TWI699301B - Control method for autonomous car entering ramp - Google Patents

Abstract

The present invention relates to a control method for an autonomous car entering a ramp. The control method comprises the following steps of inquiring at least one autonomous car that wants to enter a ramp through a central control tower and recording the order of inquiry; the central control tower giving at least one priority to the at least one autonomous car according the position and the order of inquiry of the at least one autonomous car; controlling the at least one autonomous car to enter the ramp by the central control tower; and transferring a driving right to the at least one autonomous car when the at least autonomous car passes a safety zone of the ramp. Thus, the autonomous cars on the highway are automatically and safely controlled to enter the ramp.

Description

Control method of automatic driving vehicle entering ramp

The present invention relates to a control method for automatic driving vehicles to enter the ramp, in particular to a technology that can control multiple automatic driving vehicles to automatically enter the ramp, so that each automatic driving vehicle can be arranged in order to safely enter the ramp .

In the past, vehicles always relied on the driver to control them. However, with the advancement of technology, many electronic components are gradually applied to vehicles, so that many cars currently on the market are equipped with driving assistance functions. In addition, various automakers are also actively developing technologies for fully autonomous driving; the Society of Automotive Engineers (SAE) defines autonomous driving in five levels, from level zero without any assisted driving, level one with assisted driving, The second level of self-judgment of the situation but partially automatic driving, the third level of automatic driving that can judge the driving situation and conditional conditions, the fourth level of automatic driving on specific roads, and fully automatic driving, there is no need for a steering wheel in the car , The fifth stage of throttle and brake.

Almost all cars sold by car factories are equipped with functions such as active cruise control, automatic car following, and automatic emergency braking. Such vehicles will be classified as the second level of the five levels of automatic driving; continuous research and development in various car factories Under the trend of autonomous driving, there will be a large number of autonomous vehicles driving on the road in the future; the Republic of China Invention Patent Announcement No. TW I583581 "Autonomous Driving System and Method with Driving Behavior Decision-making" is to collect all the detected roads Object vectorization, to calculate the safety of the object, give safety weight according to the level of collision risk, and then infer the road space safety, give the space safety Weights for decision-making on driving behaviors such as turning left, turning right, moving forward, and braking; In addition, the Republic of China Patent Announcement No. TW M563380 "Driving Hazard Classification and Prevention System for Autonomous Driving and Active Driving" provides a prevention system that senses the surrounding environment of traffic vehicles and avoids accidents. It uses autonomous driving hazard sensing The unit senses information that is dangerous to the automatic driving of traffic vehicles, such as sunlight intensity factors, sunlight reflection factors, fog factors, rain factors and/or insufficient lighting factors. If it is judged to be an environment requiring manual driving, the system You can refuse to switch to automatic driving to prevent accidents caused by automatic driving. According to the previous patent, there are many technologies related to automatic driving, and how to avoid accidents is the primary focus of automatic driving.

However, the current autonomous driving technology is more limited to the control of a single vehicle, but at the ramp of the expressway, it is necessary to control multiple vehicles at once so that the vehicles can enter the ramp safely and avoid collisions and traffic jams; , How to provide a technology that can control multiple autonomous vehicles at the same time is the direction the inventor thinks.

Today, the inventor is based on the tireless spirit of the above-mentioned existing automatic driving technology in actual implementation and use, and is improved by his rich professional knowledge and years of practical experience. , And developed the present invention accordingly.

The main purpose of the present invention is to provide a control method for automatic driving vehicles to enter the ramp, which belongs to the control technology of multiple automatic driving vehicles. When multiple automatic driving vehicles enter the ramp of the expressway, they must be coordinated to prevent it from happening. Crowded into a ball, and even collisions made it impossible to pass.

In order to achieve the above-mentioned implementation objectives, the present invention is a method for controlling the entry of an autonomous vehicle into a ramp. The control method includes inquiring at least one autonomous vehicle that wants to enter a ramp through a central tower, and recording the order of the inquiry; the central tower root At least one priority is given according to the location of at least one autonomous vehicle and the order of inquiry; the central tower controls at least one autonomous vehicle to enter the ramp according to the at least one priority; and when at least one autonomous vehicle passes the safety zone of the ramp, it will drive The right is transferred to at least one autonomous vehicle.

In an embodiment of the present invention, at least one automatic driving vehicle has an automatic driving module and a signal transmission module electrically connected to the automatic driving module.

In one embodiment of the present invention, the central tower is electrically connected to the signal transmission module of at least one autonomous vehicle.

In one embodiment of the present invention, the automatic driving module of at least one automatic driving vehicle receives the signal of the central tower through the signal transmission module, or transmits the signal to the central tower.

1: Central Tower

2: ramp

3: Autonomous vehicles

Figure 1: The control diagram of the preferred embodiment of the present invention.

The purpose of the present invention and its structural and functional advantages will be described based on the structure shown in the following figures and specific embodiments, so that the reviewer can have a deeper and specific understanding of the present invention.

Please refer to the first figure. The control method of an autonomous vehicle entering a ramp of the present invention includes: Step 1: Through a central tower 1, at least one autonomous vehicle 3 that wants to enter a ramp 2 is asked, and Record the order of inquiry; Step 2: The central tower 1 gives at least one priority based on the location of at least one autonomous vehicle 3 and the order of the inquiry; Step 3: The central tower 1 controls at least one autonomous vehicle 3 to enter the ramp according to at least one priority 2; and Step 4: When at least one autonomous vehicle 3 passes the safety zone of the ramp 2, the driving right is transferred to at least one autonomous vehicle 3.

