RU2712715C1 - Method for remote control of independent movement of columns and/or unmanned vehicles (uv) by intelligent transport infrastructure (iti) of motor roads network - Google Patents

Abstract

FIELD: motor vehicle industry.

SUBSTANCE: invention relates to automotive industry, in particular, to methods for safe control over movement of unmanned vehicles (UV) and UV columns by means of intelligent transport infrastructure (ITI) of road network. When implementing the method, at the regional control center of the ITI with the specified periodicity, using the vehicle's own external track vision systems of the road network and technical means of monitoring road conditions detecting, recording of all moving and fixed objects and determining parameters of their position and movement on roads and adjacent territories along prospective routes of their movement. Collection, processing, analysis and updating of databases on road conditions are performed at the specified periodicity and based on scanning data, as well as databases on additional monitoring of the climatic and environmental conditions of the environment in the areas of the highway network are updated. Motion control commands of each UV are generated and transmitted in real time directly on control drive of all UV.

EFFECT: higher safety during UV movement.

3 cl

Description

The invention relates to the automotive industry, in particular, to methods for ensuring safe traffic flow control of automatically controlled unmanned autonomous vehicles (BTS) and BTS columns using intelligent transport infrastructure (ITI) of a road network.

In the process of development and mass use of unmanned vehicles on roads, high-precision control of the movement of individual vehicles (TS) and BTS columns is required, taking into account the routes of their movement, the spatial position and movement parameters of each individual BPS and / or each BPS in the convoy and the vehicles surrounding them taking into account the presence of possible obstacles on the road, road parameters, etc., which will optimize traffic flows in general, the routes of each vehicle and each BPS convoy, a reduction in the movement belts of each BPS, vehicle and each column of BPS, reduce accident rate and reduce environmental pollution.

The main problems of increasing the reliability and efficiency of the BTS and / or BTS traffic control methods in the columns equipped with motion control systems and interacting with the intelligent transport infrastructure management systems are the complexity, insufficient reliability and high cost of the operation of all BTS motion control systems in operation, caused by the need the performance and duplication of each BTS traffic control system (BMS) of the overestimated number of duplicated in all BTS BMS f nktsy analysis climatic conditions, road parameter analysis of road conditions, detection of risks of accidents (RTA), and the formation and transmission ECU BTS control commands to control its own actuator.

Another important issue in improving the reliability and quality of unmanned vehicle traffic control on roads, which allows to increase road safety, reduce route lengths and travel time, is to optimize driving routes and improve the accuracy of positioning of each BPS on the road and / or BTS columns, including relative to other road users, as well as ensuring the safety of driving modes and minimizing the number of maneuvers performed by each vehicle on the road relative to other participants traffic patterns with rapid changes in road conditions.

Usually, according to the job descriptions of the Ministry of Defense, the Ministry of Internal Affairs, the Ministry of Emergencies, the Russian Guard, and others, it is forbidden to break into the system of the column to any extraneous vehicles. Thus, the structure of the BTS column must be inextricable, including the column, it is desirable to be inextricable even for civilian BTS, since the means of positioning each BTS and each organized BTS column is configured to interact in a strictly defined sequence. Each BPS in the column has its own coded methods of transmitting information, mutual identification codes and a strictly defined spatial position on the roadway and place in the column and wedging other BPS or vehicles into the column may interfere with the movement of the column. At the same time, there may be minimal gaps between the BTS in the column, which should be maintained automatically and, for this reason, a malfunction can dramatically change the conditions of movement of the column, which is not desirable. Obviously, the movement of columns on roads of certain categories may be prohibited or restricted, for example, by movement at certain times of the day, such as only at night.

A known method of remote control by means of a network of track means of wireless phased communication of the intellectual transport infrastructure of the road the movement of individual unmanned vehicles, in which before starting the movement for each BTC set their individual identification code and make up a description of the intended user-defined route of movement of each BPS, including the starting points Departures and final points of arrival, with estimated times and beginning of the movement and control of travel time and arrival selected permissible interval of travel time and to selected predetermined directions of movement;

then each BTC and / or BTC route in the columns is transferred to the ITI path control center (CI) system, the latter receives information about changes in the routes of the given user routes, monitors the location and relative position of each BTC and determines the movement order of individual BTCs and develops their route maps, taking into account the data of their vision systems, including video cameras, radars and other sensors for determining speeds, acceleration and braking places in front of the vehicle in relation to y as to each individual, and which is part of the BTS column;

at the same time, the results of calculations of preliminary route maps are sent to the central regional control center, after confirming the possibility of movement of all BPS, the central regional control center of SU ITI gives confirmation of the possibility of starting movement on preliminary route maps, when congesting individual roads, the regional control center of SU ITI redirects part of the BTS and / or BPS as a part of columns on other roads and makes route maps for them with roundabout routes;

опубл. 22.06.2016).after receiving confirmation of the possibility of movement and / or route maps with bypass routes and according to the results of monitoring and information exchange between the control centers of the IT IMS, a control contact is established with each individual BTS and / or BTS in the columns, IMS IU analyze and process the data, according to the results of which are transmitted to the command and control system of the Institute of Information Technologies and the BTS traffic control systems for adjusting their driving routes, driving modes and establishing distances between separately moving BTSs that are formed taking into account external and internal conditions, of which external are the time of day, weather conditions, the state of the road situation on the road, for example, its width, traffic capacity, type and condition of the road surface, terrain and elevation, the presence of road signs, road markings, traffic lights and traffic flow conditions, including at least the presence of obstacles, the intensity of the traffic flow, its composition, positioning of the BPS, and may be internal, such as the type and characteristics of the BPS by weight, dimensions, m driving directions, technical condition of the vehicle (age, mileage, transmission status of the brake system, steering, engine temperature of each individual and as part of the BTS column, odometer reading), driver's age, time during which the driver is driving the vehicle and the remaining time for the driver until the end of the movement of each BPS along the route, as well as information about the users, the goods transported and their destination, the loading time, the location of the goods in each individual BTS during their izheniya route (see. PRC patent No. CN 105702073 A, Dynamic turning navigation method based road network checkpoints and travel time indexes, applicants XU YAGUO; XU GUANGNING

publ. 06/22/2016).

The fundamental disadvantages of the known method of controlling the movement of BPS and / or BTS in columns consisting of motion control systems that interact with intelligent transport infrastructure management systems, which mainly provide information and navigation support for the BTS and BTS VAS in columns, as well as provide solutions to the problems of creating information system in the field of automotive telematics aimed at the formation of statistical and analytical databases of vehicles x and road infrastructure, behavioral patterns of passengers and drivers, and the formation of other information related to the logistics of people and goods, are:

- the complexity, lack of reliability and high cost of the motion control systems of all BPS in operation, caused by the need to perform and duplicate each BTS BSS of an overestimated number of duplicated functions for analyzing climatic conditions, road parameters, analyzing the road situation, identifying road accident risks, and also forming and transferring BMS BTS control teams on their own control drives;

- an overestimated array of data received in the COURT of each BPS from systems and means of measuring environmental parameters from the sensors of the BTS and ITS SUD (climatic conditions - pressure, temperature, humidity, wind direction and speed, the presence of rain, hail, snow, frost, fog smoke, air above the road, etc.), the parameters of the assessment of the environment surrounding each individual BTS, in the form of other vehicles, obstacles and objects, people, animals, coming, for example, from the technical vision systems of the BTS and ITI (from radars, lidars, video cameras stereo er, ultrasonic sensors, sensors of longitudinal and lateral accelerations, sensors of navigation and communication systems, other components and assemblies of the BTS SUD), parameters of the road environment (road map, traffic capacity and the number of lanes in both directions of traffic, intersections, gradients, etc.) as well as the material, quality and condition of the roadway and road infrastructure facilities (for example, the type and quality of the roadway, its adhesion properties, the presence of water, ice, snow, spills of liquids, fuels, oils, the place of installation of the road sign c, types of road markings, installation location and operating modes of traffic lights), as well as the own parameters of the movement of each vehicle (for example, wheel speeds, steering positions, brake pedals, clutch, gear lever position, power plant operating modes, parameters and operating modes of BTS control drives, results of diagnostics, monitoring and operability, status, operating life of BPS, BTS SUD, their systems, components and assemblies, etc.), etc., including data on accidents, traffic jams, fires, emergency ynyh situations of air pollution on the roads;

- the complexity and excessively large amount of computational operations caused by the need to process and analyze an excessively high data array coming from the sensors listed above, the need to generate drive control commands in each BTS COD, the complexity of control algorithms, the mathematical apparatus used, the software of systems and control subsystems ;

- the impossibility of eliminating false positives, malfunctions and failure of traffic control systems on all BPS on a promising road, the number of which will reach 40 thousand units by analogy with the capacity of modern roads. BPS / hour or more. Malfunctions and false alarms of the BTS COURT, consisting of appropriate sensors, controllers, actuators, interfaces, will always occur due to insufficient detection and recognition of obstacles, road markings, signs, traffic signals, assessment of the condition of road, weather and climatic conditions, impact time of day, etc .;

- limited ranges of reliable operation of motion control systems during BPS movement at all operating modes - high-speed driving modes, during acceleration, braking, when driving on gravel, sand and dirt roads, on wet and snowy road surfaces, with ice, at different times of the day, at ultralow and elevated ambient temperatures, on high mountain roads, etc .;

- the complexity, laboriousness and high cost of servicing each BTS VESSEL in operation, caused by the use of complex systems, verification methods and the need to conduct diagnostics and debugging of VAS in specialized centers with highly qualified specialists.

An important disadvantage of the known method and control system is the discreteness of zone control, which causes excessive fragmentation of the route, which can lead to the loss of full and comprehensive control over the traffic flow and requires an overly complex control system for each BPS.

