CN115578864A - Early warning control system and method for danger of getting on and off ramps in automatic driving of expressway - Google Patents
Early warning control system and method for danger of getting on and off ramps in automatic driving of expressway Download PDFInfo
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- CN115578864A CN115578864A CN202211569086.0A CN202211569086A CN115578864A CN 115578864 A CN115578864 A CN 115578864A CN 202211569086 A CN202211569086 A CN 202211569086A CN 115578864 A CN115578864 A CN 115578864A
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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
- G08G1/09—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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/097—Supervising of traffic control systems, e.g. by giving an alarm if two crossing streets have green light simultaneously
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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Abstract
The invention discloses a danger early warning control system and method for automatically driving an expressway to get on and off ramps, wherein the system comprises a high-speed portal frame monitoring point arranged on an expressway, ramp monitoring points arranged on ramps and a vehicle-mounted automatic driving domain controller arranged on a vehicle to be lane-changed; the high-speed portal frame monitoring points are used for monitoring the motion state of target vehicles in each high-speed lane, analyzing the collision risk of the target vehicles in each high-speed lane and the vehicles to be lane-changed, and judging whether the vehicles to be lane-changed can safely change lanes. The invention provides a danger early warning control system and method for automatically driving an upper ramp and a lower ramp on a highway, which improve the reliability of environmental perception, simultaneously monitor the traffic conditions of ramps and a high-speed main road adjacent to the ramps, eliminate vehicle blind areas, judge traffic risks in advance, control the upper ramp and the lower ramp of a vehicle, and early warn the lane changing risk and the driving risk when the upper ramp and the lower ramp are driven.
Description
Technical Field
The invention relates to a danger early warning control system and method for an automatic driving on/off ramp of a highway.
Background
At present, for a dangerous early warning control system on a ramp on a highway and a ramp off the highway, the prior technical scheme mainly comprises the following two categories:
the first technical scheme is as follows:
the method comprises the steps of sensing the environment by using sensors such as a portal frame millimeter wave radar and a portal frame camera which are arranged on a vehicle, detecting the motion states of targets of the lane and adjacent lanes, calculating and judging whether collision risks exist or not through a vehicle-mounted automatic driving domain controller, and deciding whether an entering ramp can be merged into a main lane (high speed) or a lane changing ramp can be entered into a ramp (low speed).
The second technical scheme is as follows:
the method comprises the steps of sensing the environment by using sensors such as a portal frame millimeter wave radar and a portal frame camera of a road end (high-speed main road), detecting the motion states of targets of a current lane and adjacent lanes, calculating and judging whether collision risks exist or not through a vehicle-mounted automatic driving domain controller, and deciding whether an entering ramp can be merged into the main road (high speed) or a lane change can be entered into the ramp (low speed).
The prior art has the following disadvantages:
(1) The sensor at the vehicle-mounted end has the problems of limited field of view (FOV) and detection distance;
(2) The type of a sensor at the vehicle-mounted end is single, the environment sensing capability under a severe environment is not stable, and the probability of false recognition and missed recognition is high;
(3) In the prior art, a road end traffic condition monitoring system is generally installed on a high-speed main road and lacks monitoring of traffic conditions inside a ramp;
(4) The perception sensor that road-end traffic conditions monitored control system used among the prior art scheme generally is portal frame camera and portal frame millimeter wave radar, does not use portal frame laser radar, and the reliability of surveying is not high than the fusion scheme of the fusion multisource sensor of this patent.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a danger early warning control system and method for automatically driving an upper ramp and a lower ramp of a highway, which improve the reliability of environment perception, monitor traffic conditions of the ramps and a high-speed main road adjacent to the ramps, eliminate vehicle blind areas, judge traffic risks in advance, control the upper ramp and the lower ramp of a vehicle and early warn the lane change risk and the driving risk when the upper ramp and the lower ramp are driven.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the invention provides a danger early warning control system for automatically driving an expressway to get on and off ramps, which comprises a high-speed portal frame monitoring point arranged on an expressway, ramp monitoring points arranged on ramps and a vehicle-mounted automatic driving area controller arranged on a vehicle to be lane-changed;
the high-speed portal frame monitoring points are used for monitoring the motion state of target vehicles in each high-speed lane, analyzing the collision risk of the target vehicles in each high-speed lane and the vehicles to be lane-changed, judging whether the vehicles to be lane-changed can be safely changed or not, and sending the judgment result information to the vehicle-mounted automatic driving area controller through wireless communication;
the ramp monitoring point is used for monitoring the motion state of a target vehicle in a ramp, analyzing the collision risk of the target vehicle in the ramp and the vehicle to be changed, and sending the judgment result information to the vehicle-mounted automatic driving domain controller through wireless communication;
and the vehicle-mounted automatic driving domain controller is used for receiving the traffic state information and the motion state information of the target vehicle sent by the high-speed portal frame monitoring point and the ramp monitoring point and controlling the driving of the vehicle to be changed.
