Vehicle passing control system for intersection

Abstract

The utility model provides a vehicle passing control system for an intersection. The vehicle passing control system comprises roadside equipment, passing indication identification equipment and an unmanned vehicle, the roadside equipment is arranged in an intersection area or an area close to the intersection area, is provided with a driving information acquisition unit, and is used for acquiring the driving information of the unmanned vehicle going to pass through the intersection area; and the traffic indication identification equipment is arranged in the intersection area and is provided with an indication output unit, and the indication output unit is used for outputting the traffic indication information. According to the driving information of the unmanned vehicle, the road side device arranged at the intersection controls the passing indication identifier to output the corresponding passing indication information, so that the driving state of the vehicle at the intersection is indicated. Compared with an existing traffic light management and control system, the traffic light management and control system does not depend on experience of workers any more, related configuration is more flexible, and mining area traffic management efficiency and safety can be effectively improved.

Description

Technical Field

[0001] This disclosure relates to the field of autonomous driving technology, and in particular to a vehicle traffic control system for intersections. Background Technology

[0002] With the continuous advancement of autonomous driving technology, unmanned mining trucks are being used more and more widely in mining areas. Ensuring the safe passage of both unmanned and manned vehicles in mixed traffic areas has become a key challenge in mining traffic management, especially at intersections. However, traditional traffic light control systems have gradually revealed inefficiencies and safety hazards when faced with complex traffic conditions involving both unmanned and manned vehicles. For example, deploying traffic light control systems is difficult. Installing such systems requires staff to observe intersections on-site, record vehicle passage times, and set traffic light duration parameters accordingly. This process is time-consuming, labor-intensive, and may impact mining efficiency. Furthermore, these traffic light duration parameters are usually fixed; once intersection conditions change, such as speed limit adjustments or road construction, these parameters need to be reconfigured. In addition, the duration parameters of traffic lights often rely on the experience and judgment of the staff. This may result in vehicles in some directions having already left the intersection while the traffic lights in other directions have not yet turned green in time, causing traffic congestion. When the conditions at the intersection change, such as in bad weather, the speed of vehicles will decrease. It is possible that a vehicle has just entered the intersection when the traffic lights in other directions have already turned green, causing vehicles from different directions to cross paths within the intersection, increasing the risk of safety accidents.

[0003] Therefore, for scenarios where unmanned and manned vehicles travel together in mines, there is an urgent need for an effective control system to ensure the safe and efficient operation of vehicles. Utility Model Content

[0004] This disclosure provides a vehicle traffic control system for intersections to address the inefficiencies and safety hazards of existing traffic light control systems.

[0005] In view of the above problems, this disclosure provides a vehicle traffic control system for an intersection, comprising:

[0006] Roadside equipment, traffic signage equipment, and unmanned vehicles;

[0007] The roadside equipment is located in or near an intersection area and is equipped with a driving information acquisition unit and a first communication unit. The driving information acquisition unit is used to acquire the driving information of the unmanned vehicle that is about to pass through the intersection area.

[0008] The traffic indication device is installed in the intersection area and is equipped with a second communication unit and an indication output unit. The first communication unit is used to communicate with the second communication unit to transmit information related to the driving information of the unmanned vehicle to the second communication unit. The indication output unit is used to output traffic indication information.

[0009] The unmanned vehicle is equipped with a first sensing device, which is used to acquire the traffic instruction information, and the unmanned vehicle is used to determine the driving status in the intersection area according to the traffic instruction information.

[0010] In one possible implementation, the traffic guidance signage device is located in the central area of ​​the intersection area; and / or,

[0011] The roadside equipment is located in the central area of ​​the intersection area.

[0012] In one possible implementation, the unmanned vehicle is further equipped with a third communication unit, which is used to establish a communication link with the first communication unit to send the driving information to the roadside equipment; or...

[0013] The roadside equipment is equipped with a second sensing device, which is used to acquire the driving information of the unmanned vehicle that is about to pass through the intersection area.

[0014] In one possible implementation, it further includes: a cloud control platform; the cloud control platform is equipped with a fourth communication unit;

[0015] The first communication unit is further configured to communicate with the access indication device to receive access indication information sent by the access indication device;

[0016] The fourth communication unit is used to establish a communication link with the first communication unit to receive the passage instruction information.

[0017] In one possible implementation, the cloud control platform further includes:

[0018] A display unit is configured to display the passage instruction information; and / or,

[0019] A map module, which is used to send information containing the traffic instruction information to the autonomous vehicle.

[0020] In one possible implementation, the fourth communication unit is further configured to send a mandatory control command to the roadside equipment, the mandatory control command being used to control the output of traffic indication information in a target format.

[0021] In one possible implementation, it also includes:

[0022] A timer is used to record the output duration of the passage indication information in accordance with the target format;

[0023] The mandatory control command is used to control the passage indication information to be output in the target format until the output duration displayed by the timer reaches the target duration.

[0024] In one possible implementation, the roadside equipment further includes: a fault and anomaly detection unit;

[0025] The fault and anomaly detection unit is used to detect at least one of the following: faults in the roadside equipment, faults in the traffic indication sign, and anomalies in the traffic indication output by the indication output unit;

[0026] The first communication unit is further configured to send the fault or abnormal information detected by the fault and anomaly detection unit to the target terminal;

[0027] The target terminal is used to display the fault or abnormal information.