A known method of remote control by means of a network of wireless means of travel of the intellectual transport infrastructure of the road for the movement of individual unmanned vehicles, in which before starting movement for each BTC, an individual identification code is set up and a description of the intended user-defined route of movement of each BPS is established, including the purpose of the starting point of departure and final destination, with estimated times mi of the beginning of movement and control times of staying on the way and arrival, selected acceptable time intervals of staying on the way and in the selected predetermined directions of movement;

each BTC route, in accordance with a known method, is transferred to the control system of the IT IT control center, the latter receives information about the given user routes, monitors the location and relative position of each BTC on the selected movement path, determines the movement order of individual BTCs and develops their route maps taking into account the data of their vision systems, including video cameras, radars and other sensors for determining speeds, places of acceleration and braking in front of the BPS;

the calculation results of preliminary route maps are sent to the central regional control center, after confirming the possibility of movement of all BPS, the central regional control center of SU ITI gives confirmation of the possibility of starting movement on preliminary route maps, when certain roads are overloaded, the regional control center of SU ITI redirects part of the BTS to other roads and compiles route maps for them with roundabout routes;

опубл. 11.07.2017).after receiving confirmation of the possibility of movement and / or route maps with bypass routes and according to the results of monitoring and exchange of information between the control centers of the IT IT management center, a control contact is established with each individual BTS, the ITI technology management system makes data analysis and processing, as a result of which commands are sent to the BTS management system to adjust their driving routes, driving modes and to establish the distances between separately moving BTS, which are formed taking into account external and internal conditions, of which external There are time of day, weather conditions, traffic conditions on the road, for example, its width, traffic capacity, type and condition of the road surface, terrain and elevation, the presence of road signs, road markings, traffic lights and traffic conditions, including at least at least, the presence of obstacles, the intensity of the traffic flow, its composition, positioning of the BPS, and internal ones may be such as the type and characteristics of the BPS by weight, dimensions, driving routes, technical condition of the vehicle wa (age, mileage, transmission status of the brake system, steering, engine temperature of each individual vehicle, odometer readings), driver's age, time during which the driver is driving the vehicle and the remaining time for the driver to complete the movement of each vehicle in the route , as well as information about the users, the goods transported and their destination, the time of loading, the location of the goods in each individual BTS during their movement along the route (see PRC patent No. CN 106940933 A, INTELLIGENT TRAFFIC SYSTEM-BASED INTELLIGENT VEHICLE LANE CHANGING DECISION-MAKING METHOD, Applicant BEIJING INSTITUTE OF TECH

publ. 07/11/2017).

The principal disadvantages of this known method for controlling the movement of BPS and / or BTS in columns composed of motion control systems and interacting with control systems of intelligent transport infrastructure are also the complexity, insufficient reliability and high cost of the motion control systems of all BTS in operation, due to the need to perform and duplication of each BTS COD of an overestimated amount of duplicated functions of the analysis of climatic conditions, road parameters, Lease of road conditions, identify accident risks, as well as generating and transmitting COURT BPS commands to control their own drive.

An important drawback of the motion control system is also the unnecessarily complex execution of BPS maneuvers, regulated by it.

A known method of remote control by means of a network of wireless means of travel of the intellectual transport infrastructure of the road of the movement of individual unmanned vehicles, in which before starting the movement for each BPS they establish their individual identification code and make up a description of the intended user-defined route of movement of each BPS and their columns, including starting points of departure and final points of arrival, with estimated preset times mi beginning of movement and control of travel time and arrival of the selected permissible interval of travel time and a selected predetermined directions of movement;

then each route of each BTC and each BTS column is transferred to the ITI path control center system, the latter receives information about the given user routes, monitors the location and relative position of each BTS, as well as the BPS consisting of the column and the column as a whole along the selected path, and determines the movement order of individual BTCs and develops their route maps taking into account the data of their vision systems, including video cameras, radars and other sensors for determining movement speeds, accelerator locations s and braking in front of the BTS are in relation both to each individual, and the BPS, which is located in a convoy;

the calculation results of preliminary route maps are sent to the central regional control center, after confirming the possibility of movement of all BPS and / or BTS as part of the column, the central regional control center of SU ITI gives confirmation of the possibility of starting movement on preliminary route maps, if the roads are reloaded, the regional control center of SU ITI redirects part of the BTS and / or BTS in the convoy along other roads and compiles route maps for them with bypass routes;

опубл. 22.06.2016).after receiving confirmation of the possibility of movement and / or route maps with bypass routes and according to the results of monitoring and exchange of information between the control centers of the IT IT management center, a control contact is established with each individual BTS and / or BTS in the columns, the IT management system is analyzing and processing data, according to the results of which they transmit commands to the BTS traffic control systems to adjust their driving routes, driving modes and to establish the distances between separately moving BTS, which are formed taking into account external and internal conditions, of which external are the time of day, weather conditions, road conditions on the road, for example, its width, traffic capacity, type and condition of the road surface, terrain and elevation, the presence of road signs, road markings, traffic lights and conditions traffic flow, including at least the presence of obstacles, the intensity of the traffic flow, its composition, positioning of BPS and BTS groups, and internal ones can be such as the type and characteristics of the BPS by weight, dimensions , driving routes, technical condition of the vehicle (age, mileage, transmission status of the brake system, steering, engine temperature of each individual and as part of the BPS group, odometer reading), driver's age, time during which the driver is driving the vehicle and the remaining time for the driver until the end of the movement of each group and BTS along the route, as well as information about users, the goods transported and their destination, loading time, and the location of goods in each BTS as part of the group and in some BPS during their movement along the route (see. China patent No. CN 105702072 A, IoT-based traffic and transportation system, applicant WEIFANG UNIV OF SCIENCE & TECH

publ. 06/22/2016).

The important disadvantages of this known method for controlling the movement of BPS and / or BTS in columns equipped with motion control systems and interacting with control systems of intelligent transport infrastructure are also the complexity, insufficient reliability and high cost of the motion control systems of all BTS in operation, due to the need to perform and duplication of each BTS COD of the overestimated number of duplicated functions of the analysis of climatic conditions, parameters of roads, analysis of roads the situation, the identification of the risks of an accident, as well as the formation and transmission of the BTS COURT control commands to their own control drives.

Another disadvantage of this control system is an excessively regulated sequence of changes in the direction and order of movement of the BPS, requiring the use of overly complex control systems on the BPS.

A known method of remote control by means of a network of wireless means of travel of the intellectual transport infrastructure of the road for the movement of individual unmanned vehicles and / or their columns, in which before starting movement for each BPS and / or participant in the column set their individual identification code and make a description of the intended users of the route of movement of each BPS and their columns, including the starting points of departure and final points of arrival ia, with the estimated specified times of the beginning of movement and the control times of the journey and arrival, the selected acceptable time intervals of the journey and in the selected predetermined directions of motion;

then each route of the BTC and its columns is transferred to the ITI path control center system, the latter receives information about the given user routes, monitors the location and relative position of each BTC in the column, the column as a whole along the selected movement path and determines the movement order of individual BTS and develops their route maps, taking into account the data of their vision systems, including video cameras, radars and other sensors for determining speeds, places of acceleration and braking ahead schihsya BTS in relation both to each individual, as well as being in a part of BTS tower;

the results of calculations of preliminary route maps are sent to the central regional control center, after confirming the possibility of movement of all BPS and / or BTS in columns, the central regional control center of SU ITI gives confirmation of the possibility of starting movement on preliminary route maps, when congesting individual roads, the regional control center of SU ITI redirects part of the BTS and / or BTS in the convoy along other roads and compiles route maps for them with bypass routes;

опубл. 22.12.2017),after receiving confirmation of the possibility of movement and / or route maps with bypass routes and according to the results of monitoring and exchange of information between the control centers of the control system of ITI, a control contact is established with each individual BTC and / or BTC in the composition of the columns of the control system of ITI, data are analyzed and processed, the results of which are transferred to the command system in the controllers to the leaders of the columns and to the BTS traffic control systems to adjust their driving routes, driving modes and to establish the distances between separately moving BTS, which They are formed taking into account the external and internal conditions, of which the time of day, weather conditions, the state of the road situation on the road, for example, its width, traffic capacity, type and condition of the road surface, terrain and height, the presence of road signs, road markings, are external, traffic lights and traffic flow conditions, including at least the presence of obstacles, the intensity of the traffic flow, its composition, positioning of BPS and BTS columns, and internal ones may be such as type and characteristics BTS by weight, dimensions, driving directions, technical condition of the vehicle (age, mileage, transmission status of the brake system, steering, engine temperature of each individual and as part of the BTS column, odometer readings), driver age, time during which the driver is driving a vehicle and the remaining time for the driver until the end of the movement of each convoy and BPS along the route, as well as information about the users, the goods transported and their destination, the time of loading, the location of the goods in channels on each BTS in convoys and in some BPS during their movement along the route, (see. PRC patent No. CN 107507444 A, SMART ROAD SYSTEM FOR UNMANNED DRIVING AND CONTROL METHOD THEREOF, Applicant UNIV CHONGQING SCI & TECH

publ. 12/22/2017),

The important disadvantages of this known method for controlling the movement of BPS and / or BTS in columns equipped with motion control systems and interacting with control systems of intelligent transport infrastructure are also the complexity, insufficient reliability and high cost of the motion control systems of all BTS in operation, due to the need to perform and duplication of each BTS COD of the overestimated number of duplicated functions of the analysis of climatic conditions, parameters of roads, analysis of roads the situation, the identification of the risks of an accident, as well as the formation and transmission of the BTS COURT control commands to their own control drives.

Another disadvantage of the control system is an overly complex motion control system that responds only to newly discovered obstacles, requiring the use of an even more complex SSS for BPS for their detour.

