Traffic intersection vehicle starting cooperative control system and method

Abstract

The invention relates to the technical field of traffic control methods, in particular to a traffic intersection vehicle starting cooperative control system and method. The traffic intersection vehicle starting cooperative control system comprises a ground end information system, a vehicle end information system and a vehicle end control system, and the vehicle end information system comprises a vehicle identification module, a vehicle end cooperative control plug-in module and a first wireless signal receiving and transmitting module; the ground end information system comprises a camera module, a second wireless signal transceiving module and a cooperative control management module; and the vehicle end control system is used for feeding back the vehicle running state information, receiving the vehicle running instruction issued by the vehicle end information system, and realizing automatic running of the vehicle according to the final position information so as to realize automatic starting, braking, acceleration, deceleration and steering of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of traffic control method, and particularly relates to a traffic intersection vehicle starting cooperative control system and method. BACKGROUND

[0002] At present, people's life and development cannot be separated from the use of cars, and the more cars, the more crowded the roads become and cause traffic jams. The cause of traffic congestion is the unreasonable layout of urban traffic, and the current expansion of lanes, number limit traffic cannot long-term alleviate road congestion. Specifically, taking the straight line of the cross intersection as an example, when the red light changes to green light, the first vehicle starts, and the rear vehicle will start after driving a certain distance, the later the vehicle starts, the lower the intersection passing efficiency, and in the city with more vehicles, the intersection often appears congestion during the traffic peak period, and sometimes needs to wait for several red lights to pass. SUMMARY

[0003] The purpose of the present application is to provide a traffic intersection vehicle starting cooperative control system to solve the problem of low traffic intersection vehicle passing rate and intersection congestion in the prior art.

[0004] In order to solve the above problems, the present application provides a traffic intersection vehicle starting cooperative control system, which adopts the technical scheme of: A traffic intersection vehicle starting cooperative control system, comprising: a ground end information system, a vehicle end information system and a vehicle end control system, The vehicle end information system comprises a vehicle identification module, a vehicle end cooperative control external module and a first wireless signal transceiver module, the vehicle identification module is used for acquiring vehicle front and rear images and preliminary position information; the vehicle end cooperative control external module is used for receiving vehicle front and rear images, preliminary position information, vehicle final position information fed back by the first wireless signal transceiver module and vehicle running state information fed back by the vehicle end control system, and issuing vehicle running instructions; the first wireless signal transceiver module is used for transmitting vehicle front and rear images and preliminary position information, vehicle running state information to the ground end information system, and receiving and feeding back vehicle final position information transmitted by the ground end information system to the vehicle end cooperative control external module; The ground-based information system includes a camera module, a second wireless signal transceiver module, and a collaborative control and management module. The camera module is used to capture panoramic images of the traffic intersection and obtain camera information. The second wireless signal transceiver module is used to receive images of the vehicle's front and rear, preliminary position information, and vehicle operating status information, and transmit them to the collaborative control and management module. The collaborative control and management module is used to draw a traffic intersection map and a traffic intersection vehicle position map, and to verify the vehicle position based on the vehicle's front and rear images, preliminary position information, and camera information to obtain the vehicle's final position information, which is then transmitted to the first wireless signal transceiver module via the second wireless signal transceiver module. The vehicle-side control system is used to provide feedback on vehicle operating status information, receive vehicle operating instructions issued by the vehicle-side information system, and realize automatic vehicle operation based on the vehicle's final location information, thereby enabling automatic vehicle start-up, braking, acceleration, deceleration, and steering.

[0005] Furthermore, the vehicle recognition module includes an image recognition module, a ranging module, and a positioning module. The image recognition module is used to determine the front and rear images of the vehicle; The ranging module is used to determine the distance information between the front and rear of the vehicle; The positioning module is used to obtain preliminary location information of the vehicle.

[0006] Furthermore, the vehicle-side collaborative control add-on module includes a vehicle deviation verification module. The vehicle deviation verification module is set with vehicle deviation standard parameters, which is used to monitor and verify the vehicle deviation parameters at all times, and issue vehicle angle adjustment commands to the vehicle-side control system. The vehicle-side control system receives and executes the vehicle angle adjustment commands to ensure that the vehicle travels within the vehicle deviation standard parameters. Furthermore, the vehicle-side control system includes a vehicle steering module, which is set with a vehicle steering direction and a vehicle steering angle. The vehicle-side control system realizes left turns, right turns, and U-turns based on the vehicle steering commands issued by the vehicle-side information system.

[0007] Furthermore, the ground-based information system also includes a first-direction vehicle density calculation module, a second-direction vehicle density calculation module, and a comparison module. The first-direction vehicle density calculation module and the second-direction vehicle density calculation module are used to calculate the traffic density in two opposite directions in real time. After each cycle from a green light to a red light is completed, the comparison module is used to alternately compare the traffic density in two adjacent green light conditions in the two directions. The comparison module sets the ratio to 1.2~0.8. When the ratio exceeds 1.2, reduce the duration of the next red light in the multi-vehicle direction by 20%. When the ratio is between 1.2 and 0.8, the last red light condition is maintained for a certain time; When the ratio is below 0.8, the next red light condition of the less-vehicle passing direction is increased by 20%.

