Traffic intelligent management system and method for automatic driving

Abstract

The invention belongs to the field of traffic management, and discloses a traffic intelligent management system and method for automatic driving, and the system comprises an intelligent traffic control center which is used for receiving the destination information and real-time position information of a vehicle, obtaining a vehicle operation path through calculation, generating vehicle operation path control information, and transmitting the vehicle operation path control information; the vehicle-mounted traffic control system is used for positioning the vehicle in real time and sending real-time position information and destination information of the vehicle; the position of the vehicle is determined according to the real-time position information of the vehicle, and the vehicle is controlled to perform automatic driving by using a vehicle running path generated by an intelligent traffic control center or a vehicle-mounted traffic control system according to whether the vehicle is in a city range; and the communication network is used for real-time communication between the intelligent traffic control center and the vehicle-mounted traffic control system. The automatic driving function of the vehicle can be fully utilized, and efficient and safe automatic driving of the vehicle is achieved.

Description

Technical Field

[0001] The present invention belongs to the field of traffic management, and in particular relates to an intelligent traffic management system and method for autonomous driving. Background Art

[0002] With the acceleration of urbanization, the number of cars and road traffic volume has increased rapidly. In urban areas, traffic congestion has become more and more serious. Due to traffic congestion, road conditions have become more complicated, which has put higher demands on the driver's emotions and driving skills. Otherwise, traffic accidents are likely to occur, causing greater congestion and forming a vicious circle.

[0003] At present, the automatic driving function of vehicles is gradually developing and enriching. This function can alleviate the driver's driving fatigue and avoid some traffic accidents to a certain extent. However, most of the current automatic driving of vehicles is based on commercial vehicle navigation and automatic driving functions. Due to the different in-vehicle navigation software used by various car companies, the vehicle is based on the navigation of its own in-vehicle brand when it is automatic driving, which makes the road information obtained by the vehicle when planning the route not comprehensive enough, resulting in the planned vehicle operation route not being the optimal route, and thus unable to effectively avoid traffic congestion. Based on the above situation, vehicles with automatic driving functions are currently unable to fully utilize this function for full automatic driving. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the purpose of the present invention is to provide a traffic intelligent management system and method for autonomous driving. The present invention can make full use of the autonomous driving function of the vehicle to achieve efficient and safe autonomous driving of the vehicle.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows: A traffic intelligent management system for autonomous driving, comprising: Intelligent Traffic Control Center: used to receive the destination information and real-time location information of the vehicle, calculate the vehicle running path based on the destination information and real-time location information of the vehicle, generate and send the vehicle running path control information according to the vehicle running path; On-board traffic control system: used to locate the vehicle in real time and send the vehicle's real-time location information and destination information; determine whether the vehicle is within a preset range or outside a preset range based on the vehicle's real-time location information, and when the vehicle is within the preset range, use the vehicle's running path control information to control the vehicle to perform automatic driving; when the vehicle is outside the preset range, use the vehicle's real-time location information and destination information to calculate the vehicle's running path and control the vehicle to perform automatic driving; Communication network: used for real-time communication between the city intelligent traffic control center and the vehicle traffic control system. The preset range is the range covered by the communication network.

[0006] Preferably, the urban intelligent traffic control center includes: Intelligent traffic control system: used to calculate the vehicle running path based on the vehicle's destination information and real-time location information, and generate vehicle running path control information using the vehicle running path; Communication system: used to receive the destination information and real-time location information of the vehicle transmitted by the communication network and transmit it to the intelligent traffic control system; and used to send the vehicle operation path control information to the communication network.

[0007] Preferably, the vehicle-mounted traffic control system includes: Vehicle positioning system: used to locate the vehicle in real time and send the vehicle's real-time location information; In-vehicle communication system: used to receive the real-time location information and destination information of the vehicle sent by the in-vehicle positioning system, and send the real-time location information and destination information of the vehicle to the communication network; In-vehicle navigation system: used to obtain destination information and the real-time location information of the vehicle from the in-vehicle positioning system, and determine whether the vehicle is within or outside the preset range based on the real-time location information of the vehicle. When the vehicle is outside the preset range, the vehicle's running path is planned based on the destination information and the real-time location information of the vehicle, and automatic driving information is issued; Unmanned driving system: After receiving the vehicle operation path control information, the vehicle is controlled to perform automatic driving according to the vehicle operation path calculated by the intelligent traffic control center. After receiving the automatic driving information, the vehicle operation path planned by the on-board navigation system is used to control the vehicle to perform automatic driving.

