CN108806266A - A kind of automatic driving vehicle kinetic control system and method - Google Patents
A kind of automatic driving vehicle kinetic control system and method Download PDFInfo
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- CN108806266A CN108806266A CN201810392486.6A CN201810392486A CN108806266A CN 108806266 A CN108806266 A CN 108806266A CN 201810392486 A CN201810392486 A CN 201810392486A CN 108806266 A CN108806266 A CN 108806266A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
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- 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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
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- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of automatic driving vehicle kinetic control system and methods, acoustic recognition unit, image acquisition units and the speed data collection unit being attached thereto including main control unit and respectively, the acoustic recognition unit is connected with sound collection unit, and the main control unit includes data sink；The speed data collection unit includes data management module and the vehicle monitoring module being electrically connected with data management module, and the data module management module is for receiving, handling, storing the data information detected by the vehicle monitoring module；The vehicle monitoring module is laid under road surface, road conditions, vehicle flowrate and Vehicle Speed for monitoring section in real time.It is persistently detected to whether automatic driving vehicle front vehicle makes a sound signal and the voice signal is analyzed according to according to preset vehicle recognition rule, to determine the type of front vehicle；According to the type of front vehicle, corresponding evacuation mobility operation strategy is executed to the intention of overtaking other vehicles of front vehicle.
Description
Technical field
The present invention relates to automatic driving vehicle fields, more particularly to the automatic driving vehicle based on front vehicle driving intention
Kinetic control system.
Background technology
Running environment perception is the important content of unmanned technology, and realizes vehicle assistant drive and autonomous driving
Premise.The context aware systems of automatic driving vehicle lay particular emphasis on the identification of vehicle traveling front situation at present, utilize radar and vehicle
It carries visual sensor the information such as road surface ahead information, barrier and signal lamp are obtained and analyzed, and to unmanned
The state concern that vehicle travels front vehicle is less.In actual vehicle running environment, driver is frequently necessary to according to rear
The whistle of vehicle especially has purpose-built vehicle (ambulance, police car etc.) ring later to determine acceleration or lane-change operation
When flute, operation of quickly being kept to the right and given way is needed.Although also can be to nobody using radar and the vehicle-mounted visual apparatus of postposition
It drives the driving informations such as speed, the spacing of rear of vehicle vehicle to be obtained, but after recognition in terms of square vehicle driving intention
There is certain shortcoming in terms of real-time and reliability.In addition, the precision of radar and vehicle-mounted visual apparatus is easy by rain, mist
And the influence of the weather such as snow, to lower the effect of automatic driving vehicle front vehicle driving intention identification, and cost is not easy
Control.In order to solve this technical problem, Chinese patent one kind that application publication number is CN106125731A is based on front vehicle
The automatic driving vehicle kinetic control system and method for driving intention identification, the patent use sound collection unit and voice recognition
Unit carries out duration and frequency analysis to the voice signal that automatic driving vehicle front vehicle is sent out and judges front vehicle
Type, but speed data collection unit, still using trailer-mounted radar, trailer-mounted radar is a kind of current application speed detection most
Device, but there are certain blind areas for trailer-mounted radar, while on the traffic route of multilane, extraneous sound interference source is very
More, the energy that the energy ratio vehicle that some interference sources are sent out is sent out is big so that the precision of detector is greatly affected.
In order to solve the above technical problem, the present invention provides a kind of automatic driving vehicle kinetic control system and methods.
Invention content
In view of the above shortcomings of the prior art, the object of the present invention is to provide a kind of automatic driving vehicle kinetic control systems
And method.
The present invention is achieved by the following technical programs.