Furthermore, the high-speed portal frame monitoring point comprises a portal frame laser radar, a portal frame millimeter wave radar, a portal frame camera and a portal frame road end control module;
the portal frame laser radar and the portal frame millimeter wave radar are used for monitoring the motion state of target vehicles in each lane at high speed and sending point cloud data of the target vehicles to the portal frame road end control module, and the portal frame road end control module calculates and judges the motion state of the target vehicles according to the point cloud data of the target vehicles uploaded by the portal frame laser radar and the portal frame millimeter wave radar;
the portal frame camera is used for sensing and identifying the motion state of the target vehicle in each high-speed lane and sending the image information of the target vehicle in each high-speed lane to the portal frame road-end control module, and the portal frame road-end control module analyzes and judges the motion state of the target vehicle through a deep learning algorithm;
the portal frame road end control module is used for fusing sensing results of a portal frame laser radar, a portal frame millimeter wave radar and a portal frame camera, analyzing and calculating the motion state of a target vehicle in each lane and the collision risk of the target vehicle and a vehicle to be lane-changed, judging whether the vehicle to be lane-changed can safely change lanes or not, and sending lane-changing information to a vehicle-mounted automatic driving area controller of the vehicle to be lane-changed in a wireless communication mode.
Furthermore, the high-speed portal frame monitoring point also comprises a portal frame display screen, and the portal frame display screen is used for displaying traffic state pictures of all high-speed lanes in the ramp and adjacent to the ramp.
Furthermore, the number of the ramp monitoring points is two.
Further, the ramp monitoring point comprises a ramp laser radar, a ramp millimeter wave radar, a ramp camera and a ramp end control module;
the ramp laser radar and the ramp millimeter wave radar are both used for monitoring the motion state of a target vehicle in a ramp and sending point cloud data of the target vehicle to the ramp road end control module, and the ramp road end control module calculates and judges the motion state of the target vehicle according to the point cloud data of the target vehicle uploaded by the ramp laser radar and the ramp millimeter wave radar;
the ramp camera is used for sensing and identifying the motion state of a target vehicle in a ramp and sending image information of the target vehicle in the ramp to the ramp end control module, and the ramp end control module analyzes and judges the motion state of the target vehicle through a deep learning algorithm; the ramp road end control module is used for fusing sensing results of a ramp laser radar, a ramp millimeter wave radar and a ramp camera, analyzing and calculating the motion state of a target vehicle in a ramp and the collision risk of the target vehicle and the vehicle to be lane-changed, judging whether the vehicle to be lane-changed can safely change the lane and sending lane-changing information to a vehicle-mounted automatic driving domain controller of the vehicle to be lane-changed in a wireless communication mode.
Furthermore, the ramp monitoring point also comprises a ramp display screen, and the ramp display screen is used for displaying a traffic state picture in the ramp.
