cannot meet the intelligent highway, the vehicle is operated to exit the intelligent highway system, and And send the vehicle control accuracy to the corresponding vehicle; the problem vehicle control display module includes at least one of the following: vehicle number, vehicle position, vehicle problem, traffic impact, rescue time and rescue progress, the vehicle number selection is also used to receive the vehicle number of the selection list acting on the vehicle number horizontal line and display it on the vehicle number horizontal line, and display the corresponding vehicle position, vehicle problem, traffic impact, rescue time and rescue progress information; the VIP vehicle control display module includes at least one of the following: vehicle number, maximum operating speed, speeding section ratio, saving time, comfortable section ratio and improved experience time and road resource ratio increase, the vehicle number selection is also used to receive the vehicle number of the selection list acting on the vehicle number horizontal line and display it on the vehicle number horizontal line, and display the corresponding vehicle maximum operating speed, speeding section ratio, saving time, comfortable section ratio and improved experience time and road resource ratio increase information, the vehicle maximum operating speed is also used to receive the vehicle maximum operating speed selection of the selection list acting on the vehicle maximum operating speed horizontal line, and display the corresponding speeding section ratio, saving time, comfortable section ratio and improved experience time and road resource ratio increase information;The team vehicle control display module includes at least one of the following: vehicle number, formation number, formation speed, vehicle speed, vehicle spacing within the formation, formation road section ratio and expected energy saving ratio. The vehicle number selection is also used to receive the vehicle number of the selection list acting on the vehicle number horizontal line and display it on the vehicle number horizontal line, and in response to the above operation, the corresponding formation number, formation speed, vehicle speed, vehicle spacing within the formation, formation road section ratio and expected energy saving ratio information are displayed. The vehicle spacing selection within the formation is also used to receive the vehicle spacing selection within the formation from the selection list acting on the vehicle spacing horizontal line within the formation and display it on the vehicle spacing horizontal line within the formation; the special vehicle control display module includes at least one of the following: special vehicle The total number of vehicles, special vehicle types and numbers, special vehicle speeds, and task execution status. The special vehicle types are also used to receive the special vehicle types in the selection list acting on the special vehicle type horizontal line and display them on the special vehicle type horizontal line. In response to the above operation, the number of corresponding vehicles is displayed. The special vehicle speed is also used to receive the special vehicle speed in the selection list acting on the special vehicle speed selection horizontal line and display them on the special vehicle speed horizontal line. The task execution level is also used to receive the task execution level in the selection list acting on the task execution level selection horizontal line and display them on the task execution level horizontal line. The automatic setting operation is to automatically select the above data according to the requirements of the vehicle route planning subsystem and display them in the special vehicle adjustment display module. ;

[0038] In an optional embodiment, the intelligent high-speed equipment management and control subsystem 105 includes at least one of the following: an equipment overall information display module, a route planning server monitoring display module, a roadside management and control server monitoring display module, a sensing equipment pole monitoring display module, an emergency vehicle monitoring display module, and a standby equipment monitoring display module; refer to Fig. 9 , Fig. 9It is a partial software schematic diagram of the intelligent high-speed equipment control subsystem. The equipment overall information display module includes at least one of the following: equipment distribution image, route planning server online rate, roadside control server online rate, roadside perception monitoring equipment online rate and guarantee vehicle online rate; the equipment distribution image displays the location of equipment distribution on a two-dimensional map, and is also used to respond to map zooming operations; the route planning server supervision includes at least one of the following: server name, route optimization status and server real-time utilization linear graph; the server name is also used to receive the server name of the selection list acting on the server name selection horizontal line and display it on the server name horizontal line, displaying the route optimization status and real-time utilization of the corresponding server The route optimization status is also used to receive the route optimization status of the selection list acting on the route optimization status horizontal line and display it on the route optimization status horizontal line, and operate the above-mentioned server to turn on or off the vehicle's route optimization; the roadside control server supervision display module includes at least one of the following: server name, auxiliary calculation status and server real-time utilization linear graph; the server name is also used to receive the server name of the server name list acting on the server name selection horizontal line and display it on the server name horizontal line, displaying the route optimization status and real-time utilization linear graph of the corresponding server; the auxiliary calculation is also used to receive the auxiliary calculation status of the selection list acting on the auxiliary calculation horizontal line, and operate the above-mentioned server to turn on or off Auxiliary route planning calculation of the closed server; the sensing device pole supervision display module is used to display the online devices, problem devices, device numbers, offline rates, fault causes, performance utilization, storage capacity, camera status, radar status and processor status of the device; the device number is also used to receive the device number of the selection list acting on the device number horizontal line and display it on the device number horizontal line, displaying the offline rate, fault cause, performance utilization, storage capacity, camera, radar and processor information of the above-mentioned devices; the camera status is also used to receive the camera status of the selection list acting on the camera horizontal line and display it on the camera horizontal line, and respond to the above operation to turn on or off the camera; the radar is also used to receive the selection list acting on the radar horizontal line The radar status is displayed on the radar status horizontal line, and the radar is turned on or off in response to the above operation; the processor status is also used to receive the processor status of the selection list acting on the processor status horizontal line and displayed on the processor status horizontal line, and the processor is turned on or off in response to the above operation; the emergency vehicle supervision display module includes at least one of the following: the number of ambulance rescue and standby, the number of fire trucks rescue and standby, the number of police cars dispatched and on standby, the number of engineering vehicles dispatched and on standby, problem events, equipment numbers and tasks; the problem event is also used to receive the problem event of the selection list acting on the problem event horizontal line and display it on the problem event horizontal line, and the equipment number in the problem event and the task content of the attendance vehicle are displayed in response to the above operation;The automatic allocation function is used to automatically allocate attendance vehicles according to the type of problem event and display the corresponding problem event, equipment number and task. For multiple problem events, the above content is displayed in a scrolling manner; the standby equipment supervision display module includes at least one of the following: the number of standby equipment poles, the number of standby laser radars, the number of standby millimeter-wave radars, the number of route planning servers and the number of roadside control servers. ;