A known method of remote control by means of a network of wireless means of travel of the intellectual transport infrastructure of the road for the movement of individual unmanned vehicles and / or their columns, in which before starting the movement for each BPS and / or BPS, the columns establish their individual identification code and make a description of the alleged defined by users of the route of movement of each BPS and / or convoy from the BTS, including the starting points of departure and final points nkty arrival alleged predetermined time and starts controlling the movement of travel time and arrival of the selected permissible interval of time spent on the road and a selected predetermined directions of movement;

then each route of the BTC and its columns is transferred to the ITI path control center system, the latter receives information about the given user routes, monitors the location and relative position of each BTC in the column, the column as a whole along the selected movement path, selects the leader of the column and determines the order of movement individual BTS and develops their route maps; taking into account the data of their vision systems, including video cameras, radars and other sensors for determining speeds, acceleration and braking places in front of the BTC in relation to each individual and within the BTS column;

the results of calculations of preliminary route maps are sent to the regional control center, after confirming the possibility of movement of all BPS and BTS in columns, the central regional control center of SU ITI gives confirmation of the possibility of starting movement on preliminary route maps, when certain roads are overloaded, the regional control center of SU ITI redirects part of the BTS and BTS as a part of columns on other roads and makes route maps for them with roundabout routes;

опубл. 06.04.2018).after receiving confirmation of the possibility of movement and / or route maps with bypass routes and according to the results of monitoring and information exchange between the control centers of the control system of ITI, a control contact is established with each individual BTS and BTS in the composition of the columns of the control system of ITI, data are analyzed and processed, according to the results of which transmit commands to the control system to the leaders of the columns and to the BTS traffic control systems by adjusting their driving routes, driving modes and establishing distances between separately moving BTS, which are forms They take into account external and internal conditions, of which external are the time of day, weather conditions, the state of the road situation on the road, for example, its width, traffic capacity, type and condition of the road surface, terrain and elevation, the presence of road signs, road markings, traffic lights and traffic flow conditions, including at least the presence of obstacles, the intensity of the traffic flow, its composition, positioning of BPS and BTS columns, and may be internal, such as the type and characteristics of BPS by weight, dimensions, driving directions, technical condition of the vehicle (age, mileage, transmission status of the brake system, steering, engine temperature of each individual and as part of the BPS column, odometer readings), driver's age, time during which the driver is behind driving a vehicle and the remaining time for the driver to the end of the movement of each convoy and BPS along the route, as well as information about users, the goods transported and their destination, the time of loading, the location of goods in each m BPS in columns and in separate BPS during their movement along the route (see PRC patent No. CN 107885197 A, CONTROL METHOD AND DEVICE FOR DRIVERLESS VEHICLE IN INTELLIGENT PUBLIC TRANSPORT SYSTEM, Applicant CRRC INDUSTRIAL RES INSTITUTE CO LTD

publ. 04/06/2018).

Important disadvantages of this known method for controlling the movement of BPS and / or BTS in columns composed of motion control systems and interacting with control systems of intelligent transport infrastructure are also the complexity, insufficient reliability and high cost of the motion control systems of all BTS in operation, due to the need the implementation and duplication of each BTS COD of the overestimated number of duplicated functions of the analysis of climatic conditions, road parameters, analysis of goad the situation, identifying the risks of accidents, as well as generating and transmitting COURT BPS commands to control their own drive.

As a disadvantage, it is also necessary to note in the known method the complexity and excessively large amount of computational operations caused by the need to process and analyze an overestimated array of data coming from the sensors, the need to generate drive control commands in each BTS COD, the complexity of the control algorithms used by the mathematical apparatus, software systems and subsystems of management.

The disadvantage of this known traffic control system is also overly regulated management of public transport.

A known method of remote control by means of a network of travel means of wireless communication of the intellectual transport infrastructure of the road, the movement of individual unmanned vehicles and / or their columns, in which before starting movement for each BPS and / or participant of the column set their individual identification code and make a description of the intended users of the route of movement of each BPS and columns in the BTS, including the starting points of departure and end points Assortments arrival alleged predetermined time and starts controlling the movement of travel time and arrival of the selected permissible interval of time spent on the road and a selected predetermined directions of movement;

then each route of the BTC and its columns is transferred to the ITI path control center system, the latter receives information about the given user routes, monitors the location and relative position of each BTC in the column, the column as a whole along the selected movement path, selects the leader of the column and determines the order of movement individual BTS and develops their route maps;

the results of calculations of preliminary route maps are sent to the central regional control center, after confirming the possibility of movement of all BPS and / or BTS in columns, the central regional control center of SU ITI gives confirmation of the possibility of starting movement on preliminary route maps, when congesting individual roads, the regional control center of SU ITI redirects part of the BTS and / or BTS in the convoy along other roads and compiles route maps for them with bypass routes;

опубл. 22.06.2016).after receiving confirmation of the possibility of movement and / or route maps with bypass routes and according to the results of monitoring and exchange of information between the control centers of the IT IMS, a control contact is established with each individual BTS and / or BTS in the composition of the IMS IT columns, analysis and processing of data the results of which are transferred to the COURT for the leaders of the convoys and to the BTS movement control systems for adjusting their driving routes, driving modes and establishing distances between separately moving BTS, which are formed taking into account external and internal conditions, of which the time of day, weather conditions, the state of the road situation on the road, for example, its width, traffic capacity, type and condition of the road surface, terrain and elevation, the presence of road signs, road markings, are external, traffic lights and traffic flow conditions, including at least the presence of obstacles, the intensity of the traffic flow, its composition, positioning of BPS and BTS columns, and internal ones may be such as type and characteristics BTS by weight, dimensions, driving directions, technical condition of the vehicle (age, mileage, transmission status of the brake system, steering, engine temperature of each individual and as part of the BTS column, odometer readings), driver's age, time during which the driver is driving a vehicle and the remaining time for the driver until the end of the BTS movement along the route, as well as information about the users, the goods transported and their destination, the time of loading, and the location of the goods separately BTS during their movement along the route (see. PRC patent No. CN 105702072 A, IoT-based traffic and transportation system, applicant WEIFANG UNIV OF SCIENCE & TECH

publ. 06/22/2016).

The disadvantages of this known method of controlling the movement of BPS and / or BTS in columns composed of motion control systems and interacting with intelligent transport infrastructure management systems are also the complexity, insufficient reliability and high cost of the motion control systems of all BTS in operation, due to the need to perform and duplication of each BTS COD of the overestimated number of duplicated functions of the analysis of climatic conditions, parameters of roads, analysis of road traffic installation, identifying the risks of an accident, as well as the formation and transmission of the BTS COURT control commands to their own control drive.

The disadvantages of the known control system include the excessively large amount of control data transmitted to the BTS COURT, and, accordingly, the high cost of the BTS motion control systems.

A known method of remote control by means of a network of wireless means of travel of the intellectual transport infrastructure of the road for the movement of individual unmanned vehicles and / or their columns, in which before starting movement for each BPS and / or participant in the column set their individual identification code and make a description of the intended users of the route of movement of each BPS and their columns, including the starting points of departure and final points of arrival ia, with the estimated specified times of the beginning of movement and the control times of the journey and arrival, the selected acceptable time intervals of the journey and in the selected predetermined directions of motion;

then each route of the BTS and its columns is transferred to the ITI path control center system, the latter receives information about the given user routes, monitors the location and relative position of each BTS in the column, the column as a whole along the selected movement path, selects the leader of the column and determines the order of movement individual BTS and develops their route maps, taking into account the data of their vision systems, including cameras, radars and other sensors to determine speeds, locations of accelerations and braking ahead of the BTS in relation to both each individual and being in the BTS column;

the results of the preliminary route map calculations are sent to the regional control center, after confirming the possibility of movement of all BPS and / or BTS in columns, the central regional control center of the SU ITI gives confirmation of the possibility of starting movement on the preliminary route maps, when the congestion of individual roads is over, the regional control center of the SU ITI redirects part of the BTS and / or BTS in the convoy on other roads and compiles route maps for them with bypass routes;

after receiving confirmation of the possibility of movement and / or route maps with bypass routes and according to the results of monitoring and exchange of information between the control centers of the control system of ITI, a control contact is established with each individual BTC and / or BTC in the composition of the columns of the control system of ITI, data are analyzed and processed, the results of which are transferred to the command system in the controllers to the leaders of the columns and to the BTS traffic control systems for adjusting their driving routes, driving modes and for establishing distances between separately moving BTSs, which They are formed taking into account the external and internal conditions, of which the time of day, weather conditions, the state of the road situation on the road, for example, its width, traffic capacity, type and condition of the road surface, terrain and height, the presence of road signs, road markings, are external, traffic lights and traffic flow conditions, including at least the presence of obstacles, the intensity of the traffic flow, its composition, positioning of BPS and BTS columns, and internal ones may be such as type and characteristics BTS by weight, dimensions, driving directions, technical condition of the vehicle (age, mileage, transmission status of the brake system, steering, engine temperature of each individual and as part of the BTS column, odometer readings), driver age, time during which the driver is driving a vehicle and the remaining time for the driver until the end of the movement of each convoy and BPS along the route, as well as information about the users, the goods transported and their destination, the time of loading, the location of the goods in channels on each BTS in convoys and in some BPS during their movement along the route (see. US Patent No. US 8914225 B2, MANAGING VEHICLES ON A ROAD NETWORK, Applicant INTERNATIONAL BUSINESS MACHINES CORPORATION, publ. 12/16/2016).

