CN106530783A - Automatic driving system - Google Patents
Automatic driving system Download PDFInfo
- Publication number
- CN106530783A CN106530783A CN201710019125.2A CN201710019125A CN106530783A CN 106530783 A CN106530783 A CN 106530783A CN 201710019125 A CN201710019125 A CN 201710019125A CN 106530783 A CN106530783 A CN 106530783A
- Authority
- CN
- China
- Prior art keywords
- crossing
- congestion
- road network
- driving system
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides an automatic driving system, which comprises a sensing unit used for acquiring the road condition information from a road network efficiency evaluation system over the network, wherein the road network efficiency evaluation system includes an intersection congestion evaluation module, a road network congestion evaluation module, a user evaluation module and a comprehensive judgment module; a control unit used for controlling the driving of a vehicle through outputting a corresponding control instruction to an execution unit; and the execution unit used for executing corresponding operations according to the control instruction of the control unit. According to the technical scheme of the invention, the practical process of the automatic driving technology is accelerated, so that the workload of a driver is reduced. Meanwhile, the mis-operation possibility of the manual driving is reduced.
Description
Technical field
The invention is related to automatic Pilot field, and in particular to a kind of automated driving system.
Background technology
Traffic scheduling at present relies primarily on traffic signal, and driving is completed by driver.In each vehicular traffic of congested link
All be an independent unit, coordinate experience mainly by driver to realize between vehicle, once driver exist lack experience,
Situations such as not observing traffic signal, easily causes traffic accident, the traffic that already congestion be can't bear is undoubtedly and is made the matter worse.
The content of the invention
For the problems referred to above, the present invention is intended to provide a kind of automated driving system.
The purpose of the invention is achieved through the following technical solutions：
A kind of automated driving system, including：
Unit is perceived, traffic information, the road network performance evaluation system are obtained from road network performance evaluation system by network
Including crossing congestion evaluation module, road network congestion evaluation module, user's evaluation module and comprehensive judgment module；
Control unit, exporting corresponding control instruction to performance element carries out Driving control to vehicle；
Performance element, for the control instruction according to control unit, performs corresponding operation.
The beneficial effect of the invention：The practicalization of automatic Pilot technology is accelerated, the work of driver is alleviated
Work amount and the probability of pilot steering maloperation.
Description of the drawings
Innovation and creation are described further using accompanying drawing, but the embodiment in accompanying drawing does not constitute and the invention is appointed
What limits, for one of ordinary skill in the art, on the premise of not paying creative work, can be with according to the following drawings
Obtain other accompanying drawings.
Fig. 1 is schematic structural view of the invention.
Reference：
Perceive unit 1, control unit 2, performance element 3.
Specific embodiment
The invention will be further described with the following Examples.
Referring to Fig. 1, a kind of automated driving system of the present embodiment, including：
Unit 1 is perceived, traffic information, the road network performance evaluation system are obtained from road network performance evaluation system by network
Including crossing congestion evaluation module, road network congestion evaluation module, user's evaluation module and comprehensive judgment module；
Control unit 2, exporting corresponding control instruction to performance element carries out Driving control to vehicle；
Performance element 3, for the control instruction according to control unit, performs corresponding operation.
The present embodiment accelerates the practicalization of automatic Pilot technology, alleviates workload and the pilot steering of driver
The probability of maloperation.
Preferably, described control unit 2 includes：
Receiving processing module, perceives the information that acquires of unit for receiving, and carries out process to these information and obtain
Assessment result；
Control module, for determining vehicle using automatic driving mode or pilot steering pattern according to assessment result, and then
Drive mode according to determining carries out Driving control to vehicle, to export corresponding control instruction to performance element.
This preferred embodiment shortens controlling cycle, improves efficiency.
Preferably, described performance element 3 includes accelerator pedal, brake pedal, gear and steering wheel；Described acceleration is stepped on
Plate is used for controlling accelerator open degree or motor speed；Described brake pedal is used for car deceleration and braking；Described gear is used for
Control automobile forward-reverse and travel speed；Described steering wheel is used for motor turning.
This preferred embodiment automatic Pilot is more accurate.
Preferably, crossing congestion evaluation module, stops according to crossing queue length, intersection delay time and averagely
Car rate carries out overall merit to crossing congestion；
Crossing queue length is calculated in the following way：
In formula, S is crossing queue length, and d is the average vehicle number for reaching crossing in the unit time, and QK is two
Average distance between car, r are red time, and t is that crossing allows the maximum vehicle number for passing through in the unit time, and K is upper one
Cycle Mean Residence vehicle number, as d≤t, it is 0 that a upper cycle is detained vehicle number,
In formula, cycles of the T for traffic light；S values are bigger, represent that congestion is got in crossing, and S values are less, represent and intersect
Mouth is more unobstructed.