[0028] In one possible implementation, the system further includes: a power monitoring unit;

[0029] The power monitoring unit is used to monitor the power information of the target device; the target device includes: the roadside equipment and / or the traffic indication device;

[0030] The first communication unit is further configured to send the power abnormality information of the target device to the target terminal when the power monitoring unit detects an abnormal power level of the target device.

[0031] The target terminal is used to display the abnormal battery information.

[0032] In one possible implementation, the first communication unit is further configured to send a first control command to the access indication device when the power monitoring unit detects an abnormal power level of the target device.

[0033] The indication output unit is used to output a corresponding abnormal passage indication according to the first control command.

[0034] In one possible implementation, the traffic indication device includes: traffic lights.

[0035] In one possible implementation, for each of the two driving directions of the road where the autonomous vehicle is located, a preset area is defined in that driving direction; the preset area includes multiple sub-areas, including: a first sub-area, a second sub-area, and a third sub-area, starting from the stop line corresponding to the entry into the intersection in that driving direction and moving away from the intersection in order of increasing distance; a fourth sub-area corresponding to the intersection; and a fifth sub-area adjacent to the fourth sub-area after the vehicle has passed through the intersection in that driving direction; wherein...

[0036] The stop line is a stop line set at the intersection on the road where the unmanned vehicle is located, for both directions of travel.

[0037] The driving information acquisition unit is used to acquire the driving information of the unmanned vehicle after it enters a preset area in the driving direction, wherein different sub-areas correspond to their respective traffic indication information.

[0038] In one possible implementation, the fourth sub-region is divided into a first intersection sub-region and a second intersection sub-region, which are adjacent to each other within the intersection, according to the corresponding driving direction.

[0039] The beneficial effects of the embodiments disclosed herein include:

[0040] The vehicle traffic control system for an intersection provided in this embodiment includes: roadside equipment, traffic indication equipment, and an unmanned vehicle (UAV). The roadside equipment is located in or near the intersection area and is equipped with a driving information acquisition unit and a first communication unit. The driving information acquisition unit acquires driving information of the UAV about to pass through the intersection area. The traffic indication equipment is located in the intersection area and is equipped with a second communication unit and an indication output unit. The first communication unit communicates with the second communication unit to transmit information related to the UAV's driving information to the second communication unit, and the indication output unit outputs traffic indication information. The UAV is equipped with a first sensing device, which acquires the traffic indication information and determines its driving status in the intersection area according to the traffic indication information. The vehicle traffic control system for an intersection provided in this embodiment, through the roadside equipment and traffic indication equipment located at the intersection, controls the traffic indication equipment to output corresponding traffic indication information based on the UAV's driving information, thereby indicating the UAV's driving status at the intersection. Compared with the existing traffic light control system, it no longer relies on the experience of staff, and the relevant parameter configuration is more flexible, which can effectively improve the efficiency and safety of traffic management in the mining area. Attached Figure Description

[0041] Figure 1 This is one of the structural diagrams of a vehicle traffic control system for an intersection provided in an embodiment of this disclosure;

[0042] Figure 2 A second structural diagram of a vehicle traffic control system for an intersection provided in an embodiment of this disclosure;

[0043] Figure 3 This is the third structural diagram of the vehicle traffic control system at an intersection provided in this embodiment of the present disclosure;

[0044] Figure 4 Fourth structural diagram of the vehicle traffic control system at an intersection provided in this embodiment of the present disclosure;

[0045] Figure 5 Fifth structural diagram of the vehicle traffic control system at an intersection provided in this embodiment of the present disclosure;

[0046] Figure 6 This is one of the schematic diagrams of the preset area of ​​an intersection provided in the embodiments of this disclosure;

[0047] Figure 7 This is the second schematic diagram of the preset area of ​​an intersection provided in the embodiments of this disclosure. Detailed Implementation

[0048] This disclosure provides a vehicle traffic control system for intersections. Preferred embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of this disclosure. Furthermore, the embodiments and features described herein can be combined with each other unless otherwise specified.

[0049] This disclosure provides a vehicle traffic control system for an intersection, such as... Figure 1 As shown, it includes: roadside equipment 100, traffic sign equipment 200, and unmanned vehicle 300;

[0050] The roadside equipment 100 is installed in or near an intersection area and is equipped with a driving information acquisition unit 101 and a first communication unit 102. The driving information acquisition unit 101 is used to acquire the driving information of the unmanned vehicle 300 that is about to pass through the intersection area;

[0051] Traffic indication device 200 is installed in the intersection area and is equipped with a second communication unit 201 and an indication output unit 202. The first communication unit 102 is used to communicate with the second communication unit 201 to transmit information related to the driving information of the unmanned vehicle 300 to the second communication unit 201. The indication output unit 202 is used to output traffic indication information.

[0052] The unmanned vehicle 300 is equipped with a first sensing device 301, which is used to acquire traffic instruction information. The unmanned vehicle 300 is used to determine its driving status in the intersection area according to the traffic instruction information.