The invention provides a control method of a highway automatic driving on-off ramp danger early warning control system, which comprises the following steps:
s1, establishing communication connection between a vehicle-mounted automatic driving area controller on a vehicle to be changed and a high-speed portal frame monitoring point and a ramp monitoring point;
s2, carrying out scene identification on the high-speed portal frame monitoring points and the ramp monitoring points, and identifying whether the vehicle to be changed is in a high-speed state on a ramp or a high-speed down-ramp state;
s3, carrying out target detection fusion calculation on the high-speed portal frame monitoring points and the ramp monitoring points according to sensing results of the sensors, analyzing and calculating the motion state of a target vehicle and the collision risk of the target vehicle and the vehicle to be lane-changed, judging whether the vehicle to be lane-changed can safely change the lane, and sending the motion state information and the collision risk judgment result information of the target vehicle to a vehicle-mounted automatic driving domain controller;
and S4, fusing the motion state information and the collision risk judgment result information of the target vehicle by the vehicle-mounted automatic driving domain controller to generate a fusion target sensing result, and controlling the driving of the vehicle to be lane-changed based on the fusion target sensing result.
Further, the step S3 specifically includes the following steps:
when a vehicle to be lane-changed runs in a ramp, a ramp end control module receives the motion state information of a target vehicle reported by a ramp laser radar, a ramp millimeter wave radar and a ramp camera, performs target detection fusion calculation, analyzes and calculates the motion state of the target vehicle in the ramp and the collision risk of the target vehicle with the vehicle to be lane-changed, and judges whether the vehicle to be lane-changed can safely run out of the ramp;
when the vehicles to be lane-changed are converged into the high-speed main road through the ramp, the portal frame road end control module receives the motion state information of the target vehicles reported by the portal frame laser radar, the portal frame millimeter wave radar and the portal frame camera, performs target detection fusion calculation, analyzes and calculates the motion state of the target vehicles in the high-speed main road and the collision risk of the target vehicles and the vehicles to be lane-changed, and judges whether the vehicles to be lane-changed can be safely converged into the high-speed main road.
Further, the step S3 further includes the steps of:
when the vehicles to be lane-changed are cut out of the high-speed main road, the portal frame road end control module receives the motion state information of the target vehicles reported by the portal frame laser radar, the portal frame millimeter wave radar and the portal frame camera, performs target detection fusion calculation, analyzes and calculates the motion state of the target vehicles in the high-speed main road and the collision risk of the target vehicles with the vehicles to be lane-changed, and judges whether the vehicles to be lane-changed can safely enter and cut out of the high-speed main road;
when the vehicle to be lane-changed enters the ramp for running, the ramp end control module receives the motion state information of the target vehicle reported by the ramp laser radar, the ramp millimeter wave radar and the ramp camera, performs target detection fusion calculation, analyzes and calculates the motion state of the target vehicle in the ramp and the collision risk of the target vehicle with the vehicle to be lane-changed, and judges whether the vehicle to be lane-changed can safely run out of the ramp.
Further, in step S3, the target detection fusion calculation includes the following steps:
for the high-speed portal frame monitoring point, if any one sensor of a portal frame laser radar, a portal frame camera and a portal frame millimeter wave radar on the high-speed portal frame monitoring point detects a target vehicle, judging that the target vehicle is detected and identified by the high-speed portal frame monitoring point;
and for the ramp monitoring point, if any one sensor of a ramp laser radar, a ramp camera and a ramp millimeter wave radar in the ramp monitoring point detects the target vehicle, judging that the ramp monitoring point detects and identifies the target vehicle.
By adopting the technical scheme, the invention simultaneously installs high-speed portal frame monitoring points and ramp monitoring points in the ramp and the high-speed main road adjacent to the ramp, each monitoring point is provided with a laser radar, a millimeter wave radar, a camera and a display screen, and a multi-source sensor is fused to monitor the traffic states of the high-speed end and the ramp section so as to eliminate the perception blind area of the vehicle-mounted sensor of the vehicle, monitor and calculate the lane change risk and the running risk of the vehicle in real time, and the vehicle-mounted automatic driving domain controller of the vehicle can control the driving operation of the vehicle by fusing the analysis and calculation result of the road end control module, thereby realizing the safe underground high-speed ramp. The display screens are arranged at monitoring points at the high-speed end and in the ramp, the traffic states of the ramp and the high-speed main road are displayed in real time through the display screens, and picture early warning can be carried out in the display screens when lane change risks or driving risks exist.