[0008] Further, the traffic intersection vehicle starting coordination control system further comprises a signal tower arranged at the traffic intersection, the camera module is arranged on the signal tower, the camera module comprises a high-definition panoramic camera, and the coverage radius of the high-definition panoramic camera is 50-60 meters; the second wireless signal transceiver module comprises a wireless signal transceiver base station, the wireless signal transceiver base station is arranged on the signal tower, and the coverage radius thereof is 50-60 meters.

[0009] The application further provides a traffic intersection vehicle starting coordination control method based on the above traffic intersection vehicle starting coordination control system, and the method comprises the following steps: Step S1: the vehicle recognition module acquires vehicle front and rear images and preliminary position information, the vehicle-end coordination control external module receives the vehicle front and rear images and preliminary position information and vehicle running state information fed back by the vehicle-end control system, and transmits the vehicle front and rear images and preliminary position information and the vehicle running state information to the second wireless signal transceiver module through the first wireless signal transceiver module; at the same time, the vehicle-end coordination control external module issues a vehicle running instruction; Step S2: the camera module obtains camera information through panoramic camera shooting of the traffic intersection, the second wireless signal transceiver module receives the vehicle front and rear images and preliminary position information and vehicle running information, the coordination control management module draws a traffic intersection map and a traffic intersection vehicle position map, and checks vehicle positions according to the vehicle front and rear images and preliminary position information and the camera information to obtain final vehicle position information, which is transmitted to the first wireless signal transceiver module through the second wireless signal transceiver module and fed back to the vehicle-end coordination control external module; Step S3: after receiving the vehicle running instruction issued by the vehicle-end information system, the vehicle-end control system realizes automatic running of the vehicle according to the final vehicle position information, and further realizes automatic starting, braking, accelerating, decelerating and steering of the vehicle.

[0010] Further, in step S3, in a red light condition, after receiving the decelerating and braking instructions issued by the vehicle-end information system, the vehicle-end control system realizes automatic deceleration and braking of the vehicle according to the final vehicle position information, so that the first vehicle stops right behind the traffic intersection stop line, and the second vehicle keeps a safe starting distance L0, wherein the minimum value of the safe starting distance L0 is L 01 , and the maximum value is L 02 . In the green light condition, the vehicle end control system receives the automatic starting and accelerating instruction issued by the vehicle end information system, and realizes the automatic simultaneous starting of all vehicles according to the final position information of the vehicle, and adjusts the acceleration of the rear vehicle according to the safe driving distance L1 between the front and rear vehicles, so that all vehicles finally reach the same driving speed V1, wherein the minimum value of the safe driving distance L1 is L 11 , the maximum value is L 12 , and L 11 is greater than L 01 , L 12 is greater than L 02 .

[0011] Further, in the green light condition, the traffic intersection vehicle starting coordination control method further comprises: The ground end information system calculates the driving distance L s of the current vehicle in real time according to the current driving speed V s of the current vehicle after leaving a safety margin according to the remaining time of the green light condition. When the distance L n of the current vehicle from the stop line is less than L s , the current vehicle continues to drive at the current driving speed V s . When the distance L n of the current vehicle from the stop line is greater than or equal to L s , the current vehicle and the rear vehicle within the range covered by the camera module of the traffic intersection all adopt a safety brake to slow down and stop, and the vehicle within the range covered by the camera module of the traffic intersection enters the red light condition; at the same time, the brake acceleration of the front vehicle is fixed during braking, and the acceleration of the rear vehicle is adjusted according to the safe starting distance L0 between the front and rear vehicles.

[0012] Further, the green light condition includes left turn and U-turn condition, straight driving condition and right turn condition, and the traffic intersection vehicle starting coordination control method in the green light condition further comprises: First, in the left turn and U-turn condition, the vehicle end control system receives the automatic turning instruction issued by the vehicle end information system, and realizes the automatic left turn and U-turn of the vehicle according to the final position information of the vehicle. Then, after the left turn and U-turn condition ends, the straight driving lane and the parallel sidewalk enter the straight driving condition synchronously. Next, after the straight driving condition ends, the right turn condition is entered, and the vehicle end control system receives the automatic turning instruction issued by the vehicle end information system, and realizes the automatic right turn of the vehicle according to the final position information of the vehicle. Finally, after the right turn condition ends, all lanes in the current direction are in the red light condition.

[0013] Compared with the prior art, the application has the following beneficial effects: The application is an improved application, and the application realizes the cooperative control of the vehicle starting at the traffic intersection through the cooperative control of the ground terminal information system, the vehicle terminal information system and the vehicle terminal control system by the method. First, the accurate position relationship between the vehicles and between the vehicles and the lanes is obtained through positioning, image recognition, panoramic image and the like, as the basic data, to ensure the position safety and controllability of all vehicles in the cooperative control process of starting; then, the travel scheme (including automatic starting, braking, accelerating, decelerating, turning and the like) of all vehicles in the control range is globally determined according to the accurate position relationship and the traffic condition; at the same time, the automatic execution and real-time adjustment of the vehicle travel scheme are realized through the automatic control of all vehicles in the control range; finally, the red and green light time is optimized in real time through the calculation and comparison of the vehicle density in different directions. While ensuring the synchronization and safe distance of all vehicles in the control range, the application increases the vehicle passing rate at the traffic intersection and reduces the congestion at the intersection.