A kind of automatic driving vehicle kinetic control system, including main control unit and the voice recognition list that is attached thereto respectively
Member, image acquisition units and speed data collection unit, the acoustic recognition unit are connected with sound collection unit, the main control unit
It include data sink；The speed data collection unit includes data management module and the vehicle that is electrically connected with data management module
Monitoring modular, the data module management module is used to receive, handle, stores number detected by the vehicle monitoring module
It is believed that breath；The vehicle monitoring module include multigroup photosensitive sensor, multigroup ultrasonic sensor, photosensitive switch control unit,
Counting unit and the unit that tests the speed, the vehicle monitoring module are laid under road surface, road conditions, vehicle flowrate for monitoring section in real time
And Vehicle Speed.
Specifically, the vehicle detection module is used to monitor road traffic, speed and traffic information, and number will be monitored
According to the data management module is sent to, the data management module carries out analyzing processing to monitoring data, and by the master control
According to treated, information controls automatic driving vehicle to unit.
Specifically, the photosensitive sensor/ultrasonic sensor is also associated with timer, starts to count when sensor-triggered
When, the photosensitive sensor converts optical signals to electric signal, when there is vehicle to cross road surface, the light sensor under road surface
Device can detect the instantaneous variation of optical signal, and when vehicle crosses one group of photosensitive sensor, the speed data collection unit is according to light
The distance between the time of signal instantaneous variation and one group of photosensitive sensor can calculate the length and travel speed of vehicle；Institute
Ultrasonic sensor is stated by emitting ultrasonic signal, when there is vehicle to cross road surface, the supersonic sensing to upper pavement surface
Device can receive reflected ultrasonic signal at once, when vehicle crosses one group of ultrasonic sensor, you can by described
The unit that tests the speed calculates the length and travel speed of vehicle；When a photosensitive sensor/ultrasonic sensor detects signal wink
When Shi Bianhua, the counting unit remembers a number, to be counted to the vehicle flowrate of road.
Preferably, in multigroup photosensitive sensor/ultrasonic sensor each group set there are two light sensor
Device/ultrasonic sensor, and the distance between described two photosensitive sensor/ultrasonic sensors are fixed.
Photosensitive sensor/the ultrasonic sensor is used to road pavement vehicle and tests the speed；
Preferably, the photosensitive switch control unit and multigroup photosensitive sensor, multigroup supersonic sensing
Device, counting unit, the unit that tests the speed electrical connection replace the photosensitive biography for controlling the ultrasonic sensor under no light condition
Sense device working.It is intended that realizing the photosensitive sensor and ultrasonic sensor by the photosensitive switch control unit
Alternation, the monitoring to vehicle can be similarly realized at night, while the burden of sensor can also be reduced, when avoiding long
Between work and damage.
Preferably, the data management module includes data receipt unit, data processing unit, data storage list
Member and data transmission unit.It is intended that after being used to receive the monitoring data of the vehicle detection module and being handled
It is then forwarded to the Master Control Unit.
The data sink receives the data transfer sent by speed data collection unit to the main control unit, by the master
It controls unit and controls automatic driving vehicle traveling according to the data of transmission.
Preferably, the acoustic recognition unit according to preset vehicle identification principle to the sound collection unit
Collected voice signal is analyzed.
A kind of automatic driving vehicle motion control method, comprises the steps of：
S1, it is tested the speed to the travel speed of automatic driving vehicle front vehicle by vehicle monitoring module, and passes through number
Data processing unit is transferred data to according to transmission unit, persistently to automatic driving vehicle rear vehicle while to vehicle speed measuring
The sound sent out is collected and does comparative analysis；
If S2, front vehicle are identified as no special use figure vehicle, by vehicle monitoring module to automatic driving car
The vehicle of right lane traveling is tested the speed and is monitored to wagon flow situation, and is transferred data to by data transmission unit
Data processing unit；
If S3, front vehicle are identified as special figure vehicle, by the unit that tests the speed to automatic driving vehicle or so two
The vehicle of lanes is tested the speed and is monitored to wagon flow situation, and transfers data to data by data transmission unit
Processing unit；
S4, data are carried out by data processing unit to be sent to main control unit after comparison processing, passes through main control unit
Determine the best travel route of automatic driving vehicle.