Among them, the automatic driving vehicle 3 series has an automatic driving module and an electrical connection The signal transmission module of the autonomous driving module, and the central tower 1 will be electrically connected to the signal transmission module of the autonomous vehicle 3, so that the autonomous driving module of the autonomous vehicle 3 will receive the central tower through the signal transmission module 1 signal, or transmit signal to central tower 1.

In this way, the communication process between the central tower 1 and the autonomous vehicle 3 allows the central tower 1 to coordinate and arrange the sequence of multiple autonomous vehicles 3 entering the ramp 2 at one time, so as to prevent the autonomous vehicles 3 that want to enter the ramp 2 from generating Blocking, chaotic behavior.

In addition, the following specific examples can further prove the scope of practical application of the present invention, but it is not intended to limit the scope of the present invention in any form.

Please continue to refer to the first figure. The present invention is an automatic driving vehicle entering a ramp control method, which is mainly applied to the automatic driving vehicle 3 running on the highway. All vehicles are automatically driving. When the automatic driving vehicle 3 wants to go from the high speed When the highway descends to a flat road, you need to enter ramp 2 first; therefore, the central tower 1 will ask the passing autonomous vehicles 3 to enter the ramp 2 a certain distance before the ramp 2, and each autonomous vehicle 3 is a signal The transmission module will receive the inquiry from the central tower 1, and give a reply, and inform the current location of the autonomous vehicle 3, and record the order of the inquiry after the central tower 1 inquires; then, the central tower 1 according to the autonomous vehicle The position of 3 and the order of inquiries give each autonomous vehicle 3 a corresponding priority. The autonomous vehicle 3 with the higher priority level will be arranged in the front position by the central tower 1, that is, it is the priority to enter the ramp 2. When the central tower 1 arranges all the autonomous vehicles 3 to enter the ramp 2, it will take over the driving right of the autonomous vehicle 3, that is, the autonomous driving module of the autonomous vehicle 3 will transfer the driving right to the central Tower 1, in this way, the central tower 1 will have the driving rights of multiple autonomous vehicles 3 at the same time, and will control all the autonomous vehicles 3 to enter the ramp 2 according to the previously arranged sequence; In ramp 2, there will be a safety zone, which is the entrance of ramp 2, which is the area that is more prone to congestion. When the central tower 1 controls the autonomous vehicle 3 to pass the safety zone of ramp 2, it will drive The right is transferred to the auto-driving module of the auto-driving vehicle 3, so that the auto-driving module will continue the subsequent driving work.

As can be seen from the above implementation description, compared with the prior art, the present invention has the following advantages:

1. The method for controlling the entry of an autonomous vehicle into a ramp of the present invention is that the central tower controls multiple autonomous vehicles at the same time, which belongs to the automatic driving technology of multiple vehicles, compared with the conventional technology that only performs automatic driving on a single vehicle , The present invention can control multiple autonomous vehicles and arrange their travel sequence.

2. The method for controlling the entry of autonomous vehicles into the ramp of the present invention is to coordinate the sequence of entering the ramp between the autonomous vehicles through the central tower, and determine the priority of entering the ramp according to the information returned by each autonomous vehicle. This technology allows multiple autonomous vehicles to enter the ramp safely, and avoid accidents that cause traffic jams.

In summary, the method for controlling the entry of an autonomous vehicle into a ramp of the present invention can indeed achieve the expected use effect through the above-disclosed embodiments, and the present invention has not been disclosed before the application, and it is in full compliance with the patent. Regulations and requirements of the law. If you file an application for a patent for invention in accordance with the law, you are kindly requested to review it and grant a quasi-patent.

However, the above-mentioned illustrations and descriptions are only preferred embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. Those who are familiar with the art will do other things according to the characteristic scope of the present invention. Equivalent changes or modifications should be regarded as not departing from the design scope of the present invention.

1: Central Tower

2: ramp

3: Autonomous vehicles

Claims (4)

A control method for an autonomous vehicle to enter a ramp. The control method includes: Step 1: Through a central tower, inquire at least one autonomous vehicle that wants to enter a ramp, and record the order of the inquiry; Step 2: The central tower At least one priority is given according to the location of the at least one autonomous vehicle and the order of inquiry; Step 3: The central tower arranges the sequence of the at least one autonomous vehicle entering the ramp according to the at least one priority, and the central tower takes over The driving right of the at least one self-driving vehicle is such that the central tower controls the at least one self-driving vehicle to enter the ramp according to the sequence; and step 4: when the central tower controls the at least one self-driving vehicle to pass through the safety zone of the ramp After that, the driving right is transferred to the at least one automatic driving vehicle, so that the at least one automatic driving module continues the subsequent driving work. The method for controlling the entry of an autonomous vehicle into a ramp according to claim 1, wherein the at least one autonomous vehicle has an automatic driving module and a signal transmission module electrically connected to the automatic driving module. The method for controlling the entry of an autonomous vehicle into a ramp according to claim 2, wherein the central tower is electrically connected to the signal transmission module of the at least one autonomous vehicle. The method for controlling entry of an autonomous vehicle into a ramp according to claim 2, wherein the autonomous driving module of the at least one autonomous vehicle receives the signal of the central tower through the signal transmission module, or transmits the signal to the central tower .

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