[0014] The vehicle recognition module comprises an image recognition module, a distance measurement module and a positioning module, The image recognition module is used to determine the images in front of and behind the vehicle, so as to determine the position relationship between the front and rear vehicles. The distance measurement module is used to determine the distance information in front of and behind the vehicle, so as to determine the distance relationship between the front and rear vehicles. The positioning module is used to obtain the preliminary position information of the vehicle, so as to obtain the relative position relationship between the vehicle and the road.

[0015] The vehicle terminal cooperative control external module comprises a vehicle deviation checking module, the vehicle deviation checking module is provided with vehicle deviation standard parameters, which is used to monitor and check the vehicle deviation parameters at all times, and issue vehicle angle adjustment instructions to the vehicle terminal control system; the vehicle terminal control system receives the vehicle angle adjustment instructions and executes them, so as to ensure that the vehicle travels within the vehicle deviation standard parameters and ensures the safe driving of the vehicle.

[0016] The vehicle terminal control system comprises a vehicle steering module, the vehicle steering module is provided with a vehicle steering direction and a vehicle steering angle, and the vehicle terminal control system executes the vehicle left turn, vehicle right turn and vehicle U-turn according to the vehicle steering instructions issued by the vehicle terminal information system, so as to realize the automatic left turn, right turn and U-turn of the vehicle and improve the operation accuracy.

[0017] The ground end information system further comprises a first direction vehicle density calculation module, a second direction vehicle density calculation module and a comparison module, the first direction vehicle density calculation module and the second direction vehicle density calculation module are used to calculate the passing vehicle density of two directions in real time; after each cycle of green light working condition to red light working condition is completed, the comparison module is used to alternately compare the passing vehicle density of two adjacent green light working conditions of two directions; wherein the comparison module sets the ratio to 1.2-0.8; When the ratio exceeds 1.2, the next red light working condition time of the more vehicle passing direction is reduced by 20%; When the ratio is between 1.2-0.8, the last red light working condition time is maintained; When the ratio is less than 0.8, the next red light working condition time of the less vehicle passing direction is increased by 20%. According to the vehicle passing density, the duration of red and green light is adjusted, and the road congestion problem is further relieved.

[0018] The traffic intersection vehicle starting coordination control system further comprises a signal tower arranged at the traffic intersection, the camera module is arranged on the signal tower, the camera module comprises a high-definition panoramic camera, and the coverage radius of the high-definition panoramic camera is 50-60 meters; the second wireless signal transceiver module comprises a wireless signal transceiver base station, the wireless signal transceiver base station is arranged on the signal tower, and the coverage radius thereof is 50-60 meters; the global influence obtained by the high-definition panoramic camera can assist in checking the relative position relationship between vehicles and between a vehicle and a lane, and ensure that the positions of all vehicles are controllable in the starting coordination control process.

[0019] In step S3, in the red light working condition, after the vehicle end control system receives the deceleration and brake instructions issued by the vehicle end information system, the automatic deceleration and brake of the vehicle are realized according to the final position information of the vehicle, so that the first vehicle stops just behind the stop line of the traffic intersection, and the rear vehicles reserve a safe starting distance L0 in turn, wherein the minimum value of the safe starting distance L0 is L 01 , and the maximum value is L 02 ; In the green light working condition, after the vehicle end control system receives the automatic starting and acceleration instructions issued by the vehicle end information system, the automatic simultaneous starting of all vehicles is realized according to the final position information of the vehicle, and the acceleration of the rear vehicle is adjusted according to the safe driving distance L1 between the front and rear vehicles, so that all vehicles finally reach the same driving speed V1, wherein the minimum value of the safe driving distance L1 is L 11 , the maximum value is L 12 , L 11 is greater than L 01 , and L 12 is greater than L 02The method aims to achieve synchronous adjustment, improves the overall response speed of the vehicle group and improves the intersection passing efficiency under the condition of ensuring the safety distance of the vehicle.

[0020] In the green light working condition, the vehicle starting coordination control method further comprises: The ground terminal information system calculates the driving distance L s of the current vehicle in real time according to the current driving speed V s of the current vehicle according to the remaining time of the green light working condition after leaving a safety margin. When the distance L n of the current vehicle from the stop line is less than L s , the current vehicle continues to drive at the current driving speed V s , thereby ensuring high passing rate of the vehicles at the intersection. When the distance L n of the current vehicle from the stop line is greater than or equal to L s , the current vehicle and the rear vehicle within the range covered by the camera module of the intersection adopt safety braking to stop slowly, and the vehicle within the range covered by the camera module of the intersection enters the red light working condition; at the same time, the braking acceleration of the front vehicle is fixed during braking, and the rear vehicle adjusts the acceleration according to the safety starting distance L0 between the front and rear vehicles, so as to ensure that there is no problem of red light running at the intersection, and the distance between the front and rear vehicles is controllable during braking.