The disadvantages of the known method of controlling the movement of BPS and / or BPS in columns comprising equipped with motion control systems that interact with intelligent transport infrastructure management systems, which mainly provide the solution to the problems of forming and controlling the execution of BPS and / or BTS movement routes in columns, information, navigation support of the BTS and / or BTS COURT as part of the columns, and also provide the solution to the problems of creating an information system in the field of automotive telematics, The problems associated with the formation of statistical and analytical data bases on vehicles and road infrastructure, the behavioral patterns of passengers and drivers, and the formation of other information related to the logistics of people and goods are the complexity, insufficient reliability of the work, and the high cost of the motion control systems of all BPSs in operation, caused by the need to perform and duplicate each BTS COD of an overestimated number of duplicated functions for the analysis of climatic conditions, road parameters, and road analysis Settings, identify accident risks, generate and transmit COURT BPS commands to control their own drive.

An important drawback of the traffic management method of the well-known ITI COURT is also an unnecessarily complicated communication system using the Internet network, which due to various reasons has malfunctions.

Summarizing the aforesaid, it should be noted that the fundamental shortcomings of all methods of traffic control using the BTS and BTS SSS consisting of columns known from analogs and prototypes equipped with motion control systems that interact with intelligent transport infrastructure management systems that mainly implement information and navigation support COURT BTS and / or BTS as part of the columns, as well as provide solutions to the problems of creating an information system in the field of automotive telematics, for example involved in the formation of databases of statistical and analytical data on vehicles and road infrastructure, behavioral models of passengers and drivers, and the formation of other information related to the logistics of people and goods, are as follows:

1. The complexity, insufficient reliability and high cost of the motion control systems of all BTSs in operation, due to the need to perform and duplicate each BTS BOE of the overestimated number of duplicated functions for analyzing climatic conditions, road parameters, analyzing the road situation, identifying the risks of traffic accidents, forming and transferring BTS BASs control commands to own control drives.

2. An overestimated array of data coming into the COV of each BTS from systems and means of measuring environmental parameters from the sensors of the BTS and ITS IUDs (climatic conditions - pressure, temperature, humidity, wind direction and speed, presence of rain, hail, snow, hoarfrost, fog, smoky air over the road, etc.), the parameters of the assessment of the environment surrounding each individual BTS environment in the form of other vehicles, obstacles and objects, people, animals coming, for example, from the technical vision systems of the BTS and ITI (from radars, lidars, video cameras, stereo measures, ultrasonic sensors, sensors of longitudinal and lateral accelerations, sensors of navigation and communication systems, other units and assemblies of the BTS SUD), parameters of the road environment (road map, traffic capacity and the number of lanes in both directions, intersections, gradients, etc.) as well as the material, quality and condition of the roadway and road infrastructure facilities (for example, the type and quality of the roadway, its adhesion properties, the presence of water, ice, snow, spills of liquids, fuels, oils, the place of installation of the road sign s, types of road markings, installation location and operating modes of traffic lights), as well as the own parameters of the movement of each vehicle (for example, wheel speeds, steering positions, brake pedals, clutch, gear lever position, power plant operating modes, parameters and operating modes of BTS control drives, results of diagnostics, monitoring and operability, status, operating life of BPS, BTS SUD, their systems, components and assemblies, etc.), etc., including data on accidents, traffic jams, fires, emergency In high traffic situations, air pollution.

3. The complexity and excessively large amount of computational operations caused by the need to process and analyze an excessively high data array coming from the sensors listed in clause 2, the need to generate drive control commands in each BTS COD, the complexity of the control algorithms used by the mathematical apparatus, software systems and subsystems of management.

4. The inability to completely eliminate false alarms, malfunctions and failure of traffic control systems, their sensors and components on all BTS without exception on their routes, the number of which will reach 40 thousand units by analogy with the capacity of modern roads BPS / hour or more. Malfunctions and false alarms of the BTS COURT, consisting of appropriate sensors, controllers, actuators, interfaces, will occur due to insufficient quality of detection and recognition by sensors of obstacles, road markings, signs, traffic signals, as a result of failures in assessing the condition of road, weather and climatic conditions, due to the influence of precipitation, time of day, etc.

5. The limited reliable operation of traffic control systems when moving BPS in all operating modes - high-speed driving modes, during acceleration, braking, when driving on gravel, sand and dirt roads, on wet and snowy road surfaces, when ice is at different times of the day, at ultralow and elevated ambient temperatures, on high mountain roads, etc.

6. The complexity, laboriousness and high cost of the BTS SUD and their maintenance in operation, caused by the use of complex systems, verification methods and the need to diagnose and debug SUD in specialized centers with highly qualified specialists.

In addition to the shortcomings of the known control methods, it is important to note that in the process of development and mass application of unmanned vehicles on the existing road network, due to the constant joint management and control of the control actions of all BTCs during their synchronous movement, high-precision control of the movement of individual BTCs and columns is required BTS, taking into account:

firstly, the routes of movement of individual BTS and BTS in the composition of the columns;

secondly, their spatial position in the lane of the roadway;

thirdly, the motion parameters of each individual BPS and BTS columns and vehicles surrounding them;

fourthly, the presence of possible obstacles on the road;

fifthly, such road parameters as the configuration according to the terrain, such as the type of road surface and its condition, the presence of water, snow, ice, frost, etc .;

sixth, climatic conditions such as high, low and ultra-low ambient temperatures, wind, rain, hail, snow, fog, dust and smoke in the air over roads, etc.

High-precision control also requires increasing the reliability of transmitting control commands according to the route map from the intellectual transport infrastructure of the road to the BTS of the individual BTS and to the BTS in the convoy and monitoring their implementation. In this case, it is necessary to reduce the amount of information pivoting back and forth, i.e. reduce the load on the means of communication, analysis and control, which will allow, due to the reduction of errors and distortions of the commands during their transmission by means of communication and control, to increase the reliability and quality of controlling the flow of BPS in traffic. It is also necessary to optimize the driving routes of each BPS, columns from the BPS and traffic flows in general, increase the throughput of individual roads and the network of roads of the regions as a whole, reduce the travel time of each BPS and columns of the BPS, which will reduce accident rate and reduce environmental pollution due to a decrease in the number of reasons for changing optimal driving modes, for example, when performing maneuvers.

The main problem is to increase the reliability, efficiency of traffic control of BPS and columns from BTS and the quality of BTS traffic control on the road, the solution of which can improve road safety, reduce or optimize route lengths and travel time in accordance with the throughput of individual roads in the regional road network , is not only the optimization of traffic routes, but also improving the accuracy of positioning of each vehicle, BPS and columns from the BTS on the road, including relative to other participants traffic rules. To correct this, a constant command is required to change the direction of movement and position due to deviations from the average position of each BPS on the roadway within its lane, as it constantly changes due to random reasons, such as uneven road surface, uneven tribological performance of the road surface (e.g., friction coefficients, adhesion to the road surface and particle size distribution of the filler coating, which determines the roughness or evenness of the road overhnosti, etc.). In addition, to increase the reliability and efficiency of control, ensuring the safety of driving modes can be achieved by minimizing the number of maneuvers performed by each BPS and each BTS column on the road relative to other road users, even with rapid changes in road conditions, as well as by minimizing maneuvers and deviations from the optimal driving mode, for example, corresponding, for example, in such parameters as minimum fuel consumption and / or minimizing harmful emissions. This is facilitated by reducing the load on communications and traffic control. The implementation of this is possible only by automating the positioning process while minimizing control commands, which can only be done by simplifying the signal about the transmitted information on performing the positioning actions and their inclusion in the monitoring and control signal, as well as by automating the positioning of the BPS on the roadway by constantly monitoring and adjusting random sporadic deviations from the main course on the route. This can be achieved to the greatest degree by using standard and additionally installed sensors and means for positioning BPS on roads in the roadway and / or external sensors installed on the side and / or above the roads that are part of the IT IT system, as well as by developing control algorithms and software implemented in the ITU control system for the direct transfer of control commands from the track control center ITI directly to the BTS and / or BTS control drives in the columns.

The meaning of the basic terms used in the description should be clarified.

The travel control center includes travel communication tools, the travel control processor and controls the traffic of each BPS and each BTS convoy along the corresponding route at the service site, at the controlled server and within the sites of stable transmission of all necessary information by its means of communication. Obviously, for stable and reliable communication and information transfer, the coverage areas of the communication facilities of the travel control centers should intersect and work mutually coordinated and sequentially so that the signals from the neighboring servers and their communication facilities do not interfere with one another.

The central server of the regional ITI control center (or the ITI management center of the region) is designed to select and optimize each route in the regional road network controlled by the corresponding regional ITI control center, and to optimize it for each BPS and / or each BTS column in accordance with the capabilities and status control centers, traffic capacity and load capacity of the roads selected for the implementation and execution of the movement of each BPS and each column of BPS along the corresponding route, i.e. optimal in terms of travel time and / or shortest in distance of movement, to minimize harmful emissions or other criteria, for example, according to material costs, such as total (for the entire route) or specific (per kilometer, or ton-kilometer of transport work) fuel consumption , etc.

Obviously, if the route is long and passes through several regions, the preparation of such a route should occur either on the central server of the ITI interregional control center of the appropriate level, or by interconnecting the regional parts of the route, allowing you to compose, synchronize the end of one part of the route with the beginning of the next part in interconnected regions or to combine separate parts of the route from regional ITI control centers by other known means.

Route map - a machine-readable program of actions and movement parameters of BPS and / or each BTS in a convoy, executed and controlled by BTS airborne equipment.

Established or main external track means of monitoring and control of the state of the entire road situation on the entire network of highways can be performed, for example, in the form of continuous monitoring systems for monitoring, analyzing and monitoring road conditions that consist of a necessary and sufficient set of local and / or distributed motion sensors located along the roads of the corresponding calculated route of the BPS movement as part of columns and / or individual BTS.