[0039] In an optional embodiment, the unmanned driving simulation cockpit subsystem 106 includes at least one of the following: a cockpit display module, a vehicle-side perception control module; Fig.10 , Fig.10 It is a partial software schematic diagram of the unmanned driving simulation cockpit subsystem. The cockpit display module is used to display the cockpit status of the simulated vehicle, the driving speed of the simulated vehicle and the simulated three-dimensional road picture of the area where the simulated vehicle is located based on the navigation map. The vehicle-side perception control module is used to control the vehicle's laser radar, millimeter wave radar, camera and other equipment. On the one hand, it assists the intelligent road system management and control work. On the other hand, by shutting down the above equipment, it ensures the security of national geographic information in special areas.

Claims

1. A system for intelligent high-speed vehicle control, characterized in that: include: At least one of the new traffic rules subsystem, vehicle route planning subsystem, holographic road operation perception control subsystem, vehicle real-time operation control subsystem, intelligent high-speed equipment control subsystem, and unmanned driving simulation cockpit subsystem; The new traffic rule subsystem provides a traffic flow control method, which divides the road section according to the entrance and exit of the smart highway, divides each lane of the road section according to time, controls the vehicles in the lane space at the corresponding time to drive at a set average speed, and ensures that the vehicles can still flow smoothly after entering or exiting the lane; The vehicle route planning subsystem is used to plan the real-time route of the vehicle, control the vehicle to travel according to the planned route, and display the overall operation of the vehicle on a two-dimensional plane map, while displaying the overall information affecting the operation of the system, problem events, traffic demand, road network performance and congestion at the entrance and exit; The holographic road operation perception and control subsystem stores information about vehicles passing through this road section, and controls lane layout, parking lot layout, temporary parking areas at smart highway entrances and exits, intersection layout, and vehicle formations, etc., based on vehicle route information, and presents the above traffic layout and dynamic traffic in two dimensions and three dimensions from the perspective of the road section in real time; The vehicle real-time operation control subsystem is used to control the movement of vehicles, including controlling the direction and speed of vehicles, optimizing vehicle routes and vehicle formations, and in response to control operations on the vehicles, displaying vehicle information on the interface of the vehicle real-time operation control subsystem and displaying it in a dynamic traffic two-dimensional plane map; The unmanned driving simulation cockpit subsystem is used to control the vehicle's driving, manage the vehicle's sensing equipment, and display the management and control information in the cockpit display module.

