CN108039053B

CN108039053B - A kind of intelligent network connection traffic system

Info

Publication number: CN108039053B
Application number: CN201711222257.1A
Authority: CN
Inventors: 冉斌; 程阳; 李深; 丁璠; 金璟; 陈晓轩; 张震; 张健; 曲栩; 何赏璐
Original assignee: Jin Nanjing And Jiaxin Mdt Infotech Ltd
Current assignee: Shanghai Fengbao Business Consulting Co.,Ltd.
Priority date: 2017-11-29
Filing date: 2017-11-29
Publication date: 2019-11-15
Anticipated expiration: 2037-11-29
Also published as: CN108039053A

Abstract

The present invention provides a kind of intelligent networks based on system, suitable for different vehicle type and road level, that automated vehicle control can be achieved to join traffic system.Specifically include following subsystem: (1) traffic control system, comprising: traffic control center/unit of layering, for handling information, formulating traffic operation instruction；(2) roadside unit system is made of roadside unit, for obtaining data flow from net connection vehicle, detects traffic behavior, and send target instruction target word to net connection vehicle；(3) vehicle subsystem is made of the mixed flow of different net connection degree and the degree of automation；(4) communication system, for providing wired or radio communication service for entities all in system.The present invention readjusts and optimizes the driving control task and algorithm between vehicle and traffic control network, roadside unit network, provides safer and more reliable, economical a traffic control and rwan management solution RWAN.

Description

A kind of intelligent network connection traffic system

Technical field

The present invention relates to an integrated systems, join vehicle (Connected and Automated for intelligent network Vehicles, CAV) complete car operation and control are provided, more particularly, to a kind of traffic of control intelligent network connection vehicle System is managed and controlled, the control instruction that specifically there is time sensitivity by giving each vehicle to send, including vehicle follow gallop, Lane-change, paths chosen etc..

Background technique

Automatic driving vehicle has perception surrounding enviroment and in the feelings for not having to driver's control or a small amount of driver's operation The vehicle of cruise is realized under condition, just in exploitation.Currently, automatic driving vehicle mainly in the experimental test stage, has not been put to extensively General business application.Existing method needs costly and complicated onboard system, brings the difficulty of application and popularization.

Summary of the invention

The present invention provides a kind of intelligent networks to join traffic system, mainly sends specific tool by joining vehicle to each intelligent network The control instruction of having time sensibility.The present invention is suitable for the part lane or all lanes of highway.

To achieve the above object, the technical solution adopted by the present invention are as follows:

A kind of intelligent network connection traffic system, for realizing traffic control and management, including traffic control system, roadside unit System, vehicle subsystem, communication system；Wherein:

The traffic control system includes traffic control center and the traffic control unit of layering, for information processing, system Determine traffic control instruction；

The roadside unit system is made of roadside unit, is obtained data flow for joining vehicle from net, is detected traffic behavior, And target instruction target word is sent to net connection vehicle；

The vehicle subsystem is made of the mixed flow of different net connection degree and the degree of automation；

The communication system is used to provide wired or radio communication service for entities all in system.

System of the invention can be operated on the part lane or all lanes of road.

The traffic control center and traffic control unit include the computing module having automatically or semi-automatically, for realizing Include data acquisition, information processing, the network optimization and traffic control function.

The roadside unit system includes with data perception, data processing, the transmitting of control signal and information issuing function Module.

Information handled by the traffic control center and traffic control unit is each by intelligent network connection traffic system The vehicle custom-made of system service；The information includes vehicle control instruction and at least one following content: weather, road surface item Part, estimation journey time；The vehicle control instruction includes at least one of speed, following distance, lane design and path Content.Vehicle control instruction is calculated by traffic control center and traffic control unit, is sent to pair by roadside unit The vehicle answered.

Prepared traffic control command information between the traffic control center and traffic control unit is handed over from upper layer Logical control centre and traffic control unit are sent to low layer traffic control center and traffic control unit, and include with the next item down or Multinomial content: desired speed, expectation following distance, the expectation volume of traffic, the expectation traffic diverging in access point, Traffic Signal Timing ginseng Number.

Hardware applied by the intelligent network connection traffic system includes one or more of: power supply, has traffic detector Line and wireless communication module, data storage device and database；

The traffic detector be it is below one or more: radar system, induction coil system, infrared detection system, Video system.Wherein, radar system includes laser, microwave, millimeter wave, ultrasonic radar system.

The traffic control center of the layering and traffic control unit include:

Macro TCC for handling the information from ground region layer TCC, and provides traffic control to ground region layer TCC and refers to It enables；

Ground region layer TCC is provided for handling the information from Macro TCC and channel layer TCC, and to channel layer TCC Traffic control instruction；

Channel layer TCC is provided for handling the information from ground region layer TCC and section layer TCU, and to section layer TCC Traffic control instruction；

Section layer TCU for handling the information from channel layer TCC and point layer TCU, and provides traffic to layer TCU Control instruction；

Point layer TCU provides traffic for handling the information from section layer TCU and roadside unit, and to roadside unit Control instruction.

The Macro TCC is for realizing following functions:

Traffic control instruction is provided to ground region layer TCC；

Handle the information from ground region layer TCC；

In data center's store historical data of Macro TCC, to support information processing and policy optimization；Wherein, macroscopical The data center of layer TCC has the function of data storage, processing, analysis；

Automatically or semi-automatically arithmetic center is provided, realizes data acquisition, information processing, the network optimization and traffic control signal The function of timing；

Multiple ground region layer TCC in larger range is controlled, using the communication media of high capacity and low latency, such as optical fiber, with Ground region layer TCC is communicated.

Described ground region layer TCC is for realizing following functions:

Traffic control instruction is provided to channel layer TCC；

Handle the information from Macro TCC and channel layer TCC；

Data center's store historical data of region layer TCC on ground, to support information processing and policy optimization；Wherein, regional The data center of layer TCC has the function of data storage, processing, analysis；

Automatically or semi-automatically arithmetic center is provided, realizes data acquisition, information processing, the network optimization and in an area model Enclose the function of interior traffic control signal timing；

Multiple channel layer TCC in corresponding range are controlled, using the communication media of high capacity and low latency, such as optical fiber, with The Macro TCC on upper layer is communicated.