[0021] The green light working condition includes left turn and U-turn working condition, straight working condition and right turn working condition, and the vehicle starting coordination control method of the intersection in the green light working condition further comprises: Firstly, in the left turn and U-turn working condition, the vehicle end control system receives the automatic steering instruction issued by the vehicle end information system, and realizes automatic left turn and U-turn of the vehicle according to the final position information of the vehicle. Then, after the left turn and U-turn working condition ends, the straight lane and the parallel sidewalk enter the straight working condition synchronously. Then, after the straight working condition ends, the right turn working condition is entered, and the vehicle end control system receives the automatic steering instruction issued by the vehicle end information system, and realizes automatic right turn of the vehicle according to the final position information of the vehicle. Finally, after the right turn working condition ends, all lanes in the current direction are in the red light working condition, which simply and effectively realizes traffic control and prevents congestion caused by vehicles meeting in the intersection range. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a structural schematic view of the intersection vehicle starting coordination control system of the application. Figure 2This is a schematic diagram of the vehicle position adjustment in the lane in the traffic intersection vehicle start-up cooperative control system of the present invention, wherein (a) is the vehicle position deviation exceeding the limit, (b) is the vehicle steering adjustment, and (c) is the vehicle head returning to center and the deviation being reasonable; Figure 3 This is a schematic diagram of the distance adjustment between vehicles in the traffic intersection vehicle starting cooperative control system of the present invention, wherein (a) the distance between the front and middle vehicles is too large, (b) acceleration adjustment, (c) the distance between the front and middle vehicles is normal, and (d) acceleration recovery. Detailed Implementation The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] The following is combined Figure 1 This application provides a detailed description of a traffic intersection vehicle start-up cooperative control system.

[0025] In this embodiment, as Figure 1 As shown, the present invention provides a vehicle start-up cooperative control system at a traffic intersection, comprising: a ground-side information system, a vehicle-side information system, and a vehicle-side control system.

[0026] The vehicle end information system comprises a vehicle identification module, a vehicle end cooperative control external module and a first wireless signal transceiver module. The vehicle identification module is used to obtain vehicle front and rear images and preliminary position information. Specifically, the vehicle identification module comprises an image recognition module, a distance measurement module and a positioning module. The image recognition module is used to determine vehicle front and rear images. The distance measurement module is used to determine vehicle front and rear distance information. The positioning module is used to obtain preliminary position information of the vehicle. Here, the distance measurement module is a radar distance measurement module. The vehicle end cooperative control external module is used to receive vehicle front and rear images, preliminary position information, vehicle final position information fed back by the first wireless signal transceiver module and vehicle running state information fed back by the vehicle end control system, and to issue vehicle running instructions. Here, the vehicle running state information comprises vehicle throttle, brake, gear, steering, vehicle speed and acceleration fed back by the vehicle ECU. The vehicle running instructions comprise throttle, brake, gear, steering and U-turn instruction information, to ensure that the vehicle is automatically taken over within the coverage range. The first wireless signal transceiver module is used to transmit vehicle front and rear images and preliminary position information, vehicle running state information to the ground end information system, and to receive and feed back vehicle final position information transmitted by the ground end information system to the vehicle end cooperative control external module.

[0027] Here, the vehicle end information system described above is specifically related to the modification of the vehicle, which comprises vehicle throttle, brake, gear, steering-by-wire modification; image recognition and distance measurement modules added to the front and rear of the vehicle; a positioning module added to the vehicle body; a first wireless signal transceiver module added to the vehicle; and a vehicle end cooperative control external module added to the vehicle. The vehicle end cooperative control external module can receive state information feedback such as vehicle throttle, brake, gear, steering, vehicle speed, acceleration, vehicle front and rear image and distance information, and vehicle position, and issue instruction information such as throttle, brake, gear, steering and U-turn.

[0028] The ground end information system comprises a camera module, a second wireless signal transceiver module and a cooperative control management module. The camera module is used to take panoramic pictures of the traffic intersection to obtain camera information. The traffic intersection vehicle start cooperative control system further comprises a signal tower arranged at the traffic intersection. The camera module is arranged on the signal tower and comprises a high-definition panoramic camera. The coverage radius of the high-definition panoramic camera is 50-60 meters. The second wireless signal transceiver module is used to cover vehicles at the traffic intersection and receive vehicle front and rear images and preliminary position information, and vehicle running information. The second wireless signal transceiver module comprises a wireless signal transceiver base station arranged on the signal tower, and the coverage radius thereof is 50-60 meters.