2. A system for intelligent highway vehicle control according to claim 1, characterized in that: The new traffic rules provide a method for controlling vehicle flow, including: calculating that a lane of a road section can safely drive a maximum of M vehicles at an average speed V, and the average length of the vehicles is L 车 , the average distance between vehicles is L 间 , time T = (L 车 +L 间 ) / V, and control V and L 间 Ensure that the time T of consecutive lanes is the same, and control vehicles entering or leaving the lane within the Nth T time; Before the calculation is obtained, the vehicle flow control method further includes: dividing the expressway into a plurality of sections according to ramp entrances and exits, wherein the boundary between two adjacent target sections is a straight line passing through the ramp entrance, the ramp exit or between the ramp entrances and exits and perpendicular to the extension direction of the expressway; The lanes are divided by the system according to traffic demand, and the continuous lanes are virtually divided continuous lanes. When the time T of the two lanes in the same direction of the same section is the same, the controlled vehicles are staggered in a direction perpendicular to the road; When the number of lanes in the same direction of adjacent sections of the road is different and no vehicle enters or exits, the ratio of the number of vehicles in the lanes in the adjacent sections to the time N*T of passing through the lanes is controlled to be the same; When the road has no central isolation strip, the lane in one direction is designated as a first-class lane, and the lane in the opposite direction is designated as a second-class lane. The number of first-class lanes and second-class lanes is determined according to the traffic flow demand at the corresponding time. Third-class lanes can be set on both sides of the first-class lanes and the second-class lanes. The third-class lanes meet the functions of emergency, isolation or vehicle U-turn; The arrival time of the vehicle before entering the intelligent highway system is random. The intelligent highway is composed of multiple sections. When there are few vehicles on the intelligent highway, the arriving vehicles are controlled to enter the intelligent highway system in sequence. When the intelligent highway has carried more vehicles, the entry time to meet the traffic needs of the vehicle may be at the Nth T time later, and the vehicle stops at the temporary parking area at the entrance to wait for entry, or the vehicle enters the system and drives at the Nth T time and stops at the temporary parking area of ​​the intersection or service area parking lot, and waits to enter the highway according to the time of re-entering the highway. The traffic layout implements the preset corresponding entrances and exits, parking lots, intersections and other layouts according to the real-time changes in vehicle length, vehicle type and traffic demand.

3. A system for intelligent highway vehicle control according to claim 1, characterized in that: The vehicle route planning subsystem includes at least one of the following: a road network status display module, a road overall information module, a problem event proportion module, a road network performance utilization module, a vehicle real-time management and control data module, a traffic demand index module, a traffic congestion section module, and a daily vehicle volume and income statistics module; The road network status display module is used to display a two-dimensional plane map and display the real-time road status on the two-dimensional plane map; The overall road information shows the main factors affecting road operation; The problem event proportion module shows the probability of problem events occurring in the current year; The road network performance utilization rate module displays the change in the ratio of vehicles passing through the road to the maximum number of vehicles allowed to pass through the road within a year. This ratio displays the change in the overall road capacity, and its values ​​in previous years are displayed as a dotted curve; The vehicle real-time control data module displays the number of vehicles currently on the road, the number of vehicles ready to enter, and the number of vehicles that have been entered into the system and will enter in the next few hours; The road network performance utilization module displays the predicted capacity change for the remaining time of the day and displays it as a dotted curve; The traffic congestion road section module displays the ranking information of the current traffic demand of some road ends; The daily vehicle volume and revenue statistics module displays the number of vehicles passing through the road and the charges that have been settled.