The channel layer TCC is for realizing following functions:

Traffic control instruction is provided to section layer TCU；

Handle the traffic control instruction from ground region layer TCC and section layer TCU；

Optimization and processing module are provided to realize data processing and formulate control target；

Automatically or semi-automatically arithmetic center is provided, comprising data acquisition, information processing, the network optimization and provides a channel The signal timing plan of range, such as 10 kilometers of Highway Channels and its connected local road；

Including a calculation server, a database, a Date Conversion Unit, has image processing function to handle Data from road controller control the section layer TCU in corresponding range；Wherein, road is controlled by TCC traffic control algorithm Section layer TCC (for example, adaptive predictable traffic control algorithm), a channel layer TCC and section layer TCU and and its upper layer Region layer TCC is interacted, and the channel layer TCC coverage area is 5-20 kilometers.

The section layer TCU is for realizing following functions:

Traffic control instruction is provided to layer TCU；

Handle the information from channel layer TCC and point layer TCU；

The traffic control unit of a routes coverage is provided, the routes coverage is 1-2 kilometers；

Including lan data converting system (for example, Cisco Nexus 7000) and an engineering servers (for example, IBM work Journey server Model 8203 and ORACL database), and interacted with layer TCU by wired or wireless communication medium.

The point layer TCU is for realizing following functions:

Traffic control instruction is provided to roadside unit；

The traffic data of collection point layer roadside unit acquisition；

The traffic control unit of one more short-track road (such as 50 meters) is provided；

It is interacted with several roadside units.

The roadside unit consists of the following components:

One sensing module, for acquiring traffic and vehicle drive environment information；

One data processing module, for providing the measured value of particular vehicle, including but not limited to speed, space headway, The distance between plus/minus rate, vehicle and traffic lane line, the angle of vehicle and center line, whole traffic behavior；

One first communication module, for realizing information exchange between vehicle and upper level point layer TCU；

One second communication module is instructed for sending specific vehicle drive to vehicle；

One display module, for showing the data for being sent to mobile unit；

One power supply unit.

The vehicle subsystem includes at least one following module: vehicle control module, Vehicle Detection and data acquisition module Block, wireless communication module, data acquisition and interactive module.

Intelligent network connection traffic system system can realize redistributing for driving task between vehicle, specifically include with Next or multiple situations:

1) instruction of normal driving and the required by task that cruises is provided for vehicle；

2) provide navigation task needed for instruction and information, including security maintenance, traffic control/road conditions and other Specific information；

If 3) when thrashing, adapter tube vehicle performance task and security maintenance task of supervision；

4) data supporting is provided for the information exchange task of control plane, this partial data is provided by vehicle-mounted detector；

5) in mechanical level, meet vehicle control task, monitor ambient enviroment, back-up system support is provided；

6) crucial driving information is provided for vehicle；

7) meet driving task, and mutually using as spare, the case where to prevent any mistake or failure.

The vehicle subsystem has vehicle-mounted displaying interface, is below one or more:

Audio frequency apparatus has voice control and Text-To-Speech transformation function；

Video equipment, such as head-up display (Head-up-display, HUD)；

Vibratory equipment.

Vehicle in the vehicle subsystem has vehicle identification and following function, is combined by one or more of real It is existing: the vehicle safety certification of net connection, on board unit ID (OBU ID), removable facility ID, Differential Global Positioning System DGPS (Differential Global Positioning System), Visual retrieval device, removable LiDAR (Light Detection And Ranging, laser acquisition and measurement) or fixed radar detector.

The communication system is one or more of:

OEM (Original Equipment Manufacturer) operator；

Communication service provider, including movement, connection and telecommunications etc.；

The public organizations of maintenance system, such as relevant governmental traffic department.

Communication system includes the following communication technology:

Wireless communication technique, such as: DSRC, mobile communication technology 3G, 4G and 5G, bluetooth；

Cable communicating technology, such as: Ethernet.

Other than above-mentioned technical proposal, the present invention can be with the following technical solution is employed:

A kind of intelligent network connection traffic system, the system are automatic driving vehicle control system, comprising:

The communication link of one traffic control center and traffic control unit for connecting layering, at information Reason and transmitting traffic control instruction；

One is netted the data flow of connection vehicle for connecting the communication link of roadside unit system, for realizing reception, detects and hand over Lead to state and sends control instruction to target vehicle；

One vehicle subsystem for receiving the specific control instruction with time sensitivity, including vehicle follow gallop, changes Road, paths chosen and other dependent instructions.

The utility model has the advantages that the present invention provides a kind of intelligent networks to join traffic system, it is a kind of comprehensive car operation and traffic control The integrated system of system mainly sends the control instruction specifically with time sensitivity by joining vehicle to each intelligent network.This hair Bright part lane or all lanes suitable for highway.Wherein, control instruction is carried out excellent by the traffic control center of highest level Change, transmits step by step, and specific vehicle is sent to by the traffic control unit of lowest level.These traffic control center/units A layer architecture is constituted, the control field of different stage is covered.

Detailed description of the invention

Fig. 1 is exemplary system figure of the invention；

Fig. 2 is that three axis intelligent networks join system schematic；

Fig. 3 is that driving task reassigns schematic diagram；

Fig. 4 is the driving task distribution diagram of a system based on typical automotive vehicle；

Fig. 5 is a driving task distribution schematic diagram in the embodiment of the present invention；

Fig. 6 is that system constitutes schematic diagram；

Fig. 7 is traffic control system schematic diagram；

Fig. 8 is roadside unit RSU system schematic；

Fig. 9 is vehicle subsystem data flow diagram；

Figure 10 is communication system schematic diagram；

Figure 11 is point layer TCU schematic diagram；

Figure 12 is section layer TCU schematic diagram；

Figure 13 is channel layer TCC schematic diagram；

Figure 14 is ground region layer TCC schematic diagram；

Figure 15 is Macro TCC schematic diagram；

Figure 16 is that vehicle drives into control schematic diagram；

Figure 17 is that vehicle is driven out to control schematic diagram；

Figure 18 is RSU module design schematic diagram；

Figure 19 is microwave radar established angle schematic diagram；

Figure 20 is OBU module design exemplary diagram；

Figure 21 is TCC/TCU architecture diagram.

Specific embodiment

The present invention will be further explained with reference to the accompanying drawing.