[0029] The cooperative control management module is used for drawing a traffic intersection map and a traffic intersection vehicle position map, checking vehicle position according to vehicle front and rear images and preliminary position information and camera information, obtaining final vehicle position information, and transmitting the final vehicle position information to the first wireless signal transceiver module via the second wireless signal transceiver module. Specifically, the cooperative control management module background draws a simulated traffic intersection map according to a traffic intersection form, draws a simulated intersection vehicle position map according to vehicle position positioning information in a base station coverage range, checks vehicle position according to vehicle front and rear images and distance information, checks vehicle position again according to intersection panoramic image information, finally confirms vehicle relative position and front and rear vehicle distance, obtains final vehicle position information, and transmits the final vehicle position information to the first wireless signal transceiver module via the second wireless signal transceiver module. Wherein, the cooperative control management module and the vehicle-end cooperative control external module take over control after the vehicle enters the base station coverage range.

[0030] Here, for the above ground-end information system, the transformation of traffic signals is specifically involved, including: installing a signal tower in the central area of the traffic intersection, adding a wireless signal transceiver base station at the top of the signal tower, with a coverage radius of 50-60 meters; adding a high-definition panoramic camera at the top of the signal tower, with a coverage radius of 50-60 meters; installing a cooperative control management module on the signal tower, receiving red and green light signal state information and intersection panoramic image information, and receiving intersection vehicle position and other state information through the second wireless signal transceiver module.

[0031] The vehicle-end control system is used for feeding back vehicle running state information, receiving vehicle running instructions issued by the vehicle-end information system, and realizing automatic running of the vehicle according to the final vehicle position information, thereby realizing automatic starting, braking, accelerating, decelerating, and steering of the vehicle.

[0032] In another embodiment, the vehicle-end cooperative control external module includes a vehicle deviation checking module, which is provided with a vehicle deviation standard parameter, and is used for monitoring and checking vehicle deviation parameters at all times, and issuing vehicle angle adjustment instructions to the vehicle-end control system; the vehicle-end control system receives the vehicle angle adjustment instructions and executes them to ensure that the vehicle travels within the vehicle deviation standard parameter. Specifically, as shown in Figure 2 Fig. (a), the vehicle position deviates beyond the limit, the vehicle adjusts the steering, as shown in Fig. (b), and finally the vehicle head is straightened, and the deviation is reasonable, as shown in Fig. (c). For example, when the leading vehicle enters the intersection, the direction is adjusted based on the center line of the dividing line between the two sides of the lane in front of the intersection; the following vehicle adjusts the direction based on the center line of the leading vehicle; the panoramic image is used as a real-time auxiliary verification basis during the direction adjustment process.

[0033] The vehicle end control system comprises a vehicle steering module, which is provided with a vehicle steering direction and a vehicle steering angle, and the vehicle end control system implements vehicle left turn, vehicle right turn and vehicle U-turn according to the vehicle steering instruction issued by the vehicle end information system. Specifically, for the left turn lane, the vehicle steering angle is set according to the turning radius, and the actual path deviation displayed in the panoramic image is used as the checking basis to adjust the steering angle in real time. For the U-turn lane and the right turn lane, the control mode refers to the left turn lane. In the implementation of the vehicle steering module, all lanes are separately set, and no mixed lane is set. The U-turn lane and the left turn lane are synchronously in and out of the green light working condition, the straight lane and the parallel sidewalk are synchronously in and out of the green light working condition after the green light working condition of the U-turn lane and the left turn lane ends, the right turn lane is separately in and out of the green light working condition after the green light working condition of the straight lane and the parallel sidewalk ends, and all lanes in the current direction are red light working conditions after the green light working condition of the right turn lane ends, and the cross-direction road lanes are gradually in and out of the green light working condition in the above order, and the above process is repeated.

[0034] In another embodiment, the ground end information system further comprises a first direction vehicle density calculation module, a second direction vehicle density calculation module and a comparison module, the first direction vehicle density calculation module and the second direction vehicle density calculation module are used to calculate the passing vehicle density of two directions in real time; after each cycle of green light working condition to red light working condition is completed, the comparison module is used to alternately compare the passing vehicle density in the adjacent two green light working conditions of two directions; wherein the comparison module sets the ratio to 1.2-0.8; When the ratio exceeds 1.2, the next red light working condition time of the more-vehicle passing direction is reduced by 20%; When the ratio is between 1.2-0.8, the last red light working condition time is maintained; When the ratio is less than 0.8, the next red light working condition time of the less-vehicle passing direction is increased by 20%.

[0035] The application also provides a traffic intersection vehicle starting coordination control method based on the above traffic intersection vehicle starting coordination control system, which comprises the following steps: Step S1, the vehicle recognition module obtains vehicle front and rear images and preliminary position information, the vehicle end coordination control external module receives the vehicle front and rear images and preliminary position information and the vehicle running state information fed back by the vehicle end control system, and transmits the vehicle front and rear images and preliminary position information and the vehicle running state information to the second wireless signal transceiver through the first wireless signal transceiver; at the same time, the vehicle end coordination control external module issues a vehicle running instruction; In step S2, the camera module obtains camera information by taking a panoramic picture of the traffic intersection, the second wireless signal transceiver module receives the front and rear images of the vehicle and the preliminary position information and the vehicle operation information, the cooperative control management module draws a traffic intersection map and a traffic intersection vehicle position map, and according to the front and rear images of the vehicle, the preliminary position information and the camera information, the vehicle final position information is obtained, and is transmitted to the first wireless signal transceiver module and fed back to the vehicle-end cooperative control external module through the second wireless signal transceiver module. In step S3, after the vehicle-end control system receives the vehicle operation instruction issued by the vehicle-end information system, the automatic operation of the vehicle is realized according to the vehicle final position information, and then the automatic starting, braking, accelerating, decelerating and steering of the vehicle are realized.