Drawings
FIG. 1 is a schematic view of a high speed scene and monitoring point installation on a vehicle according to the present invention;
FIG. 2 is a schematic view of a high speed scene and monitoring point installation under a vehicle according to the present invention;
FIG. 3 is a schematic block diagram of a high speed gantry monitoring point of the present invention;
FIG. 4 is a schematic block diagram of a ramp monitoring point of the present invention;
FIG. 5 is a schematic block diagram of the highway automatic driving on-off ramp danger early warning control system of the present invention;
FIG. 6 is a flow chart of the system operation at high speed on a vehicle of the present invention;
FIG. 7 is a flow chart of the system operation of the present invention at high vehicle speeds.
Detailed Description
In order that the present invention may be more readily and clearly understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
Example one
As shown in fig. 1, 2 and 5, the embodiment provides a danger early warning control system for automatically driving an expressway to get on and off ramps, which comprises a high-speed portal frame monitoring point installed on an expressway, ramp monitoring points installed on ramps and a vehicle-mounted automatic driving area controller installed on a vehicle to be lane-changed;
the high-speed portal frame monitoring points are used for monitoring the motion state of target vehicles in each high-speed lane, analyzing the collision risk of the target vehicles in each high-speed lane and the vehicles to be lane-changed, judging whether the vehicles to be lane-changed can be safely lane-changed or not, and sending the judgment result information to the vehicle-mounted automatic driving area controller through wireless communication (DSRC/LTE-V2X/5G-V2X/5G);
the ramp monitoring point is used for monitoring the motion state of a target vehicle in a ramp, analyzing the collision risk of the target vehicle in the ramp and the vehicle to be changed, and sending the judgment result information to the vehicle-mounted automatic driving domain controller through wireless communication (DSRC/LTE-V2X/5G-V2X/5G);
and the vehicle-mounted automatic driving domain controller is used for receiving the traffic state information and the motion state information of the target vehicle sent by the high-speed portal frame monitoring point and the ramp monitoring point and controlling the driving of the vehicle to be changed.
As shown in fig. 3, the high-speed gantry monitoring point of this embodiment includes 1 gantry laser radar 11, 1 gantry millimeter wave radar 12, 1 gantry camera 13, 1 gantry road-end control module, and 1 gantry display screen 14.
The portal frame laser radar 11 and the portal frame millimeter wave radar 12 are used for monitoring the motion state of target vehicles in each lane at high speed and sending point cloud data of the target vehicles to the portal frame road-end control module, the portal frame road-end control module calculates and judges the motion state of the target vehicles according to the point cloud data of the target vehicles uploaded by the portal frame laser radar 11 and the portal frame millimeter wave radar 12, and the motion state comprises the speed and the motion direction of the target vehicles, the distance between the target vehicles and the vehicles to be lane changed, the lane where the target vehicles are located and other information.
The portal frame camera 13 is used for sensing and identifying the motion state of the target vehicle in each high-speed lane and sending the image information of the target vehicle in each high-speed lane to the portal frame road end control module, and the portal frame road end control module analyzes and judges the motion state of the target vehicle through a deep learning algorithm, wherein the motion state comprises the information of the speed and the motion direction of the target vehicle, the distance between the target vehicle and the vehicle to be lane changed, the lane where the target vehicle is located and the like; the portal frame road end control module is used for fusing sensing results of the portal frame laser radar 11, the portal frame millimeter wave radar 12 and the portal frame camera 13, analyzing and calculating the motion state of target vehicles in each lane and the collision risk of the target vehicles and the vehicles to be lane changed, judging whether the vehicles to be lane changed can safely change lanes or not, and sending lane change information to a vehicle-mounted automatic driving area controller of the vehicles to be lane changed in a wireless communication mode or not.