The S2 steps include：Detect automatic driving vehicle front vehicle travel speed, and with automatic driving vehicle
Present speed is compared；
If the travel speed of automatic driving vehicle front vehicle is less than the present speed of automatic driving vehicle, unmanned
Vehicle keeps straight trip；
If the travel speed of automatic driving vehicle front vehicle is more than the present speed of automatic driving vehicle, unmanned
Vehicle judges whether have lane change driving conditions according to the wagon flow state of the right-hand lane detected, if there is lane change driving conditions,
Then automatic driving vehicle lane change to the right, automatic driving vehicle keeps straight trip if without lane change driving conditions.
The S3 steps include：Detect automatic driving vehicle front vehicle travel speed, and with automatic driving vehicle
Present speed is compared；
If the travel speed of automatic driving vehicle front vehicle is less than the present speed of automatic driving vehicle, unmanned
Vehicle keeps straight trip；
If the travel speed of automatic driving vehicle front vehicle is more than the present speed of automatic driving vehicle, unmanned
Vehicle according to the wagon flow state of the right-hand lane detected, judges whether have lane change driving conditions, if there is lane change traveling first
Condition, then automatic driving vehicle lane change to the right；Automatic driving vehicle is according to detecting if right-hand lane is without lane change driving conditions
Left-hand lane wagon flow state, judge whether have lane change driving conditions, if having lane change driving conditions, automatic driving vehicle
Lane change to the left；If the right-hand lane and left side that detect, which measure all, does not have lane change driving conditions, automatic driving vehicle is kept
Straight trip.
It should be noted that is carried out when automatic driving vehicle rear is special car is unconditionally to avoid, preferably
Lane to the right.
Compared with prior art, the beneficial effects of the present invention are：The present invention is using vehicle monitoring module for speed
Visual angle blind zone is not present in acquisition, and the data of acquisition are more accurate, reinforces automatic driving vehicle movement control technology, improves nobody
Drive the driving safety and intelligent level of vehicle.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art do simple introduction, it should be apparent that, in being described below
Attached drawing is some embodiments of the invention, for those of ordinary skill in the art, in the premise not made the creative labor
Under, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of automatic driving vehicle kinetic control system structure diagram in the present invention.
Fig. 2 is vehicle monitoring modular structure block diagram in embodiment 1.
Fig. 3 is data management module structure diagram in embodiment 1.
Fig. 4 is a kind of automatic driving vehicle motion control method flow chart in the present invention.
Fig. 5 is vehicle monitoring modular structure block diagram in embodiment 3.
In figure：100, main control unit；101, data sink；200, acoustic recognition unit；300, image acquisition units；
400, speed data collection unit；410, data management module；411, data receipt unit；412, data processing unit；413, data
Storage unit；414, data transmission unit；420, vehicle monitoring module；421, photosensitive sensor；422, ultrasonic sensor；
423, photosensitive switch control unit；424, counting unit；425, test the speed unit；426, electric quantity monitoring unit；427, timing unit；
500, sound collection unit.
Specific implementation mode
Clear, complete description is carried out to the technical solution of various embodiments of the present invention below with reference to attached drawing, it is clear that retouched
The embodiment stated is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiment of the present invention, originally
Field those of ordinary skill obtained all other embodiment without making creative work, belongs to this hair
Bright protected range.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for the description present invention and simplify description, do not indicate or imply the indicated device or element must have a particular orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for description purposes only, and is not understood to indicate or imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
The present invention is described in further detail below through specific implementation examples and in conjunction with the accompanying drawings.