4. A system for intelligent highway vehicle control according to claim 1, characterized in that: The holographic road operation perception control subsystem also includes at least one of the following: a road section information display module, a road section adjustment display module, a road section perception display module, a service area parking lot adjustment display module, a vehicle formation adjustment display module, an entrance and exit adjustment display module, and a today's vehicle flow and total revenue display module; The road section information display module is used to display basic information of the road, and the basic information includes at least one of the following: running image, running status, traffic status, road section pile number, average vehicle speed and weather conditions; The road section adjustment display module is used to display the relevant settings for adjusting the traffic efficiency, vehicle energy efficiency ratio, and riding experience of this section of road. It can also be automatically set according to the overall situation of the road. The relevant overall settings are divided into four types: efficiency type, energy saving type, comfort type, and automatic setting. Each type of parameter includes at least one of the following: lane number, lane direction, average vehicle speed, and vehicle spacing; The road segment perception display module is used to display the three-dimensional image corresponding to the local two-dimensional plane map in the interface, and the radar point cloud button or the real-time video button is operated to display the corresponding three-dimensional torus in the road segment perception display module; The service area parking lot adjustment display module is used to display text options of passenger car layout, truck layout and balanced layout and thumbnail images of associated preset virtual parking layouts. The service area parking lot adjustment display module is also used to receive operations acting on the layout orbit to display the preset service area parking lot. The vehicle route planning subsystem re-plans the route for vehicles entering the above service area and operates the above vehicles to drive according to the new planning information to meet the parking service needs and utilize the parking lot space to the greatest extent; The vehicle formation adjustment display module is used to display the vehicle formation type and corresponding adjustable parameters, and the formation type includes at least one of the following: free formation, energy-saving formation, passenger car formation, truck formation, military vehicle formation and automatic formation; the vehicle formation adjustment display module is also used to select one of the formation types and apply it to the road section, and the vehicle route planning subsystem re-plans the route for the vehicle entering the road section, and operates the above-mentioned vehicle to drive according to the new planning information, and can also cancel the vehicle formation according to the changes in road conditions and vehicle demand, and the corresponding adjustable parameters include at least one of the following: the number of vehicles in the formation, the distance between vehicles in the formation, the speed of vehicles in the formation and the distance between formations; The entrance and exit adjustment display module is used to display the relevant settings for adjusting the entrance and exit efficiency, including at least one of the following: entrance and exit traffic, in and out vehicle flow, entrance vehicle flow, cache parking spaces and emergency parking spaces, and can also be automatically set according to route planning requirements; The today's traffic volume and total revenue display module is used to display the number of toll vehicles and the total fee for this road section on that day.

5. A system for intelligent highway vehicle control according to claim 1, characterized in that: The operation control subsystem module includes at least one of the following: a basic traffic information display module, an operation vehicle control display module, a problem vehicle control display module, a VIP vehicle management display module, a team vehicle control display module and a special vehicle control display module; The basic traffic information display module includes at least one of the following: road surface material, road surface smoothness, road grade, speeding lane, average speed of vehicles and weather conditions; The running vehicle control display module includes at least one of the following: vehicle number, passage, control times and control accuracy image; The problem vehicle control display module includes at least one of the following: vehicle number, vehicle location, vehicle problem, traffic impact, rescue time and rescue progress, the vehicle number selection is also used to receive the vehicle number of the selection list acting on the vehicle number horizontal line and display it on the vehicle number horizontal line, and display the corresponding vehicle location, vehicle problem, traffic impact, rescue time and rescue progress information; The VIP vehicle control display module includes at least one of the following: vehicle number, maximum operating speed, proportion of overspeeding sections, saved time, proportion of comfortable sections, and improved experience time and proportion of road resources; The team vehicle control display module includes at least one of the following: vehicle number, team number, team speed, vehicle speed, distance between vehicles in the team, team road section ratio and expected energy saving ratio; The special vehicle control and display module includes at least one of the following: the total number of special vehicles, the type and number of special vehicles, the speed of special vehicles, and the mission execution status.

6. A system for intelligent highway vehicle control according to claim 1, characterized in that: The intelligent high-speed equipment control subsystem includes at least one of the following: equipment overall information display module, route planning server supervision display module, roadside control server supervision display module, perception equipment pole supervision display module, emergency vehicle supervision display module and standby equipment supervision display module; The equipment overall information display module includes at least one of the following: equipment distribution image, route planning server online rate, roadside control server online rate, roadside perception monitoring equipment online rate and support vehicle online rate; The roadside control server supervision display module includes at least one of the following: server name, auxiliary calculation status and server real-time utilization linear graph; The sensing device pole monitoring display module is used to display the online devices, problem devices, device numbers, offline rates, fault causes, performance utilization, storage capacity, camera status, radar status, and processor status; The emergency vehicle supervision display module includes at least one of the following: the number of ambulance rescue and standby, the number of fire truck rescue and standby, the number of police cars dispatched and standby, the number of engineering vehicles dispatched and standby, problem events, equipment numbers and tasks, and automatic allocation function; The backup equipment supervision display module includes at least one of the following: the number of backup equipment poles, the number of backup laser radars, the number of backup millimeter-wave radars, the number of route planning servers, and the number of roadside control servers.

7. A system for intelligent highway vehicle control according to claim 1, characterized in that: The unmanned driving simulation cockpit subsystem includes: a cockpit display module and a vehicle-side perception control module. The cockpit display module is used to display the cockpit status of the simulated vehicle, the driving speed of the simulated vehicle, and the simulated three-dimensional road picture of the area where the simulated vehicle is located based on the navigation map. The vehicle-side perception control module is used to control the vehicle's laser radar, millimeter wave radar, camera and other equipment, on the one hand to assist the intelligent road system management and control work, and on the other hand to ensure the security of national geographic information in special areas by shutting down the above equipment.