Additional external traveling means of monitoring and control of the state of the entire road situation on the entire network of roads can be performed, for example, in the form of external real-time external vision systems for technical vision, including at least video cameras and radars installed along the roads and above them, and technical means of monitoring and control of road conditions, which constantly in real time scan, recognize, register all moving and motionless s objects and define the parameters of the position and movement on the roads and adjacent areas along the routes of their movement.

Obviously, the separation of external travel means of monitoring and control of the state of the entire road situation into regular and additional is rather conditional, since the mode of their operation can be forcibly changed at any necessary time, which can be changed due to necessity, for example, due to a sharp deterioration of the road situation or vice versa with empty roads instead of constant monitoring to reduce energy consumption is transferred to the periodic monitoring mode.

When the columns are merged, the connection of individual unmanned vehicles (BPS) and / or columns, which involves moving along the same road with the already formed column, but moving along another road, it is necessary to take into account the change in the route of individual unmanned vehicles (BPS) and the conditions of their movement when connecting.

The technical task of the proposed invention is to increase the reliability and efficiency of traffic control columns BPS and / or individual unmanned vehicles.

The stated technical problem is solved in that in a method for remote control of the autonomous movement of columns and / or unmanned vehicles (BTS) by the intellectual transport infrastructure (ITI) of a road network, in which, through the wireless means of the wireless communication system, the corresponding travel control center is transmitted to the regional control center and after processing, information about the route is received from the regional control center, and through which users of BTS columns and / or individual BTS set a route their movements with data on points of departure, intermediate stops and arrivals with a given travel time, and transfer the listed data to the regional center for the management of intelligent transport infrastructure (TSU ITI), where they are processed, final optimal routes are calculated, route maps are compiled and transmitted in full or in portions to the travel control centers, which transmit commands that allow movement to each BPS and / or each BPS in the convoy in the automatic mode along their route according to their route maps;

and with the help of each traveling control center ITI perform the following actions:

before the start of movement, for each BPS and / or each BPS in the convoy set or determine their individual identification code, produce according to the individual identification codes of each of the BPS in the columns and / or separate BTS their identification, registration of the route, monitoring of the initial location, and after the start of the movement, the monitoring of the movement parameters of each of the BPS in the composition of the columns, and / or individual BTS and their relative position in the traffic lanes according to the road marking, with orosti motion, acceleration, braking;

determine the movement order and develop preliminary route maps for all BTS newly entering movement as part of the columns, and / or for each of the individual BTS, or identify teams of the regional control center that change their order of movement on existing route maps;

they monitor the state of the entire traffic situation on the entire road network by analyzing data from users, their own BTS traffic control systems and regular external track systems for monitoring, analyzing and monitoring the road conditions of the ITI, and analyze at least such characteristics as the traffic route and its implementation, type and performance characteristics of each BPS, its systems, units and assemblies, weight, dimensions, load-bearing capacity, technical condition of the BPS and its units, as well as at least e, data on the transported goods, such as their purpose, degree of danger, loading and delivery time, and when analyzing information from external travel control systems, analysis and monitoring of road conditions, at least such data as fluctuations and changes are produced and analyzed daily, weather and other climatic conditions and their forecasts in the areas of highways along the route, the positioning parameters of each BPS, as well as the standard track control systems, analyze and monitor the road conditions, form and analyze h, at least data on the road, such as its width, traffic capacity in both directions, types and condition of the road surface, the presence of road signs, road markings, traffic lights, as well as traffic conditions and traffic intensity, its composition, permitted speeds , the order of sequential acceleration and braking of each of the BPS in the columns and / or individual BTS, as well as other vehicles, the occurrence of emergency situations, the conduct of planned or urgent road construction works;

on each section of the roadway controlled by the corresponding road control center of the road network, the local traffic conditions and traffic conditions, including at least terrain data, are monitored by local and / or distributed traffic status sensors along the roads of the calculated route terrain, the intensity of the traffic flow, its composition, the positioning of each BPS in the traffic lanes and the optimal distribution of BPS and / or BPS into them e columns;

analyze and process at least all of the data listed, transfer them to the regional control center, process and, based on the results of processing, form and adjust the traffic routes, route maps and transmit them and commands that allow movement to each BPS and / or each BPS in the composition of the column in automatic mode along their route with the provision of route modes specified by route maps, accelerations, braking and distances between each of the BPS in the column and / or individual BTS, and during overload For some of the BTS columns and / or individual BTS, the specified roads map with bypass routes along other roads of the road network and the corresponding teams allowing automatic traffic for this part of the BTS developed in the regional center of the IT Center in the network controlled by the regional IT center roads, moreover, when implementing the method in the regional ITI control center with a predetermined frequency with the help of additional own external track systems of technical vision, including, at least, video cameras and radars installed along and above roads, and technical means for monitoring road conditions, additionally in real time scan, recognize, record all moving and stationary objects and determine the parameters of their position and movement on roads and adjacent to them territories along the routes of their movement;

they also collect, process, analyze and update databases of road conditions, at least such as temporary road restrictions, material and properties of the roadway, the presence and instructions of the traffic controller, and emergency situations, taking into account the scanning data;

further, with a given periodicity, they additionally update the databases for monitoring the state of climatic and ecological conditions of the external environment in the zones of the road network and collect, using their own and additional sensors installed along the roads, above them and in the roadway, at least data such as the temperature of the roadway, which reduces the transparency and visibility of the road, aerosols and precipitation, the presence of condensed or frozen on the roadway ennoy moisture content of harmful substances in the air, in the form of substances such as gaseous substances, solid or liquid aerosols;

then, according to the results of analysis and processing of the listed updated and supplemented data, in accordance with predefined hazard criteria for the cargo and the route, the values of the movement parameters of each BPS are determined, compared with boundary values characterizing their critical values with respect to the movement of each of the BPS in the columns and / or individual BTCs, if necessary, make corrections to the routes and / or modes of their movement and, after performing all the above actions, in the regional control center ITI for the control center ITI road networks form and transmit control commands to travel control centers that control the movement of each BPS in the columns and / or individual BTS by transmitting control commands directly to their control drives, at least by turning the wheels, the brake system and the traction system as well as, if available, gearbox and clutch.

The spatial position and movement parameters of each BPS and / or each BTS column by the ITI control system can be controlled using external sensors of the intellectual transport infrastructure of the road, which can record the identification, passing measured, for example, mile sections of the road, determine the position of each BPS and / or BPS in the composition of the columns in their lanes according to the road markings and the distance to other nearest AC BTS and / or BTS in the columns.

For a reliable assessment of the environment, reliable recognition of road signs, marking, traffic lights for controlling the spatial position, movement parameters of each BPS and each BPS in the convoy, the distances between the BTS and in the ITI along the roads and above them, their own external track systems of technical vision are installed, including at least video cameras and radars, as well as other technical means for monitoring and controlling road conditions, for example, local and / or distributed sensors of position and state of movement on the road network, which in real time provide a guaranteed assessment of the environment and road conditions, scanning, recognition, registration of all moving and stationary objects, determine the parameters of their position and movement on roads and adjacent territories along the routes of each BPS and each BPS in the composition of the column.

BTS technical vision systems usually do not have the ability to conduct a reliable assessment of the environment, guaranteed recognition of road signs, markings, traffic lights, control of the spatial position, movement parameters of each BPS and each BPS in the convoy, the distances between the BTS, reliable and high-quality identification of vehicles, BPS, obstacles, people and animals on the roads, etc. due to the lack of reliable operation of sensors and vision systems during BPS driving at all operating modes - high-speed driving modes, during acceleration, braking, when driving on gravel, sand and dirt roads, on wet and snowy road surfaces, when icy, in various climatic conditions (at different pressures, temperatures, humidity of the surrounding air, directions and wind speed, in the presence of rain, hail, snow, hoarfrost, fog, smoke above the road). The disadvantages of using vision systems are significantly greater failures in their work due to vibration and shock loads during the movement of the BPS, as well as the complexity, complexity and high cost of maintenance compared to their stationary use in ITS.

Finally, according to the results of analysis and processing of the listed updated and supplemented data in accordance with predefined hazard criteria for the cargo and the route, the parameters of the movement of each BPS are determined, compared with boundary values characterizing their critical values with respect to the movement of each of the BPS in the columns and / or individual BTCs, if necessary, make corrections to the routes and / or modes of their movement and, after performing all of the above actions, in the regional control center ITI for controlled TSU ITI of a network of highways form and transmit control commands to travel control centers that control the movement of each BPS in the columns and / or separate BTS by transmitting control commands directly to their control drives, at least by turning the wheels, the brake system and the traction installation, and, if available, gearbox and clutch.

At the same time, the entire cycle of traffic control of each BPS in the columns and / or separate BTS with the help of ITU TS is carried out taking into account the movement of all BPS in the columns and / or separate BTS, as well as vehicles on all roads adjacent to the routes of each of the BPS in the composition of the columns and / or individual BTS.

Also, with the help of the ITU control center for long traffic routes, the entire cycle of traffic control of each of the BTCs in the columns and / or separate BTSs is carried out under the full and constant control of the track control centers according to the route map of the regional ITU control center, transmitted in full or in portions through the track and / or regional road network control centers within the segments of the service area of each of them.

It is obvious that the beginning of movement along a route under the control of a subsequent track or regional control center should be coordinated with the end of control of a previous track or regional control center and their mutual coordination of transfer of control and execution of actions, according to the general roadmap or its part.

Traffic control along routes and position control on the roadway of each BPS and / or each BTS column according to each route map using additional ITI means is carried out using local and / or distributed sensors of position and state of movement on the road network by comparing, monitoring and determining the position relative to other BPS and / or BTS columns and spatial positioning in the lane, and the determination of the parameters and dynamics of movement of each BPS and / or each BTS column - also by the role of dynamic changes in real time of the spatial position and location of each BPS and / or each column of BPS in each lane of the roadway.