Following explanation is carried out to the appended drawing reference in attached drawing first:

101-TCC/TCU traffic control systems: the traffic control center TCC and traffic control unit TCU of a layering, The formulation instructed for information processing, traffic control.Traffic control center TCC is arithmetic center automatically or semi-automatically, is had Data Integration, information processing, the network optimization and the traffic control signal timing for geographic coverage function.Traffic control list First TCU is lesser traffic control unit, has the function of similar, but its control range covered is smaller, such as ring road, is handed over Prong etc..

102-roadside unit systems: a roadside unit RSU network receives the data flow from net connection vehicle, detects traffic Condition sends target instruction target word to vehicle.Roadside unit system realizes the function of data perception, data processing and control signal transmitting Energy.In practice, a point layer TCU or section layer TCU can be interacted with a RSU.

103-vehicle subsystems: vehicle subsystem contains the mixed traffic flow under different net connection degree and the degree of automation.

104-communication systems: one provides the subsystem of wired/radio communication service for entities some or all in system System.

105-transport data streams: data stream packets contain traffic behavior, from roadside unit system to TCC/TCU traffic administration system The vehicle of system is requested, and is handled by TCC/TCU traffic control system.

106-control instruction affluxs: control instruction is found out by TCC/TCU traffic control system, is contained towards not going the same way The control instruction based on vehicle of network planning mould.Control instruction is sent to the position of target RSU set RSU by roadside unit system.

107-vehicle data streams: vehicle status data and from vehicle subsystem to the request of roadside unit system.

108-vehicle control instruction streams: the stream contains the different controls sent from roadside unit system to vehicle subsystem System instruction, for example, recommended vehicle speed, navigation information.

301-Macro traffic control centers, referred to as: Macro TCC: automatically or semi-automatically arithmetic center covers more The traffic control in ground section is realized in a area, has the function of data acquisition, information processing and large scale network traffic optimization.

302-ground region layer traffic control centers, referred to as: ground region layer TCC: automatically or semi-automatically arithmetic center covers one A city or main city zone have the function of data acquisition, information processing and urban traffic network and traffic control signal optimization.

303-channel layer traffic control centers, referred to as: channel layer TCC: automatically or semi-automatically arithmetic center covers one A channel and its connected road and ring road have data acquisition, information processing, traffic access point control and dynamic traffic guidance Function.

304-sections layer traffic control center, referred to as: section layer TCU: automatically or semi-automatically arithmetic center covers one The shorter section of item has the function of data acquisition, information processing and road section traffic volume control.

305-layer traffic control units, referred to as: point layer TCU: covering one lesser highway sector, ring road or Intersection has the function of data acquisition, traffic signalization and vehicle request processing.

306-roadside unit RSU: receiving the data flow from net connection vehicle, detects traffic behavior, and send to target vehicle Instruction.RSU network has the function of data acquisition, data processing and control signal transmitting.

307-vehicle subsystems, i.e. intelligent network join vehicle: including the hybrid vehicle under different net connection degree and the degree of automation Stream.

401-Macros control target, close with ground region layer TCC information.

403-ground region layer control target, close with channel layer TCC information.

405-channel layers control target, close with section layer TCU information.

407-sections layer control target is close with layer TCU information.

The traffic behavior of 402-ground region layer fining provides the index of distribution control target.

The traffic behavior of 404-channel layers fining provides the index of distribution control target.

The traffic behavior of 406-sections layer fining, provides the index of distribution control target.

The traffic behavior of 408-layers fining provides the index of distribution control target.

601-vehicle static & multidate informations:

(1) static information, comprising:

1, vehicle ID；

2, vehicle size information；

3, vehicle type information (including vehicle maximum speed, acceleration and deceleration)；

4, vehicle OBU information (software information, hardware information): OBU software is designed to the form without user's input, can To pass through the logical of V2I (Vehicle-to-Infrastructure) or V2V (Vehicle-to-Vehicle) one or both Reliable existing and portable RSU seamless combination.OBU hardware is comprising DSRC wave frequency communication (or other communication technologys) ability and entirely Ball positioning system (Global Positioning System, GPS) technology, compared with RSU, it only needs DSRC wave frequency to communicate (or other communication technologys) ability.

(2) multidate information, comprising:

1, timestamp；

2, lateral direction of car/lengthwise position；

3, car speed；

4, vehicle OD information (including origin information, destination information, routing information)；

5, other necessary car status informations.

The instruction of 602-vehicle controls and navigation information:

(1) vehicle control instructs, comprising:

1. in particular moment, the request of transverse direction/lengthwise position；

2. suggesting speed；

3. course changing control information.

(2) navigation information, comprising:

1. weather；

2. journey time/reliability；

3. road guide.

701-traffic management departments

702-communications service providers (Communication Service Provider, CSP)；

703-original equipment manufacturer (Original Equipment Manufacturer, OEM)；

801-optimizers: Optimal Control Strategy etc. is generated；

802-processors: data of the processing from RSU.

It is as shown in Figure 1 one embodiment of the present of invention, it includes TCC/TCU traffic control system that intelligent network, which joins traffic system, 101, RSU roadside unit system 102, vehicle subsystem 103 and communication system 104.TCC/TCU traffic control system 101 is one The traffic control network of a layering being made of traffic control center TCC and traffic control unit TCU, can handle from RSU The traffic information of roadside unit system 102, and traffic operation instruction is sent to RSU roadside unit system 102.RSU roadside unit System 102 is the network of roadside unit, have processing Vehicle Detection, communication, control instruction and emission monitoring function.Vehicle System 103 is the mixed flow under different net connection degree and the degree of automation, can send static, multidate information and vehicle is asked It asks to RSU roadside unit system 102, and receives the instruction of RSU roadside unit system 102.RSU roadside unit system 102 is in the future Traffic information is converted to from the vehicle data of vehicle subsystem 103 and request, and TCC/TCU is sent to by communication system 104 Traffic control system 101.TCC/TCU traffic control system 101 handles these information in corresponding level, and sends operation instruction Feed back to RSU subsystem 102.RSU roadside unit system 102 check and register these operation instruction, and send instruction set 108 to Vehicle (including suggesting speed and navigation information etc.).Communication system 104 is one with local and global link wireless Communication and security system, provide wired and wireless communication service for all entities in system.