Embodiment 1
As shown in Figs. 1-3, a kind of automatic driving vehicle kinetic control system, including main control unit 100 and connect therewith respectively
Acoustic recognition unit 200, image acquisition units 300 and the speed data collection unit 400 connect, the acoustic recognition unit 200 connect
There is sound collection unit 500；The main control unit 100 includes data sink 101；The speed data collection unit 400 includes
Data management module 410 and the vehicle monitoring module 420 being electrically connected with data management module 410, the data management module
410 for receiving, handling, storing the data information detected by the vehicle monitoring module 420；The vehicle monitoring module
420 include 421/ multigroup ultrasonic sensor 422 of multigroup photosensitive sensor, photosensitive switch control unit 423, counting unit 424
With the unit 425 that tests the speed, the vehicle monitoring module 420 is laid under road surface, for monitor in real time the road conditions in section, vehicle flowrate and
Vehicle Speed.
The sound collection unit 500, the voice signal sent out for acquiring automatic driving vehicle front vehicle；The sound
Sound recognition unit 200 for analyzing 500 collected voice signal of sound collection unit, and is known according to preset vehicle
The type of front vehicle is not identified in rule；The image acquisition units 300, for acquiring in front of automatic driving vehicle
And the wagon flow state in both sides track；The speed data collection unit 400, for acquiring automatic driving vehicle front vehicles and rear
The travel speed of vehicle；The main control unit 100, according to acquired by the speed data collection unit 400 and the data analyzed into
Row analysis, and corresponding operation is executed according to preset vehicle control rule control automatic driving vehicle.
The vehicle monitoring module 420 includes multigroup photosensitive sensor 421, multigroup ultrasonic sensor 422, photosensitive switch
Control unit 423, counting unit 424, test the speed unit 425.
421/ ultrasonic sensor 422 of the photosensitive sensor is also associated with timer, starts to count when sensor-triggered
When, the photosensitive sensor 421 converts optical signals to electric signal, when there is vehicle to cross road surface, is located at photosensitive under road surface
Sensor 421 can detect the instantaneous variation of optical signal, when vehicle crosses one group of photosensitive sensor 421, the speed data collection
Unit 400 can calculate vehicle according to the distance between the time of optical signal instantaneous variation and one group of photosensitive sensor 421
Length and travel speed；The ultrasonic sensor 422 crosses road by emitting ultrasonic signal to upper pavement surface when there is vehicle
When face, the ultrasonic sensor 422 can receive reflected ultrasonic signal at once, when vehicle crosses one group of ultrasonic wave
When sensor 422, you can calculate the length and travel speed of vehicle by the unit 425 that tests the speed；When a light sensor
When 421/ ultrasonic sensor 422 of device detects signal transient variation, the counting unit 424 remembers a number, to road
Vehicle flowrate counted.
It sets and 421/ surpasses there are two photosensitive sensor for each group in 421/ ultrasonic sensor 422 of multigroup photosensitive sensor
Sonic sensor 422, and the distance between 421/ ultrasonic sensor 422 of described two photosensitive sensors is L meters fixed, vacation
If the headstock of a vehicle is T1 by the time used in one group of 421/ ultrasonic sensor 422 of photosensitive sensor, and this vehicle is whole
Body is T2 by the time used in 421/ ultrasonic sensor 422 of photosensitive sensor, then can be counted by the unit 425 that tests the speed
It calculates and show that instantaneous velocity when this vehicle crosses this group of 421/ ultrasonic sensor 422 of photosensitive sensor is L/T1, length of wagon
For (L/T1) * T2；
The photosensitive switch control unit 423 and multigroup photosensitive sensor 421, multigroup ultrasonic sensor 422, meter
Counting unit 424, the unit 425 that tests the speed electrical connection replace the light for controlling the ultrasonic sensor 422 under no light condition
Dependent sensor 421 works；
Under the conditions of having light (daytime), the photosensitive switch control unit 423 control the photosensitive sensor 421 with it is described
Counting unit 424, the unit 425 that tests the speed electrical connection, and disconnect the ultrasonic sensor 422 and the counting unit 424, test the speed
The electrical connection of unit 425；Under conditions of unglazed (night), the photosensitive switch control unit 423 controls the ultrasonic wave and passes
Sensor 422 is electrically connected with the counting unit 424, the unit 425 that tests the speed, and disconnects the photosensitive sensor 421 and the counting
The electrical connection of unit 424, the unit 425 that tests the speed；The photosensitive sensor 421 is realized by the photosensitive switch control unit 423
With the alternation of ultrasonic sensor 422, the monitoring to vehicle can be similarly realized at night, while sensing can also be reduced
The burden of device avoids working long hours and damaging.
