Application method of intelligent traffic management and control system in vehicle-road cloud integrated environment

Abstract

The invention relates to an intelligent traffic management and control system which comprises a sensing device, a management and control type edge computing device, a traffic participant service APP, a vehicle-mounted communication device, a roadside machine communication device, a cloud platform and a roadside traffic control machine. The management and control type edge computing equipment generates a corresponding signal lamp instruction in combination with sensing data, network connection vehicle information uploaded through the vehicle-mounted communication equipment and the roadside communication equipment, and signal timing information generated by the roadside traffic control machine, and sends the signal lamp instruction to the signal control machine to adapt to a signal control scheme; driving management and control guide information and a track reference instruction are formulated, dangerous conflicts are identified through track prediction, and an early warning instruction is generated; and the cloud platform carries out dynamic trajectory planning, and the dynamic trajectory planning is directly issued to the traffic participant service APP from the cloud platform. According to the invention, the sensing device, the communication device and the traditional management and control device are connected in series by using the cloud side-end architecture, and meanwhile, the system serves a networked autonomous vehicle, a networked vehicle, a common vehicle and other traffic participants.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of signal control intersection control in the Internet of Vehicles environment, and particularly relates to a distributed traffic control system based on a roadside device. BACKGROUND

[0002] At the World Intelligent Transportation Conference held in Bordeaux, France in 2015, participants can take a fully automatic driving vehicle without a steering wheel to freely visit the exhibition hall. With the maturity and perfection of the fully automatic driving technology, the fully automatic driving vehicle is getting closer to us. It can be predicted that, with the gradual use of automatic driving vehicles at different stages, the traditional mixed traffic flow composed of vehicles, pedestrians and bicycles will become a new type of mixed traffic flow composed of automatic driving vehicles at different levels, pedestrians wearing / internet equipment and bicycles. How to effectively control the new mixed traffic flow and realize the multi-objective optimization of traffic operation efficiency, safety, energy consumption, emission, fairness and comfort is a new problem faced by the field of traffic control. Intelligent networked vehicles realize wireless communication and information exchange between people, vehicles, roads and the Internet through vehicle information terminals. From this point of view, intelligent networked vehicles are closely related to the Internet of Vehicles and support each other. Both should be promoted and developed together. Automatic driving and intelligent vehicles rely on and drive the development of Internet of Vehicles technology. Future traffic control will be traffic control in the Internet of Vehicles environment.

[0003] Under this background, how to combine and structurally design the Internet of Vehicles device, the control machine and the traffic facility has become a major problem whether the control algorithm can effectively and efficiently play its own function. SUMMARY

[0004] The purpose of the present application is to overcome the defects of the prior art and provide a distributed traffic control system based on a roadside device.

[0005] The purpose of the present application can be achieved by the following technical solutions:

[0006] A distributed traffic control system based on a roadside device, comprising a signal control module, a vehicle-mounted control module, a vehicle-mounted communication device, a roadside machine communication device and a roadside traffic control machine, wherein,

[0007] The signal control module receives signal timing information generated by the roadside traffic control machine and generates corresponding signal light instructions;

[0008] The vehicle-mounted control module receives the signal light instructions, combines traffic environment data and vehicle state data to generate a communication message;

[0009] The vehicle-mounted communication device broadcasts the communication message;

[0010] The roadside machine communication device receives the communication message and forwards the communication message to the roadside traffic control machine.

[0011] The roadside traffic control machine calculates a corresponding timing scheme according to the communication message and map information, and sends signal timing information to the signal control module.

[0012] Further, the signal control module comprises a signal machine and a signal lamp connected thereto, and the signal machine is connected to the roadside traffic control machine.

[0013] Further, the roadside traffic control machine is connected to the signal machine through the NTCIP protocol.

[0014] Further, the roadside traffic control machine comprises:

[0015] A parameter extraction unit is configured to extract traffic state parameters according to the communication message.

[0016] A signal timing optimization unit is configured to perform vehicle state prediction according to the traffic state parameters and map information, obtain an optimal timing scheme, and generate corresponding signal timing information.

[0017] Further, the communication message comprises basic safety information, and the basic safety information comprises vehicle ID, position information, movement state, control state and vehicle basic information.

[0018] Further, the map information comprises intersection ID, GPS reference point, related entrance and exit information and lane data.