[0036] In step S3, when the red light condition occurs, after the vehicle-end control system receives the deceleration and braking instructions issued by the vehicle-end information system, the automatic deceleration and braking of the vehicle are realized according to the vehicle final position information, so that the first vehicle stops right behind the traffic intersection stop line, and the subsequent vehicles keep a starting safety distance. Specifically, for the red light route, all vehicles in the coverage range of the base station enter the red light condition, the first vehicle stops right behind the intersection stop line, and the subsequent vehicles keep a safety starting distance L0, wherein the minimum value of the safety starting distance L0 is L 01 , and the maximum value is L 02 . When the green light condition occurs, after the vehicle-end control system receives the automatic starting and accelerating instructions issued by the vehicle-end information system, the automatic simultaneous starting of all vehicles is realized according to the vehicle final position information, and the acceleration of the subsequent vehicles is adjusted according to the safety driving distance L1, so that all vehicles finally reach the same driving speed V1, wherein the minimum value of the safety driving distance L1 is L 11 , the maximum value is L 12 , L 11 is greater than L 01 , and L 12 is greater than L 02 . Specifically, as shown in Figure 3 , taking three vehicles passing through in front and behind as an example, the front, middle and rear correspond to vehicle 1, vehicle 2 and vehicle 3 respectively, wherein (a) is the case that the distance between the front and middle vehicles is too large, the starting accelerations of vehicle 1, vehicle 2 and vehicle 3 are all a0, the relationship between vehicle 1 and vehicle 2 is that the distance is too large, i.e. L 12 , the relationship between vehicle 2 and vehicle 3 is that the distance is normal, i.e. L 12 > L1 > L 11At this time, according to the acceleration adjustment of (b), the vehicle acceleration of the second vehicle needs to be increased, so a coefficient greater than 1 is multiplied on the basis of a0, the acceleration of the second vehicle is a0×(1+Φ), where Φ is an acceleration adjustment coefficient, which can be 0.1~0.3 (when accelerating, the greater the distance, the greater the acceleration) and -0.3~-0.1 (when decelerating, the smaller the distance, the greater the negative acceleration). The acceleration of the third vehicle is a0×(1+Φ×80%). After the acceleration adjustment of the second vehicle and the third vehicle, the front-to-middle vehicle distance is normal, that is, the relationship between the first vehicle and the second vehicle and the relationship between the second vehicle and the third vehicle are normal, that is, both are L 12 >L1>L 11 At this time, the acceleration of the first vehicle is a0, the acceleration of the second vehicle is a0×(1+Φ), and the acceleration of the third vehicle is a0×(1+Φ×80%). Finally, the acceleration of the first vehicle, the second vehicle and the third vehicle is adjusted to restore normality, that is, all are a0, as shown in (d). In the driving vehicle, those that do not meet the vehicle distance requirement are adjusted according to the foregoing method, and the safe driving distance L1 of all front-to-rear vehicles within the base station range is maintained between L 11 and L 12 When the head vehicle exits the base station coverage range, it exits the cooperative takeover and maintains the constant speed cruise condition, and reminds the driver to cut out the cruise condition and take over the driving, and then the driver can normally drive the vehicle. When the vehicle at the tail which is originally not within the base station coverage range enters the coverage range, it accesses the cooperative takeover and controls the safe driving distance L1 according to the foregoing setting.

[0037] In another embodiment, the cooperative control method for starting vehicles at a traffic intersection in a green light condition further comprises: The ground terminal information system calculates the driving distance L s of the current vehicle in real time according to the current driving speed V s of the current vehicle according to the remaining time of the green light condition after leaving a safety margin; When the distance L n <L s , the current vehicle continues to drive at the current driving speed V s ; When the distance L n ≥L s , the current vehicle and the rear vehicles within the range of the camera module covering the traffic intersection all adopt safe braking to stop at a slow speed, the vehicles within the range of the camera module covering the traffic intersection enter the red light condition; at the same time, the braking acceleration of the head vehicle is fixed during braking, and the acceleration of the rear vehicles is adjusted according to the safe starting distance L0 between the front and rear vehicles.