[0008] Preferably, the vehicle-mounted positioning system adopts one or more of GPS, Beidou satellite positioning system, base station positioning system of mobile operator network, traffic radio positioning system and video positioning system.

[0009] Preferably, the video positioning system includes a vehicle-mounted video acquisition system, positioning marks and a positioning system, the positioning marks are arranged at intervals along the road, the vehicle-mounted video acquisition system is used to capture images of the positioning marks while the vehicle is traveling, and the positioning system is used to analyze the images of the positioning marks captured by the vehicle-mounted video acquisition system to obtain real-time position information of the vehicle.

[0010] Preferably, the positioning marks include roadside traffic positioning posts, traffic positioning marks above the road and traffic positioning marks sprayed on the road surface, and the vehicle-mounted video acquisition system adopts a system for capturing images in front of the vehicle, images below the vehicle or images on the roadside.

[0011] Preferably, the software of the urban intelligent traffic control center adopts a multi-threaded mode, and each vehicle occupies a thread exclusively.

[0012] Preferably, the real-time location information and destination information of the vehicle are used to calculate the vehicle's running path through the Dijkstra algorithm (i.e., greedy algorithm), EBSP algorithm (i.e., Edges Based all-pairs Shortest Paths Algorithm), ant colony algorithm, or parallel shortest path search algorithm.

[0013] Preferably, the communication network adopts at least one of a 4G communication system channel, a 5G communication system channel and a traffic-specific communication channel.

[0014] The present invention also provides a method for intelligent traffic management for autonomous driving. The intelligent traffic management system for autonomous driving according to the present invention includes the following process: Receive the destination information and real-time location information of the vehicle, calculate the vehicle running path using the destination information and real-time location information of the vehicle, generate and send the vehicle running path control information according to the vehicle running path; The vehicle is positioned in real time and its real-time location information and destination information are sent; based on the vehicle's real-time location information, it is determined whether the vehicle is within a preset range or outside a preset range. When the vehicle is within the preset range, the vehicle is controlled to perform automatic driving based on the vehicle operation path control information; when the vehicle is outside the preset range, the vehicle operation path is calculated using the vehicle's real-time location information and destination information, and the vehicle is controlled to perform automatic driving.

[0015] The present invention has the following beneficial effects: The present invention is used in the intelligent traffic management system for automatic driving. The intelligent traffic control center can obtain the vehicle running path by using the destination information and real-time location information of the vehicle. When the vehicle is within the preset range (such as within the city), the intelligent traffic control center can coordinate and plan the path for all vehicles within the preset range, avoiding the problem in the prior art that the road information obtained by the vehicle when planning the path is not comprehensive enough due to the different on-board navigation software of different vehicles, resulting in the planned vehicle running path not being the optimal path. Therefore, the present invention can realize efficient and safe automatic driving of the vehicle within the preset range. When the vehicle is outside the preset range (such as outside the city), the traffic situation is simpler than the traffic situation within the preset range. Therefore, the vehicle running path planned by the vehicle's on-board traffic control system is used to control the vehicle to perform automatic driving, which also makes full use of the navigation and automatic driving functions of the vehicle itself, and can timely release the computing resources of the city intelligent traffic control center. In summary, the technical solution of the present invention can make full use of the automatic driving function of the vehicle to realize efficient and safe automatic driving of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 Schematic diagram of the structure of a traffic intelligent management system for autonomous driving in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of an intelligent traffic control center in an embodiment of the present invention; Figure 3 Schematic diagram of the structure of the vehicle traffic control system in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0019] Example This embodiment is described by taking the preset range as the city range as an example. The structure of the intelligent traffic management system for autonomous driving in this embodiment is as follows: Figure 1 As shown, it specifically includes an intelligent traffic control center, a communication network and an on-board traffic control system, among which: The Intelligent Traffic Control Center is the control hub of the entire traffic intelligent management system for autonomous driving, including the communication system and the intelligent traffic control system. Figure 2. Among them, the communication system is used to communicate with the on-board traffic control system in real time, obtain the real-time position and destination information of the vehicle from the on-board traffic control system, and send the vehicle operation path control information to the on-board traffic control system. The intelligent traffic control system is used to exchange data with the communication system. The intelligent traffic control system obtains the real-time position and destination information of the vehicle from the communication system, calculates the vehicle operation path through data processing, and generates vehicle operation path control information based on the vehicle operation path. Finally, the vehicle operation path control information is sent down through the communication system, and the on-board traffic control system uses the vehicle operation path calculated by the intelligent traffic control system to control the vehicle to perform automatic driving.