The portal frame display screen 14 is used for displaying traffic state pictures of high-speed lanes in the ramp and adjacent to the ramp, and is used for assisting in reminding a driver to observe the traffic state and pay attention to driving risks.
As shown in fig. 4, two ramp monitoring points of this embodiment are provided, which are a first ramp monitoring point and a second ramp monitoring point respectively, and are located in the ramp.
Each ramp monitoring point comprises 1 ramp laser radar 21, 1 ramp millimeter wave radar 22, 1 ramp camera 23, 1 ramp end control module and 1 ramp display screen 24.
The ramp laser radar 21 and the ramp millimeter wave radar 22 are both used for monitoring the motion state of a target vehicle in a ramp and sending point cloud data of the target vehicle to the ramp end control module, the ramp end control module calculates and judges the motion state of the target vehicle according to the point cloud data of the target vehicle uploaded by the ramp laser radar 21 and the ramp millimeter wave radar 22, and the motion state comprises information such as the speed and the motion direction of the target vehicle, the distance between the target vehicle and the vehicle to be changed, the lane where the target vehicle is located and the like.
The ramp camera 23 is configured to sense and recognize a motion state of a target vehicle in a ramp, and send image information of the target vehicle in the ramp to the ramp end control module, and the ramp end control module analyzes and judges the motion state of the target vehicle through a deep learning algorithm, where the motion state includes information such as a speed and a motion direction of the target vehicle, a distance between the target vehicle and a vehicle to be lane-changed, and a lane where the target vehicle is located. The ramp road end control module is used for fusing sensing results of the ramp laser radar 21, the ramp millimeter wave radar 22 and the ramp camera 23, analyzing and calculating the motion state of a target vehicle in the ramp and the collision risk of the target vehicle and the vehicle to be lane-changed, judging whether the vehicle to be lane-changed can safely change the lane and sending lane-changing information to a vehicle-mounted automatic driving domain controller of the vehicle to be lane-changed in a wireless communication mode.
The ramp display screen 24 is used for displaying a traffic state picture in a ramp, and assisting to remind and warn a driver to observe a traffic state and pay attention to driving risks.
Example two
As shown in fig. 1 and 2, the present embodiment provides a control method of a danger early warning control system for an automatic on-off ramp on a highway, which includes:
s1, establishing communication connection between a vehicle-mounted automatic driving domain controller on a vehicle to be lane-changed and a high-speed portal frame monitoring point and a ramp monitoring point;
s2, carrying out scene recognition on the high-speed portal frame monitoring points and the ramp monitoring points, and recognizing whether the vehicle to be changed is in a high-speed state on the ramp or a high-speed down-ramp state;
s3, carrying out target detection fusion calculation on the high-speed portal frame monitoring points and the ramp monitoring points according to sensing results of the sensors, analyzing and calculating the motion state of a target vehicle and the collision risk of the target vehicle and the vehicle to be lane-changed, judging whether the vehicle to be lane-changed can safely change the lane, and sending the motion state information and the collision risk judgment result information of the target vehicle to a vehicle-mounted automatic driving domain controller;
and S4, fusing the motion state information and the collision risk judgment result information of the target vehicle by the vehicle-mounted automatic driving domain controller to generate a fused target sensing result, controlling the driving of the vehicle to be lane-changed based on the fused target sensing result, and performing transverse and longitudinal control on the vehicle to be lane-changed.
Specifically, the lane change vehicle of the present embodiment has two lane change driving situations, one is cutting from the expressway into the ramp, and the other is merging from the ramp into the expressway.