[0053] In this embodiment of the disclosure, as the scale of mining operations expands, the demand for transportation of various resources is also continuously increasing. Traffic flow within the mining area is showing a rapid growth trend, and the number of unmanned mining trucks is gradually increasing to meet efficient mining transportation tasks. Meanwhile, manned vehicles are also performing various auxiliary tasks in mining production. Manned vehicles typically cover common vehicle types found in mining areas, including production command vehicles (pickups or SUVs), bulldozers, graders, water trucks, fuel trucks, excavators, and manned mining trucks. However, this business expansion also brings a series of new challenges. The boundary between previously relatively independent unmanned road sections and conventional manned road sections is becoming increasingly blurred, and the overlapping area is constantly expanding, especially at intersections. These intersections can be crossroads, X-shaped intersections, five-way intersections, or even more branching roads. Due to the complexity of intersections and their connecting roads, ensuring the efficient and safe passage of vehicles in intersection areas has become a key challenge in traffic management.

[0054] In traditional traffic management, a traffic light control system is typically installed at intersections. This system usually includes signal control equipment, a communication network, and traffic lights. The signal control equipment is the core of the system, responsible for controlling the signal changes of the traffic lights. It determines the switching time and method of the traffic lights based on preset programs and configuration parameters. The communication network connects the signal control equipment and the traffic lights, sending control commands to the corresponding lights. The traffic lights are the most visually intuitive part of the system, typically consisting of red, yellow, and green lights to indicate stop, warning, and proceed, respectively, conveying traffic instructions to drivers or sensors on autonomous vehicles. Both autonomous and manned vehicles operating in mining areas must strictly adhere to traffic rules to ensure safe transportation operations.

[0055] However, current traffic lights are designed for intersections on urban roads, and their internal controllers use a phase-switching method to control traffic. The phase-switching logic is based on a fixed configured duration, resulting in an inflexible external control interface. Each time a traffic light control system is installed, staff need to observe and record the time it takes for unmanned mining trucks to pass through intersections in real time, and then modify the configuration parameters of the signal control equipment. This process is time-consuming, increasing the workload of staff and potentially impacting mining efficiency. Using the recorded duration to configure parameters (green light duration) results in a fixed value; when the speed limit at the intersection changes, the configured green light duration needs to be readjusted. For example, when the speed limit at an intersection decreases, the time for unmanned mining trucks to pass through the intersection may increase. If the green light duration remains unchanged, this could lead to traffic congestion. When vehicles enter a safe mode (snow mode), the configured green light duration may become mismatched. In safe mode, vehicle speeds decrease, and the original green light duration may not be sufficient for vehicles to safely pass through intersections. If the configured "green light duration" is unreasonable, situations may arise where "the unmanned mining truck has already left the intersection some distance away, but the traffic light for the passenger / vehicle direction has not yet turned green," resulting in underutilization of traffic resources and failure to achieve maximum efficiency. Furthermore, an unreasonable "green light duration" could lead to situations where "the unmanned mining truck has just entered the intersection when the traffic light for the passenger / vehicle direction has already turned green, causing the two types of vehicles to intersect within the intersection," potentially leading to conflicts and posing safety hazards to traffic in the mining area.

[0056] In this embodiment of the disclosure, such as Figure 1 As shown, the roadside device 100, also known as a roadside unit (RSU), is installed in the intersection area or an adjacent area of ​​the intersection area (i.e., within a distance threshold from the center or boundary of the intersection; in one embodiment, the intersection area can be considered as being enclosed by the stop lines of each branch road). When installed in an adjacent area, attention should be paid to the distance threshold from the intersection area to facilitate the monitoring of the road condition area by the roadside device 100. The roadside device 100 is equipped with a driving information acquisition unit 101 and a first communication unit 102. The driving information acquisition unit 101 may include sensing devices such as lidar, cameras, or sound acquisition devices, and is used to acquire driving information of the unmanned vehicle 300 traveling in the intersection area and its connecting roads, such as the real-time location, speed, and driving direction of the unmanned vehicle 300, as well as traffic condition information, such as traffic flow, queuing, and congestion.

[0057] A traffic indication device 200, installed at an intersection, includes a second communication unit 201 and an indication output unit 202. A communication channel is established between the first communication unit 102 and the second communication unit 201, enabling the roadside equipment 100 to control the indication output unit 202 of the traffic indication device 200. The indication output unit 202 outputs traffic indication information according to the control commands from the roadside equipment 100. In one embodiment, the indication output unit 202 can be a traffic light, with the color meaning consistent with traditional traffic lights. In another embodiment, the indication output unit 202 can also output sound, i.e., different traffic indications are represented by different sounds. Other methods of issuing prompts are also possible, and there are no limitations on this.

[0058] The unmanned vehicle 300 operates in the area of ​​the intersection and its connecting roads for transportation. It is equipped with a first sensing device 301 to obtain traffic instruction information. The unmanned vehicle 300 determines its driving status in the intersection area according to the traffic instruction information, such as slowing down, stopping, or passing.