As shown in Fig. 2, the attribute of the system relates to the system integration, automation and net connection property, it is specifically defined are as follows:

(1) American Society of Automotive Engineers SAE (Society of Automotive is utilized in vehicle automation level Engineers definition).

(2) definition of network interconnection level is based on information content and content, including following five stages:

C0: without the net connectionization stage

Vehicle and driver can not obtain traffic information.

C1: information associated phase

Vehicle and driver can only obtain simple traffic information, such as collect the road section traffic volume state of meter.This category information tool There are certain precision and resolution, while also having very important delay.

C2: limited interconnection sensing stage

Vehicle and driver can obtain real-time, high-precision, the insignificant traffic information of delay.Information mainly from In RSU, adjacent vehicle and other information supplier.However, there are imperfections for the information in the stage.

C3: information sharing stage abundant

Vehicle and driver can be with adjacent vehicle, traffic control equipment, real-time traffic states map and high-res Basic map is connected.The information in the stage has enough precision, real-time, integrality, rich and polyphyly.

C4: network-wide optimization interconnects the stage

Vehicle and driver are provided of the information by optimization processing.The facilities and equipment of intelligence can provide excellent for vehicle The information of change is fed back.

(3) definition of system integration level is to specifically include following five stages based on coordination/optimization angle:

S0: without the integrated stage

Without any integrated between system.

S1: traffic key point layer system integration phase, for example, the intersection based on RSU controls, ramp metering rate

System is in intersection or ring road regional ensemble.Coordination/the optimization range in the stage is smaller.

S2: section layer system integration phase

The range in the stage expands than on last stage, and more RSU and vehicle will be made overall plans and coordinate and be optimized, but travel pattern Still remain unchanged.

S3: traffic corridor layer system integration phase covers a variety of traffic for example, Shanghai-Nanjing Expressway range is integrated Mode；

Coordinate and the range of optimization is across a variety of travel patterns, whole highway or trunk roads.It is shared between RSU and vehicle Information, to realize the system optimal in target zone.

S4: global Macro system integration stage

The stage will coordinate and optimize from city or provincial range, connect larger range of RSU and vehicle.

Unless expressly stated otherwise, otherwise heretofore described any embodiment may be configured to adapt to one or more A net connectionization stage, and one or more system integration stages.

Fig. 3 illustrates driving task reassignment, comprising: (1) all driving tasks are showed in the three classes of original definition: " control System ", " navigation ", " cruise ".These driving tasks are extremely important for safety traffic of all vehicles between origin and destination.(2) These tasks are how to be distributed by vehicle subsystem 103, TCC/TCU traffic control system 101, RSU roadside unit system 102 's.In " cruise " stage, TCC/TCU traffic control system 101, RSU roadside unit system 102 provide instruction to vehicle, including " pre- trip information ", " path planning ".In " navigation " stage, TCC/TCU traffic control system 101, RSU roadside unit system 102 provide instruction and information for navigation task: traffic control/road condition and other specific informations.Vehicle subsystem 103 meets Vehicle operating task monitors security maintenance task.In " control " stage, TCC/TCU traffic control system 101, RSU roadside unit System 102 provides data for information exchange task.Meanwhile vehicle subsystem 103 meets vehicle control task, and monitors surrounding ring Border is backed up with back-up system.

Fig. 4 illustrates the driving task distribution based on traditional typical automated driving system solution.Automatic driving vehicle, The cognition technology having, such as radar, camera can support the most driving tasks of completion in the three phases of Fig. 3, And V2I technology mainly provides support in " cruise " stage.The Typical Representative of the communication technology applied by V2I is dedicated short-distance radio It communicates (Dedicated Short Range Communications, DSRC), to meet the needs of its order and information exchange. However, tradition V2I has some limitations.One of them is major problem is that single point failure influences, that is to say, that when server or It fails at one if having on the path of linked server, then whole system can also fail immediately.This will lead to the loss of data, danger Evil whole system.

Fig. 5 illustrates the driving task distribution embodiment of the system.Vehicle subsystem 103 and TCC/TCU traffic pipe Reason system 101, RSU roadside unit system 102 manage all driving tasks of three phases.Perception and the communication technology are by vehicle System 103 and TCC/TCU traffic control system 101, RSU roadside unit system 102 are applied.Aware services are in " control " " navigation " stage, and communication service is in " cruise " and " navigation " stage.Vehicle subsystem 103 and TCC/TCU traffic administration System 101, RSU roadside unit system 102, the cooperation of these three systems have ensured the safe and reliable and economy of system.Especially Ground, dual security system provide a fail safe mechanism.When one of subsystem failure, other systems can guarantee Effective operation of system.

As shown in fig. 6, the composition of entire intelligent network connection traffic system is as follows: Macro traffic control center (Marco TCC) 301 be an automatically or semi-automatically arithmetic center, covers multiple areas, realizes the traffic control in ground section, has number According to the function of acquisition, information processing and large scale network traffic optimization.Ground region layer traffic control center (Regional TCC) 302, it is an automatically or semi-automatically arithmetic center, covers a city or main city zone, there is data acquisition, information processing The function of optimizing with urban traffic network and traffic control signal.Channel layer traffic control center (Corridor TCC) 303 is One automatically or semi-automatically arithmetic center, covers a channel and its connected road and ring road, has data acquisition, information The function of processing, traffic access point control and dynamic traffic guidance.Section layer traffic control center (Segment TCU) 304 be One automatically or semi-automatically arithmetic center, covers a shorter section, has data acquisition, information processing and road section traffic volume The function of control.Point layer traffic control unit (Point TCU) 305 covers a lesser highway sector, ring road or friendship Prong has the function of data acquisition, traffic signalization and vehicle request processing.Marco TCC 301,Regional TCC 302, Corridor TCC 303, Segment TCC 304 and Point TCU 305 are 101 main groups of TCC/TCU subsystem At.Roadside unit RSU: receiving the data flow from net connection vehicle, detects traffic behavior, and send and instruct to target vehicle.Trackside Unit R SU 306 represents small control units, receives data and request in Cong Wanglian vehicle, identifies traffic behavior, send instructions to Target vehicle.It is RSU subsystem 303 by the network that RSU306 is formed, there is data acquisition, data processing and control signal transmitting Function.Intelligent network connection vehicle 307 is the basic composition of vehicle subsystem 304, is included under different net connection degree and the degree of automation Vehicle.OBU (on board unit and V2I communication unit) network is placed in intelligent network connection vehicle 307.