[0038] Specifically, the ground terminal information system background calculates the driving distance L s, real-time calculates its travel distance L s . Taking the vehicle reaching the final travel speed V1 as an example, at this time, V s = V1, then L s = V1x(T-T0). Wherein, when the distance L n <L s , the current vehicle continues to travel at the current travel speed V s ; when L n ≥ L s , the current vehicle and all the following vehicles in the range adopt the safe brake to make the speed slow stop, and all the vehicles in the base station coverage range enter the red light working condition. During braking, the head vehicle brake acceleration is fixed, and the following vehicle adjusts the acceleration according to the safe starting distance L0 between the front and rear vehicles, and the vehicle distance control method is the same as that during starting.

[0039] In another embodiment, the green light working condition includes left turn and U-turn working condition, straight working condition and right turn working condition, and the vehicle starting cooperative control method at the traffic intersection in the green light working condition further comprises: First, in the left turn and U-turn working condition, after the vehicle end control system receives the automatic steering instruction issued by the vehicle end information system, the automatic left turn and U-turn of the vehicle are realized according to the final position information of the vehicle; Then, after the left turn and U-turn working condition ends, the straight working condition is entered, and the straight lane and the parallel sidewalk are synchronously entered into the straight working condition; Next, after the straight working condition ends, the right turn working condition is entered, and after the vehicle end control system receives the automatic steering instruction issued by the vehicle end information system, the automatic right turn of the vehicle is realized according to the final position information of the vehicle; Finally, after the right turn working condition ends, all lanes in the current direction are in the red light working condition.

[0040] Here, those skilled in the art can understand that the specific operations in the above vehicle starting cooperative control method at the traffic intersection have been described in detail above with reference to the vehicle starting cooperative control system at the traffic intersection, and therefore the repeated description will be omitted. Figures 1 to 3

[0041] The above is only a preferred embodiment of the present application, and is not used to limit the present application, the patent protection scope of the present application is subject to the claims, any equivalent structural changes made by applying the contents of the specification and drawings of the present application should also be included in the protection scope of the present application.​

Claims

1. A traffic intersection vehicle start coordination control system, characterized by, The application relates to a vehicle-end information system and a vehicle-end control system. The vehicle-end information system comprises a vehicle identification module, a vehicle-end cooperative control external module and a first wireless signal transceiver module, the vehicle identification module is used for acquiring vehicle front and rear images and preliminary position information; the vehicle-end cooperative control external module is used for receiving the vehicle front and rear images, the preliminary position information, vehicle final position information fed back by the first wireless signal transceiver module and vehicle running state information fed back by the vehicle-end control system, and issuing vehicle running instructions; and the first wireless signal transceiver module is used for transmitting the vehicle front and rear images and the preliminary position information and the vehicle running state information to the ground-end information system, and receiving and feeding back vehicle final position information transmitted by the ground-end information system to the vehicle-end cooperative control external module. The ground-end information system comprises a camera module, a second wireless signal transceiver module and a cooperative control management module, the camera module is used for panoramic shooting of a traffic intersection to obtain camera information; and the second wireless signal transceiver module is used for receiving the vehicle front and rear images and the preliminary position information and the vehicle running state information and transmitting the same to the cooperative control management module. The cooperative control management module is used for drawing a traffic intersection map and a traffic intersection vehicle position map, checking vehicle positions according to the vehicle front and rear images and the preliminary position information and the camera information, obtaining vehicle final position information and transmitting the same to the first wireless signal transceiver module through the second wireless signal transceiver module. The vehicle-end control system is used for feeding back vehicle running state information, receiving vehicle running instructions issued by the vehicle-end information system and realizing automatic running of the vehicle according to the vehicle final position information, so as to realize automatic starting, braking, accelerating, decelerating and steering of the vehicle. The vehicle identification module comprises an image recognition module, a distance measurement module and a positioning module.

2. The traffic intersection vehicle launch coordination control system of claim 1, wherein, The image recognition module is used for determining the vehicle front and rear images. The distance measurement module is used for determining vehicle front and rear distance information. The positioning module is used for acquiring preliminary position information of the vehicle. The vehicle-end cooperative control external module comprises a vehicle deviation checking module, the vehicle deviation checking module is provided with vehicle deviation standard parameters, is used for monitoring and checking vehicle deviation parameters at all times and issues vehicle angle adjustment instructions to the vehicle-end control system; and the vehicle-end control system receives the vehicle angle adjustment instructions and executes the same, so as to ensure that the vehicle travels within the vehicle deviation standard parameters.

3. The traffic intersection vehicle launch coordination control system of claim 1, wherein, The vehicle-end control system comprises a vehicle steering module, the vehicle steering module is provided with a vehicle steering direction and a vehicle steering angle, and the vehicle-end control system realizes left turning, right turning and U-turn of the vehicle according to vehicle steering instructions issued by the vehicle-end information system.

4. The traffic intersection vehicle launch coordination control system of claim 1, wherein ​ 5. The traffic intersection vehicle launch coordination control system of claim 1, wherein, The ground terminal information system further comprises a first direction vehicle density calculation module, a second direction vehicle density calculation module and a comparison module, the first direction vehicle density calculation module and the second direction vehicle density calculation module are used to calculate the passing vehicle density of two opposite directions in real time; after completing a cycle from a green light working condition to a red light working condition, the comparison module is used to alternately compare the passing vehicle density of two adjacent green light working conditions of two directions; wherein the comparison module sets the ratio to 1.2-0.8; When the ratio exceeds 1.2, the next red light working condition time of the more vehicle passing direction is reduced by 20%; When the ratio is between 1.2-0.8, the last red light working condition time is maintained; When the ratio is less than 0.8, the next red light working condition time of the less vehicle passing direction is increased by 20%.

