CN-121999598-A - Virtual driving track unmanned traffic scheduling system

CN121999598ACN 121999598 ACN121999598 ACN 121999598ACN-121999598-A

Abstract

The application provides a virtual driving track unmanned traffic scheduling system, which comprises an unmanned traffic scheduling edge computing platform composed of a cloud server of a traffic scheduling management department and various unmanned vehicles or embedded computers on the unmanned vehicles, wherein the system can calculate the probability of collision according to the virtual driving tracks of all the unmanned vehicles or the unmanned vehicles, so that an artificial intelligent algorithm is operated to solve and generate an optimal virtual driving track and an optimal scheduling scheme without collision, and generate a virtual road identifier, a virtual road traffic marking and a virtual traffic light signal, and the virtual driving track of all the unmanned vehicles or the unmanned vehicles at a traffic accident site is recorded as a distributed account book in a block chain consensus mode for reference during traffic accident judgment. The application can provide a rapid and efficient traffic scheduling method, and greatly improves the scheduling efficiency of unmanned vehicles and the traffic accident handling efficiency.

Inventors

CAI ZHENGYING
Dou Xinfei

Assignees

三峡大学

Dates

Publication Date: 20260508
Application Date: 20260130

Claims (10)

1. The virtual travel track unmanned traffic scheduling system is characterized by comprising an unmanned traffic scheduling edge computing platform formed by a cloud server of a traffic scheduling management department and various unmanned vehicles or embedded computers on the unmanned vehicles, wherein the virtual travel track, the virtual road mark, the virtual road traffic mark and the virtual traffic light signal can be calculated in real time according to the physical road mark, the physical road traffic mark and the physical traffic light signal; The unmanned vehicles are unmanned aerial, ground or water running vehicles, and comprise robots, machine dogs, unmanned aerial vehicles, unmanned ships, unmanned automobiles and unmanned rail vehicles, and the system can be used for deploying artificial intelligent algorithms on computers of a plurality of different types of unmanned vehicles to realize distributed computation.
2. The virtual travel path unmanned traffic scheduling system of claim 1, wherein the unmanned vehicle or the manned vehicle is ready to travel, and wherein the physical road identification, the physical road traffic marking, and the physical traffic light signal on the physical travel path from the departure location to the destination location are obtained from the departure location and the destination location, and wherein the viable virtual travel path, the virtual road identification, the virtual road traffic marking, and the virtual traffic light signal from the departure location to the destination location are generated.
3. The unmanned traffic scheduling system of virtual travel tracks according to claim 1, wherein the unmanned traffic scheduling edge computing platform runs an artificial intelligence algorithm to solve an optimal scheduling scheme, namely, the probability of collision is calculated according to the virtual travel tracks of all unmanned vehicles or manned vehicles, the corresponding time and place of collision are calculated, so that an optimal virtual travel track without collision is generated, and virtual road identification, virtual road traffic marking and virtual traffic light signals are generated according to the principle that the manned vehicles take precedence and the principle that the same section of virtual travel track takes precedence.
4. The virtual travel track unmanned traffic scheduling system of claim 1, wherein the unmanned vehicles travel according to an optimal scheduling scheme, all unmanned vehicles strictly follow an optimal virtual travel track, virtual road identification, virtual road traffic markings, and virtual traffic light signals.
5. The unmanned traffic scheduling system of claim 4, wherein the virtual travel track is recalculated when the virtual travel track is detected to be possibly collided during traveling, and when the traffic accident occurs during traveling, all unmanned vehicles or unmanned vehicles virtual travel tracks at the traffic accident site are saved on an unmanned traffic scheduling edge computing platform in a blockchain consensus mode to form a tamper-proof and repudiation-proof distributed account book for reference during traffic accident arbitration.
6. The virtual travel track unmanned traffic scheduling system of claim 1, wherein the physical road identifier refers to a facility for transmitting traffic rules, warnings, and indication information in a real traffic network, and comprises a physical warning flag, a physical forbidden flag, a physical indication flag, a physical road indication flag, a physical travel zone flag, and a physical notification flag; the physical warning sign refers to a sign for warning a vehicle user to pay attention to roads and traffic in a real traffic network; the physical forbidden mark refers to a mark for prohibiting or limiting traffic behavior of a user of a traffic tool in a real traffic network; Physical indication marks, which are marks indicating that a user of a vehicle should follow in a real traffic network; The physical road indication mark refers to a mark indicating the driving direction, the place and the distance information in the real traffic