[0020] like Figure 3 As shown, the vehicle traffic control system includes a vehicle communication system, a vehicle positioning system, a vehicle navigation system and an unmanned driving system. Among them, the vehicle communication system is used to communicate data with the intelligent traffic control center, send the real-time location information and destination information of the vehicle, and obtain the vehicle operation path control information sent from the intelligent traffic control center. The vehicle positioning system is used to accurately locate the location of the vehicle, and the positioning accuracy can reach the centimeter level. The function of the vehicle navigation system is to realize the navigation function of the vehicle. When the vehicle sets off, the destination information is input. According to the vehicle positioning information obtained by the vehicle positioning system, it is determined whether the vehicle is located within the city or outside the city. When the vehicle is outside the city, the vehicle operation path is planned according to the destination information and the real-time location information of the vehicle, and the automatic driving information is sent to the unmanned driving system. When the vehicle is within the city, the vehicle navigation system does not send the automatic driving information to the unmanned driving system. At this time, the unmanned driving system controls the vehicle to perform automatic driving according to the vehicle operation path control information generated by the intelligent traffic control center and the vehicle operation path calculated by the intelligent traffic control center. When the vehicle is outside the city, the unmanned driving system receives the automatic driving information sent by the on-board navigation system, and uses the vehicle operation path planned by the on-board navigation system to control the vehicle to drive automatically. When the unmanned driving system controls the vehicle to drive automatically, it can realize the vehicle's autonomous obstacle avoidance, automatic start and stop, intelligent monitoring, and safe driving control. It realizes unmanned driving with high safety, high reliability and maintainability.

[0021] The communication network is used to realize communication between the intelligent traffic control center and the vehicle-mounted traffic control system. The communication network can adopt public communication system channels such as 4G communication system channels and 5G communication system channels, or traffic-specific communication channels.

[0022] In the above scheme, the vehicle positioning system can adopt satellite positioning systems such as GPS satellite positioning system and Beidou satellite positioning system. It can also adopt the base station positioning system of the mobile operator network, the traffic radio positioning system and the video positioning system.

[0023] The video positioning system includes a vehicle-mounted video acquisition system, a positioning mark and a positioning system. Among them, the positioning mark includes a roadside traffic positioning post, a traffic positioning mark above the road, and a traffic positioning mark sprayed on the road surface. The vehicle-mounted video acquisition system is a system for capturing images in front of the vehicle, images below the vehicle, or images on the roadside. The vehicle-mounted video acquisition system can capture images containing positioning marks while the vehicle is moving. The positioning system analyzes the images captured by the vehicle-mounted video acquisition system and obtains the current vehicle position information based on the positioning marks in the images.

[0024] In the above scheme, the spacing between positioning marks is generally several hundred meters, and using only positioning marks will result in large positioning errors. Therefore, in order to improve positioning accuracy, an inertial navigation system and wheel odometer functions are added on the basis of positioning marks to achieve centimeter-line positioning effect, which can effectively reduce the driving spacing of vehicles on the road network under safe conditions and improve the utilization rate of the urban road network.

[0025] In the above scheme, the hardware of the intelligent traffic control center is the computer room to ensure the computing power requirements. The software of the intelligent traffic control center adopts a multi-threaded mode, and each vehicle occupies a thread. When a vehicle enters the city, the thread of the vehicle starts. The thread first plans the initial operation path of the vehicle according to the destination information of the vehicle, and then adjusts the vehicle operation path according to the real-time location information of the vehicle and the traffic conditions of the urban road to ensure that the vehicle arrives at the destination quickly and safely. When the vehicle arrives at the destination and parks the vehicle in the parking space, the intelligent traffic control center exits the thread and releases the computing power.