As shown in fig. 7, top Macro TCC301 will control target such as region layer traffic control and boundary information 401 With being sent to second layer region layer TCC302.Meanwhile ground region layer TCC302 sends detailed traffic behavior 402 to Macro TCC301, such as congestion status assist Macro TCC301 with this to realize large scale network traffic optimization.Similar process exists It is carried out between the continuous rank of every two.Ground region layer TCC302 sends control target and boundary information 403 to channel layer TCC 303, and receive specific traffic behavior 404.Channel layer TCC303 sends control target and boundary information 405 to section layer TCU 304, and receive specific traffic behavior 406.Section layer TCU304 sends control target and boundary information 407 to a layer TCU 305, and the specific traffic behavior 408 of receiving point layer TCU305.

As shown in figure 8, roadside unit RSU306 group receives the data from intelligent network connection vehicle CAV, non intelligent net connection vehicle, and Detect traffic behavior.Then, a layer TCU305 is sent data to for 306 groups of roadside unit RSU.Institute is received from roadside unit group 306 After there are data, layer TCU305 Optimal Control Strategy is put, sends target instruction target word to roadside unit group 306.

As shown in figure 9, roadside unit RSU306 group receives the data from intelligent network connection vehicle 307, traffic behavior is detected, and It sends target instruction target word and joins vehicle 307 to intelligent network.RSU network concentrates on data acquisition, data processing, transmitting control signal.Information Also it is shared by different intelligent network connection vehicle 307, it may include different net connection degree that it is also a subsystem that intelligent network, which joins vehicle 307, With the mixed flow under the degree of automation.

As shown in Figure 10, traffic management department 701 controls the communication information between TCC and TCU.Letter between TCU and RSU Breath is shared with traffic management department 701 and communications service provider 702.Communications service provider 702 also controls RSU and intelligent network joins vehicle Data between (connected automated vehicle, CAV).Communication and RSU between non-CAV and CAV with it is non- Communication between CAV is controlled by original equipment manufacturer OEM 703.

As shown in figure 11, roadside unit RSU306 acquires the traffic data on highway, and traffic information 502 is transferred to excellent Change device 801 and processor 802.After receiving the data, processor 802 handles data, generates the traffic of point layer fining in real time State 408, and it is transferred to section layer TCU304.Section layer TCU304 determines control target 407, and notifies optimizer 801. Optimizer 801 is based on 502 optimal control target 407 of traffic information, and the control instruction 501 based on vehicle is sent to trackside list First RSU306.

As shown in figure 12, point layer TCU305 generates the traffic behavior 408 of point layer fining in real time, and is passed to excellent Change device 801 and processor 802.After receiving status information, processor 802 handles it, and generates the section layer essence of current road segment The traffic behavior 406 of refinement, and it is transferred to channel layer TCC303.Channel layer TCC303 determines that channel layer controls target 405, and leads to Know optimizer 801.Optimizer 801 optimizes channel layer based on a traffic behavior 408 for layer fining and controls target 405, and will control Target processed is transferred to a layer TCU305.

As shown in figure 13, layer TCU304 in section generates the traffic behavior 406 of real-time section layer fining, and is transmitted To optimizer 801 and processor 802.After receiving traffic state information, processor 802 handles and generates real-time channel layer finely The traffic behavior 404 of change, and it is transferred to ground region layer TCC302.Ground region layer TCC302 determine ground region layer control target 403, and by its Notify optimizer 801.Optimally region layer controls target 403 to traffic behavior 406 of the optimizer 801 based on section layer fining, and Control target is transferred to section layer TCU304.

Figure 14 illustrates the data and decision stream of ground region layer TCC302.Each channel layer TCC303 unites all traffic datas One is sent to ground region layer TCC302.After data center receives data, all data are handled by message handler.Message handler Traffic data is generated, and sends it to control centre.Decision is drafted according to pre-defined algorithm by control centre, and sends the result to certainly Plan optimizer.Optimizer Simulation Decision, optimizes it, and is sent to channel layer TCC303 and Macro TCC301 simultaneously.Macro TCC301 and neighbouring other ground region layer TCC302 share traffic data, system optimization decision, and feed back to ground region layer TCC302.

As shown in figure 15, region layer TCC302 in each ground sends traffic data and local optimisation strategy gives Macro TCC301. One message handler integrates the decision and traffic data of all optimizations.Later, control centre is based on from ground region layer TCC303 Traffic data draft decision.It can be handled by decision processor after the decision drafted.One last system optimization decision It will determine, and feed back to ground region layer TCC303.

Figure 16 describes the process that intelligent network connection vehicle 307 enters full control system.Intelligent network joins vehicle 307 and reaches system side Behind boundary, request is transmitted into RSU306.Borderline region refers to the neighboring area of section layer TCU304 institute control range.RSU306 It provides and enters request to a layer TCU305, receive in layer TCU305 into after request, the information of detection intelligent network connection vehicle 307, Including static and dynamic vehicle information 601.Point layer TCU305 is that intelligent network joins vehicle 307 into full control system formulation vehicle control Instruction and navigation information 602 (such as suggestion speed, entry time, in-position etc.), and the information examination based on RSU306 detection Scheme the control of adapter tube intelligent network connection vehicle 307.Intelligent network joins vehicle 307 and receives vehicle control instruction and navigation information from RSU306 602, and using onboard subsystem processing vehicle control instruction and navigation information 602 to confirm vehicle control instruction and navigation information 602.If vehicle control instruction and navigation information 602 cannot be confirmed that intelligent network joins vehicle by the judgement of onboard subsystem 307 update and send update request again.Intelligent network connection vehicle 307 follows vehicle control instruction and navigation information 602 travels, if vehicle Control instruction and navigation information 602 are confirmed, then enter full control system.That is point layer TCU305 adapter tube intelligent network joins vehicle 307 Driving control, intelligent network join the vehicle control instruction and the holding of navigation information 602 that vehicle 307 is provided according to full control system Traveling.Point layer TCU305 updates traffic behavior, and the vehicle of fining is sent after intelligent network connection vehicle 307 enters full control system Control instruction and navigation information 601 are to section layer TCU304.