[0019] Further, the vehicle-mounted control module receives the signal lamp instruction through a visual sensor.

[0020] Further, the roadside traffic control machine further comprises a priority control unit configured to generate priority state information broadcast by the roadside machine communication device in response to signal request information broadcast by the vehicle-mounted communication device.

[0021] Further, the vehicle-mounted communication device is a vehicle-mounted DSRC communication device, and the roadside machine communication device is a roadside machine DSRC communication device, or

[0022] The vehicle-mounted communication device is a vehicle-mounted LTE-V communication device, and the roadside machine communication device is a roadside machine LTE-V communication device.

[0023] Compared with the prior art, the present application has the following beneficial effects:

[0024] (1) simple structure, high reliability: the vehicle, communication facilities, traffic control signal, control center and other organic combination of the system, can reliably for intersection traffic control;

[0025] (2) clear structure, wide application range: the present application has two control centers, respectively located in the vehicle and the roadside, can realize the control of signal machine and man-machine interaction, in the case of unchanged structure can compatible including vehicle intersection auxiliary driving, intersection control optimization, bus priority and even based on vehicle intersection control, ramp control and other distributed traffic control algorithm;

[0026] (3) two-way control: the roadside traffic control machine of the present application can realize two-way control of traffic control machine and vehicle, which can improve the efficiency of intersection. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a structural schematic diagram of the present application;

[0028] Figure 2 is a specific embodiment schematic diagram of the present application. DETAILED DESCRIPTION

[0029] The present application will be described in detail below in conjunction with the drawings and specific embodiments. The present application is based on the technical scheme of the present application, which gives a detailed implementation and specific operation process, but the protection scope of the present application is not limited to the following examples.

[0030] The present application provides a kind of distributed traffic control system based on roadside equipment, including signal control module 1, vehicle-mounted control module 2, vehicle-mounted communication equipment 3, roadside machine communication equipment 4 and roadside traffic control machine 5, wherein, signal control module 1 receives the signal timing information generated by roadside traffic control machine 5, and generates corresponding signal light instruction;Vehicle-mounted control module 2 receives the signal light instruction, combines traffic environment data and vehicle state data to generate communication message;Vehicle-mounted communication equipment 3 broadcasts the communication message;Roadside machine communication equipment 4 receives the communication message and forwards to the roadside traffic control machine 5;Roadside traffic control machine 5 obtains corresponding timing scheme according to the communication message and map information, and sends signal timing information to the signal control module 1.

[0031] In some embodiments, signal control module 1 includes signal machine and signal light connected, and the signal machine is connected with roadside traffic control machine.

[0032] In some embodiments, roadside traffic control machine 5 is connected with the signal machine through NTCIP protocol.

[0033] In some embodiments, the communication between the vehicle-mounted communication device 3 and the roadside communication device 4 of the control system can adopt the DSRC (Dedicated Short Range Communications) solution or the LTE-V solution, that is, the vehicle-mounted communication device 3 can be a vehicle-mounted DSRC communication device or a vehicle-mounted LTE-V communication device, and the roadside communication device 4 can be a roadside DSRC communication device or a roadside LTE-V communication device.

[0034] In this embodiment, the roadside traffic controller 5 includes a parameter extraction unit and a signal timing optimization unit. The parameter extraction unit is used to extract traffic status parameters based on the communication messages, and the signal timing optimization unit is used to predict vehicle status based on the traffic status parameters and map information, obtain the optimal timing plan, and generate corresponding signal timing information. The communication messages include basic safety information, including vehicle ID, location information, movement status, control status, and basic vehicle information. The map information includes intersection ID, GPS reference points, relevant entrance and exit information, and lane data.

[0035] In some embodiments, the roadside traffic controller 5 also includes a priority control unit to implement a priority function. This priority control unit is configured to respond to signal request information broadcast by the vehicle-mounted communication device and simultaneously generate priority status information broadcast by the roadside communication device, enabling two-way communication with vehicles and improving traffic efficiency at the intersection. The roadside traffic controller can use two-way communication to organize vehicles into platoons or assign a time point at which vehicles are allowed to pass, at which point they reach a conflict point.