[0059] Furthermore, based on the driving information of the unmanned vehicle 300, the roadside equipment 100 automatically determines the appropriate duration of traffic indication information through data analysis and algorithm calculation, and adjusts the configuration parameters in real time without manual intervention, thus improving configuration efficiency and accuracy. The roadside equipment 100 establishes a dynamic parameter adjustment mechanism to adapt to changes in intersection conditions. For example, when the speed limit at the intersection is reduced or vehicles enter a safety mode (snowy conditions) in severe weather, the duration of the traffic indication information is extended accordingly. The roadside equipment 100 employs intelligent prediction algorithms to predict the time it takes for the unmanned vehicle 300 to pass through the intersection based on its real-time location, speed, and direction of travel, thereby more rationally determining the timing of traffic indication information switching and improving traffic efficiency and safety.

[0060] In another embodiment of this disclosure, a traffic guidance sign device 200 is disposed in the central area of ​​an intersection area; and / or, a roadside device 100 is disposed in the central area of ​​an intersection area.

[0061] In this embodiment, placing the traffic sign device 200 in the center of the intersection area facilitates the accurate acquisition of traffic sign information output by the instruction output unit 202 by the first sensing device 301 of the manned or unmanned vehicle 300. Placing the roadside device 100 in the center of the intersection area expands its monitoring range, enabling the driving information acquisition unit 101 of the roadside device 100 to acquire the driving information of the unmanned vehicle 300 in a timely and effective manner. The roadside device 100 can also be installed on the traffic sign device 200, streetlight poles, or other structures. Furthermore, due to the complex environment of mining areas, some intersection entrances have significant slopes or curves. Placing the traffic sign device 200 in the center of the intersection area may prevent drivers of manned vehicles from seeing the traffic sign information before entering the intersection. Additionally, placing the roadside device 100 in the center of the intersection area may obstruct the monitoring of the unmanned vehicle 300. At this point, the roadside equipment 100 and the traffic guidance signage equipment 200 can be installed beside the road at the corresponding entrance. The roadside equipment 100 and the traffic guidance signage equipment 200 can be installed together or separated by a certain distance, as long as it does not affect the command and control of the intersection and does not exceed the communication distance.

[0062] In another embodiment of this disclosure, such as Figure 2 As shown, the unmanned vehicle 300 is also equipped with a third communication unit 302, which is used to establish a communication link with the first communication unit 102 to send driving information to the roadside equipment 100; or, the roadside equipment 100 is equipped with a second sensing device 103, which is used to obtain the driving information of the unmanned vehicle 300 that is about to pass through the intersection area.

[0063] In this embodiment, the driving information of the unmanned vehicle 300 can be actively provided by the unmanned vehicle 300 to the roadside equipment 100. The third communication unit 302 of the unmanned vehicle 300 establishes a communication link with the first communication unit 102 to send this driving information to the roadside equipment 100. Alternatively, the roadside equipment 100 can monitor and acquire the driving information by monitoring the intersection area and the road range connected to it. The second sensing device 103 of the roadside equipment 100 can monitor the unmanned vehicle 300 in the intersection area and acquire this driving information. The second sensing device 103 can be a lidar, camera, and sound acquisition device, etc. Alternatively, the roadside equipment 100 can also acquire the driving information of the unmanned vehicle 300 through a platform.

[0064] In another embodiment of this disclosure, such as Figure 3 As shown, it also includes: a cloud control platform 400; the cloud control platform 400 is equipped with a fourth communication unit 401;

[0065] The first communication unit 102 is also used to communicate with the passage indication device 200 to receive passage indication information sent by the passage indication device 200;

[0066] The fourth communication unit 401 is used to establish a communication link with the first communication unit 102 to receive passage instruction information.

[0067] In this embodiment, the cloud control platform 400 can receive traffic instruction information to facilitate the viewing and control of traffic conditions at intersections. The cloud control platform 400 is equipped with a fourth communication unit 401, which establishes a communication link with the first communication unit 102. The first communication unit 102 also establishes a communication link with the second communication unit 201, thereby enabling the cloud control platform 400 to receive traffic instruction information sent by the traffic instruction device 200.

[0068] In another embodiment of this disclosure, the cloud control platform 400 further includes:

[0069] Display unit 402 is used to display passage instruction information; and / or,

[0070] Map module 403 is used to send information containing traffic guidance information to unmanned vehicle 300.

[0071] In this embodiment, the cloud control platform 400 further includes a display unit 402 for displaying traffic indication information, thereby facilitating staff to more intuitively obtain traffic conditions within the intersection area. The cloud control platform 400 also includes a map module 403 for distributing traffic indication information to unmanned vehicles 300 within the intersection area and its connecting roads, or to unmanned vehicles 300 within a designated work area, thereby enabling the unmanned vehicles 300 to more accurately obtain traffic indication information at the intersection, facilitating control of their driving status or route planning.

[0072] In another embodiment of this disclosure, the fourth communication unit 401 is further configured to send a forced control command to the roadside device 100, the forced control command being used to control the output of traffic indication information in a target format.