The proposed sequence of actions and the means for its implementation can improve the accuracy and efficiency of the control of the movement of each BPS and / or BPS in the composition of the column in the transport stream and reduce both primary and current costs by constantly and fully monitoring each BPS with the optimal distribution of information flows from regional control centers to BTS through travel control centers, which are the main intermediate bases for storing information on the management procedure for each of the BTS in the number of onn and / or individual BTS according to the route maps of the regional ITI control center, and simplify the process of traffic management in general.

The technical result, which characterizes the increase in the reliability and efficiency of the proposed method, as well as the optimality of the sequence of actions, is to optimize the processes and distribution of material resources that allow you to implement the actions of the method. The main criterion for optimizing the distribution of control information flows is to minimize the amount of information transmitted for the automatic execution of actions to control the movement of the intellectual transport infrastructure of the road to a separate BTS due to the simplification of signals for executing control commands from the direction of the control center, feedback and control checks by optimal distribution of functions for monitoring the execution of commands by BTS control drives, as well as optim the distribution of material costs for its implementation.

This is possible, since the transmission of control and control commands takes place in the form of a set of simple control signals. The motion control teams are tied to the sensors of the IIT control center and their spatial position, from which the processes of their execution in time follow, respectively, which are associated with the speed of movement, which is a differential function of the time the position changes and, accordingly, the movement of the BTS relative to them. For this reason, the optimization of the distribution of the array of control commands at the level of the ITU track control center for each BPS in the traffic flow involved in road traffic is determined: firstly, by the density of the location of the communication means and the previously indicated objective transmission capabilities of the commands necessary and sufficient to control all transport flow on a specific road, and secondly, the complexity of the road situation, determined by traffic and environmental conditions.

The optimality of the sequence of actions of the proposed method is also determined by minimizing BTS maneuvers on the road, since in the regional control center all BTS and / or BTS routes in the columns are mutually agreed upon when forming and transmitting control commands centrally from the ITU TS in mutual traffic mode with minimizing mutual maneuvers .

In addition, this is possible, because before the start of operation of the ITI, certain capital investments in fixed assets are required, that is, the largest primary costs are for capital construction, such as road construction, construction of control centers of various levels of ITI of each regional road network, which will be long-term capital investments intended for long-term operation, taking into account continuous current changes, and relatively quickly wearing unmanned vehicles transport means are equipped only with control drives, as a result of which both the cost and maintenance costs of BPS become minimal, and the cost of capital construction quickly pays off.

If necessary due to changes in climatic, seasonal, daily allowance, etc. conditions, for example, when visibility deteriorates due to fog, snow or rain with simple known sensors, you can easily generate the necessary signal received about this via the control center in the ITI regional center to analyze and evaluate the need to change driving directions and route maps. At the same time, route maps should not change dramatically, since such extraordinary weather events as tornadoes, hail, etc., requiring a drastic change in the movement parameters of unmanned vehicles due to possible catastrophic consequences, are rare, and normal weather events do not require a significant redistribution of transport along the network of roads, since it is obvious that in the regional TSI ITI the distribution of traffic routes and the calculation of the distribution of traffic flows on the roads of the region should be os with a margin that takes into account the possibility of changes and fluctuations in statistically determine the probability of change. The stock should also be distributed evenly over the network of roads, since overloading certain directions of the network will increase the likelihood of emergency situations on them.

Performing all necessary and sufficient actions to obtain new technical results using known material means over known material means when implementing the proposed method for controlling the movement of individual unmanned vehicles and / or BTS columns by the intellectual transport infrastructure of the road allows you to get all of these new technical results. In this case, you can establish the following cause-effect relationships between the new technical results and the actions of the method.

A method for remotely controlling the autonomous movement of columns and / or unmanned vehicles by the intellectual transport infrastructure of a road network, in which they transmit to the regional control center via wireless communication means of the corresponding control center and after processing receive information about the route from the regional control center and through which users of BTS columns and / or individual BTSs set their travel routes with data about points of departure, intermediate of arrivals and arrivals with a given travel time, and transfer the listed data to the regional center for the management of intelligent transport infrastructure, where they are processed, calculate the final optimal routes, compose route maps and transmit them in full or in batches to the travel control centers that transmit commands allowing the movement of each BPS and / or each BPS in the convoy in the automatic mode along their route in accordance with their route maps.

At the same time, the distribution of the route map array and their parts for execution by the ITU track control centers, according to the location of the executed parts of the routes of the BTS columns and / or individual BTSs, allows to optimize the distribution and execution of actions to manage the BTS track ITU control centers, since the latter should not have significant volumes of long-term and RAM, larger than the required amount of databases for all route maps of controlled routes and be more productive than the required maximum number of actions to control the flow of BPS, corresponding to the maximum throughput of a particular road. And an increase in the latter is possible only with the reconstruction of the roadway and a corresponding change in the means of traffic control. Obviously, the optimality of the amount of operational and long-term memory of the ITU TSU is mainly determined by the conditions for the transfer of control information to the control drives of individual BTS and / or BTS in the composition of the columns, that is, only by the conditions of the necessary density of the location of communication means and the possibility of stable transmission of the necessary volume of commands by them and other governing actions. This is mainly determined by the terrain, natural (such as the northern lights and magnetic storms) and man-made conditions for the occurrence of interference.

The optimality of the distribution and processing of information about the routes of the BTC columns and / or individual BTS columns is determined by the purpose and operating modes of the regional and travel control centers.

With the help of the track control center ITI in real time, the following actions are performed.

Before the start of movement, for each BPS and / or each BTS in the convoy set or determine their individual identification code, produce according to the individual identification codes of each of the BPS in the convoy and / or separate BTS their identification, registration of the route and the initial location, and after the start of the movement, monitoring the movement parameters of each of the BPS in the columns, and / or individual BTS in the traffic lanes according to the road marking, speed, acceleration, braking relations and their mutual position.

The driving order is determined and preliminary route maps are developed for all BTS newly entering movement as a convoy, and / or for each of the individual BTS, or teams of the regional control center are identified that change their order of movement on existing route maps.

The identification code of each BPS and / or each BPS in the column may be composed of the original WIN code with the addition of other related or coding information, for example, the code of the sector of movement on the road network or communication with the intellectual transport infrastructure of the road. For the simplest encryption of individual information about the BTS in the identification signal, you can use spurious inserts that are not related to the specified types of information, but are entered in accordance with the type of the identification code signal according to the program set by the corresponding server.

During the passage of sections of the route of the BPS and each BTS in the convoy using the ITI control system, their location is controlled and the deviation from the route of each BPS and / or BTS in each convoy is corrected, the schedule of movement along the route is violated, and according to the results of the program movement, including the temporal and spatial schedule of movement, adjust the route of movement for the coordinated movement of all BPS participating in road traffic.

They monitor the state of the entire traffic situation on the entire road network by analyzing data from users, their own BTS traffic control systems and external track systems for monitoring, analyzing and monitoring the road conditions of the ITI, analyze at least such characteristics as the traffic route and its implementation, type and performance characteristics of each BPS, its systems, units and assemblies, weight, dimensions, load capacity, technical condition of the BPS and its units, as well as at least such data on the transported goods, such as their purpose, degree of danger, the time of loading and delivery, and when analyzing information from external travel control systems, analysis and monitoring of road conditions, at least data such as fluctuations and changes in daily, weather conditions are produced and analyzed and other climatic conditions and their forecasts in the areas of highways along the route, the positioning parameters of each BPS, as well as the track control systems, analysis and monitoring of road conditions, produce and analyze at least e, data on the road, such as its width, throughput in both directions, types and condition of the road surface, the presence of road signs, road markings, traffic lights, as well as traffic conditions and traffic intensity, its composition, permitted speeds, sequential acceleration order and braking of each of the BPS in the convoy and / or separate BTS, as well as other vehicles, emergency situations, scheduled or urgent construction and road works.

On each section of the roadway controlled by the corresponding road control center of the road network, the local traffic conditions and traffic conditions, including at least terrain data, are monitored by local and / or distributed traffic status sensors located along the calculated route roads terrain, the intensity of the traffic flow, its composition, the positioning of each BPS in the traffic lanes and the optimal distribution of BPS and / or BPS into them e columns, at least for such tactical and technical characteristics of the vehicle as for dimensions, and / or for the total weight of the BPS, and / or for carrying capacity, and / or axle load.

When implementing the method, the ITI control center, using its own external track systems for technical vision of the road network, including at least video cameras and radars installed along and above the roads, and technical means for monitoring road conditions, additionally scan, recognize, register all moving and immovable objects and determine the parameters of their position and movement on the roads and adjacent territories along the proposed routes of their movement with a given frequency. Compared to the well-known technical vision systems installed on vehicles, track systems of technical vision of the road network allow more accurately recognizing and determining the positioning of all vehicles on the road surface, their speed, acceleration and braking, the distance between vehicles, and detect all obstacles, for example, not only stationary vehicles, but also motorcyclists, cyclists, people, animals, and all kinds of other and more small objects on the road. Monitoring the spatial position and movement parameters of each BPS and / or BPS in the convoy, as well as detecting obstacles in their lanes, as well as the entire BTS traffic flow on the roadway in parts and as a whole, performed in real time, improves safety, Reliability and responsiveness to dangerous situations on the road.

Based on the scan data, they collect, process, analyze and update databases of road conditions with a given frequency of at least such as temporary road restrictions, material and properties of the roadway, the presence and instructions of the traffic controller, and emergency situations. The collection, processing, analysis and updating of these databases on road conditions is necessary when carrying out the processes of analyzing the road situation, generating and transmitting traffic control commands for BPS and / or BTS in columns in real operating conditions, since such data have an impact on road safety .