This preferred embodiment automated driving system perceives unit and obtains accurate crossing queueing message, automatic Pilot system
System performance element can take corresponding action according to the queueing message for obtaining.
Preferably, the intersection delay time is calculated using such as following formula：
In formula, AYiFor the average cross mouth delay time at stop of intersection signal phase place i, AY is each car of crossing
Average cross mouth delay time at stop, cycles of the T for traffic light, giFor the effective green time of signal phase i, lijFor i-th
The traffic flow of j-th entrance driveway of signal phase,For the average traffic flow of each entrance driveway of i-th signal phase,For jth
The weight of the traffic flow of individual entrance driveway, s are crossing saturation volume, and e is that crossing has e signal phase, and k is i-th
Signal phase has k entrance driveway, QiFor the traffic flow flow of i-th signal phase, zijEnter for j-th for i-th signal phase
The saturation in mouth road,For the average staturation of each entrance driveway of i-th signal phase, βjFor the power of the saturation of j-th entrance driveway
Weight.
The average parking rate is calculated using equation below：
In formula, NJiFor the average parking rate of intersection signal phase place i, NJ is the average parking rate in crossing, and T is traffic
The cycle of signal lighties, d be vehicle average arrival rate, giFor the effective green time of signal phase i, lijFor i-th signal phase
The traffic flow of j-th entrance driveway,For the average traffic flow of each entrance driveway of i-th signal phase,For j-th entrance driveway
Traffic flow weight, s be crossing saturation volume, e be crossing have e signal phase, k be i-th signal phase
Total k entrance driveway, zijFor the saturation of i-th signal phase, j-th entrance driveway,For each entrance driveway of i-th signal phase
Average staturation, βjFor the weight of the saturation of j-th entrance driveway.
Crossing congestion evaluation index P is set up, the computing formula of crossing congestion evaluation index P is：P=ε y+ δ L+
γ S,
In formula, ε, δ, γ are respectively intersection delay time, average parking rate and queue length to crossing congestion
Affect coefficient；P values are bigger, represent that crossing jam situation is more serious, and P values are less, represent that crossing is more unobstructed.
The present embodiment automated driving system calculates the average parking rate in crossing using a kind of modified hydrothermal process, it is contemplated that not
With the Different Effects that the difference of the traffic flow and saturation of entrance driveway is caused to the average parking rate in crossing, intersection is increased
The accuracy that the average parking rate of mouth is calculated, improves the drive safety of automated driving system, and automated driving system to trying to achieve
The intersection delay time, average parking rate and queuing queue these three indexs carry out overall merit, improve automatic Pilot
The driving accuracy of system.
Preferably, road network jam situation is evaluated by setting up road network evaluation index, evaluation index is congestion index：
In formula, FN is used for representing the congestion index of whole road network that m is used for representing category of roads number in road network that n is used for table
Show certain grade road Road hop count, FNliFor representing section FNliCongestion index, AiAnd BjIt is respectively intended to represent section i in institute
The category weights of importance of grade road and jth grade road in road network,
In formula,For representing section FNliVehicle average speed.
This preferred embodiment automated driving system provides road network situation by certain moment all of section, certain grade in road network
The congestion intensity of road and overall road network is quantified, and automated driving system judges the congestion journey of the road network from quantized data
Spend and as the foundation of its automatic Pilot, improve adaptability of the automated driving system to different sections of highway.
Preferably, user's evaluation module, is evaluated to road cost by calculating user time cost, when road is entered
During blocked state, multiple users expense that unit distance increases on road is：
In formula, VyFor the average speed of vehicle under congestion status, V0For vehicle average speed under normal condition, ρ represents this
Road vehicle density, C represent the link length；
Δ F is bigger, and road cost is higher, and Δ F is less, and road cost is lower.
This preferred embodiment automated driving system can obtain minimum road cost, there is provided optimum route selection, with
Prior art is compared, and automated driving system actually expends the time with the consuming time under ideal conditionss come right in road network by comparing
Road network performance is evaluated, and improves the service level of automated driving system, and user can obtain more preferable automatic Pilot experience.
Preferably, comprehensive judgment module, according to intersection evaluation index, road network evaluation index and road efficiency to the network of communication lines
Network efficiency carries out overall merit, sets up transportation network comprehensive evaluation index W：
In formula, P is used for representing crossing congestion index,For representing that each road average cost increases in road network, DL
For representing road network congestion index；W is less, and transportation network efficiency is higher, and W is bigger, and transportation network efficiency is lower.