[0073] In this embodiment of the disclosure, when staff discover that the traffic indicator device 200 has malfunctioned, causing traffic chaos at the intersection, or when traffic chaos at the intersection requires human intervention for other reasons, the cloud control platform 400 sends a forced control command to the roadside device 100 through the fourth communication unit 401. This forced control command is used to control the output of traffic indication information in a target format. For example, if the traffic indicator device 200 is a traffic light, the forced control command may include forcing the traffic light on the first road where the autonomous vehicle 300 is located to be red or forcing the traffic light on the first road where the autonomous vehicle 300 is located to be green. When the forced control command forces the traffic light on the first road where the autonomous vehicle 300 is located to be red, it is executed according to the following two cases:

[0074] Scenario 1: If the traffic light on the first road where the unmanned vehicle 300 is located is green or yellow, set both the traffic light on the first road and the traffic light on the second road where the manned vehicle is located to yellow, and maintain this setting for a first preset time Ty. During this time, the traffic lights serve as a warning to both the unmanned vehicle 300 and the manned vehicle. Afterward, set the traffic light on the second road where the manned vehicle is located to green, and set the traffic light on the first road where the unmanned vehicle 300 is located to red, maintaining this setting for a second preset time Tp. This second preset time is used to restore traffic order on-site. The roadside device 100 or the cloud control platform 400 can customize the first preset time Ty and the second preset time Tp.

[0075] In the second scenario: if the traffic light on the first road where the unmanned vehicle 300 is located is red, the traffic light on the second road where the manned vehicle is located will be set to green, and the traffic light on the first road where the unmanned vehicle 300 is located will be set to red, maintaining this state for a second preset time Tp. This time is used to restore traffic order on-site. The roadside device 100 or the cloud control platform 400 can customize the second preset time Tp.

[0076] When the mandatory control command forces the traffic light on the first road where the driverless vehicle 300 is located to be green, it will be executed according to the following two situations:

[0077] In the first scenario: if the traffic light on the first road where the unmanned vehicle 300 is located is green, the traffic light on the second road where the manned vehicle is located will be kept red, while the traffic light on the first road where the unmanned vehicle 300 is located will be kept green for a second preset time Tp. This time is used to restore traffic order on-site. The roadside device 100 or the cloud control platform 400 can customize the second preset time Tp.

[0078] The second scenario: If the traffic light on the first road where the unmanned vehicle 300 is located is yellow or red, both the traffic light on the first road and the traffic light on the second road where the manned vehicle is located will be set to yellow and maintained for a first preset time Ty. During this time, the traffic lights serve as a warning to both the unmanned vehicle 300 and the manned vehicle. Afterward, the traffic light on the second road where the manned vehicle is located will be set to red, and the traffic light on the first road where the unmanned vehicle 300 is located will be set to green and maintained for a second preset time Tp. This time is used to restore traffic order on-site. The roadside device 100 or the cloud control platform 400 can customize the first preset time Ty and the second preset time Tp.

[0079] After maintaining the second preset time, traffic order has been restored, and the roadside equipment 100 needs to resume automatic control of the traffic indicator signs 200. At this time, the traffic light colors of the first road where the unmanned vehicle 300 is located and the traffic light colors of the second road where the manned vehicle is located can both be set to yellow and maintained for the first preset time Ty. During this time, the traffic lights serve as a warning to both the unmanned vehicle 300 and the manned vehicle. The roadside equipment 100 or the cloud control platform 400 can customize the first preset time Ty. Afterwards, the roadside equipment 100 automatically controls the traffic lights based on the driving information of the unmanned vehicle 300.

[0080] In another embodiment of this disclosure, it further includes: a timer 500, used to record the output duration of the control passage indication information output in the target form;

[0081] Among them, the forced control command is used to control the passage indication information to be output in the target form until the output duration displayed by the timer 500 reaches the target duration.

[0082] In this embodiment of the disclosure, the output duration of the control passage indication information output in the target form is recorded by the timer 500, so as to further ensure that the forced control command takes effect on the output indication unit 202.

[0083] In another embodiment of this disclosure, such as Figure 4 As shown, the roadside equipment 100 also includes: a fault and anomaly detection unit 104;

[0084] The fault and anomaly detection unit 104 is used to detect at least one of the following: a fault in the roadside equipment 100, a fault in the passage indication sign 200, and an anomaly in the passage indication output by the indication output unit 202.

[0085] The first communication unit 102 is also used to send fault or abnormal information detected by the fault and abnormality detection unit 104 to the target terminal 600.

[0086] The target terminal 600 is used to display fault or abnormal information.

[0087] In this embodiment, the roadside device 100 further includes a fault and anomaly detection unit 104. The fault and anomaly detection unit 104 can detect faults in the roadside device 100 itself and also detect faults in the traffic indication sign 200. When a fault is detected in the traffic indication sign 200, the cloud control platform 400 can send a forced control command to the roadside device 100 through the fourth communication unit 401, thereby controlling the indication output unit 202 to output traffic indication information. The anomaly detection unit 104 can also detect anomalies in the traffic indication output by the indication output unit 202. For example, if the traffic indication sign 200 is a traffic light, the anomaly detection unit 104 can detect the duration of the yellow light. If the yellow light duration exceeds three times the configured value, it is considered an abnormal yellow light duration. The first communication unit 102 is also used to send the fault or anomaly information detected by the fault and anomaly detection unit 104 to a target terminal 600. The target terminal 600 can be the cloud control platform 400 or other types of terminals. The target terminal 600 will then display fault or abnormal information to provide alarms for staff, so that faults and abnormalities can be responded to and resolved quickly.