As shown in fig. 6, when the ramp merges into the high-speed main road, step S3 of this embodiment specifically includes the following steps:
when a vehicle to be lane-changed runs in a ramp, the ramp end control module receives the motion state information of the target vehicle reported by the ramp laser radar 21, the ramp millimeter wave radar 22 and the ramp camera 23, performs target detection fusion calculation, analyzes and calculates the motion state of the target vehicle in the ramp and the collision risk of the target vehicle with the vehicle to be lane-changed, and judges whether the vehicle to be lane-changed can safely run out of the ramp;
when the vehicles to be lane-changed are converged into the high-speed main road through the ramp, the portal frame road end control module receives the motion state information of the target vehicles reported by the portal frame laser radar 11, the portal frame millimeter wave radar 12 and the portal frame camera 13, performs target detection fusion calculation, analyzes and calculates the motion state of the target vehicles in the high-speed main road and the collision risk of the vehicles to be lane-changed, and judges whether the vehicles to be lane-changed can be safely converged into the high-speed main road.
As shown in fig. 7, in the case where the on-ramp is cut out from the highway main road, step S3 of the present embodiment further includes the steps of:
when the vehicles to be lane-changed are cut out of the high-speed main road, the portal frame road end control module receives the motion state information of the target vehicles reported by the portal frame laser radar 11, the portal frame millimeter wave radar 12 and the portal frame camera 13, performs target detection fusion calculation, analyzes and calculates the motion state of the target vehicles in the high-speed main road and the collision risk of the target vehicles with the vehicles to be lane-changed, and judges whether the vehicles to be lane-changed can safely cut out the high-speed main road;
when the vehicle to be lane-changed enters the ramp for running, the ramp end control module receives the motion state information of the target vehicle reported by the ramp laser radar 21, the ramp millimeter wave radar 22 and the ramp camera 23, performs target detection fusion calculation, analyzes and calculates the motion state of the target vehicle in the ramp and the collision risk of the target vehicle with the vehicle to be lane-changed, and judges whether the vehicle to be lane-changed can safely run out of the ramp.
Specifically, in step S3 of this embodiment, the target detection fusion calculation includes the following steps:
for the high-speed portal frame monitoring point, if any one sensor of the portal frame laser radar 11, the portal frame camera 13 and the portal frame millimeter wave radar 12 on the high-speed portal frame monitoring point detects a target vehicle, judging that the target vehicle is detected and identified by the high-speed portal frame monitoring point;
for the ramp monitoring point, if any one of the sensors in the ramp laser radar 21, the ramp camera 23 and the ramp millimeter wave radar 22 in the ramp monitoring point detects the target vehicle, the ramp monitoring point is judged to detect and identify the target vehicle.
The specific target detection fusion algorithm strategies are shown in tables 1 to 3:
TABLE 1
TABLE 2
TABLE 3
This embodiment adopts three kinds of sensors of laser radar, camera, millimeter wave radar to carry out the scheme that fuses, and laser radar shows better in the aspect of barrier detection, distance measurement, profile accuracy, weak light ambient light, but is sheltered from by easily. The millimeter wave radar has stronger tracking capability, but the measurement and detection accuracy of the camera and the laser radar can be influenced in the weather with low visibility, such as fog. Therefore, the embodiment simultaneously adopts the laser radar sensor, the camera and the millimeter wave radar sensor to sense, makes up the short plate of a single sensor, and ensures that the detection precision is as accurate as possible.
In tables 1 to 3, "√" denotes that the sensor detects an object, and "×" denotes that the sensor does not detect an object. Tables 1 to 3 illustrate possible cases by arranging and combining the detection results given by the three sensors.
In addition, in the present embodiment, the detection of the target vehicle is not limited, and the detection of factors affecting lane change safety, such as obstacles and pedestrians on the road surface, may be performed.