The data management module 410 includes data receipt unit 411, data processing unit 412, data storage cell
413 and data transmission unit 414；The data processing unit 412 is microcontroller, and the data storage cell 413 is hard disk.
The main control unit 100 includes data sink 101.The data sink 101 is mainly used for described in reception
The data of data management module 410 are given the data transfer of the data management module 410 by the data sink 101
The main control unit 100.
The data sink 101 receives the data transfer sent by speed data collection unit 400 to the main control unit
100, by the main control unit 100 traveling of the automatic driving vehicle on road is controlled according to the data of transmission.
Embodiment 2
According to a kind of automatic driving vehicle kinetic control system described in embodiment 1, the invention also discloses one kind to be based on
The automatic driving vehicle motion control method of front vehicle driving intention identification, as shown in figure 4, including step：
S1, it is tested the speed to the travel speed of automatic driving vehicle front vehicle by vehicle monitoring module, and passes through number
Data processing unit is transferred data to according to transmission unit, persistently to automatic driving vehicle rear vehicle while to vehicle speed measuring
It sends out and whether to make a sound signal and be detected；
If S2, front vehicle are identified as no special use figure vehicle, by vehicle monitoring module to automatic driving car
The vehicle of right lane traveling is tested the speed and is monitored to wagon flow situation, and is transferred data to by data transmission unit
Data processing unit；
If S3, front vehicle are identified as special figure vehicle, by the unit that tests the speed to automatic driving vehicle or so two
The vehicle of lanes is tested the speed and is monitored to wagon flow situation, and transfers data to data by data transmission unit
Processing unit；
S4, data are carried out by data processing unit to be sent to main control unit after comparison processing, passes through main control unit
Determine the best travel route of automatic driving vehicle.
The S2 steps include：Detect automatic driving vehicle front vehicle travel speed, and with automatic driving vehicle
Present speed is compared；
If the travel speed of automatic driving vehicle front vehicle is less than the present speed of automatic driving vehicle, unmanned
Vehicle keeps straight trip；
If the travel speed of automatic driving vehicle front vehicle is more than the present speed of automatic driving vehicle, unmanned
Vehicle judges whether have lane change driving conditions according to the wagon flow state of the right-hand lane detected, if there is lane change driving conditions,
Then automatic driving vehicle lane change to the right, automatic driving vehicle keeps straight trip if without lane change driving conditions.
The S3 steps include：Detect automatic driving vehicle front vehicle travel speed, and with automatic driving vehicle
Present speed is compared；
If the travel speed of automatic driving vehicle front vehicle is less than the present speed of automatic driving vehicle, unmanned
Vehicle keeps straight trip；
If the travel speed of automatic driving vehicle front vehicle is more than the present speed of automatic driving vehicle, unmanned
Vehicle judges whether have lane change driving conditions according to the wagon flow state of the right-hand lane detected, if there is lane change driving conditions,
Then automatic driving vehicle lane change to the right, automatic driving vehicle keeps straight trip if without lane change driving conditions.