[0026] In the above scheme, the real-time location information and destination information of the vehicle can be used to calculate the vehicle running path using the Dijkstra algorithm, the EBSP algorithm, the ant colony algorithm or the parallel shortest path search algorithm.

[0027] The operation process of the above embodiment of the intelligent traffic management system for autonomous driving is as follows: (1) If the vehicle is outside the city, after the occupants get on the vehicle, they set the destination on the vehicle navigation system, which then plans the vehicle's route. The unmanned driving system then controls the vehicle to reach the destination based on the route planned by the vehicle navigation system.

[0028] (2) If the vehicle is within the city, after the occupants get on the vehicle, they set the destination on the on-board navigation system. The intelligent traffic control center obtains the vehicle's destination information and real-time location through the communication system and plans the vehicle's route. The unmanned driving system controls the vehicle to reach the destination according to the vehicle's route planned by the intelligent traffic control center. (3) If the vehicle enters the city from outside the city, the vehicle control thread is started, and the intelligent traffic control center obtains the destination information from the vehicle navigation system and plans the vehicle's running path based on the vehicle's location information and destination information. If there is no destination information, the vehicle's unmanned driving system will control the vehicle to park in a parking space and wait for the occupants to enter the destination information into the vehicle navigation system. After that, the vehicle's unmanned driving system will control the vehicle to re-enter the city's traffic network and control the vehicle to reach the destination according to the vehicle running path planned by the intelligent traffic control center.

[0029] (4) On urban roads, when a vehicle is operating normally, the vehicle's unmanned driving system controls the vehicle to enter the correct lane according to the vehicle operation path planned by the intelligent traffic control center and provides real-time control of the vehicle.

[0030] (5) If the vehicle encounters an overpass, the vehicle's unmanned driving system will control the vehicle to enter the correct intersection according to the vehicle operation path planned by the intelligent traffic control center and provide real-time control of the vehicle.

[0031] (6) If there is an intersection without an overpass, the vehicle's unmanned driving system will control the order in which the vehicles pass through the intersection according to the vehicle operation path planned by the intelligent traffic control center to ensure efficient passage through the intersection.

[0032] (7) When the vehicle arrives near the destination, the vehicle's unmanned driving system controls the vehicle to the nearest entrance to the destination according to the vehicle's operating path planned by the intelligent traffic control center. After the occupants get off the vehicle, the vehicle's unmanned driving system controls the vehicle to enter the nearest parking space.

[0033] (8) If the passengers on board want to use the vehicle, they set the boarding location information and destination information through the mobile terminal (including mobile phone, computer). The on-board communication system receives the information from the mobile terminal (i.e., the boarding location information and destination information) and uploads it to the intelligent traffic control center. The intelligent traffic control center plans the vehicle's operation path based on the boarding location information and destination information. The vehicle's operation path is an operation path with the vehicle's current location as the starting point, the destination as the end point, and the boarding location as the waypoint. The vehicle's unmanned driving system starts the vehicle and controls the vehicle to arrive at the boarding location (i.e., the waypoint) to pick up passengers according to the vehicle's operation path planned by the intelligent traffic control center. After the passengers on board, the vehicle's unmanned driving system continues to control the vehicle to arrive at the destination according to the vehicle's operation path planned by the intelligent traffic control center.

[0034] In the above scheme of the present invention, the preset range is the city range. Of course, the preset range can be any area (such as a province, a country), as long as the preset range can be covered by the communication network lock, or any area within the area covered by the communication network, the present invention does not make specific limitations.

[0035] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A traffic intelligent management system for autonomous driving, characterized in that: include: Intelligent Traffic Control Center: used to receive the destination information and real-time location information of the vehicle, calculate the vehicle running path based on the destination information and real-time location information of the vehicle, generate and send the vehicle running path control information according to the vehicle running path; On-board traffic control system: used to locate the vehicle in real time and send the vehicle's real-time location information and destination information; determine whether the vehicle is within a preset range or outside a preset range based on the vehicle's real-time location information, and when the vehicle is within the preset range, use the vehicle's running path control information to control the vehicle to perform automatic driving; when the vehicle is outside the preset range, use the vehicle's real-time location information and destination information to calculate the vehicle's running path and control the vehicle to perform automatic driving; Communication network: used for real-time communication between the city intelligent traffic control center and the vehicle traffic control system. The preset range is the range covered by the communication network.