The above embodiments are described in further detail to solve the technical problems, technical solutions and advantages of the present invention, and it should be understood that the above embodiments are only examples of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a highway autopilot upper and lower ramp danger early warning control system which characterized in that: the system comprises a high-speed portal frame monitoring point arranged on a highway, a ramp monitoring point arranged on a ramp and a vehicle-mounted automatic driving area controller arranged on a vehicle to be lane-changed;
the high-speed portal frame monitoring points are used for monitoring the motion state of target vehicles in each high-speed lane, analyzing the collision risk of the target vehicles in each high-speed lane and the vehicles to be lane-changed, judging whether the vehicles to be lane-changed can be safely changed or not, and sending the judgment result information to the vehicle-mounted automatic driving area controller through wireless communication;
the ramp monitoring point is used for monitoring the motion state of a target vehicle in a ramp, analyzing the collision risk of the target vehicle in the ramp and the vehicle to be changed, and sending the judgment result information to the vehicle-mounted automatic driving domain controller through wireless communication;
and the vehicle-mounted automatic driving domain controller is used for receiving the traffic state information and the motion state information of the target vehicle sent by the high-speed portal frame monitoring point and the ramp monitoring point and controlling the driving of the vehicle to be lane-changed.
2. The highway on-off ramp danger early warning control system based on automatic driving according to claim 1, characterized in that: the high-speed portal frame monitoring point comprises a portal frame laser radar, a portal frame millimeter wave radar, a portal frame camera and a portal frame road end control module; the portal frame laser radar and the portal frame millimeter wave radar are used for monitoring the motion state of target vehicles in each lane at high speed and sending point cloud data of the target vehicles to the portal frame road end control module, and the portal frame road end control module calculates and judges the motion state of the target vehicles according to the point cloud data of the target vehicles uploaded by the portal frame laser radar and the portal frame millimeter wave radar;
the portal frame camera is used for sensing and identifying the motion state of the target vehicle in each high-speed lane and sending the image information of the target vehicle in each high-speed lane to the portal frame road-end control module, and the portal frame road-end control module analyzes and judges the motion state of the target vehicle through a deep learning algorithm; the portal frame road end control module is used for fusing sensing results of a portal frame laser radar, a portal frame millimeter wave radar and a portal frame camera, analyzing and calculating the motion state of a target vehicle in each lane and the collision risk of the target vehicle and a vehicle to be lane-changed, judging whether the vehicle to be lane-changed can safely change the lane or not, and sending lane-changing information to a vehicle-mounted automatic driving area controller of the vehicle to be lane-changed in a wireless communication mode.
3. The highway on-off ramp danger early warning control system based on automatic driving according to claim 2, wherein: the high-speed portal frame monitoring point further comprises a portal frame display screen, and the portal frame display screen is used for displaying traffic state pictures of all high-speed lanes in the ramp and adjacent to the ramp.
4. The highway automatic driving on-off ramp danger early warning control system according to claim 1, characterized in that: and two ramp monitoring points are arranged.
5. The highway on-off ramp danger early warning control system based on automatic driving according to claim 1, characterized in that: the ramp monitoring point comprises a ramp laser radar, a ramp millimeter wave radar, a ramp camera and a ramp road end control module;
the ramp laser radar and the ramp millimeter wave radar are used for monitoring the motion state of a target vehicle in the ramp and sending point cloud data of the target vehicle to the ramp end control module, and the ramp end control module calculates and judges the motion state of the target vehicle according to the point cloud data of the target vehicle uploaded by the ramp laser radar and the ramp millimeter wave radar;
the ramp camera is used for sensing and identifying the motion state of a target vehicle in a ramp and sending image information of the target vehicle in the ramp to the ramp end control module, and the ramp end control module analyzes and judges the motion state of the target vehicle through a deep learning algorithm;
the ramp road end control module is used for fusing sensing results of a ramp laser radar, a ramp millimeter wave radar and a ramp camera, analyzing and calculating the motion state of a target vehicle in a ramp and the collision risk of the target vehicle and the vehicle to be changed, judging whether the vehicle to be changed can safely change the track, and sending the information of whether the track can be changed to a vehicle-mounted automatic driving domain controller of the vehicle to be changed in a wireless communication mode.