Figure 17 describes the process that intelligent network connection vehicle 307 is driven out to full control system.As shown in figure 17, when intelligent network joins vehicle When 307 arrival system boundary region, request is left to roadside unit RSU306 transmission.Borderline region refers to a section layer Region near TCU304 control range boundary.Roadside unit RSU306 offer leaves request to a layer TCU305.Based on trackside The information of unit R U306 detection, point layer TCU305 sail out of full control system formulation for intelligent network connection vehicle 307 and leave 602 (example of instruction Such as, it is proposed that speed, time departure leave position etc.).Intelligent network joins vehicle 307 and receives the vehicle control instruction left from RSU306 With navigation information 602, and using onboard subsystem processing vehicle control instruction and navigation information 602 with determine vehicle control instruct Whether can be identified with navigation information 602.If leaving vehicle control instruction and navigation information 602 cannot be by onboard subsystem Judgement confirmed, then vehicle updates again and request is left in transmission.The traveling of intelligent network connection vehicle 307, which follows, leaves vehicle control System instruction and navigation information 602, and full control system is left after leaving vehicle control instruction and being identified with navigation information 602. Point layer TCU305 terminates the Driving control for joining vehicle 307 to intelligent network, and intelligent network joins vehicle 307 and restores automatic driving mode, executing After leaving operation, it then follows the driving strategy of vehicle itself.After intelligent network connection vehicle 307 leaves full control system, layer TCU305 is put Update traffic behavior, and send fining vehicle static and multidate information 601 give section layer TCU304.

For a Highway Channels, the design embodiment of present system is described.It should be noted that It is below illustrative embodiments, the present invention is not limited to these Examples.

1, RSU module

As shown in figure 18, a roadside unit RSU module includes two major functions: 1) interacting with vehicle with point layer TCU； 2) traffic and vehicle drive environment information are acquired.Sensing module integrates the information from different detectors, specifically will be following Illustrate in paragraph.When data processing module obtains six main characteristic parameters, i.e. speed, headstock using Data fusion technique Away from, the distance between plus/minus speed, vehicle and roadmarking, the angle between vehicle and road-center, whole traffic behavior. Meanwhile communication module is sent from the information of vehicle and point layer TCU to data processing module, with the result of update module.In After six characteristic parameters generate, communication module sends steering instructions to vehicle-mounted OBU system, and with a layer TCU sharing information.Exhibition Show that interface module will show the received data of OBU system.The energy needed for power supply unit ensures whole system running.

In some embodiments, roadside unit RSU module is every 50 meter amperes loaded on intelligent network connection highway.Mounting height is Apart from road surface 40cm.RSU is needed during the installation process perpendicular to road.In some embodiments, the peace of roadside unit RSU module It is as shown in figure 19 to fill angle.

2, OBU mobile unit

Figure 20 illustrates an example of OBU mobile unit.Communication module is for receiving the letter from roadside unit RSU Breath is instructed with requirement.Data acquisition module is for monitoring operating state.Vehicle control module is required for executing control.

3, TCU/TCC system

As Figure 21 illustrates an example of TCU/TCC system.TCC/TCU system is in the traffic control of a layering The heart/traffic control unit has the function of to handle information, formulate traffic operation instruction etc..Traffic control center TCC is automatic or half Automatic arithmetic center has the function of data acquisition, information processing, the network optimization and area traffic signal control.Traffic control Unit TCU is lesser traffic control unit, has the function of similar, but covers more small range express highway section, ring road Or intersection.Five kinds of different types of TCC/TCU.Point layer TCU acquires the data from different RSU.Section layer TCU acquisition comes From the data of difference layer TCU, optimize traffic flow, control point layer TCU provides control signal for vehicle.Channel layer TCC acquisition comes From the data of different RSU, and optimize the traffic in a channel.Ground region layer TCC acquires the data from multiple channels, in larger model Enclose optimization traffic flow and transport need (such as a city scope).Macro TCC acquires the number from multiple ground region layer TCC According in optimization trip requirements on a large scale.

For each point layer TCU, data are acquired from a roadside unit RSU system 1.One point layer TCU14 has parallel Data of the interface from a roadside unit RSU.One lightning strike protection facilities protection roadside unit RU and road control system System.Roadside unit RSU is installed on trackside.

One point layer TCU14 is interacted using wired optical cable (or optical fiber) with roadside unit RSU.Point layer TCU is installed on trackside, It is protect by lightning strike protector 2.Each point layer TCU14 is connected with 4 roadside unit RSU.One point layer TCU includes Engineering Service Device and data conversion system.It utilizes data flow software.

Each section layer TCU11 includes a lan data converting system and an engineering servers.Section layer TCU passes through Wired optical cable is interacted with point layer TCC.About 1-2 kilometers of range of each section layer TCU covering.

Channel layer TCC15 includes a calculation server, data warehouse, a Date Conversion Unit, with image procossing function Data of the acquisition from road controller 14 can be calculated.Channel layer TCC is along section control point layer TCC (for example, channel layer TCC is covered One highway is extended down to urban road).TCC traffic control algorithm is used for control point layer TCC (for example, adaptive prediction traffic control Algorithm processed).Data warehouse is a database and the back-up system of channel layer TCC15.Channel layer TCC15 use has linear light It is fine to be interacted with section layer TCU.It calculates work station and calculates the data from section layer TCU11, and the data of calculating are transmitted To section layer TCU11.Each channel layer TCC covers 5-20 kilometers.

Ground region layer TCC12: each ground region layer TCC12 controls in a geographic coverage (for example, one administrative region of a city of covering) Multiple channel layer TCC15.Ground region layer TCC is interacted using wire cable (for example, optical fiber) with channel layer TCC.

Macro TCC12: each Macro TCC13 control in extensive range multiple ground region layer TCC12 (for example, There are one or more Macro TCC in each province.Macro TCC is interacted using wire cable (optical fiber) and ground region layer TCC.

4, high-res map and vehicle location

Accurate and clearly highway sign and marking displaying may be implemented in high-res map.After road network variation, ground Figure can do corresponding update automatically.Meanwhile under 99% confidence level, map error is less than 10cm.

The vehicle positioning system that the system uses is mainly Differential Global Positioning System (Differential Global Positioning System, D-GPS), it can be achieved that under 99% confidence level, position error is less than 5cm, while supporting GPS system System.