Embodiment 3
As shown in figure 5, a kind of automatic driving vehicle kinetic control system applied to photovoltaic highway is present embodiments provided,
Difference lies in vehicle monitoring module includes electric quantity monitoring unit 426, timing unit in the present embodiment with above-described embodiment 1,2
427, the configuration of vehicle monitoring module 420 is in the photovoltaic panel of photovoltaic highway, for monitoring Vehicle Speed in real time；
When the present embodiment monitors vehicle by one piece of photovoltaic panel by the vehicle monitoring module 420, the photovoltaic panel
The duration of electric quantity change and electric quantity change, and the data monitored are sent to the data management module 410, the number
According to management module 410 according to the both ends of the duration of electric quantity change and the single photovoltaic panel in the single photovoltaic panel monitored
Distance computation obtains the travel speed of vehicle；
Specifically, the data processing unit 412 includes estimator, when vehicle drives through in one piece of photovoltaic panel,
The estimator be configured as the spacing based on the duration of electric quantity change in the photovoltaic panel and the photovoltaic panel both ends come
Determine the travel speed of vehicle.
The electric quantity monitoring unit 426 is electric energy computation chip, for monitoring the voltage in photovoltaic panel, electric current, power, electricity
Amount etc.；
When vehicle drives through in one piece of photovoltaic panel, the estimator is configured as based on electricity in the photovoltaic panel
The spacing at the duration of variation and the photovoltaic panel both ends determines the travel speed of vehicle.In practical applications, the light
Volt plate is crystal silicon solar plate, size 2000*1000*35mm, rated power 180W, transfer efficiency 80%, photovoltaic
The both ends center of plate is equipped with terminal A, B, the distance L=2000mm of terminal A to terminal B, described in no vehicle traveling process
When photovoltaic panel, output power W1=W* η=180*80%=140W of the photovoltaic panel pass through the photovoltaic when there is vehicle traveling
When plate, the front part of vehicle passes through terminal A, and the output power W1 starts to continuously decrease, until the front part of vehicle reaches
Terminal B, the output power bottom out W2, at this point, the photovoltaic panel is sheltered from completely by vehicle, can not obtain the straight of light
It connects irradiation, but can be irradiated by indirect light of acquisitions such as the reflection, the scatterings that are radiated at the light on adjacent photovoltaic plate, and then convert
Lower output power is obtained, W2 is defined as W2=W1*10%=14W here, the monitoring of the timing unit 427 obtains described
The time that output power drops to W2 from W1 is 0.12S, keeps the output power in W2 ever since, until the vehicle tail
Traveling leaves terminal A, and the time that the output power is maintained at W2 is 0.18S, and the output power starts to gradually rise, until
W1, the vehicle tail, which travels, at this time leaves terminal B, and the time that the output power is increased to W1 from W2 is 0.12S, according to speed
Formula v=L/t is spent, the travel speed v=60KM/h of vehicle is calculated, the travel speed v by vehicle and the output work
Rate is maintained at the time of W2, and the length S=5m of vehicle is calculated.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
To modify to the technical solution recorded in previous embodiment, either which part or all technical features are equal
It replaces；And these modifications or replacements, technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (8)
1. a kind of automatic driving vehicle kinetic control system, including main control unit and the acoustic recognition unit that is attached thereto respectively and
Speed data collection unit, the acoustic recognition unit are connected with sound collection unit；It is characterized in that, the main control unit includes
Data sink；The speed data collection unit includes data management module and the vehicle monitoring that is electrically connected with data management module
Module, the data module management module is for receiving, handling, storing the data letter detected by the vehicle monitoring module
Breath；The vehicle monitoring module includes multigroup photosensitive sensor, multigroup ultrasonic sensor, photosensitive switch control unit, counts
Unit, test the speed unit, and the vehicle monitoring module is set to road surface, road conditions, vehicle flowrate and vehicle for monitoring section in real time
Travel speed.
2. according to a kind of automatic driving vehicle kinetic control system described in claim root 1, which is characterized in that multigroup photosensitive biography
It is set there are two photosensitive sensor/ultrasonic sensor for each group in sensor/ultrasonic sensor, and described two light sensors
The distance between device/ultrasonic sensor is fixed；
Photosensitive sensor/the ultrasonic sensor is used to road pavement vehicle and tests the speed.