This preferred embodiment automated driving system is comprehensive, comprehensively consider the factor occurred in driving procedure, Neng Gouwei
User provides personalized service, and automatically congestion crossing and section is hidden in driving procedure.
Inventor to the traveling process of automated driving system, spend cost and accident rate to be counted, the present invention and people
Work drives and compares, and the technique effect of generation is as shown in the table：
| Efficiency is improved | Cost savings | Accident rate is reduced |
| 15% | 18% | 30% |
Finally it should be noted that above example is only illustrating technical scheme, rather than to present invention guarantor
The restriction of shield scope, although having made to explain to the present invention with reference to preferred embodiment, one of ordinary skill in the art should
Work as understanding, technical scheme can be modified or equivalent, without deviating from the reality of technical solution of the present invention
Matter and scope.
Claims (4)
1. a kind of automated driving system, is characterized in that, including：
Unit is perceived, traffic information is obtained from road network performance evaluation system by network, the road network performance evaluation system includes
Crossing congestion evaluation module, road network congestion evaluation module, user's evaluation module and comprehensive judgment module；
Control unit, exporting corresponding control instruction to performance element carries out Driving control to vehicle；
Performance element, for the control instruction according to control unit, performs corresponding operation.
2. a kind of automated driving system according to claim 1, is characterized in that, described control unit includes：
Receiving processing module, perceives the information that unit is acquired for reception, and carries out process to these information and assessed
As a result；
According to assessment result, control module, for determining that vehicle adopts automatic driving mode or pilot steering pattern, and then basis
It is determined that drive mode Driving control is carried out to vehicle, to export corresponding control instruction to performance element.
3. a kind of automated driving system according to claim 2, is characterized in that, described performance element includes that acceleration is stepped on
Plate, brake pedal, gear and steering wheel；Described accelerator pedal is used for controlling accelerator open degree or motor speed；Described brake
Pedal is used for car deceleration and braking；Described gear is used for controlling automobile forward-reverse and travel speed；Described direction
Disk is used for motor turning.
4. a kind of automated driving system according to claim 3, is characterized in that, crossing congestion evaluation module, according to friendship
Prong queue length, intersection delay time and average parking rate carry out overall merit to crossing congestion；
Crossing queue length is calculated in the following way：
In formula, S is crossing queue length, and d is the average vehicle number for reaching crossing in the unit time, QK be two cars it
Between average distance, r is red time, and t is that crossing allows the maximum vehicle number for passing through in the unit time, and K was a upper cycle
Mean Residence vehicle number, as d≤t, it is 0 that a upper cycle is detained vehicle number,
In formula, cycles of the T for traffic light；
S values are bigger, represent that congestion is got in crossing, and S values are less, represent that crossing is more unobstructed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019125.2A CN106530783B (en) | 2017-01-11 | 2017-01-11 | A kind of automated driving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710019125.2A CN106530783B (en) | 2017-01-11 | 2017-01-11 | A kind of automated driving system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106530783A true CN106530783A (en) | 2017-03-22 |
| CN106530783B CN106530783B (en) | 2019-07-23 |
Family
ID=58335401
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710019125.2A Active CN106530783B (en) | 2017-01-11 | 2017-01-11 | A kind of automated driving system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106530783B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109345853A (en) * | 2018-08-30 | 2019-02-15 | 浙江工业大学 | A GIS-based optimization method for safe driving of unmanned vehicles |
| CN109383513A (en) * | 2017-08-04 | 2019-02-26 | 郑州宇通客车股份有限公司 | Environmental sanitation cleaning vehicle automatic Pilot control method and control system |
| CN110471404A (en) * | 2018-05-09 | 2019-11-19 | 阿尔派株式会社 | Servomechanism and automatic Pilot method |
| CN115997106A (en) * | 2020-07-01 | 2023-04-21 | 三菱电机株式会社 | Travel plan creation device and travel plan creation method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070076641A (en) * | 2006-01-19 | 2007-07-25 | 주식회사 만도 | Vehicle control system and its control method |
| CN101131588A (en) * | 2006-08-25 | 2008-02-27 | 吴体福 | Automatic pilot system for road vehicle |
| US20130179025A1 (en) * | 2010-06-23 | 2013-07-11 | GM Global Technology Operations LLC | Vehicle Procession Control Through a Traffic Intersection |