[0088] In another embodiment of this disclosure, such as Figure 5 As shown, it also includes: a power monitoring unit 700;

[0089] The power monitoring unit 700 is used to monitor the power information of the target devices; the target devices include: roadside equipment 100 and / or traffic indication equipment 200;

[0090] The first communication unit 102 is also used to send the power abnormality information of the target device to the target terminal 600 when the power monitoring unit 700 detects that the power of the target device is abnormal.

[0091] The target terminal 600 is used to display abnormal battery information.

[0092] In this embodiment, due to the variable road conditions within the mining area, power cables are difficult to lay securely and are costly, potentially failing to provide reliable power to the roadside equipment 100 and / or traffic sign equipment 200. Therefore, power supply equipment such as batteries and solar panels can be used. The battery capacity should ensure power supply for at least 48 hours in low-temperature (-25°C and below) conditions without sunlight, and the solar panels should be able to fully charge the battery within 10 hours under winter sunlight. However, relying solely on worker experience may result in battery depletion. When the battery is depleted, it will affect the operation of the roadside equipment 100 and / or traffic sign equipment 200, thereby impacting traffic safety at intersections. The power monitoring unit 700 can monitor the power information of roadside equipment 100 and / or traffic indication equipment 200. For example, the power monitoring unit 700 sets battery power reminder points and battery power alarm points, generating a battery power reminder when the remaining battery power is between 10% and 30%, and generating a battery power alarm when the remaining battery power is between 5% and 10%. The first communication unit 102 is also used to send the abnormal power information of the target equipment to the target terminal 600 when the power monitoring unit 700 detects an abnormal power level. The target terminal 600 then displays the abnormal power information. Workers can check the battery and solar panels according to the prompts. The battery installation supports direct battery swapping, allowing workers to ensure power supply in emergencies.

[0093] In another embodiment of this disclosure, the first communication unit 102 is further configured to send a first control command to the access indication device 200 when the power monitoring unit 700 detects an abnormal power level of the target device.

[0094] The indicator output unit 202 is used to output a corresponding abnormal passage indicator according to the first control command.

[0095] In this embodiment, when the target device's power is abnormal, there may be safety hazards for vehicle passage at the intersection. Therefore, the first communication unit 102 sends a first control command to the traffic indication device 200, controlling the indication output unit 202 to output a corresponding abnormal traffic indication. For example, if the traffic indication device 200 is a traffic light, the first control command can instruct all traffic lights to turn off. In this case, all unmanned vehicles 300 need to stop and wait at the stop line at the intersection. After stopping, they can send information including the abnormal traffic light signal causing the stop to the cloud control platform 400. Drivers of manned vehicles can then pass through the intersection while remaining vigilant.

[0096] In another embodiment of this disclosure, the traffic indicator device 200 includes: traffic lights.

[0097] In this embodiment, the traffic guidance device 200 includes a traffic light. This traffic light provides a flexible communication interface, allowing the roadside device 100 to flexibly control the color and duration of the traffic light via the first communication unit 102, while also facilitating support for more scenarios in the future. Additionally, a stop line sign can be installed beside the road at the intersection entrance, or a stop line can be installed on the road at the intersection entrance. When the traffic light for the road with pedestrians and vehicles is red, pedestrian vehicles are prohibited from passing through the intersection, and the driver should stop before the stop line sign. When the traffic light for the road with pedestrians and vehicles is yellow, pedestrian vehicles are prohibited from passing through the intersection, and the driver should stop before the stop line sign. However, if the front of a pedestrian vehicle has already crossed the stop line sign when the yellow light just illuminates, it may continue through the intersection. When the traffic light for the road with pedestrians and vehicles is green, pedestrian vehicles may pass through the intersection normally. When the traffic light for the road with unmanned vehicle 300 is red, the unmanned vehicle 300 is prohibited from passing through the intersection. At this point, the autonomous vehicle 300 should stop at the stop line sign. If the stop is due to a red light, the autonomous vehicle 300 can report the reason for stopping as "red light stop" to the cloud control platform 400 after coming to a complete stop. When the traffic light for the road where the autonomous vehicle 300 is located shows a yellow light, the autonomous vehicle 300 is prohibited from entering the intersection. At this time, the autonomous vehicle 300 should stop at the stop line sign. If the front of the autonomous vehicle 300 has already crossed the stop line sign, it may continue through the intersection. If the stop is due to a yellow light, the autonomous vehicle 300 can report the reason for stopping as "yellow light stop" to the cloud control platform 400 after coming to a complete stop. When the traffic light for the road where the autonomous vehicle 300 is located shows a green light, the autonomous vehicle 300 may directly pass through the intersection.

[0098] In another embodiment of this disclosure, such as Figure 6 As shown, for each of the two driving directions of the road where the autonomous vehicle 300 is located, a preset area is defined in that driving direction; the multiple sub-areas of the preset area include: a first sub-area CD, a second sub-area BC, and a third sub-area AB, starting from the stop line corresponding to the intersection and moving away from the intersection in that driving direction, and a fourth sub-area DE corresponding to the intersection, and a fifth sub-area EF adjacent to the fourth sub-area after passing the intersection in that driving direction; wherein, the stop line is a stop line set at the intersection for each of the two driving directions on the road where the autonomous vehicle 300 is located;

[0099] The driving information acquisition unit 101 is used to acquire the driving information of the unmanned vehicle 300 after it enters the preset area range in the driving direction. Different sub-areas correspond to their respective traffic instruction information.