3. a kind of automatic driving vehicle kinetic control system according to claim 1, which is characterized in that the photosensitive switch control
Unit processed is electrically connected with multigroup photosensitive sensor, multigroup ultrasonic sensor, counting unit, the unit that tests the speed, for controlling
The ultrasonic sensor replaces the photosensitive sensor to work under no light condition.
4. a kind of automatic driving vehicle kinetic control system according to claim 1, which is characterized in that the data management mould
Block includes data receipt unit, data processing unit, data storage cell and data transmission unit.
5. a kind of automatic driving vehicle kinetic control system according to claim 1, which is characterized in that the voice recognition list
Member analyzes the collected voice signal of the sound collection unit according to preset vehicle identification principle.
6. a kind of automatic driving vehicle motion control method, which is characterized in that comprise the steps of：
S1, it is tested the speed to the travel speed of automatic driving vehicle front vehicle by vehicle monitoring module, and is sent out by data
It send unit to transfer data to data processing unit, persistently automatic driving vehicle front vehicle is sent out while to vehicle speed measuring
The sound gone out is collected and does comparative analysis；
If S2, front vehicle are identified as no special use figure vehicle, by vehicle monitoring module to the automatic driving vehicle right side
The vehicle of lanes is tested the speed and is monitored to wagon flow situation, and transfers data to data by data transmission unit
Processing unit；
If S3, front vehicle are identified as special figure vehicle, by the unit that tests the speed to two track of automatic driving vehicle or so
The vehicle of traveling is tested the speed and is monitored to wagon flow situation, and transfers data to data processing by data transmission unit
Unit；
S4, data are carried out by data processing unit to be sent to main control unit after comparison processing, is determined by main control unit
The best travel route of automatic driving vehicle.
7. a kind of automatic driving vehicle motion control method according to claim 6, which is characterized in that the S2 steps packet
Contain：
The travel speed of automatic driving vehicle front vehicle is detected, and is compared with the present speed of automatic driving vehicle；
If the travel speed of automatic driving vehicle front vehicle is less than the present speed of automatic driving vehicle, automatic driving vehicle
Keep straight trip；
If the travel speed of automatic driving vehicle front vehicle is more than the present speed of automatic driving vehicle, automatic driving vehicle
According to the wagon flow state of the right-hand lane detected, judge whether have lane change driving conditions, if having lane change driving conditions, nothing
People drives vehicle lane change to the right, and automatic driving vehicle keeps straight trip if without lane change driving conditions.
8. a kind of automatic driving vehicle motion control method according to claim 6, which is characterized in that the S3 steps packet
Contain：
The wagon flow state for detecting automatic driving vehicle right lane, judges whether have lane change driving conditions, if there is lane change to travel item
Part, then automatic driving vehicle is to lane change；
The wagon flow state for detecting automatic driving vehicle left-lane, judges whether have lane change driving conditions, if there is lane change to travel item
Part, then automatic driving vehicle is to seat lane change；
If the traffic state of the automatic driving vehicle left-lane and right lane that detect does not have lane change driving conditions, nobody drives
It sails vehicle and keeps straight trip.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552328A (en) * | 2018-12-26 | 2019-04-02 | 广州小鹏汽车科技有限公司 | A kind of control method and onboard system of automatic evacuation special vehicle |
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| CN114143497A (en) * | 2020-08-12 | 2022-03-04 | 中国移动通信有限公司研究院 | State monitoring method, device and system for municipal administration management object and storage medium |
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| CN112339760A (en) * | 2020-11-06 | 2021-02-09 | 广州小鹏汽车科技有限公司 | Vehicle travel control method, control device, vehicle, and readable storage medium |
| CN114530045A (en) * | 2022-02-16 | 2022-05-24 | 刘孟旭 | Comprehensive information acquisition and processing system |
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| CN114194195B (en) * | 2022-02-17 | 2022-07-22 | 北京航空航天大学 | Vehicle control system based on road condition auditory perception |
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Application publication date: 20181113 |