8. A system for intelligent highway vehicle control according to claim 4, characterized in that: The passage is also used to receive the passage status of the selection list acting on the passage horizontal line and display it on the passage status horizontal line, and in response to the above operation, display the above road section on the display interface, and control the device to close or pass the road on this road section; The road section pile number is also used to receive the road section pile number in the selection list acting on the road section pile number horizontal line and display it on the road section pile number horizontal line, and at the same time display the road real-time image information of the selected road section pile number on the system interface; The average speed of the vehicle is also used to receive the average speed of the vehicles in the selection list acting on the horizontal line of the average speed of the vehicle and display it on the horizontal line of the average speed of the vehicle. The vehicle route planning subsystem responds to the average speed selection of the vehicle, re-plans the route of the vehicle passing through the road section pile number, and operates the vehicle passing through the above road section to travel according to the new planning information; The lane number is also used to receive the lane number of the selection list acting on the lane number horizontal line and display it on the lane number horizontal line. The lane direction is also used to receive the lane direction of the selection list acting on the lane direction horizontal line and display it on the lane direction horizontal line. The average speed of the vehicle is also used to receive the vehicle speed selection of the selection list acting on the vehicle average speed horizontal line and display it on the vehicle average speed horizontal line. The vehicle route planning subsystem responds to the speed selection and displays the selected average speed of the vehicle. The vehicle spacing is also used to receive the spacing selection of the selection list acting on the vehicle spacing horizontal line and display it on the vehicle spacing horizontal line. In response to the selected lane number, lane direction, average speed of the vehicle and vehicle spacing selection information, the vehicle route planning subsystem re-plans the vehicle route passing through the lane and operates the vehicle to drive according to the new planning information. The number of vehicles in the platoon is also used to receive the number of vehicles in the platoon from the list of vehicles in the platoon acting on the vehicle platoon number selection line and display it on the platoon vehicle number line. The distance between vehicles in the platoon is also used to receive the distance between vehicles in the platoon from the selection list acting on the vehicle platoon distance line and display it on the vehicle platoon distance line. The speed of vehicles in the platoon is also used to receive the speed of vehicles in the platoon from the selection list acting on the platoon vehicle speed line and display it on the platoon vehicle speed line. The distance between formations is also used to receive the distance between formations from the selection list acting on the distance between formations line and display it on the distance between formations line. In response to the selection of the number of vehicles in the platoon, the distance between vehicles in the platoon, the speed of vehicles in the platoon and the distance between formations, the vehicle route planning subsystem re-plans the route for vehicles entering the road section, operates the vehicle platoon or cancels the platoon, and drives according to the new planning information. The special vehicle type is also used to receive the special vehicle type in the selection list acting on the special vehicle type horizontal line and display it on the special vehicle type horizontal line. In response to the above operation, the number of corresponding vehicles is displayed. The special vehicle speed is also used to receive the special vehicle speed in the selection list acting on the special vehicle speed selection horizontal line and display it on the special vehicle speed horizontal line. The execution task level is also used to receive the execution task level in the selection list acting on the execution task level selection horizontal line and display it on the execution task level horizontal line. The automatic setting operation is to automatically select the above data according to the requirements of the vehicle route planning subsystem and display it in the special vehicle adjustment display module. The entrance and exit traffic is also used to receive the traffic status of the selection list acting on the entrance and exit traffic horizontal line and display it on the traffic status horizontal line, and the exit traffic flow is also used to receive the exit traffic flow of the selection list acting on the entrance and exit traffic flow horizontal line and display it on the exit traffic flow horizontal line; The entrance and exit passage is also used to receive the entrance and exit passage status of the selection list acting on the entrance and exit passage horizontal line and display it on the entrance and exit passage status horizontal line, and in response to the above operation, display the above road section on the display interface, and control the device to close or pass the entrance and exit of this road section; The entrance traffic flow is also used to receive the entrance traffic flow of the selection list acting on the entrance traffic flow horizontal line and display it on the entrance traffic flow horizontal line. The cache parking space ratio is also used to receive the cache parking space ratio of the selection list acting on the cache parking space ratio horizontal line and display it on the cache parking space ratio horizontal line. The emergency parking space ratio is also used to receive the emergency parking space ratio of the selection list acting on the emergency parking space ratio horizontal line and display it on the cache parking space ratio horizontal line. According to the above-selected entrance and exit traffic status, exit traffic flow, entrance traffic flow, temporary parking space ratio and emergency parking space ratio selection information, the vehicle route planning subsystem re-plans the vehicle route passing through the above-mentioned entrance and exit, and operates the above-mentioned vehicle to move according to the new planning information.