6. The traffic intersection vehicle launch coordination control system of claim 1, wherein, The traffic intersection vehicle starting coordination control system further comprises a signal tower arranged at the traffic intersection, the camera module is arranged on the signal tower, the camera module comprises a high-definition panoramic camera, and the coverage radius of the high-definition panoramic camera is 50-60 meters; the second wireless signal transceiver module comprises a wireless signal transceiver base station, the wireless signal transceiver base station is arranged on the signal tower, and the coverage radius thereof is 50-60 meters.

7. A traffic intersection vehicle start-up coordination control method characterized by, The traffic intersection vehicle starting coordination control system based on any one of claims 1-6 comprises the following steps: Step S1, the vehicle identification module obtains vehicle front and rear images and preliminary position information, the vehicle end coordination control external module receives the vehicle front and rear images and preliminary position information and vehicle running state information fed back by the vehicle end control system, and transmits the vehicle front and rear images and preliminary position information and vehicle running state information to the second wireless signal transceiver module through the first wireless signal transceiver module; at the same time, the vehicle end coordination control external module issues a vehicle running instruction; Step S2, the camera module obtains camera information through panoramic camera shooting of the traffic intersection, the second wireless signal transceiver module receives the vehicle front and rear images and preliminary position information and vehicle running information, the coordination control management module draws a traffic intersection map and a traffic intersection vehicle position map, and checks the vehicle position according to the vehicle front and rear images and preliminary position information and the camera information to obtain final vehicle position information, which is transmitted to the first wireless signal transceiver module through the second wireless signal transceiver module and fed back to the vehicle end coordination control external module; Step S3, after receiving the vehicle running instruction issued by the vehicle end information system, the vehicle end control system realizes automatic running of the vehicle according to the final vehicle position information, thereby realizing automatic starting, braking, accelerating, decelerating and steering of the vehicle.

8. The traffic intersection vehicle launch coordination control method according to claim 7, characterized by, In step S3, in the red light working condition, after the vehicle end control system receives the deceleration and braking instruction issued by the vehicle end information system, the automatic deceleration and braking of the vehicle are realized according to the final position information of the vehicle, so that the front vehicle stops just behind the stop line of the traffic intersection, and the rear vehicle keeps a safe starting distance L0 in turn, wherein the minimum value of the safe starting distance L0 is L 01 , and the maximum value is L 02 . In the green light working condition, the vehicle end control system receives the automatic starting and accelerating instruction issued by the vehicle end information system, and realizes the automatic simultaneous starting of all vehicles according to the final position information of the vehicle, and adjusts the acceleration of the rear vehicle according to the safe driving distance L1 between the front and rear vehicles, so that all vehicles finally reach the same driving speed V1, wherein the minimum value of the safe driving distance L1 is L 11 , the maximum value is L 12 , and L 11 is greater than L 01 , L 12 is greater than L 02 .

9. The traffic intersection vehicle launch coordination control method according to claim 8, characterized by, During the green light working condition, the traffic intersection vehicle starting coordination control method further comprises: The ground-based information system, after allowing a safety margin and considering the remaining time under the green light condition, determines the current vehicle speed V. s Calculate its travel distance L in real time s ; wherein, when the distance L between the current vehicle and the stop line is n < L s the current vehicle continues to travel at the current travel speed V s . When the current distance L between the vehicle and the parking line n ≥L s At this time, the current vehicle and the following vehicles within the traffic intersection covered by the camera module all use safe braking to gradually bring the vehicle to a stop. The vehicles within the traffic intersection covered by the camera module enter the red light condition. At the same time, during the braking period, the braking acceleration of the lead vehicle is fixed, and the acceleration of the following vehicles is adjusted according to the safe starting distance L0 between the lead and follow vehicles.

10. The traffic intersection vehicle launch coordination control method according to claim 9, characterized by, The green light working condition comprises left turn and U-turn working conditions, straight line working conditions and right turn working conditions, and the traffic intersection vehicle starting coordination control method during the green light working condition further comprises: Firstly, during the left turn and U-turn working conditions, after receiving the automatic steering instruction issued by the vehicle end information system, the vehicle end control system realizes automatic left turn and U-turn of the vehicle according to the final vehicle position information; Then, after the left turn and U-turn working conditions end, the straight line working conditions are entered, and the straight line lane and the parallel sidewalk enter the straight line working conditions simultaneously; Then, after the straight running condition ends, the vehicle enters the right turning condition. After receiving the automatic steering instruction issued by the vehicle end information system, the vehicle end control system realizes the automatic right turning of the vehicle according to the final position information of the vehicle. Finally, after the right turning condition ends, all the lanes in the current direction are red light conditions.

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