6. The highway on-off ramp danger early warning control system of automatic driving according to claim 5, wherein: the ramp monitoring point also comprises a ramp display screen, and the ramp display screen is used for displaying a traffic state picture in the ramp.
7. The control method of the highway automatic driving on-off ramp danger early warning control system according to any one of claims 1 to 6, characterized by comprising the following steps:
s1, establishing communication connection between a vehicle-mounted automatic driving domain controller on a vehicle to be lane-changed and a high-speed portal frame monitoring point and a ramp monitoring point;
s2, carrying out scene recognition on the high-speed portal frame monitoring points and the ramp monitoring points, and recognizing whether the vehicle to be changed is in a high-speed state on the ramp or a high-speed down-ramp state;
s3, carrying out target detection fusion calculation on the high-speed portal frame monitoring points and the ramp monitoring points according to sensing results, analyzing and calculating the motion state of a target vehicle and the collision risk of the target vehicle and the vehicle to be lane-changed, judging whether the vehicle to be lane-changed can safely change lanes or not, and sending the motion state information and the collision risk judgment result information of the target vehicle to a vehicle-mounted automatic driving domain controller;
and S4, fusing the motion state information and the collision risk judgment result information of the target vehicle by the vehicle-mounted automatic driving domain controller to generate a fusion target sensing result, and controlling the driving of the vehicle to be lane-changed based on the fusion target sensing result.
8. The control method according to claim 7, wherein the step S3 specifically includes the steps of:
when a vehicle to be lane-changed runs in a ramp, a ramp end control module receives the motion state information of a target vehicle reported by a ramp laser radar, a ramp millimeter wave radar and a ramp camera, performs target detection fusion calculation, analyzes and calculates the motion state of the target vehicle in the ramp and the collision risk of the target vehicle with the vehicle to be lane-changed, and judges whether the vehicle to be lane-changed can safely run out of the ramp;
when the vehicles to be lane-changed are converged into the high-speed main road through the ramp, the portal frame road end control module receives the motion state information of the target vehicles reported by the portal frame laser radar, the portal frame millimeter wave radar and the portal frame camera, performs target detection fusion calculation, analyzes and calculates the motion state of the target vehicles in the high-speed main road and the collision risk of the target vehicles to be lane-changed, and judges whether the vehicles to be lane-changed can be safely converged into the high-speed main road.
9. The control method according to claim 7, wherein the step S3 further includes the steps of:
when the vehicles to be lane-changed are cut out of the high-speed main road, the portal frame road end control module receives the motion state information of the target vehicles reported by the portal frame laser radar, the portal frame millimeter wave radar and the portal frame camera, performs target detection fusion calculation, analyzes and calculates the motion state of the target vehicles in the high-speed main road and the collision risk of the target vehicles with the vehicles to be lane-changed, and judges whether the vehicles to be lane-changed can safely enter and be cut out of the high-speed main road;
when the vehicle to be lane-changed enters the ramp for running, the ramp end control module receives the motion state information of the target vehicle reported by the ramp laser radar, the ramp millimeter wave radar and the ramp camera, performs target detection fusion calculation, analyzes and calculates the motion state of the target vehicle in the ramp and the collision risk of the target vehicle with the vehicle to be lane-changed, and judges whether the vehicle to be lane-changed can safely run out of the ramp.
10. The control method according to claim 7, wherein in the step S3, the target detection fusion calculation includes the steps of:
for the high-speed portal frame monitoring point, if any one sensor of a portal frame laser radar, a portal frame camera and a portal frame millimeter wave radar on the high-speed portal frame monitoring point detects a target vehicle, judging that the target vehicle is detected and identified by the high-speed portal frame monitoring point;
and for the ramp monitoring point, if any one sensor of a ramp laser radar, a ramp camera and a ramp millimeter wave radar in the ramp monitoring point detects the target vehicle, judging that the ramp monitoring point detects and identifies the target vehicle.
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