network; Physical tourist area sign, which is a sign indicating tourist attraction direction and distance in a real traffic network; Physical advertising signs, which refer to signs in real traffic networks that indicate off-road facilities, security promotions, and other information; The physical road traffic marking refers to traffic safety facilities formed by various lines, arrows, characters, elevation marks, raised road marks and outline marks marked on a road surface in a real traffic network, and comprises physical indication marking, physical prohibition marking and physical warning marking; the physical indication marked line refers to a marked line for indicating a roadway, a driving direction, a road surface edge and a sidewalk in a real traffic network; Physical forbidden marks, which are marks to be strictly observed by users and pedestrians of vehicles, are specified to inform the compliance, prohibition and limitation of vehicles in a real traffic network; physical warning marks, namely marks which promote vehicle users and pedestrians to know special conditions on roads in a real traffic network, improve vigilance and prepare countermeasure measures; physical traffic light signals, namely traffic light passing and forbidden signal lights in a real traffic network, and signal lights allowing an airplane to take off and land.
7. The virtual travel track unmanned traffic scheduling system according to claim 1, wherein the unmanned vehicles or the manned vehicles fuse GNSS data and IMU data to realize high-precision positioning of departure points and destination points through a Kalman filtering algorithm, complete time synchronization with an edge computing platform through an NTP protocol, and call improved A The algorithm initially sets a feasible virtual driving track from the current position to the destination.
8. The virtual travel track unmanned traffic scheduling system of claim 7, wherein the unmanned vehicle or the manned vehicle can view the virtual travel track on a display screen.
9. The virtual travel track unmanned traffic scheduling system according to claim 1, wherein the virtual road identifier refers to information for transmitting traffic rules, warnings and indications in the virtual travel track, and comprises a virtual warning mark, a virtual forbidden mark and a virtual road indicating mark; the virtual warning sign refers to a sign for warning a user of the traffic tool to pay attention to roads and traffic in the virtual driving track; the virtual forbidden mark refers to a mark which prohibits or limits the traffic behavior of a user of the traffic tool in the virtual running track; The virtual road indicating sign indicates the information of the running direction, the place and the distance of the unmanned vehicles or the manned vehicles in the virtual running track; virtual road traffic marking refers to information for guiding unmanned vehicles or manned vehicles to run in a virtual running track, and comprises virtual indication marking, virtual prohibition marking and virtual warning marking; virtual indication marks refer to marks in the virtual running track, which indicate virtual running tracks of the vehicle, the running direction, the edges of the virtual running track, the sidewalk, other unmanned vehicles or manned vehicles; Virtual forbidden marking refers to special information indicating compliance, prohibition and limitation of vehicles in a virtual driving track, and marking to be strictly observed by unmanned vehicles or manned vehicles comprises single-row, forbidden and speed-limiting conditions; Virtual warning marks refer to special information that unmanned vehicles or manned vehicles need to be alert in virtual driving tracks, including conditions of lane changing, curves, tunnels, bridges, speed reduction, pedestrians, children, falling rocks, downhill slopes, trains, rain and snow fog, accidents and road repair; The virtual traffic light signal refers to a traffic light which is used for passing and forbidden in a virtual running track and a traffic light which allows an airplane to take off and land.
10. The virtual travel track unmanned traffic scheduling system of claim 9, wherein the virtual warning flag is validated when the state code value of the virtual warning flag is 1, the unmanned vehicle is speed-limited or decelerated, and no warning is normally traveled when the state code value is 0; the virtual forbidden mark is effective when the state code value of the virtual forbidden mark is 1, and the corresponding section of virtual running track is restricted for use, and no forbidden is normally generated when the state code value is 0; The virtual road indicating mark is straight when the state code value of the virtual road indicating mark is 0000, the virtual road indicating mark is right-turned when the state code value is 0001, the virtual road indicating mark is left-turned when the state code value is 0010, the virtual road indicating mark is ascending when the state code value is 1000, and the virtual road indicating mark is descending when the state code value is 0100; the virtual road indication marks are combined and used, the state code value is 1001, the virtual road indication marks turn upwards to the right, and binary data higher than 4 bits are the position and distance information; When the state code of the virtual traffic light signal is 1, the virtual traffic light signal is red, a corresponding section of virtual driving track is suspended, and when the state code is 0, the virtual traffic light signal is green and normally passes.

