The invention discloses a vehicle-road cooperative automatic driving control scheme suitable for avoiding a construction area of an expressway, and belongs to the technical field of automatic drive.The vehicle-road cooperative automatic driving control scheme comprises RSU, OBU, an automatic driving system, a routing module and a planning module.The vehicle-road cooperative automatic driving control scheme overcomes the defects in the prior art, and the routing module and the planning module are arranged, so that the construction area of the expressway is avoided; after the routing module receives a construction area position message, the distance between a construction area and a vehicle can be detected, route planning is carried out, the planning module carries out local optimization according to route planning, if the planning module finds that the distance between the construction area position in the route is too long or the construction area position is not in the lane, the lane is not changed temporarily, and safe driving of the lane is kept, and if the distance is short, the route planning module carries out route planning. And if not, the routing module is triggered to re-plan a route and execute lane changing to avoid the construction area, so that construction area avoidance suitable for the expressway is realized, the position of the construction area can be known in advance, avoidance can be performed in advance, and the situation that the expressway construction area cannot be avoided in time is prevented.

    本发明公开了一种适用于高速公路的施工区域避让的车路协同自动驾驶控制方案,属于自动驾驶技术领域,包括路端设备RSU、车端设备OBU、自动驾驶系统、routing模块和规划模块,本发明克服了现有技术的不足,通过设置routing模块和规划模块,在routing模块收到施工区域位置消息后,可检测施工区域和本车的距离,并进行线路规划,规划模块根据线路规划做局部优化,如果规划模块发现线路中施工区域位置距离过远或者不在本车道内,暂时不变道,保持本车道安全行驶,如果距离近,会触发routing模块重新规划线路,执行变道避让施工区域,实现适用于高速公路的施工区域避让,使得可提前获知施工区域位置,并提前规避,防止无法及时规避高速公路施工区域。


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    Title :

    Vehicle-road cooperative automatic driving control scheme suitable for avoiding construction area of expressway


    Additional title:

    一种适用于高速公路的施工区域避让的车路协同自动驾驶控制方案


    Contributors:
    PENG CHENRUO (author) / WANG AICHUN (author) / HUANG SHAOTANG (author) / JIANG HUIHUA (author) / ZHENG LIPING (author) / LI YU (author) / HUANG LIANGHAI (author) / ZHANG CHAO (author) / SHI LEQUAN (author)

    Publication date :

    2023-02-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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