9. A system for intelligent highway vehicle control according to claim 5, characterized in that: The vehicle number selection is also used to receive the vehicle number selection of the selection list acting on the vehicle number horizontal line and display it on the vehicle number horizontal line, and in response to the above operation, display the corresponding control times and control accuracy images of the vehicle, and the operation year or month is used to display the control times and control accuracy images of different speeds corresponding to the vehicle number on the display interface; The passage is also used to receive the passage status of the selection list acting on the passage status horizontal line and display it on the passage horizontal line. When the vehicle accuracy meets the minimum requirements of the intelligent highway, the system operates the above-mentioned vehicle to enter the intelligent highway. When the vehicle control accuracy cannot meet the requirements of the intelligent highway, the system operates the vehicle to exit the intelligent highway system and sends the vehicle control accuracy to the corresponding vehicle. The vehicle number selection is also used to receive the vehicle number of the selection list acting on the vehicle number horizontal line and display it on the vehicle number horizontal line, and display the corresponding vehicle maximum speed, speeding section ratio, saving time, comfortable section ratio, and information on improving experience time and road resource ratio. The vehicle maximum speed is also used to receive the selection of the vehicle maximum speed of the selection list acting on the vehicle maximum speed horizontal line, and display the corresponding speeding section ratio, saving time, comfortable section ratio, and information on improving experience time and road resource ratio; The vehicle number selection is also used to receive the vehicle number of the selection list acting on the vehicle number horizontal line and display it on the vehicle number horizontal line, and in response to the above operation, the corresponding formation number, formation speed, vehicle speed, vehicle spacing within the formation, formation road section proportion and expected energy saving ratio information are displayed. The vehicle spacing selection within the formation is also used to receive the vehicle spacing selection within the formation from the selection list acting on the vehicle spacing horizontal line within the formation and display it on the vehicle spacing horizontal line within the formation.

10. A system for intelligent highway vehicle control according to claim 6, characterized in that: The device distribution image displays the locations of the devices on a two-dimensional map and is also used to respond to zooming in and out of the map; The route planning server supervision includes at least one of the following: server name, route optimization status and server real-time utilization linear graph; The server name is also used to receive the server name of the selection list acting on the server name selection horizontal line and display it on the server name horizontal line, and display the route optimization status and real-time utilization linear graph of the corresponding server; The route optimization status is also used to receive the route optimization status of the selection list acting on the route optimization status horizontal line and display it on the route optimization status horizontal line, and operate the above server to turn on or off the route optimization of the vehicle; The server name is also used to receive the server name of the selection list acting on the server name selection horizontal line and display it on the server name horizontal line, and display the route optimization status and real-time utilization linear graph of the corresponding server; The auxiliary calculation is also used to receive the auxiliary calculation status of the selection list acting on the auxiliary calculation horizontal line, and operate the above server to turn on or off the auxiliary route planning calculation of the server; The device number is also used to receive the device number of the selection list acting on the device number horizontal line and display it on the device number horizontal line, displaying the offline rate, fault cause, performance utilization, storage capacity, camera, radar and processor information of the above device; The camera status is also used to receive the camera status of the selection list acting on the camera horizontal line and display it on the camera horizontal line, and turn the camera on or off in response to the above operation; The radar is also used to receive the radar status of the selection list acting on the radar horizontal line and display it on the radar horizontal line, and turn the radar on or off in response to the above operation; The processor status is also used to receive the processor status of the selection list acting on the processor status horizontal line and display it on the processor horizontal line, and turn the processor on or off in response to the above operation; The problem event is also used to receive the problem event in the selection list acting on the problem event horizontal line and display it on the problem event horizontal line, and in response to the above operation, the equipment number and the task content of the attendance vehicle in the problem event are displayed; The automatic allocation function is used to automatically allocate attendance vehicles according to the problem event type and display the corresponding problem events, equipment numbers and tasks. The above content will be displayed in a scrolling manner for multiple problem events.

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