Description

Virtual driving track unmanned traffic scheduling system Technical Field The invention relates to the technical field of unmanned traffic scheduling, in particular to a virtual driving track unmanned traffic scheduling system. Background In recent years, collision events of unmanned delivery vehicles and unmanned aerial vehicles frequently occur, so that legal and safety problems such as unmanned vehicles accident responsibility division and traffic scheduling are highlighted, and the traditional scheduling method based on traffic lights and traffic signs is not suitable for unmanned vehicles. On the one hand, unmanned vehicles of different types have heterogeneous dynamics constraint, and the speed, mobility, running space and physical limitation of the unmanned vehicles are obviously different, so that the traditional scheduling system lacks uniform adaptation capability for heterogeneous equipment, and global coordination is difficult to realize. On the other hand, when a plurality of unmanned vehicles run in parallel, collision risks caused by overlapping space-time tracks are easy to occur, the existing scheduling scheme relies on a single computing node to conduct centralized planning, not only is the bottleneck of insufficient edge computing power faced, but also the problems of high computing delay and slow dynamic response exist, and sudden conditions in a complex environment cannot be adapted rapidly. Meanwhile, the algorithm deployment mode of the existing dispatching system is single, the computing resources of the unmanned vehicles are difficult to fully utilize, the solving efficiency of the global dispatching scheme is low, and the comprehensive coverage capability of multiple scenes such as air, ground and water is lacked. In addition, the time synchronization precision, the data transmission reliability and the distributed computation cooperativity among the multiple devices are insufficient, the accuracy and the execution effect of a scheduling scheme are further affected, and the large-scale application and popularization of the unmanned traffic system are limited. Therefore, an intelligent system which can adapt to multiple unmanned vehicles, integrate distributed computing power resources and realize efficient collaborative scheduling is needed, so that the technical problems of difficult adapting of heterogeneous equipment, high scheduling conflict risk, slow calculation response and the like in the prior art are solved, and the standardized and intelligent development of the unmanned traffic field is promoted. Disclosure of Invention The invention aims to solve the technical problems in the background and provides a virtual travel track unmanned traffic scheduling system, which comprises an unmanned traffic scheduling edge computing platform formed by a cloud server of a traffic scheduling management department and various unmanned vehicles or embedded computers on the unmanned vehicles, wherein the virtual travel track, the virtual road mark, the virtual road traffic mark and the virtual traffic light signal can be computed in real time according to the physical road mark, the physical road traffic mark and the physical traffic light signal; The unmanned vehicles are unmanned aerial, ground or water running vehicles, and comprise robots, machine dogs, unmanned aerial vehicles, unmanned ships, unmanned automobiles and unmanned rail vehicles, and the system can be used for deploying artificial intelligent algorithms on computers of a plurality of different types of unmanned vehicles to realize distributed computation. In a preferred scheme, the unmanned vehicle or the manned vehicle is ready to run, a physical road mark on a physical running track from a departure place to a destination place is acquired according to the departure place and the destination place, a physical road traffic mark and a physical traffic light signal are generated, and a feasible virtual running track from the departure place to the destination place, a virtual road mark, a virtual road traffic mark and a virtual traffic light signal are generated. In the preferred scheme, the unmanned traffic dispatching edge computing platform runs an artificial intelligent algorithm to solve the optimal dispatching scheme, namely, the probability of collision is calculated according to all unmanned vehicles or virtual running tracks of the unmanned vehicles, the time and place corresponding to the collision are generated, the optimal virtual running track without collision is generated, and virtual road marks, virtual road traffic marks and virtual traffic light signals are generated according to the principle that the unmanned vehicles take precedence and the principle that the same section of virtual running track takes precedence. In the preferred scheme, unmanned vehicles travel according to an optimal scheduling scheme, and all unmanned vehicles strictly adhere to an optimal virtual running track, a virtual road mark,