[0100] In this embodiment of the disclosure, such as Figure 6As shown in the example below, a typical crossroads area is used as an example. Autonomous vehicles 300 travel along the left and right roads, while manned vehicles travel along the up and down roads, mixing only within the crossroads. Roadside equipment 100 and traffic sign equipment 200 are both installed in the center of the crossroads, with traffic sign equipment 200 positioned facing all lane directions. Stop lines are marked on the road before entering the crossroads. For five-way intersections or more branch roads, consistent with the system concept for crossroads, traffic sign equipment 200 also needs to be deployed in the directions of the added intersections. Furthermore, a preset area is defined for each of the two driving directions of the road where the autonomous vehicle 300 is located. The preset area includes multiple sub-areas: starting from the stop line at the intersection corresponding to the direction of travel, moving away from the intersection in order of increasing distance, the first sub-area CD, the second sub-area BC, and the third sub-area AB, the fourth sub-area DE corresponding to the intersection, and the fifth sub-area EF adjacent to the fourth sub-area after passing the intersection in the direction of travel; where the stop line is a stop line set at the intersection for each of the two directions of travel on the road where the autonomous vehicle 300 is located. The preset area can be divided according to the distance to the intersection, or dynamically divided according to the real-time speed and location of the autonomous vehicle 300 and the speed limit at the intersection. The following uses the traffic indicator device 200 as a traffic light as an example to explain the corresponding traffic indication information when the autonomous vehicle 300 passes through these areas in sequence. The driverless car 300 travels within the third sub-area AB along the direction close to the intersection. When it is relatively far from the intersection, the traffic light on the road where manned vehicles are located turns green, allowing manned vehicles to enter the intersection. The traffic light on the road where the driverless car 300 is located turns red. The driverless car 300 then enters the second sub-area BC. The traffic light on the road where manned vehicles are located turns yellow (the duration of which can be configured by the roadside equipment 100). The length of the second sub-area BC can be calculated based on the yellow light duration and the real-time speed of the driverless car 300. The driverless car 300 enters the first sub-area CD and is about to enter the intersection. At this time, the traffic light on the road where the manned vehicle is located turns red in advance. The manned vehicle stops at the stop line or the stop line sign at the intersection. The duration of the advance red light can be configured by the roadside equipment 100. The traffic light on the road where the driverless car 300 is located turns green, and the driverless car 300 prepares to enter the intersection. The length of the first sub-area CD can be calculated based on the duration of the advance red light, the current real-time speed of the driverless car 300, and the speed limit of the intersection. The driverless car 300 enters the fourth sub-area DE corresponding to the intersection. At this time, the traffic light on the road where the manned vehicle is located turns red, and the traffic light on the road where the driverless car 300 is located turns green.When driverless car 300 exits the intersection and enters the fifth sub-area EF, the traffic light on the road where human vehicles are located turns green, while the traffic light on the road where driverless car 300 is located turns red. When there are multiple driverless cars 300 within the preset area, the priority of the traffic light colors on the roads where human vehicles are located, from highest to lowest, is: red, yellow, green. The traffic light colors on the roads where driverless car 300 is located are mutually exclusive with those on the roads where human vehicles are located. For example, if the traffic light on the road where human vehicles are located is green or yellow, the traffic light on the road where driverless car 300 is located will be red; conversely, if the traffic light on the road where human vehicles are located is red, the traffic light on the road where driverless car 300 is located will be green or yellow. For example, if driverless car 300 exists simultaneously in both the second sub-region BC and the fourth sub-region DE, according to the above priority judgment, the traffic lights on the roads where manned vehicles are located should be red, and the traffic lights on the roads where driverless car 300 is located should be green. Furthermore, the traffic lights on all roads where driverless car 300 is located should be the same color simultaneously, and the traffic lights on all roads where manned vehicles are located should also be the same color simultaneously. Specifically, when driverless car 300 exists in both the second sub-region BC and the fifth sub-region EF, according to the above priority judgment, the traffic lights on the roads where manned vehicles are located will switch from red to yellow and then back to red. This could confuse drivers of manned vehicles. In this case, the traffic lights on the roads where manned vehicles are located should remain red until driverless car 300 from the second sub-region BC enters the fifth sub-region EF.

[0101] In another embodiment of this disclosure, such as Figure 7 As shown, the fourth sub-region DE is divided into the first intersection sub-region DG and the second intersection sub-region GE, which are adjacent to each other within the intersection, according to the corresponding driving direction.