Additionally, databases for additional monitoring of the state of climatic and environmental environmental conditions in the road zones are updated using their own and additional sensors installed along the roads, above them and in the roadway, at least such data as the temperature of the roadway and precipitation, the presence of condensed or frozen moisture on the roadway, the content of harmful substances in the air, in the form of substances such as gaseous, solid or dkostnye aerosols. Additional monitoring of the state of climatic conditions of the external environment in the zones of roads with the help of their own and additional ITI sensors installed along the roads, above them and in the roadway, and taking into account the monitoring data when forming the commands for controlling the movement of each BPS and / or BPS in the composition of columns in the contact zones of tires with the roadway, as well as environmental conditions in the air in the areas of passenger habitation in the BPS is mandatory and most accurate in comparison with similar monitoring carried out either in the system max control of the movement of vehicles, any remote stationary systems for monitoring environmental parameters. So, for example, an accurate analysis of the temperature of the roadway, the presence of condensed or frozen moisture, snow, ice, precipitation on it allows you to exclude vehicle accidents due to loss of tire adhesion to the roadway, and monitoring gaseous, solid or liquid aerosols, for example, the most hazardous to health ozone, particulate matter, nitrogen oxides, carbon monoxide eliminates their harmful effects on health and even fatalities for passengers while in the BTS.

Using the ITI control system, the movement of BPS and / or BPS in each column from the control television or other images automatically additionally receives information about the road situation and processes the data of the results of scanning and analysis of the road situation, spatial position and movement parameters of each BPS and BPS in each BTS columns in their lanes - carried out by monitoring the dynamic changes in real time of the spatial position with a given frequency in in real time, update the databases listed above, process the data according to a predefined program, determine the parameters of the listed data from the processing results, compare them with boundary values characterizing their critical values with respect to the movement of each of the BTCs in the columns and / or individual BTS , if necessary, make corrections to the routes and / or modes of their movement and, after performing all of the above actions, in the regional control center ITI for the control center control ITI network a on motor roads, control commands are generated and transmitted to the travel control centers that control the movement of each BPS in the columns and / or individual BTCs by transmitting control commands directly to their control drives, at least by turning the wheels, brake system, traction system and transmission

Information about the part of the route according to the route map and about the movement in the area controlled by the direction control center is stored on the direction server and transmitted via the means of communication.

The optimality of the distribution of the flow of each BPS and BPS in the columns along the road network, formed through the central server of the regional ITI control center, may depend on the throughput of the corresponding road, the congestion of the road network, the condition and load-bearing capacity of its roadbed in real time, weather and t under the conditions.

Obviously, the speeds, accelerations and other dynamic indicators of the change in the position of each BPS and / or BPS in the composition of the BTS columns in time and in space are derived from the time and spatial position of each BPS and BPS in the composition of the columns and are easily calculated by changing their position relative to the change coordinates specified spatially, according to the real current value of the action time. Such changes can be reflected in the control commands according to the changed route maps transmitted from the regional control center through the travel control centers to each AC of the BTS. And according to them, it is possible to determine or set in advance control actions on the BTS motion control drives, for example, such as changing the position of the brake control unit or traction unit when moving uphill and from the mountain.

The movement along the route and all the relevant control commands according to the route maps of each of the BTCs as part of the BTS columns and / or individual BTCs along the given routes developed in the regional center for the management of intelligent transport infrastructure for the road network controlled by ITU IT and transmitted through the control road centers, all control commands are carried out under full constant control according to the route map of the ITU TSU, at least for control drives, such as steering, brakes Naya system and the traction system control actuator, can be supplied in addition the control command to other systems, such as a ventilation and air conditioning systems, light and sound alarm, glass cleaning, etc.

In the control method using the ITU control center, they additionally collect, process incoming data in accordance with the above list on the roads adjacent to the roads of the traffic route of each BPS consisting of columns and / or separate BTCs by using their own monitoring and control systems. and make additional correction of routes and / or modes of their movement, the results of which form the order of joint movement and transmit the specified control commands directly to the motion control drives by each of the BTS in the columns and / or individual BTS.

With this sequence of actions, it is possible to achieve a harmonious, mutually agreed, optimal in time and safe movement of BPS in the columns and / or separate BTS on the entire network of roads controlled by the regional ITU IT.

In the method with the help of the ITU control center, the entire movement control cycle is performed on long driving routes, in all control actions under the complete constant control of the track control centers according to the route map of the regional ITU control center, at least for control drives such as steering, brake system and drive control of the traction unit of each of the BPS in the columns and / or individual BTS through the track and / or regional control centers in the road network within the segments of the service area of each of .

In accordance with the claimed method of controlling the movement of BPS and / or BPS in columns using the intelligent transport infrastructure of the road, the operation of the traffic control system inside the BTS columns that implements the proposed control method is generally based on fulfilling the general requirement of ensuring stable control of the movement of BPS and BPS composed of columns by the intellectual transport infrastructure of the road network by transmitting control commands to traffic control drives each BTS and / or BTS in convoys through wireless communication channels travel management centers from the central server ITI regional control center.

In accordance with the claimed method of controlling traffic along the BTS and BTS routes as part of the columns by the intellectual transport infrastructure of the road network, technical results can be achieved not only when all the steps of the method are performed, but also when using part of it.

In this technical solution, in comparison with the known methods for controlling the movement of BPS and BTS columns, simpler and significantly smaller amounts of computational operations are achieved to execute commands and actions to control the movement of BPS and BTS columns, using simpler control algorithms, mathematical transformations, software systems and control subsystems ITI. For counterparts using onboard VAS to control the movement of the BTS, an excessively overestimated array of data arriving in the BMS of each BTS from systems and means of measuring environmental parameters from the sensors of the BTS and ITS ITS (climatic conditions - pressure, temperature, humidity, wind direction and speed , the presence of rain, hail, snow, hoarfrost, fog, smoke above the road, etc.), the parameters of the assessment of the environment surrounding each individual BTS in the form of other vehicles, obstacles and objects, people, animals, for example measures, from the technical vision systems of the BTS SUD and the ITI SUD (from radars, lidars, video cameras, stereo cameras, ultrasonic sensors, longitudinal and lateral acceleration sensors, sensors of navigation and communication systems, other components and assemblies of the BTS SUD), road environment parameters (road map , the traffic capacity of the roads and the number of lanes on both sides of the road, intersections, inclines, etc.), as well as the material, quality and condition of the road surface and means of road infrastructure (for example, the type and quality of the road surface, its coupling properties, availability it contains water, ice, snow, spills of liquids, fuels, oils, a place for installing road signs, types of road markings, a place for installation and operating modes of traffic lights), as well as its own motion parameters for each vehicle (for example, wheel speeds, steering positions, pedals of the brake system, clutch, gear lever position, power plant operating modes, parameters and operating modes of BTS control drives, results of diagnostics, monitoring and operability, state, BTS operating life, BTS court, and systems, assemblies, etc.) et al., including data about accidents, traffic jams, fires, emergency air pollution over roads. For this reason, the proposed method is more simple, reliable and efficient.

Among the advantages, that is, new technical results achieved using the new sequence of actions of the proposed method for controlling the ITI of the BTS and BTS in the columns, it should be noted that the main functions of the system for controlling their movement are performed in comparison with the known methods of controlling simpler technical means monitoring the movement along the entire network of roads in accordance with the primary user-defined route of movement, which are included in the travel controls intellectual transport infrastructure, including travel means of communication, designed to transmit motion control commands to BTS motion control drives, containing programs of their motion control commands along the route, including setting modes and parameters of operation of motion control drives, including such as the beginning of movement, acceleration (power plant control mechanism), braking (brake control mechanism), maintaining speed (mechanism for maintaining cruise control mode), maneuvers during The complex of the indicated mechanisms during the movement of the BPS and / or BTS in the convoy of columns from point A to destination B.

Moreover, in the proposed method of traffic control, optimization of the distribution of control and management functions between the system of spatio-temporal synchronization of traffic and determination of the position on the roadway of each specific BTC and / or BTS in the BTS column and the corresponding mutual automatic position determination in the transport stream relative to other BTCs is achieved and / or BTS in columns, in which the ITI control system centrally sets the most optimal routes and their driving modes Niya.

The implementation of this method allows to achieve new technical results, which consist in a significant increase in the reliability and efficiency of the entire process of transportation, ensuring increased productivity and quality of work of the transport, in improving road and environmental safety, as well as in reducing unit costs for the whole process of freight and passenger transportation, since, firstly, the process of controlling the movement of BPS columns and individual BTSs is simplified, and secondly, the infrastructure of controls Oia, ITI flow BTS traffic, columns, consisting of BPS, and, thirdly, the optimized exchange of information flows between the ITI management centers and BTS BTS BTS in convoys that make up the traffic flow.

The advantages of the present invention in comparison with analogues, that is, existing technical solutions, are the following new technical results:

1. Intelligent transport infrastructure of the road, in comparison with the known control methods, controls the flow of transport on the road, as well as collecting, processing information, generating and transmitting control commands to the control drive of each BPS and / or each BPS in each column, more reliable , operational, accurate methods and simpler means in which the collection, processing of information, the formation and transmission of control commands to the BTS control drive, including BTS as a part of columns, since in the proposed intellectual transport infrastructure of the road the listed functions are performed centrally, taking into account the movement of all road users along their routes and all conditions, circumstances and parameters of the road situation and the environment, which can significantly improve the reliability, accuracy and efficiency of management the entire process of traffic management.