[0036] In certain embodiments, as Figure 2 As shown, the vehicle control module can be located in a tablet computer. The vehicle is equipped with both a tablet computer and an onboard communication device. The tablet computer is connected to the onboard communication device's built-in wireless LAN and is responsible for information exchange with the driver. The onboard communication device automatically broadcasts its status information. The roadside communication device monitors this information and transmits it via its own wireless LAN to a designated port on the roadside traffic control unit (mini host). The roadside traffic control unit runs software and transmits the signal control plan via a network cable to the signal machine, which then transmits it to the vehicle. The signal machine then issues commands to the traffic lights via its own built-in wiring.

[0037] The above describes in detail the preferred embodiments of the present invention. It should be understood that those skilled in the art can make numerous modifications and variations based on the concepts of the present invention without inventive effort. Therefore, any technical solutions that can be derived by those skilled in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. A distributed traffic control system based on roadside equipment, characterized in that: It includes signal control module, vehicle control module, vehicle communication equipment, roadside communication equipment and roadside traffic control machine, among which, The signal control module receives the signal timing information generated by the roadside traffic control machine and generates corresponding signal light instructions; The on-board control module receives the signal light command and generates a communication message based on traffic environment data and vehicle status data. The on-board control module is located in a tablet computer and can interact with the driver. On the one hand, the on-board module can provide a driving guidance plan based on the vehicle's driving status and signal timing information. On the other hand, the driver can apply for priority through the on-board module, thereby effectively incorporating the driver into the proposed structure. The vehicle-mounted communication device broadcasts the communication message; The roadside machine communication device receives the communication message and forwards it to the roadside traffic control machine; The roadside traffic controller calculates a corresponding timing plan based on the communication message and map information, and sends signal timing information to the signal control module.

2. The distributed traffic control system based on roadside equipment according to claim 1, characterized in that: The signal control module includes a signal machine and a signal light connected to each other, and the signal machine is connected to a roadside traffic control machine.

3. The distributed traffic control system based on roadside equipment according to claim 2, characterized in that: The roadside traffic control machine is connected to the signal machine through the NTCIP protocol.

4. The distributed traffic control system based on roadside equipment according to claim 1, characterized in that: The managed edge computing device includes: Traffic status perception unit, which perceives traffic status based on information provided by sensing devices and communication devices and extracts traffic status parameters; A signal timing optimization unit, configured to predict vehicle status based on the traffic status parameters and map information, obtain an optimal timing solution, and generate corresponding signal timing information; Driving guidance control instruction formulation unit, which formulates vehicle driving guidance control instructions based on traffic status perception results and signal control results A reference trajectory instruction formulation unit, which formulates reference trajectory instructions for the autonomous driving vehicle based on traffic state perception results and signal control results; The conflict warning unit predicts trajectories based on traffic status perception results and identifies potential conflicts.

5. The distributed traffic control system based on roadside equipment according to claim 1, characterized in that: It also includes a cloud platform, which includes an APP background management module, a message forwarding dynamic path planning module, and performs dynamic path planning based on the traffic status reported by the managed edge computing device.

6. The distributed traffic control system based on roadside equipment according to claim 1, characterized in that: It also includes a traffic participation guidance APP, which includes an early warning information display module, a driving guidance and control information display module, a path planning request and information display module, and a basic management module.

7. The distributed traffic control system based on roadside equipment according to claim 1, characterized in that: The communication message includes basic safety information, which includes vehicle ID, location information, movement status, control status and basic vehicle information.

8. The distributed traffic control system based on roadside equipment according to claim 1, characterized in that: The map information includes intersection ID, GPS reference points, relevant entrance and exit information and lane data.

9. The distributed traffic control system based on roadside equipment according to claim 1, characterized in that: The vehicle-mounted control module receives the signal light instruction through a visual sensor.

10. The distributed traffic control system based on roadside equipment according to claim 4, characterized in that: The roadside traffic controller further comprises a priority control unit, which is used to respond to the signal request information broadcast by the vehicle-mounted communication device and generate priority status information broadcast by the roadside communication device.

11. The distributed traffic control system based on roadside equipment according to claim 1, characterized in that: The vehicle-mounted communication device is a vehicle-mounted DSRC communication device, the roadside communication device is a roadside DSRC communication device, or, The vehicle-mounted communication device is a vehicle-mounted LTE-V communication device, and the roadside machine communication device is a roadside machine LTE-V communication device.

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