2. The intelligent traffic management system for autonomous driving according to claim 1, characterized in that: The intelligent traffic control center comprises: Intelligent traffic control system: used to calculate the vehicle running path based on the vehicle's destination information and real-time location information, and generate vehicle running path control information using the vehicle running path; Communication system: used to receive the destination information and real-time location information of the vehicle transmitted by the communication network and transmit it to the intelligent traffic control system; and used to send the vehicle operation path control information to the communication network.

3. The intelligent traffic management system for autonomous driving according to claim 1, characterized in that: The vehicle-mounted traffic control system comprises: Vehicle positioning system: used to locate the vehicle in real time and send the vehicle's real-time location information; In-vehicle communication system: used to receive the real-time location information and destination information of the vehicle from the in-vehicle positioning system, and send the real-time location information and destination information of the vehicle to the communication network; In-vehicle navigation system: used to obtain destination information and the real-time location information of the vehicle from the in-vehicle positioning system, and determine whether the vehicle is within or outside the preset range based on the real-time location information of the vehicle. When the vehicle is outside the preset range, the vehicle's running path is planned based on the destination information and the real-time location information of the vehicle, and automatic driving information is issued; Unmanned driving system: After receiving the vehicle operation path control information, the vehicle is controlled to perform automatic driving according to the vehicle operation path calculated by the intelligent traffic control center. After receiving the automatic driving information, the vehicle operation path planned by the on-board navigation system is used to control the vehicle to perform automatic driving.

4. The intelligent traffic management system for autonomous driving according to claim 3, characterized in that: The vehicle-mounted positioning system adopts one or more of the following: GPS, Beidou satellite positioning system, base station positioning system of mobile operator network, traffic radio positioning system and video positioning system.

5. The intelligent traffic management system for autonomous driving according to claim 4, characterized in that: The video positioning system includes a vehicle-mounted video acquisition system, positioning marks and a positioning system. The positioning marks are arranged at intervals along the road. The vehicle-mounted video acquisition system is used to capture images of the positioning marks while the vehicle is traveling. The positioning system is used to analyze the images of the positioning marks captured by the vehicle-mounted video acquisition system to obtain real-time position information of the vehicle.

6. The intelligent traffic management system for autonomous driving according to claim 5, characterized in that: The positioning signs include roadside traffic positioning posts, traffic positioning signs above the road and traffic positioning signs sprayed on the road surface. The vehicle-mounted video acquisition system adopts a system for shooting images in front of the vehicle, images below the vehicle or images on the roadside.

7. The intelligent traffic management system for autonomous driving according to claim 1, characterized in that: The software of the intelligent traffic control center adopts a multi-threading mode, and each vehicle occupies a thread exclusively.

8. The intelligent traffic management system for autonomous driving according to claim 1, characterized in that: Using the real-time location information and destination information of the vehicle, the vehicle operation path is calculated through the Dijkstra algorithm, EBSP algorithm, ant colony algorithm or parallel shortest path search algorithm.

9. The intelligent traffic management system for autonomous driving according to claim 1, characterized in that: The communication network adopts at least one of a 4G communication system channel, a 5G communication system channel and a traffic-specific communication channel.

10. A method for intelligent traffic management for autonomous driving, based on the intelligent traffic management system for autonomous driving according to any one of claims 1 to 9, characterized in that: The process includes the following: Receive the destination information and real-time location information of the vehicle, calculate the vehicle running path using the destination information and real-time location information of the vehicle, generate and send the vehicle running path control information according to the vehicle running path; The vehicle is positioned in real time and its real-time location information and destination information are sent; based on the vehicle's real-time location information, it is determined whether the vehicle is within a preset range or outside a preset range. When the vehicle is within the preset range, the vehicle is controlled to perform automatic driving based on the vehicle operation path control information; when the vehicle is outside the preset range, the vehicle operation path is calculated using the vehicle's real-time location information and destination information, and the vehicle is controlled to perform automatic driving.

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