Part description illustrates algorithm and symbol in the embodiment of the present invention about information operation.These algorithm descriptions are usually It is applied in data processing technique by professional technician, to ensure the transitivity and sustainability of their work.These operations By description functionally, in calculating and in logic so that its can by computer program or equivalent circuit or microcode or its Its similar fashion is realized.In addition, it is sometimes that these operations are also more convenient as module, and generality will not be lost.It is retouched The operation stated and its relevant module of institute can be placed in software, firmware, hardware or other combinations.

One or more hardware or software module will be passed through in the total described some steps of this embodiment, operation or processing Or application is realized with the combination of its facility.In one embodiment, appliance computer program product realizes software module, should Computer program product includes one and includes the computer-readable medium of computer program code, and is held by computer processor Row, to realize any or all of processing step.

The embodiment of the present invention may further relate to execute the device of operation of the present invention.This device special structure for required purpose Build perhaps it include universal computing device property of can choose activate or reset by computer program.The computer journey Sequence is stored in a readable computer media or other any type of electronic storage mediums.In addition, in addition, in this theory Any computing system mentioned in bright book may include single processor, or can use multiple places to improve computing capability Manage the framework of device.

The embodiment of the present invention further relates to a product of calculating process described herein.The product includes calculating process Processing result, wherein information is stored in readable computer storage medium, and may include computer journey as described herein Sequence product or any embodiment of other data combination.

The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims

1. a kind of intelligent network joins traffic system, it is characterised in that: for realizing traffic control and management, including traffic administration system System, roadside unit system, vehicle subsystem, communication system；Wherein:

The traffic control system includes traffic control center and the traffic control unit of layering, is used for information processing, traffic control Make the formulation of instruction；

The traffic control center of the layering and traffic control unit include:

Macro traffic control center, for handling the information from ground region layer traffic control center, and to ground region layer traffic Control centre provides traffic control instruction；

Ground region layer traffic control center, for handling from Macro traffic control center and channel layer traffic control center Information, and traffic control instruction is provided to channel layer traffic control center；

Channel layer traffic control center, for handling from ground region layer traffic control center and section layer traffic control unit Information, and traffic control instruction is provided to section layer traffic control unit；

Section layer traffic control unit, for handling the letter from channel layer traffic control center and point layer traffic control unit Breath, and traffic control instruction is provided to layer traffic control unit；

Point layer traffic control unit, for handle the information from section layer traffic control unit and roadside unit, and to road Side unit provides traffic control instruction；

The Macro traffic control center is for realizing following functions:

Traffic control instruction is provided to ground region layer traffic control center；

Handle the information from ground region layer traffic control center；

In data center's store historical data of Macro traffic control center, to support information processing and policy optimization；

Automatically or semi-automatically arithmetic center is provided, realizes data acquisition, information processing, the network optimization and traffic control signal timing Function；

Multiple ground region layer traffic control center in larger range is controlled, region layer traffic control center is communicated with ground；

Described ground region layer traffic control center is for realizing following functions:

Traffic control instruction is provided to channel layer traffic control center；

Handle the information from Macro traffic control center and channel layer traffic control center；

Data center's store historical data of region layer traffic control center on ground, to support information processing and policy optimization；

Automatically or semi-automatically arithmetic center is provided, realizes data acquisition, information processing, the network optimization and in a geographic coverage The function of traffic control signal timing；

Multiple channel layer traffic control centers in corresponding range are controlled, are led to the Macro traffic control center on upper layer Letter；

The channel layer traffic control center is for realizing following functions:

Traffic control instruction is provided to section layer traffic control unit；

Handle the traffic control instruction from ground region layer traffic control center and section layer traffic control unit；

Automatically or semi-automatically arithmetic center is provided, comprising data acquisition, information processing, the network optimization and provides a channel range Signal timing plan；

Including a calculation server, a database, a Date Conversion Unit, has image processing function and come from handling The data of road controller control the section layer traffic control unit in corresponding range；Wherein, pass through traffic control center's traffic Control algolithm control section layer traffic control unit, channel layer traffic control center and section layer traffic control unit and and Its upper layer area layer traffic control center interacts, and channel layer traffic control center coverage area is 5-20 kilometers；

The section layer traffic control unit is for realizing following functions:

Traffic control instruction is provided to layer traffic control unit；

Handle the information from channel layer traffic control center and point layer traffic control unit；

Led to including lan data converting system and an engineering servers, and with layer traffic control unit by wired or wireless Letter medium interacts；

The point layer traffic control unit is for realizing following functions:

Traffic control instruction is provided to roadside unit；

The traffic data of collection point layer roadside unit acquisition；

The traffic control unit on one more short-track road is provided；

It is interacted with several roadside units；

The roadside unit system is made of roadside unit, for obtaining data flow from net connection vehicle, detects traffic behavior, and to Net connection vehicle sends control instruction；

The roadside unit consists of the following components:

One data processing module, for providing the measured value of particular vehicle, including but not limited to speed, space headway, plus/minus The distance between rate, vehicle and traffic lane line, the angle of vehicle and center line, whole traffic behavior；

One first communication module, for realizing information exchange between vehicle and upper level point layer traffic control unit；

One display module, for showing the data for being sent to mobile unit；

One power supply unit；

The vehicle subsystem is made of the mixed flow of different net connection degree and the degree of automation；The vehicle subsystem include with At least one lower module: vehicle control module, Vehicle Detection and data acquisition module, wireless communication module, data acquisition and friendship Mutual module；

The communication system is used to provide wired or radio communication service for entities all in system；

When intelligent network connection vehicle enters intelligent network connection traffic system, intelligent network joins vehicle after reaching system boundary, is transmitted into request To roadside unit, borderline region refers to the neighboring area of section layer traffic control unit institute control range；Roadside unit provide into Enter request and gives point layer traffic control unit, after layer traffic control unit receives and enters request, the letter of detection intelligent network connection vehicle Breath, including static and dynamic vehicle information；Point layer traffic control unit is that intelligent network connection vehicle enters intelligent network connection traffic system system Determine vehicle control instruction and navigation information, and the information based on roadside unit detection attempts to take over the control of intelligent network connection vehicle；Intelligence Connection vehicle can be netted and receive vehicle control instruction and navigation information from roadside unit, and utilize onboard subsystem processing vehicle control Instruction and navigation information are to confirm vehicle control instruction and navigation information；If vehicle control instruction and navigation information cannot be by vehicles The judgement of subsystems is confirmed, then intelligent network connection vehicle, which is updated and sent again, updates request, intelligent network connection vehicle follows vehicle Control instruction and navigation information traveling enter intelligent network and join traffic system if vehicle control instruction and navigation information are confirmed System, the i.e. Driving control of point layer traffic control unit adapter tube intelligent network connection vehicle, intelligent network join vehicle and join traffic system according to intelligent network The vehicle control instruction of offer and navigation information keep traveling, and point layer traffic control unit updates traffic behavior, and in intelligent network Connection vehicle enter intelligent network connection traffic system after send fining vehicle control instruction and navigation information to section layer traffic control Unit；