[0102] In this embodiment, the fourth sub-region DE is further divided into a first intersection sub-region DG and a second intersection sub-region GE, adjacent to each other within the intersection, according to the corresponding driving direction. The unmanned vehicle 300 is in the first intersection sub-region DG; at this time, the traffic light on the road where the vehicle is located is red, and the traffic light on the road where the unmanned vehicle 300 is located is green. The unmanned vehicle 300 is in the second intersection sub-region GE; at this time, the traffic light on the road where the vehicle is located is red, and the traffic light on the road where the unmanned vehicle 300 is located is yellow. The percentage of the second intersection sub-region GE to the fourth sub-region DE is p% (0≤p≤50), i.e., GE=DE×p%. When p=0, GE=0, meaning the fourth sub-region DE only includes the first intersection sub-region DG. When p=50, meaning the second intersection sub-region GE occupies half the distance of the fourth sub-region DE. The roadside equipment 100 can reasonably set the p value according to requirements.

[0103] Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments of this disclosure can be implemented in hardware or by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions of the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) and includes several instructions to cause a computer device (such as a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of this disclosure.

[0104] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes in the drawings are not necessarily essential for implementing this disclosure.

[0105] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0106] The sequence numbers of the embodiments disclosed above are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0107] Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, this disclosure is also intended to include such modifications and variations.

Claims

1. A vehicle traffic control system for an intersection, characterized in that, include: Roadside equipment, traffic signage equipment, and unmanned vehicles; The roadside equipment is located in or near an intersection area and is equipped with a driving information acquisition unit and a first communication unit. The driving information acquisition unit is used to acquire the driving information of the unmanned vehicle that is about to pass through the intersection area. The traffic indication device is installed in the intersection area and is equipped with a second communication unit and an indication output unit. The first communication unit is used to communicate with the second communication unit to transmit information related to the driving information of the unmanned vehicle to the second communication unit. The indication output unit is used to output traffic indication information. The unmanned vehicle is equipped with a first sensing device, which is used to acquire the traffic instruction information, and the unmanned vehicle is used to determine the driving status in the intersection area according to the traffic instruction information.

2. The system as described in claim 1, characterized in that, The traffic guidance signage device is installed in the central area of ​​the intersection area; and / or, The roadside equipment is located in the central area of ​​the intersection area.

3. The system as described in claim 1, characterized in that, The unmanned vehicle is also equipped with a third communication unit, which is used to establish a communication link with the first communication unit to send the driving information to the roadside equipment; or, The roadside equipment is equipped with a second sensing device, which is used to acquire the driving information of the unmanned vehicle that is about to pass through the intersection area.

4. The system as described in claim 1, characterized in that, Also includes: Cloud control platform; the cloud control platform is equipped with a fourth communication unit; The first communication unit is further configured to communicate with the access indication device to receive access indication information sent by the access indication device; The fourth communication unit is used to establish a communication link with the first communication unit to receive the passage instruction information.

5. The system as described in claim 1, characterized in that, The cloud control platform also includes: A display unit is configured to display the passage instruction information; and / or, A map module, which is used to send information containing the traffic instruction information to the autonomous vehicle.

6. The system as described in claim 4, characterized in that, The fourth communication unit is also used to send a forced control command to the roadside equipment, the forced control command being used to control the output of traffic indication information in a target format.

7. The system as described in claim 6, characterized in that, Also includes: A timer is used to record the output duration of the passage indication information in accordance with the target format; The mandatory control command is used to control the passage indication information to be output in the target format until the output duration displayed by the timer reaches the target duration.

8. The system as described in claim 1, characterized in that, The roadside equipment also includes: a fault and anomaly detection unit; The fault and anomaly detection unit is used to detect at least one of the following: faults in the roadside equipment, faults in the traffic indication sign, and anomalies in the traffic indication output by the indication output unit; The first communication unit is further configured to send the fault or abnormal information detected by the fault and anomaly detection unit to the target terminal; The target terminal is used to display the fault or abnormal information.

9. The system as described in claim 1, characterized in that, The system also includes: a power monitoring unit; The power monitoring unit is used to monitor the power information of the target device; the target device includes: the roadside equipment and / or the traffic indication device; The first communication unit is further configured to send the power abnormality information of the target device to the target terminal when the power monitoring unit detects an abnormal power level of the target device. The target terminal is used to display the abnormal battery information.

10. The system as described in claim 9, characterized in that, The first communication unit is further configured to send a first control command to the access indicator device when the power monitoring unit detects an abnormal power level of the target device. The indication output unit is used to output a corresponding abnormal passage indication according to the first control command.

11. The system as claimed in claim 1, characterized in that, The traffic guidance and signage equipment includes: traffic lights.

12. The system as claimed in claim 1, characterized in that, For each of the two driving directions on the road where the autonomous vehicle is located, a preset area is defined in that driving direction. The preset area includes multiple sub-areas: a first sub-area, a second sub-area, and a third sub-area, starting from the stop line corresponding to the entry point to the intersection in that driving direction and moving away from the intersection in order of increasing distance; a fourth sub-area corresponding to the intersection; and a fifth sub-area adjacent to the fourth sub-area after the vehicle has passed the intersection in that driving direction. The stop line is a stop line set at the intersection on the road where the autonomous vehicle is located for each of the two driving directions. The driving information acquisition unit is used to acquire the driving information of the unmanned vehicle after it enters a preset area in the driving direction, wherein different sub-areas correspond to their respective traffic indication information.

13. The system as described in claim 12, characterized in that, The fourth sub-region is divided into the first intersection sub-region and the second intersection sub-region, which are adjacent to each other within the intersection, according to the corresponding driving direction.

Images