| CN104064050A (en) * | 2014-06-30 | 2014-09-24 | 科大讯飞股份有限公司 | Automatic driving system and automatic driving method |
| CN104477167A (en) * | 2014-11-26 | 2015-04-01 | 浙江大学 | Intelligent driving system and control method thereof |
-
2017
- 2017-01-11 CN CN201710019125.2A patent/CN106530783B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20070076641A (en) * | 2006-01-19 | 2007-07-25 | 주식회사 만도 | Vehicle control system and its control method |
| CN101131588A (en) * | 2006-08-25 | 2008-02-27 | 吴体福 | Automatic pilot system for road vehicle |
| US20130179025A1 (en) * | 2010-06-23 | 2013-07-11 | GM Global Technology Operations LLC | Vehicle Procession Control Through a Traffic Intersection |
| CN104064050A (en) * | 2014-06-30 | 2014-09-24 | 科大讯飞股份有限公司 | Automatic driving system and automatic driving method |
| CN104477167A (en) * | 2014-11-26 | 2015-04-01 | 浙江大学 | Intelligent driving system and control method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 荣建 等: "信号交叉口排队长度动态计算方法研究", 《中国公路学报》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383513A (en) * | 2017-08-04 | 2019-02-26 | 郑州宇通客车股份有限公司 | Environmental sanitation cleaning vehicle automatic Pilot control method and control system |
| CN110471404A (en) * | 2018-05-09 | 2019-11-19 | 阿尔派株式会社 | Servomechanism and automatic Pilot method |
| CN110471404B (en) * | 2018-05-09 | 2023-09-22 | 阿尔派株式会社 | Autopilot device and autopilot method |
| CN109345853A (en) * | 2018-08-30 | 2019-02-15 | 浙江工业大学 | A GIS-based optimization method for safe driving of unmanned vehicles |
| CN115997106A (en) * | 2020-07-01 | 2023-04-21 | 三菱电机株式会社 | Travel plan creation device and travel plan creation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106530783B (en) | 2019-07-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104794919B (en) | A kind of autoroute track resource real-time optimization collocation method | |
| CN105160917B (en) | System and method is guided based on the signalized crossing speed that bus or train route is cooperateed with | |
| CN109191876B (en) | A special vehicle traffic guidance system based on vehicle networking technology and its control method | |
| CN105513425B (en) | A kind of vehicle collision risk algorithm and accidents early warning method | |
| Li et al. | Traffic energy and emission reductions at signalized intersections: a study of the benefits of advanced driver information | |
| CN107730886B (en) | A dynamic optimization method for traffic signals at urban intersections in the environment of Internet of Vehicles | |
| CN104157156B (en) | A kind of highway Dangerous Area speed of a motor vehicle dynamic management method for early warning | |
| CN103150677B (en) | Radical driving condition recognition methods and system | |
| CN102201021B (en) | Expressway aided design system | |
| CN103093636B (en) | Expressway turning segment variable velocity-limiting control method | |
| CN105946860B (en) | A kind of bend speed prediction method for considering driving style | |
| Chen et al. | Development and preliminary field testing of an in-vehicle eco-speed control system in the vicinity of signalized intersections | |
| CN107767679A (en) | Signal lamp intersection speed guide device and method based on DSRC | |
| Maurya et al. | Study on speed and time-headway distributions on two-lane bidirectional road in heterogeneous traffic condition | |
| CN106530783A (en) | Automatic driving system | |
| CN104680814B (en) | A kind of crossing steady yellow safe driving control method based on wireless technology | |
| CN105788312B (en) | A kind of through street variable speed-limiting control method based on bus or train route collaboration | |
| CN104778834A (en) | Urban road traffic jam judging method based on vehicle GPS data | |
| CN108944946A (en) | A kind of bend risk based on truck traffic estimates calculation method | |
| CN103606268B (en) | A kind of snow sky through street blocks up upstream variable speed-limiting control method | |
| CN103606287B (en) | A kind of prevent the variable speed-limiting control method of rear-end collision near gateway, tunnel | |
| CN102433811A (en) | The Method of Determining the Minimum Distance Between Road Intersections in Port Area | |
| CN102360530B (en) | Velocity Consistency Inspection Method for the Basic Sections of Port Collection and Distribution Ports | |
| Wu et al. | Energy and emission benefit comparison of stationary and in-vehicle advanced driving alert systems | |
| CN110363986A (en) | A centralized vehicle speed optimization method in the merge area based on vehicle-vehicle game and driving potential force |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190619 Address after: Room 901, No. 6, 600 Lane, Yunling West Road, Putuo District, Shanghai, 2003 Applicant after: Shanghai Industrial Control Safety Innovation Technology Co., Ltd. Address before: 518000 Guangdong, Shenzhen, Nanshan District, Guangdong Province, south Guangdong Road, Nanshan Road 1024, 206 billion edifice building Applicant before: Shenzhen Huitong Intelligent Technology Co., Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |