CN109949595A - Method and system for safe passage of at least two autonomous vehicles through road intersections - Google Patents

The present invention provides a kind of method and system of at least two automotive vehicle safety intersections, this method is included in each map and provides information reception ring-shaped area, the information receives ring-shaped area around the intersection, there is provided one by the information receive ring-shaped area concentrically around broadcast ring-shaped area, the information receives ring-shaped area and is looped around an intersection, all automotive vehicles, which are travelled, to the intersection and enter the information receives ring-shaped area, it travels one of multiple automotive vehicles and enters broadcast ring-shaped area with broadcast traffic information, the traffic information for the automotive vehicle advanced in broadcast ring-shaped area is received by other automotive vehicles, and determine which automotive vehicle first passes through the intersection according to the traffic information that the automotive vehicle is broadcasted, when the judgement of other automotive vehicles allows the automotive vehicle to get ahead, other automotive vehicles stop Only until the automotive vehicle has passed through the intersection before the intersection.

至少两自动车辆安全通过道路交叉口的方法与系统Method and system for safe passage of at least two autonomous vehicles through road intersections

技术领域technical field

本发明涉及一种自动驾驶车辆安全地穿过道路交叉口的方法与系统，更具体地说，本发明是涉及一种自动驾驶车辆通过广播与接收该些自动车辆行驶在路上的交通信息以安全地穿过道路交叉口的方法与系统。The present invention relates to a method and system for an automatic driving vehicle to safely pass through a road intersection, and more particularly, the present invention relates to an automatic driving vehicle broadcasting and receiving the traffic information of the automatic vehicles driving on the road to ensure safety. A method and system for traversing a road intersection.

背景技术Background technique

近年来，自动车、自动驾驶车或无人驾驶车已成为广泛研究与开发的主题，许多大型科技公司例如谷歌、百度以及主要汽车厂商包括通用动力、奔驰、宝马已经在这个领域投入许多的资源。目前探讨的自动车主要是可自动驾驶于公路并以速度大于每小时40公里行驶，为了实现这样的目的，该些车通常必须放置许多昂贵的传感器以感知所处的环境状态。自动车必须与其他的自动车保持经常性的连通与通信，与中央站(Central station)亦是如此，以便在道路附近密切关注它们。In recent years, autonomous, self-driving or driverless vehicles have been the subject of extensive research and development, and many large technology companies such as Google, Baidu, and major automakers including General Dynamics, Mercedes-Benz, and BMW have invested many resources in this field. . The autonomous vehicles currently discussed are mainly capable of driving on the highway and traveling at a speed of more than 40 kilometers per hour. In order to achieve this purpose, these vehicles usually have to place many expensive sensors to sense the environmental state. Autonomous vehicles must maintain constant connectivity and communication with other autonomous vehicles, as well as with the Central station, in order to keep an eye on them near the road.

而在小型的小区，自动车一般以低速度(低于每小时40公里)行进且因为环境较不复杂，较少昂贵传感器的使用使得自动车的价格更为合理。考虑经济因素，在不需与其他自动车直接沟通以及不需中央站的协助决策下，如何能使自动车警觉邻近的其他自动车辆的方法是当下迫切需要的，特别是当通过道路交叉口时，更由为重要。In small communities, autonomous vehicles generally travel at low speeds (less than 40 kilometers per hour) and because the environment is less complex, the use of less expensive sensors makes the price of autonomous vehicles more reasonable. Considering economic factors, there is an urgent need for a method to make an autonomous vehicle alert to other autonomous vehicles in the vicinity without direct communication with other autonomous vehicles and without the assistance of a central station in decision-making, especially when passing road intersections , is more important.

当自动车经过无论是三线或四线或更多线的道路交叉口，对自动车来说，知道其他自动车的位置以避免碰撞是必须的。传统上，避免碰撞是以车之间的直接沟通或拥有一个中央站通知各车子的位置的方式进行。When an autonomous vehicle passes a road intersection, whether it is a three- or four-lane or more, it is necessary for the autonomous vehicle to know the position of other autonomous vehicles to avoid a collision. Traditionally, collision avoidance has been carried out by direct communication between vehicles or by having a central station to inform the location of each vehicle.

发明内容SUMMARY OF THE INVENTION

本发明在此提出一种方法让各自动车判断哪一车在道路交叉口最先走，其中不需要中央站介入或自动车辆之间的沟通。本方法的提出是为了克服上述自动车辆通过道路交叉口方法的缺点。The present invention hereby proposes a method for each automated vehicle to determine which vehicle goes first at a road intersection, wherein no central station intervention or communication between automated vehicles is required. This method is proposed to overcome the shortcomings of the above-mentioned method of automatic vehicles passing through road intersections.

本发明提供至少两自动车辆安全通过道路交叉口的方法，该道路交叉口的位置是储存在各自动车辆的计算机所安装的地图，各自动车辆的计算机设有一能广播与接收交通信息的通信模块，该道路交叉口是多条道路的交集处。The present invention provides a method for at least two automatic vehicles to safely pass through a road intersection, where the location of the road intersection is stored in a map installed in a computer of each automatic vehicle, and the computer of each automatic vehicle is provided with a communication module capable of broadcasting and receiving traffic information , the road intersection is the intersection of multiple roads.

该方法包括在各地图提供一信息接收环状区，该信息接收环状区环绕在该道路交叉口处；在各地图提供一广播环状区，该广播环状区环绕在该道路交叉口，各广播环状区是被各地图中的各信息接收环状区同心地环绕；行驶该些自动车辆的其中之一进一步进入该广播环状区以通过该车辆其中的该计算机广播交通信息；由其他自动车辆的计算机接收行驶在该广播环状区内的该自动车辆的交通信息；以及根据该自动车辆广播的交通信息，由接收该自动车辆广播的交通信息的其他车辆的计算机判定哪一自动车辆先通过该道路交叉口，其中当其他的自动车辆的计算机判定让该自动车辆先通过时，其他的自动车辆在该道路交叉口前停止直到该自动车辆子已通过该道路交叉口。The method includes providing an information receiving ring on each map, the information receiving ring surrounding the road intersection; providing a broadcast ring on each map, the broadcast ring surrounding the road crossing, each broadcast ring is concentrically surrounded by each information receiving ring in each map; driving one of the automatic vehicles further into the broadcast ring to broadcast traffic information through the computer in the vehicle; by The computer of other automatic vehicles receives the traffic information of the automatic vehicle traveling in the broadcast ring; and according to the traffic information broadcast by the automatic vehicle, the computer of the other vehicle receiving the traffic information broadcast by the automatic vehicle determines which automatic vehicle The vehicle passes the road intersection first, wherein when the computer of the other automated vehicle decides to let the automated vehicle pass first, the other automated vehicle stops before the road intersection until the automated vehicle has passed the road intersection.

作为本发明的进一步改进，其中，该交通信息包括位置信息、车身长度、行驶速度信息，或行驶方向信息；其他车辆的计算机是以比较各自动车辆到达该道路交叉口前还剩多少时间判定哪一自动车辆先通过该道路交叉口，当该自动车辆进入该道路交叉口前还剩下的时间短于其他自动车辆进入该道路交叉口前还剩下的时间，其他自动车辆的计算机判定将其他自动车辆停止在该道路交叉口前，让该自动车辆先通过；当其他自动车辆在该自动车辆进入该道路交叉口前行驶进入该广播环状区，其他自动车辆广播交通信息，该自动车辆接收其他自动车辆的该交通信息，并且该自动车辆与其他自动车辆两者的计算机根据两者的交通信息判定哪个自动车辆先行驶通过该道路交叉口；进一步包括假使该自动车辆广播一紧急信号，则将其他自动车辆停止在该道路交叉口前；该广播环状区与该信息接收环状区两者与该道路交叉口的中心同心，所述多条道路的每一条分别具有一中线，至少两条中线交集在该道路交叉口的中心；当其他自动车辆的计算机判定让该车辆先通过，其他自动车辆停止在广播环状区的边缘直到该自动车辆已经通过该道路交叉口并且停止广播该交通信息；该自动车辆设有一连接该计算机的摄影机，当该计算机侦测到一障碍物阻挡在该自动车辆前，该计算机令该自动车辆立刻停止直到该障碍物不再被该计算机侦测到；该广播环状区以及该信息接收区的大小基于该自动车辆的速度而变化；该自动车辆的交通信息是通过红外线、直拨卫星、无线网络、蓝牙、4G通信，或3G通信而广播。As a further improvement of the present invention, wherein, the traffic information includes position information, vehicle body length, travel speed information, or travel direction information; the computers of other vehicles compare the time remaining before each automatic vehicle arrives at the road intersection to determine which vehicle to use. An automatic vehicle passes through the road intersection first, and when the time remaining before the automatic vehicle enters the road intersection is shorter than the time remaining before other automatic vehicles enter the road intersection, the computer of the other automatic vehicles determines that the other Before the automatic vehicle stops at the road intersection, let the automatic vehicle pass first; when other automatic vehicles drive into the broadcast ring before the automatic vehicle enters the road intersection, other automatic vehicles broadcast traffic information, and the automatic vehicle receives the traffic information of the other automated vehicle, and the computer of both the automated vehicle and the other automated vehicle determines which automated vehicle travels through the road intersection first based on the traffic information of both; further comprising if the automated vehicle broadcasts an emergency signal, then Stop other automatic vehicles in front of the road intersection; both the broadcast ring area and the information reception ring area are concentric with the center of the road intersection, each of the plurality of roads respectively has a center line, at least two The median lines intersect at the center of the road intersection; when the computer of other automated vehicles decides to let the vehicle pass first, the other automated vehicles stop at the edge of the broadcast ring until the automated vehicle has passed the road intersection and stops broadcasting the traffic information; the automatic vehicle is provided with a camera connected to the computer, when the computer detects an obstacle blocking the automatic vehicle, the computer stops the automatic vehicle immediately until the obstacle is no longer detected by the computer; The size of the broadcast ring and the information receiving area varies based on the speed of the automated vehicle; the automated vehicle's traffic information is broadcast via infrared, direct-dial satellite, wireless network, Bluetooth, 4G communication, or 3G communication.

作为本发明的进一步改进，其中，该位置信息是由全球定位系统或三角测量法获得。As a further improvement of the present invention, the location information is obtained by global positioning system or triangulation method.

作为本发明的进一步改进，其中，其他自动车辆的计算机以与该自动车辆比较到达该道路交叉口前还剩多少距离判定哪个自动车辆先通过该道路交叉口，当该自动车辆进入该道路交叉口前还剩下的距离短于其他自动车辆进入该道路交叉口还剩下的距离时，其他自动车辆的计算机判定将其他自动车辆停止在该道路交叉口前，让该自动车辆先通过。As a further improvement of the present invention, the computer of other automatic vehicles determines which automatic vehicle passes through the road intersection first by comparing the distance left before reaching the road intersection with the automatic vehicle, and when the automatic vehicle enters the road intersection When the remaining distance is shorter than the remaining distance for other automatic vehicles to enter the road intersection, the computer of other automatic vehicles determines to stop other automatic vehicles before the road intersection and let the automatic vehicle pass first.

作为本发明的进一步改进，其中，当该自动车辆的计算机判定让其他自动车辆先通过时，该自动车辆停止在该道路交叉口前直到其他自动车辆的最后侧已经离开了该道路交叉口，上述内容是其他自动车辆的计算机根据该自动车辆的交通信息，包括行驶速度信息与车身长度计算得出As a further improvement of the present invention, wherein, when the computer of the automatic vehicle determines to let other automatic vehicles pass first, the automatic vehicle stops before the road intersection until the rearmost side of the other automatic vehicles has left the road intersection, the above-mentioned The content is calculated by the computer of other automatic vehicles based on the traffic information of the automatic vehicle, including the driving speed information and the body length

作为本发明的进一步改进，其中，当该自动车辆离开该广播环状区时，该自动车辆的广播停止。As a further improvement of the present invention, when the automatic vehicle leaves the broadcast ring area, the broadcast of the automatic vehicle stops.

本发明还提供一种至少两自动车辆安全通过道路交叉口的系统，该系统适用交集在道路交叉口的多条道路，该系统包括：至少两自动车辆分别向该道路交叉口行驶在不同的道路，其中各自动车辆包括：一计算机；一与该计算机连接的通信模块；一储存在该计算机的地图，其中该些道路交叉口的位置储存在该地图，在该地图标示一信息接收环状区以及一被该信息接收环状区同心地环绕的广播环状区，该道路交叉口被该广播环状区环绕；其中自动车辆的其中之一进一步行驶进入该广播环状区以通过与该计算机连接的该通信模块广播交通信息，其他自动车辆的该通信模块接收该自动车辆的该交通信息，其他自动车辆的计算机根据该自动车辆广播的交通信息判定哪一自动车辆先通过该道路交叉口，当其他自动车辆的计算机判定让该自动车辆先通过时，其他自动车辆停止在该交叉路口前直到该自动车辆通过该交叉路口。The present invention also provides a system for at least two automatic vehicles to safely pass through a road intersection, the system is suitable for a plurality of roads that intersect at the road intersection, and the system includes: at least two automatic vehicles travel to the road intersection on different roads respectively , wherein each automatic vehicle includes: a computer; a communication module connected to the computer; a map stored in the computer, wherein the positions of the road intersections are stored in the map, and an information receiving ring area is marked on the map and a broadcast ring concentrically surrounded by the information reception ring, the road intersection being surrounded by the broadcast ring; wherein one of the automatic vehicles travels further into the broadcast ring to pass through with the computer The connected communication module broadcasts traffic information, the communication module of other automatic vehicles receives the traffic information of the automatic vehicle, and the computer of other automatic vehicles determines which automatic vehicle passes through the road intersection first according to the traffic information broadcast by the automatic vehicle, When the computer of the other automated vehicle determines to let the automated vehicle pass first, the other automated vehicle stops in front of the intersection until the automated vehicle passes the intersection.

作为本发明的进一步改进，其中，该交通信息包括位置信息、车身长度、行驶速度信息，或行驶方向信息，其中该位置信息是由全球定位系统或三角测量法定义。As a further improvement of the present invention, wherein, the traffic information includes position information, vehicle body length, travel speed information, or travel direction information, wherein the position information is defined by global positioning system or triangulation method.

作为本发明的进一步改进，其中，其他车辆的计算机是以比较各自动车辆到达该道路交叉口前还剩多少时间判定哪一自动车辆先通过该道路交叉口，当该自动车辆进入该道路交叉口前还剩下的时间短于其他自动车辆进入该道路交叉口前还剩下的时间，其他自动车辆的计算机判定将其他自动车辆停止在该道路交叉口前，让该自动车辆先通过。As a further improvement of the present invention, the computers of other vehicles determine which automatic vehicle passes through the road intersection first by comparing the time remaining before each automatic vehicle arrives at the road intersection, and when the automatic vehicle enters the road intersection If the remaining time is shorter than the remaining time before other automatic vehicles enter the road intersection, the computer of other automatic vehicles determines to stop other automatic vehicles at the road intersection and let the automatic vehicle pass first.

作为本发明的进一步改进，其中，当其他自动车辆在该自动车辆行驶进入该道路交叉口前行驶进入该广播环状区，其他自动车辆通过其中的该通信模块广播交通信息，并且该自动车辆与其他自动车辆两者的计算机根据两者的交通信息判定哪个自动车辆先行驶通过该道路交叉口。As a further improvement of the present invention, wherein, when other automatic vehicles drive into the broadcast ring before the automatic vehicle drives into the road intersection, other automatic vehicles broadcast traffic information through the communication module therein, and the automatic vehicle communicates with The computers of both of the other automated vehicles determine which automated vehicle travels through the road intersection first based on the traffic information of both.

附图说明Description of drawings

图1是本发明较佳实施例的自动车辆的示意图；1 is a schematic diagram of an automatic vehicle according to a preferred embodiment of the present invention;

图2是本发明较佳实施例方法的流程图；Fig. 2 is the flow chart of the preferred embodiment method of the present invention;

图3是本发明较佳实施例的两自动车辆向一道路交叉口行驶，其中一自动车辆位于一信息接收环状区，另一自动车辆位于一广播环状区的示意图；3 is a schematic diagram of two automatic vehicles driving toward a road intersection according to a preferred embodiment of the present invention, wherein one automatic vehicle is located in an information receiving ring area, and the other automatic vehicle is located in a broadcast ring area;

图4是本发明较佳实施例的两自动车辆向一道路交叉口行驶，两者都位于一广播环状区的示意图；4 is a schematic diagram of two automatic vehicles driving toward a road intersection according to a preferred embodiment of the present invention, both of which are located in a broadcast ring area;

图5是本发明较佳实施例的两自动车辆其中之一离开一环绕在该道路交叉口的广播环状区的示意图；5 is a schematic diagram of one of the two automatic vehicles leaving a broadcast ring around the road intersection according to the preferred embodiment of the present invention;

图6是本发明较佳实施例的使用在紧急用途的自动车辆的示意图。FIG. 6 is a schematic diagram of an automatic vehicle used in emergency use according to a preferred embodiment of the present invention.

符号说明：Symbol Description:

100 自动车辆 110 计算机100 Autonomous Vehicles 110 Computers

111 地图 130 通信模块111 Map 130 Communication Module

150 摄影机 170 紧急信号发报机150 Cameras 170 Emergency Signal Transmitters

210 道路 230 信息接收环状区210 Road 230 Information Reception Ring

250 广播环状区 211 中线250 Broadcast Ring 211 Center Line

A 自动车辆 B 自动车辆A Automatic vehicle B Automatic vehicle

C 中心 I 道路交叉口C Center I Road Intersection

具体实施方式Detailed ways

为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

本发明公开了一种至少两自动车辆安全通过道路交叉口的方法。该系统适用于数条交集在一道路交叉口的道路。该系统至少设有两分别向同一道路交叉口行驶的自动车辆。The invention discloses a method for at least two automatic vehicles to safely pass through a road intersection. The system is suitable for several roads that meet at a road intersection. The system is provided with at least two automatic vehicles which are respectively heading towards the same road intersection.

如图1所示，图1是本发明较佳实施例的示意图，其举例说明一自动车辆100。本发明的所有自动车辆包括一计算机110、一通信模块130以及一选择性设有的摄影机150。该计算机110内安装一地图111。根据本发明的一些实施例，该地图111可以是一封闭区域的地图，例如度假区或退休小区的地图，并且该自动车辆100可以是在该封闭区域提供接驳服务的接驳车。该自动车辆100的计算机可以包含该自动车辆100的行驶状态以及信息，例如行驶速度信息、位置信息、行驶方向、识别信息例如车牌号码以及车身长度。该位置信息是由全球定位系统(GPS)或通过使用行动基地台或其他的适用定位技术的三角测量法获得。该动车辆100的该通信模块130用于接收其他自动车辆所广播的交通信息，并且也将自身的交通信息广播至其他的自动车辆。该先前提到的交通信息可以通过人造卫星、直拨卫星、无线网络、蓝牙、4G通信、3G通信或其他可行的无线通信科技在各自动车辆间广播与接收。此外，该各自动车辆100的摄影机150能连接至该计算机110，当该计算机110侦测到一障碍物(图中未示)阻挡在该自动车辆100前，该计算机令该自动车辆100立刻停止直到该障碍物不再被该计算机侦测到。通过该摄影机150的运作，能够避免该自动车辆100与该障碍物或冲过道路的行人碰撞。As shown in FIG. 1 , which is a schematic diagram of a preferred embodiment of the present invention, an example of an autonomous vehicle 100 is illustrated. All automatic vehicles of the present invention include a computer 110 , a communication module 130 and an optionally provided camera 150 . A map 111 is installed in the computer 110 . According to some embodiments of the present invention, the map 111 may be a map of an enclosed area, such as a map of a resort or retirement complex, and the autonomous vehicle 100 may be a shuttle vehicle that provides shuttle services in the enclosed area. The computer of the automatic vehicle 100 may contain the driving state and information of the automatic vehicle 100, such as driving speed information, position information, driving direction, identification information such as license plate number and body length. The location information is obtained by the Global Positioning System (GPS) or by triangulation using mobile base stations or other suitable positioning techniques. The communication module 130 of the motor vehicle 100 is used for receiving traffic information broadcast by other automatic vehicles, and also broadcasting its own traffic information to other automatic vehicles. This previously mentioned traffic information may be broadcast and received between autonomous vehicles via satellite, direct dial satellite, wireless network, Bluetooth, 4G communication, 3G communication or other feasible wireless communication technology. In addition, the camera 150 of each automatic vehicle 100 can be connected to the computer 110, when the computer 110 detects an obstacle (not shown) blocking the automatic vehicle 100, the computer makes the automatic vehicle 100 stop immediately until the obstacle is no longer detected by the computer. The operation of the camera 150 can prevent the automatic vehicle 100 from colliding with the obstacle or a pedestrian crossing the road.

如图2、3所示，图2是本发明较佳实施例的流程图，该流程图举例说明至少两辆自动车辆安全通过一道路交叉口的方法，以及图3是本发明较佳实施例的示意图，其显示两辆自动车辆A与B向一道路交叉口行驶，其中一自动车辆是位于一信息接收环状区230，并且另一自动车辆是位于一广播环状区250。一道路交叉口I的位置是储存在各自动车辆100的地图111，该道路交叉口I是多条道路210的交集处。为了更好地举例说明以下的本发明的较佳实施例，分别行驶在两道路210上的至少两自动车辆100，以下称为自动车辆A以及自动车辆B。除此以外，该二道路210交集在该道路交叉口I。值得一提的是，在此说明的自动车辆的数量并非本发明主张范围的限制；本发明的方法以及系统完全适用在朝向同一交通路口行驶的自动车辆的车流。As shown in Figures 2 and 3, Figure 2 is a flow chart of a preferred embodiment of the present invention illustrating a method for safely passing at least two autonomous vehicles through a road intersection, and Figure 3 is a preferred embodiment of the present invention , which shows two automatic vehicles A and B driving toward a road intersection, one of which is located in an information receiving ring 230 and the other automatic vehicle is located in a broadcasting ring 250 . The location of a road intersection I, which is the intersection of a plurality of roads 210, is stored in the map 111 of each automated vehicle 100. In order to better illustrate the following preferred embodiments of the present invention, at least two automatic vehicles 100 driving on the two roads 210 respectively are referred to as automatic vehicle A and automatic vehicle B hereinafter. Besides, the two roads 210 intersect at the road intersection I. It is worth mentioning that the number of automatic vehicles described here is not a limitation of the claimed scope of the present invention; the method and system of the present invention are fully applicable to the traffic flow of automatic vehicles traveling towards the same traffic intersection.

如图2所示，当该自动车辆A以及自动车辆B接近一道路交叉口I时，二假想的环状区将被该计算机110标示在该地图111上。具体来说，在该步骤S100，当自动车辆接近该道路交叉口I时，该自动车辆A以及该自动车辆B的地图111定义一信息接收环状区230，接着在步骤S300，当接近该道路交叉口I时，该自动车辆A以及该自动车辆B的地图111定义一广播环状区250。不过，该信息接收环状区230以及该广播环状区250在其他实施例，是可以被同时定义。此实施例中，该道路交叉口I被该信息接收环状区230环绕，该信息接收环状区230被该广播环状区250同心地环绕，该广播环状区250以及该信息接收环状区230两者与该道路交叉口I的中心C同心，而该道路交叉口I的中心C是被各道路210的中线211定义。该道路交叉口I的中心C是至少两条中线211的交集处。该广播环状区250以及该信息接收区230的大小基于各自动车辆的速度而变化，在此情况下，当该自动车辆的速度增加，该广播环状区250以及该信息接收区230两者扩张变得更大；反之，当该自动车辆的速度减少，该广播环状区250以及该信息接收区230两者收缩变得更小。As shown in FIG. 2 , when the automatic vehicle A and the automatic vehicle B approach a road intersection I, two imaginary annular areas will be marked on the map 111 by the computer 110 . Specifically, in step S100, when the automatic vehicle approaches the road intersection I, the map 111 of the automatic vehicle A and the automatic vehicle B defines an information receiving ring 230, and then in step S300, when approaching the road At intersection I, the map 111 of the automated vehicle A and the automated vehicle B defines a broadcast ring 250 . However, the information receiving ring 230 and the broadcasting ring 250 may be defined simultaneously in other embodiments. In this embodiment, the road intersection I is surrounded by the information receiving annular area 230, the information receiving annular area 230 is concentrically surrounded by the broadcasting annular area 250, the broadcasting annular area 250 and the information receiving annular area 250 Both zones 230 are concentric with the center C of the road intersection I, which is defined by the centerline 211 of each road 210 . The center C of the road intersection I is the intersection of at least two center lines 211 . The size of the broadcast ring 250 and the information receiving area 230 varies based on the speed of each automated vehicle, in this case, when the speed of the automatic vehicle increases, both the broadcast ring 250 and the information receiving area 230 The expansion becomes larger; conversely, as the speed of the automated vehicle decreases, both the broadcast annular area 250 and the information reception area 230 contract and become smaller.

接下来，在步骤S500，当该自动车辆A以及该自动车辆B进入该信息接收环状区230时，该自动车辆A以及该自动车辆B接收从彼此或其他自动车辆所广播的任何交通信息。在本实施例中，该自动车辆B接着进入该广播环状区250，并且开始广播他的交通信息(请看步骤S700)，当该自动车辆A正在该信息接收环状区230并且还没有进入该广播环状区250，步骤S930被执行。该自动车辆A接收该广播的交通信息并且通过该自动车辆A的计算机110处理该交通信息。该自动车辆A的该计算机110根据该自动车辆B广播的交通信息判定哪一自动车辆先通过该道路交叉口I；谁先通过该道路交叉口I的优先级可以由距离、速度或其他要素判定。假使该自动车辆A的计算机110判定该自动车辆B应该先通过该道路交叉口I，该步骤S931将被执行并且该自动车辆A停止在该道路交叉口I前以让该自动车辆B先通过。相反的，在步骤S933，假使该自动车辆A的计算机110判定该自动车辆A自己应该先通过该道路交叉口I，该自动车辆A保持前进以通过该道路交叉口I，并且该自动车辆B停止在该道路交叉口I前。选择性的，该自动车辆B可以马上停止以让该自动车辆A通过该道路交叉口I。本发明提供如何判定该自动车辆间行驶优先级的可选择实施方式如下。Next, in step S500, when the automated vehicle A and the automated vehicle B enter the information receiving annulus 230, the automated vehicle A and the automated vehicle B receive any traffic information broadcast from each other or other automated vehicles. In this embodiment, the automatic vehicle B then enters the broadcast ring 250 and starts broadcasting his traffic information (please see step S700), when the automatic vehicle A is receiving the information and has not entered the ring 230 The broadcast ring 250, step S930 is executed. The automated vehicle A receives the broadcast traffic information and processes the traffic information by the automated vehicle A's computer 110 . The computer 110 of the automatic vehicle A determines which automatic vehicle passes the road intersection I first according to the traffic information broadcast by the automatic vehicle B; the priority of who passes the road intersection I first can be determined by distance, speed or other factors . If the computer 110 of the automated vehicle A determines that the automated vehicle B should pass the road intersection I first, the step S931 will be executed and the automated vehicle A stops before the road intersection I to allow the automated vehicle B to pass first. On the contrary, in step S933, if the computer 110 of the automatic vehicle A determines that the automatic vehicle A should pass the road intersection I by itself first, the automatic vehicle A keeps moving forward to pass the road intersection I, and the automatic vehicle B stops Before this road junction I. Alternatively, the automated vehicle B may stop immediately to allow the automated vehicle A to pass the road intersection I. The present invention provides an alternative embodiment of how to determine the priority of the automatic inter-vehicle travel as follows.

根据本发明的一实施例，该自动车辆A的计算机110比较该自动车辆A以及该自动车辆B到达该道路交叉口I前还剩多少时间判定哪一自动车辆先通过该道路交叉口I。例如，虽然该自动车辆A较该自动车辆B远离该道路交叉口I，他们或许是以不同速度行驶。当自动车辆B进入该道路交叉口I前剩下的时间短于该自动车辆A进入进入该道路交叉口I前剩下的时间，该自动车辆A的计算机110计算上述情况，该自动车辆A的计算机判定停止在该道路交叉口I前以让该自动车辆B先通过。According to an embodiment of the present invention, the computer 110 of the automatic vehicle A compares the time left before the automatic vehicle A and the automatic vehicle B arrive at the road intersection I to determine which automatic vehicle passes the road intersection I first. For example, although the automated vehicle A is farther from the road intersection I than the automated vehicle B, they may be traveling at different speeds. When the time remaining before the automatic vehicle B enters the road intersection I is shorter than the time remaining before the automatic vehicle A enters the road intersection I, the computer 110 of the automatic vehicle A calculates the above situation, the automatic vehicle A's The computer decides to stop before the road intersection I to allow the automatic vehicle B to pass first.

在某些较佳实施例，该自动车辆A可停止在该广播环状区250的边缘直到该自动车辆B已通过该道路交叉口I。在该自动车辆B已通过该道路交叉口I后，该自动车辆A有很多方式判定何时进一步前进，反之亦然。例如，如上所述，该交通信息包括该自动车辆的车身长度，被该自动车辆A接收的该自动车辆B的交通信息可被该自动车辆A的计算机110执行与计算，该自动车辆B的车辆最后侧何时离开该道路交叉口I的时机自动车辆A的计算机110可被该自动车辆A的计算机110预测。当该自动车辆B的车辆最后侧离开该道路交叉口I，该自动车辆A继续往该道路交叉口I前进。In some preferred embodiments, the automated vehicle A may stop at the edge of the broadcast ring 250 until the automated vehicle B has passed the road intersection I. After the automated vehicle B has passed the road intersection I, there are many ways for the automated vehicle A to decide when to proceed further, and vice versa. For example, as described above, the traffic information includes the body length of the automated vehicle, the traffic information of the automated vehicle B received by the automated vehicle A may be executed and calculated by the computer 110 of the automated vehicle A, the vehicle of the automated vehicle B The timing of when the rearmost side leaves the road intersection I can be predicted by the computer 110 of the automated vehicle A by the computer 110 of the automated vehicle A. When the vehicle rearmost side of the automatic vehicle B leaves the road intersection I, the automatic vehicle A continues to move toward the road intersection I.

又例如，在该自动车辆B通过该道路交叉口I并且离开该广播环状区250，他就停止广播。在这种情况下，该自动车辆A不再接收来自该自动车辆B的交通信息，因此判断该自动车辆B不存在并且继续前进。As another example, when the automatic vehicle B passes the road intersection I and leaves the broadcast ring 250, he stops broadcasting. In this case, the automatic vehicle A no longer receives traffic information from the automatic vehicle B, so it is judged that the automatic vehicle B does not exist and moves on.

如图2、4所示。根据本发明的一较佳实施例，图4是显示二自动车辆A以及B向该道路交叉口I行驶前进的示意图，该自动车辆A以及B两者都位于该广播环状区250。在该自动车辆A已经进入该广播环状区250的情况下，意即该自动车辆A以及该自动车辆B两者都位于该广播环状圈250并且向该道路交叉口I前进，图2中步骤S910被执行。该自动车辆A开始广播他的交通信息，并且该自动车辆B通过他的通信模块130接收从该自动车辆A广播的交通信息。然后，该自动车辆A以及该自动车辆B两者根据从彼此接收的交通信息判定谁先通过该道路交叉口I(步骤S911a以及步骤S911b)。As shown in Figures 2 and 4. According to a preferred embodiment of the present invention, FIG. 4 is a schematic diagram showing two automatic vehicles A and B moving toward the road intersection I, both of which are located in the broadcast ring 250 . In the case where the automatic vehicle A has entered the broadcast ring 250, which means that both the automatic vehicle A and the automatic vehicle B are located in the broadcast ring 250 and proceed towards the road intersection I, in FIG. 2 Step S910 is performed. The automated vehicle A starts broadcasting his traffic information, and the automated vehicle B receives the traffic information broadcast from the automated vehicle A through his communication module 130 . Then, both the automatic vehicle A and the automatic vehicle B determine who passes through the road intersection I first based on the traffic information received from each other (steps S911a and S911b).

特别是，在步骤S911b，当自动车辆B的计算机110在分析该自动车辆A的交通信息后判定让该自动车辆A先通过该道路交叉口I，该自动车辆B停止在该道路交叉口I前直到该自动车辆A已通过该道路交叉口(步骤S913)。相反地，当该自动车辆B的计算机110在分析该自动车辆A的交通信息后判定先通过该道路交叉口I，该自动车辆B直接领先通过该道路交叉口I(步骤S915)。对该自动车辆A来说，同样地，当该自动车辆A的计算机110在分析该自动车辆B的交通信息后，判定让该自动车辆B先通过该道路交叉口I，该自动车辆A停止在该道路交叉口I前直到该自动车辆B已通过该道路交叉口(步骤S917)。当该自动车辆A的计算机110在分析该自动车辆B的交通信息后判定先通过该道路交叉口I，该自动车辆A进一步前进以通过该道路交叉口I(步骤S919)。In particular, in step S911b, when the computer 110 of the automatic vehicle B, after analyzing the traffic information of the automatic vehicle A, determines to let the automatic vehicle A pass the road intersection I first, the automatic vehicle B stops before the road intersection I Until the automatic vehicle A has passed the road intersection (step S913). On the contrary, when the computer 110 of the automatic vehicle B determines to pass the road intersection I first after analyzing the traffic information of the automatic vehicle A, the automatic vehicle B directly leads through the road intersection I (step S915 ). For the automatic vehicle A, similarly, when the computer 110 of the automatic vehicle A, after analyzing the traffic information of the automatic vehicle B, determines to let the automatic vehicle B pass through the road intersection I first, the automatic vehicle A stops at the Before the road intersection I until the automatic vehicle B has passed the road intersection (step S917). When the computer 110 of the automatic vehicle A determines to pass the road intersection I first after analyzing the traffic information of the automatic vehicle B, the automatic vehicle A further advances to pass the road intersection I (step S919 ).

如上所述，将一自动车辆停止在该道路交叉口前以等待自动车辆彼此通过该道路交叉口I可以是将自动车辆停止在该广播环状区的边缘。当另一自动车辆已通过该道路交叉口I时，该等待的自动车辆可再次向前移动。再次说明，当另一自动车辆已通过该道路交叉口I时，有很多种方法判定何时等待的自动车辆能够再次移动。在一些实施例中，从一自动车辆广播的交通信息被自动车辆彼此接收并且被他的计算机110处理，一旦该自动车辆的车辆最后侧离开该道路交叉口I，另一自动车辆可继续移动。又例如，在一自动车辆通过该道路交叉口I并且离开该广播环状区250之后，该自动车辆停止广播(如图5所示)，在这种情况下，自动车辆彼此不再从另一自动车辆接收交通信息，因此判定另一自动车辆不再存在因此而继续前进。As mentioned above, stopping an automated vehicle in front of the road crossing to wait for the automated vehicles to pass each other through the road crossing I may be stopping the automated vehicles at the edge of the broadcast ring. When another automated vehicle has passed the road intersection I, the waiting automated vehicle can move forward again. Again, when another automated vehicle has passed the road intersection I, there are many ways to determine when the waiting automated vehicle can move again. In some embodiments, the traffic information broadcast from one automated vehicle is received by the automated vehicles from each other and processed by his computer 110, and once the vehicle rearmost side of the automated vehicle leaves the road intersection 1, another automated vehicle may continue to move. As another example, after an automatic vehicle passes the road intersection I and leaves the broadcast ring 250, the automatic vehicle stops broadcasting (as shown in FIG. 5 ), in this case, the automatic vehicles are no longer from each other The autonomous vehicle receives the traffic information, therefore, it is determined that another autonomous vehicle is no longer present and therefore moves on.

除此以外，一自动车辆的计算机110不只可由比较各自动车辆到达该道路交叉口I前还剩多少时间判定哪一自动车辆先通过该道路交叉口I，还可以由比较各自动车辆到达该道路交叉口I前还剩多少距离的方式判定哪一自动车辆先通过该道路交叉口I。例如，假使一自动车辆比另一自动车辆靠近该道路交叉口I，该自动车辆先通过，另一自动车辆停留在该道路交叉口I直到该自动车辆已通过该道路交叉口I。In addition, the computer 110 of an automated vehicle can not only determine which automated vehicle passes through the road intersection I first by comparing the time remaining before each automated vehicle arrives at the road intersection I, but can also compare each automated vehicle to the road Which automatic vehicle passes through the road intersection I first is determined by the method of how much distance is left before the intersection I. For example, if an automated vehicle is closer to the road intersection I than another automated vehicle, the automated vehicle passes first, and the other automated vehicle stays at the road intersection I until the automated vehicle has passed the road intersection I.

在一些实施例中，具有特别用途的自动车辆，例如需要快速通过道路并且优先进入该道路交叉口的自动救护车或自动警车，一紧急信号发报机170会被包含在那样的自动车辆内(如图6所示)。该紧急信号发报机170通过他的通信模块130可在任何紧急情况被启动以广播紧急信号。当所有行驶在路上以及向同一道路交叉口移动的自动车辆接收到该紧急信号的时候，他们会停止在行驶前往的道路交叉口前。在另一种较佳实施例中，当一紧急信号被侦测到的时候，他们全都停止在他们所在处。In some embodiments, an automated vehicle with a special purpose, such as an automated ambulance or automated police vehicle that needs to move quickly through the road and have priority access to the road intersection, an emergency signal transmitter 170 may be included in such an automated vehicle ( As shown in Figure 6). The emergency signal transmitter 170 through its communication module 130 can be activated in any emergency situation to broadcast the emergency signal. When all autonomous vehicles traveling on the road and moving towards the same road junction receive the emergency signal, they will stop in front of the road junction they are traveling to. In another preferred embodiment, they all stop where they are when an emergency signal is detected.

本发明的至少两自动车辆安全通过道路交叉口的方法与系统具有以下优点：The method and system for safely passing at least two automatic vehicles through a road intersection of the present invention have the following advantages:

1.本发明通过在自动车辆计算机所安装的地图上定义一假想的广播环状区，能使无线电频段的使用保持在最低的状态，更可额外节省能源。1. By defining an imaginary broadcast ring area on the map installed in the computer of the automatic vehicle, the present invention can keep the use of the radio frequency band to a minimum, and additionally save energy.

2.本发明通过自动车辆各自判定在道路交叉口是要继续行驶或是等待其他自动车辆先行，而不依赖任何中央站或两自动车辆之间的交握信号因此本发明在自动车辆上所需要的设置的组件最少，架设成本低。2. The present invention determines whether to continue driving at the road intersection or wait for other automatic vehicles to go ahead through the automatic vehicles, without relying on any central station or the handshake signal between the two automatic vehicles. Therefore, the present invention is required for automatic vehicles. The setup has minimal components and low erection costs.

3.本发明的方法可广泛地运用在道路上需要紧急优先的特殊用途的自动车辆，且特别是在一封闭的区域中，更能有发挥本发明的功效。3. The method of the present invention can be widely used in special-purpose automatic vehicles that require emergency priority on the road, and especially in a closed area, the effect of the present invention can be more exerted.

以上仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.