2. The intelligent transport infrastructure of the road provides a more accurate formation of traffic routes, position control and movement control of each BPS and / or BPS in each convoy in the lane compared to the known methods of controlling BPS traffic due to the use of standard staff and additional sensors for measuring parameters movements of all road users, more accurate detection of obstacles, measurements of parameters of road, climatic and other conditions that are set renewed along the roads, above them and in the roadway on the entire network of roads, regardless of all types of vehicles and their condition, obstacles present on the roads, ambient temperature, especially low and ultralow, precipitation, condition and quality of the roadway, availability it contains water, snow, spills of fuels, oils and other liquids, ice, traffic jams, accidents, emergency and other circumstances.

3. The intelligent transport infrastructure of the road provides a more optimal centralized formation of traffic routes, monitoring and controlling the movement of each BPS and / or BPS in each convoy by calculating the congestion of roads on the entire road network by coordinating inter-regional traffic routes in the central processor of the regional ITI control center.

4. The proposed technical solutions provide increased reliability of driving unmanned vehicles along the entire route of travel, regardless of electromagnetic natural and man-made and electrical interference, time of day and seasons of the year when the BPS and / or BPS are moving in convoy columns on highways equipped with intelligent transport infrastructure.

5. With the help of new distinguishing features, the efficiency and reliability of accounting and control of changes in climatic conditions, parameters of the road situation, parameters of the road surface, emergency and other difficult to predict situations that are occurring during movement are automatically ensured significantly better than analogues.

5. In the proposed method for controlling the BTC and / or BTS within the BTS columns, it became easier to control, requiring less computational operations, the formation of simple drive control commands in each BTC, the implementation of simple control algorithms, and the use of simpler, first, mathematical apparatus secondly, software, thirdly, ITI control systems and subsystems.

6. A significantly greater reduction in false positives and malfunctions in the operation of BTS motion control systems and their sensors, which are permanently installed in ITI, are easier to maintain, easier and cheaper to maintain compared to using known motion control systems and their sensors directly in the BTS . For well-known analogues, malfunctions and false alarms of the BTS SUD, consisting of appropriate sensors, controllers, actuators, interfaces, will always occur due to insufficient quality of detection and recognition of obstacles, road markings, signs, traffic signals, assessment of the state of the road, weather and climate conditions.

7. In the proposed method, when controlling the movement of all BPS with the help of ITI, the complexity of the control system decreases, the reliability of the work increases and the cost of the control system of the movement of all BTS in operation is reduced compared to analogues, in which the negative properties are associated with the need to perform and duplicate each BTS VESS the number of duplicated functions in the analysis of climatic conditions, road parameters, analysis of the road situation, identifying the risks of road accidents, as well as in the formation and transfer to the COD of BTS com ND control self control drive.

8. Due to the possibility of providing constant monitoring of the operation of simple BTS positioning means for ITI track sensors, more reliable operation of the motion control means is ensured in all operational modes of the BTS movement - high-speed driving modes, acceleration, braking and maneuvers.

9. The noise immunity is improved by using simpler means of communication when transmitting simple commands and simple programs when generating control actions on the controls, relatively simple and more reliable position monitoring and movement control systems for each BPS and / or each BPS in each BTS column on lane.

10. Compared with the known methods of traffic control, in which the on-board traffic control system is directly controlled by the on-board traffic control systems, the proposed method drastically reduces the complexity, laboriousness and cost of servicing the SU ITI, since in analogs these worst indicators are associated with the need to use more complex systems verification methods and the need for the diagnosis and debugging of the SUD in specialized centers with highly qualified specialists.

In General, in the present invention eliminated the main disadvantages of the known technical solutions by controlling the movement of unmanned vehicles and / or BPS in the composition of the BTS columns using the intelligent transport infrastructure of the road. The present invention provides a significant increase in the reliability and efficiency of the entire process of transportation, a significant increase in productivity, quality, road and environmental safety, as well as a reduction in unit costs for operating materials and other current costs for the entire process of freight and passenger transportation by increasing the reliability and quality of management the movement of BPS and / or BTS in the columns. Improving the quality of traffic control is achieved through more accurate positioning of all BTCs and the implementation of the actions of a perfect and reliable way to control the movement of each BPS and / or BPS in the columns along predefined routes.

Claims (14)

1. A method for remotely controlling the autonomous movement of columns and / or unmanned vehicles (BTS) by an intelligent transport infrastructure (ITI) of a road network, in which, through wireless communication means of the corresponding track control center, they are transmitted to the regional control center and after processing from the regional control center receive information about the route, and through which users of BTS columns and / or individual BTSs set their routes with data on departure points, industrial stops and arrivals with a given travel time, and transfer the listed data to the regional center for the management of intelligent transport infrastructure (TSU ITI), where they are processed, final optimal routes are calculated, route maps are compiled and transmitted in full or in portions to the travel control centers, which transmit commands that allow the movement of each BPS and / or each BTS in the convoy in the automatic mode along their route in accordance with their route maps; and with the help of each traveling control center ITI perform the following actions: before the start of movement, for each BPS and / or each BPS in the convoy set or determine their individual identification code, produce according to the individual identification codes of each of the BPS in the convoy and / or separate BTS their identification, registration of the route and the initial location, and after the start of the movement, monitoring the movement parameters of each of the BPS in the columns, and / or individual BTS and their relative position in the traffic lanes according to the road marking, speed izheniya, acceleration, braking; determine the movement order and develop preliminary route maps for all BTS newly entering movement as part of the columns, and / or for each of the individual BTS, or identify teams of the regional control center that change their order of movement on existing route maps; they monitor the state of the entire traffic situation on the entire road network by analyzing data from users, their own BTS traffic control systems and regular external track systems for monitoring, analyzing and monitoring the road conditions of the ITI, and analyze at least such characteristics as the traffic route and its implementation, type and performance characteristics of each BPS, its systems, units and assemblies, weight, dimensions, load-bearing capacity, technical condition of the BPS and its units, as well as at least e, data on the transported goods, such as their purpose, degree of danger, loading and delivery time, and when analyzing information from external travel control systems, analysis and monitoring of road conditions, at least such data as fluctuations and changes are produced and analyzed daily, weather and other climatic conditions and their forecasts in the areas of highways along the route, the positioning parameters of each BPS, as well as the standard track control systems, analyze and monitor the road conditions, form and analyze h, at least such data on the road as its width, traffic capacity in both directions, types and condition of the road surface, the presence of road signs, road markings, traffic lights, as well as traffic conditions and traffic intensity, its composition, permitted speeds movement, the sequence of sequential acceleration and braking of each of the BPS in the convoy and / or individual BTS, as well as other vehicles, emergencies, planned or urgent road construction works; on each section of the roadway controlled by the corresponding road control center of the road network, the local traffic conditions and traffic conditions, including at least terrain data, are monitored by local and / or distributed traffic status sensors along the roads of the calculated route terrain, the intensity of the traffic flow, its composition, the positioning of each BPS in the traffic lanes and the optimal distribution of BPS and / or BPS into them e columns; analyze and process at least all of the listed data, transfer them to the regional control center, process and form and adjust the driving routes, route maps and transfer them and the teams allowing traffic to each BPS and / or each BTS as a result of processing columns in the automatic mode along their route with the provision of route-defined speed modes of movement, acceleration, braking and distance between each of the BTCs in the column and / or individual BTCs specified by route maps; For some of the BTS columns and / or individual BTS, specified road maps with roundabout routes along other roads of the road network and the corresponding teams allowing automatic traffic for this part of the BTS, developed in the regional center of the IT Center in the regional network of motor vehicles controlled by the ITU dear characterized in that when implementing the method in the regional ITI control center with a predetermined frequency using additional proprietary external track systems of technical vision, including at least video cameras and radars installed along and above the roads, and technical means for monitoring and control of road conditions, additionally in real mode of time, they scan, recognize, register all moving and stationary objects and determine the parameters of their position and movement on the roads and adjacent territories x on the routes of their movement; they also collect, process, analyze and update databases of road conditions, at least such as temporary road restrictions, material and properties of the roadway, the presence and instructions of the traffic controller, and emergency situations, taking into account the scanning data; further, with a given frequency, they additionally update the databases for monitoring the state of climatic and ecological conditions of the external environment in the zones of the road network and collect using at least regular sensors and additional sensors installed along the roads, above them and in the roadway, such data such as the temperature of the roadway, which reduces the transparency and visibility of the road, aerosols and precipitation, the presence of condensed or frozen on the roadway th moisture content of harmful substances in the air, in the form of substances such as gaseous substances, solid or liquid aerosols; then, based on the results of analysis and processing of the updated and supplemented data, in accordance with the predefined hazard criteria for the cargo and the route, the parameters of the movement of each BPS are determined, compared with boundary values characterizing their critical values with respect to the movement of each of the BPS in the columns and / or individual BTCs, if necessary, make corrections to the routes and / or modes of their movement and, after performing all the above actions, in the regional control center ITI for the control center TIs of the road network form and transmit control commands to travel control centers that control the movement of each BPS in the columns and / or individual BTS by transmitting control commands directly to their control drives, at least by turning the wheels, the brake system and the traction system as well as, if available, gearbox and clutch. 2. The control method according to p. 1, characterized in that the entire cycle of controlling the movement of each BPS in the columns and / or individual BTS using the ITU control center takes into account the movement of all BPS in the columns and / or separate BTS, as well as vehicles on all roads adjacent to the traffic routes of each of the BPS as part of columns and / or individual BTS. 3. The control method according to paragraphs. 1, 2, characterized in that, using the ITU control center on long traffic routes, the entire cycle of traffic control of each of the BTCs in the columns and / or separate BTCs is carried out under the full and constant control of the track control centers according to the route map of the regional ITU control center, transmitted in full or portionwise through travel and / or regional control centers of the road network within the segments of the service territory of each of them.