When intelligent network connection vehicle is driven out to intelligent network connection traffic system, when intelligent network connection vehicle reaches system boundary region, to trackside Request is left in unit transmission；Borderline region refers to region near the layer traffic control unit control range boundary of a section, road Side unit offer leaves request to a layer traffic control unit；Based on the information of roadside unit detection, layer traffic control unit is put Intelligent network connection traffic system formulation is sailed out of for intelligent network connection vehicle and leaves instruction, and intelligent network joins vehicle and receives the vehicle left from roadside unit Control instruction and navigation information, and using onboard subsystem processing vehicle control instruction and navigation information to determine vehicle control Whether instruction and navigation information can be identified；If leaving vehicle control instruction and navigation information cannot be by onboard subsystem Judgement is confirmed, then vehicle updates again and request is left in transmission；The traveling of intelligent network connection vehicle, which follows, to be left vehicle control and refers to Order and navigation information, and full control system is left after leaving vehicle control instruction and being identified with navigation information；Point layer traffic control Unit processed terminates the Driving control for joining vehicle to intelligent network, and intelligent network joins vehicle and restores autonomous driving mode, after operation is left in execution, Follow the driving strategy of vehicle itself；After intelligent network connection vehicle leaves intelligent network connection traffic system, point layer traffic control unit is more New traffic behavior, and send fining vehicle static and multidate information give section layer traffic control unit.

2. intelligent network according to claim 1 joins traffic system, it is characterised in that: the traffic control center and traffic control Unit processed has computing module automatically or semi-automatically, for realizing data acquisition, information processing, the network optimization and traffic control Function.

3. intelligent network according to claim 1 joins traffic system, it is characterised in that: the roadside unit system has data Perception, data processing, the transmitting of control signal and information issuing function module.

4. intelligent network according to claim 1 joins traffic system, it is characterised in that: the traffic control center and traffic control Information handled by unit processed is the vehicle custom-made that each is joined transit system services by the intelligent network；The information includes Vehicle control instruction and at least one following content: weather, pavement conditions, estimation journey time；The vehicle control instruction Including at least one content in speed, following distance, lane design and path.

5. intelligent network according to claim 1 joins traffic system, it is characterised in that: the traffic control center and traffic control The prepared traffic control instruction of unit processed is from upper layer traffic control center and traffic control unit to low layer traffic control center It is sent with traffic control unit, and includes following one or more contents: desired speed, expectation following distance, the expectation volume of traffic, In The expectation traffic diverging of access point, Traffic Signal Timing parameter.

6. intelligent network according to claim 1 joins traffic system, it is characterised in that: the intelligent network connection traffic system is answered Hardware includes one or more of: power supply, traffic detector, wired and wireless communication module, data storage device and Database；

The traffic detector is below one or more: radar system, induction coil system, infrared detection system, video System.

7. intelligent network according to claim 1 joins traffic system, it is characterised in that: the intelligent network connection traffic system can Redistributing for driving task is realized between vehicle, specifically includes following one or more situations:

2) instruction and information needed for providing navigation task, including security maintenance, traffic control/road conditions and other are specific Information；

6) crucial driving information is provided for vehicle；

8. intelligent network according to claim 1 joins traffic system, it is characterised in that: it includes vehicle that the vehicle subsystem, which has, It carries and shows interface, be below one or more: audio frequency apparatus, video equipment, vibratory equipment.

9. intelligent network according to claim 1 joins traffic system, it is characterised in that: the vehicle tool in the vehicle subsystem Have vehicle identification and following function, pass through one or more of combination realize: net connection vehicle safety certification, on board unit ID, Removable facility ID, Differential Global Positioning System, visual detector, removable or fixed radar detector.

10. intelligent network according to claim 1 joins traffic system, it is characterised in that: the communication system is by with next Or multiple compositions: OEM operational administrative system, wireless service provider, maintenance system public organizations；The communication system The technology of application includes wireless and cable communicating technology.

11. a kind of intelligent network joins traffic system, it is characterised in that: the system is automatic driving vehicle control system, comprising:

One for connect layering traffic control center and traffic control unit communication link, for realizing information processing with Transmit traffic control instruction；

One is netted the data flow for joining vehicle, detection traffic shape for connecting the communication link of roadside unit system, for realizing receiving State and to target vehicle send control instruction；

One vehicle subsystem, for receiving the specific control instruction with time sensitivity, including vehicle follow gallop, lane-change, Paths chosen and other dependent instructions；

Wherein, the traffic control center of the layering and traffic control unit include:

Channel layer traffic control center, for handling from ground region layer traffic control center and section layer traffic control unit Information, and traffic control instruction is provided to section layer traffic control center；

The Macro traffic control center is for realizing following functions:

Handle the information from ground region layer traffic control center；

The channel layer traffic control center is for realizing following functions:

Including a calculation server, a database, a Date Conversion Unit, has image processing function and come from handling The data of road controller control the section layer traffic control unit in corresponding range；Wherein, pass through traffic control center's traffic Control algolithm control section layer traffic control center, channel layer traffic control center and section layer traffic control unit and and Its upper layer area layer traffic control center interacts, and channel layer traffic control center coverage area is 5-20 kilometers；

The section layer traffic control unit is for realizing following functions:

Traffic control instruction is provided to layer traffic control unit；

The point layer traffic control unit is for realizing following functions:

Traffic control instruction is provided to roadside unit；

The traffic data of collection point layer roadside unit acquisition；

The traffic control unit on one more short-track road is provided；

It is interacted with several roadside units；

The roadside unit consists of the following components:

One display module, for showing the data for being sent to mobile unit；

One power supply unit；