阅读说明：本技术 一种移动式车路协同系统 (Mobile vehicle-road cooperative system ) 是由 蒋永超 李家文 佘园园 王赫 于 2021-07-16 设计创作，主要内容包括：本发明实施例提供了一种移动式车路协同系统,包括通过滑槽相互连接的路侧系统和线控底盘车,路侧系统可通过线控底盘车实现移动；路侧系统包括支撑单元、升降单元、计算单元、系统电气元件、供电单元、感知单元和通讯单元；支撑单元包括支撑箱体及从支撑箱体下表面延伸出的四个可伸缩的支撑腿；计算单元、系统电气元件、供电单元均分别设于支撑箱体内；支撑箱体下表面上设有滑槽,通过滑槽与线控底盘车相互连接；当支撑腿将路侧系统抬升固定后,线控底盘车与支撑箱体分离；升降单元包括伸缩杆及升降箱体；伸缩杆的一端固设于支撑箱体内,另一端伸出支撑箱体外并与升降箱体相连；感知单元、通讯单元设置于升降箱体上；线控底盘车内置有车载设备。(The embodiment of the invention provides a mobile vehicle-road cooperative system, which comprises a road side system and a drive-by-wire chassis which are connected with each other through a sliding chute, wherein the road side system can move through the drive-by-wire chassis; the road side system comprises a supporting unit, a lifting unit, a calculating unit, a system electrical element, a power supply unit, a sensing unit and a communication unit; the supporting unit comprises a supporting box body and four telescopic supporting legs extending out of the lower surface of the supporting box body; the computing unit, the system electrical element and the power supply unit are respectively arranged in the supporting box body; the lower surface of the supporting box body is provided with a sliding chute which is mutually connected with the line control chassis vehicle through the sliding chute; after the roadside system is lifted and fixed by the support legs, the wire control chassis vehicle is separated from the support box body; the lifting unit comprises a telescopic rod and a lifting box body; one end of the telescopic rod is fixedly arranged in the supporting box body, and the other end of the telescopic rod extends out of the supporting box body and is connected with the lifting box body; the sensing unit and the communication unit are arranged on the lifting box body; the drive-by-wire chassis car is internally provided with vehicle-mounted equipment.)

1. A mobile vehicle-road cooperative system is characterized by comprising a road side system and a drive-by-wire chassis which are connected with each other through a chute;

the roadside system comprises a supporting unit, a lifting unit, a calculating unit, a system electrical element, a power supply unit, a sensing unit and a communication unit; the supporting unit comprises a supporting box body and four telescopic supporting legs extending out of the lower surface of the supporting box body; the computing unit, the system electrical element and the power supply unit are respectively arranged in the supporting box body; the lower surface of the supporting box body is provided with the sliding chute and is mutually connected with the wire control chassis vehicle through the sliding chute; when the roadside system is lifted and fixed by the support legs, the drive-by-wire chassis is separated from the support box body; the lifting unit comprises a telescopic rod and a lifting box body; one end of the telescopic rod is fixedly arranged in the supporting box body, and the other end of the telescopic rod extends out of the supporting box body and is connected with the lifting box body; the sensing unit and the communication unit are arranged on the lifting box body; the drive-by-wire chassis vehicle is internally provided with vehicle-mounted equipment, and the vehicle-mounted equipment interacts with the roadside system through a V2X communication technology.

2. The mobile roadway coordination system of claim 1, wherein said lift unit further comprises a lift air pump; the lifting air pump is arranged in the supporting box body, connected with the telescopic rod and used for driving the telescopic rod to extend or shorten.

3. The mobile vehicle-road coordination system according to claim 1, wherein said support legs are motorized; the supporting unit also comprises a supporting leg electric element arranged in the supporting box body; the supporting leg electric elements are respectively electrically connected with each supporting leg and used for controlling the extension or the contraction of each supporting leg.

4. The mobile vehicle-road coordination system according to claim 1, 2 or 3, wherein a plurality of relatively independent equipment installation spaces are respectively provided in said supporting box; the computing unit, the system electrical element, the power supply unit, the lifting air pump, the supporting leg electrical element and the telescopic rod are respectively arranged in the equipment installation space.

5. The mobile roadway coordination system of claim 1, wherein said lift unit further comprises a plurality of reinforcement beams; one end of each reinforcing beam is fixed on the upper surface of the supporting box body, and the other end of each reinforcing beam is annularly arranged on the outer side wall of the telescopic rod.

6. The mobile vehicle-road coordination system according to claim 1, wherein said sensing unit comprises a plurality of cameras, a pan-tilt and a millimeter-wave radar; the cradle head is embedded in the lifting box body; the camera is arranged at the upper end of the lifting box body and is connected with the holder; the millimeter wave radar is arranged at the lower end of the lifting box body.

7. The mobile vehicle-road coordination system according to claim 1, wherein said communication unit comprises an RSU device; the RSU device is arranged on one side surface of the lifting box body.

8. The mobile vehicle-road coordination system according to claim 1, wherein the power supply unit comprises a magnetic charging connector disposed on a lower surface of the supporting box; the upper end of the line control chassis vehicle is provided with a magnetic charging interface matched with the magnetic charging connector; the magnetic attraction charging connector is used for being connected with the magnetic attraction charging interface.

9. The mobile vehicle-road coordination system according to claim 8, wherein a magnetic charging indicator light is further disposed on the supporting box.

10. The mobile vehicle-road coordination system according to claim 1, wherein said support legs are connected to support feet by universal joints.

Technical Field

The invention relates to the technical field of traffic, in particular to a mobile vehicle-road cooperative system.

Background

An Intelligent Transportation System (ITS) is a development direction of future Transportation systems, and is a comprehensive Transportation management System which is established by effectively integrating and applying advanced information technology, data communication transmission technology, electronic sensing technology, control technology, computer technology and the like to the whole ground Transportation management System, plays a role in a large range in all directions, is real-time, accurate and efficient, can effectively solve modern traffic jam, optimizes Transportation routes and improves the traffic capacity of a road network. The Vehicle-road coordination System (CVIS) is an important subsystem of an intelligent transportation System, acquires Vehicle and road information based on technologies such as wireless communication and sensing detection, and performs interaction and sharing through Vehicle-Vehicle and Vehicle-road communication to realize intelligent coordination and cooperation between vehicles and Infrastructure. The vehicle-road cooperative system mainly comprises a road side system and a vehicle system. The roadside system integrates people, vehicles and roads into a whole through information technology on the basis of various information acquisition devices and communication devices arranged on the roads, and provides real-time information such as road conditions, road surface conditions, traffic jams, travel time and the like for drivers, so that the safety and the traffic efficiency of the traffic system are improved.

At present, most of vehicle-road cooperative systems are mainly realized by intelligently modifying and upgrading infrastructure, including modifying existing basic rod pieces, traffic equipment, communication equipment and the like on roads. However, the vehicle-road cooperative system is arranged like this, a large amount of infrastructure construction needs to be modified, trenching, cable burying and other work needs to be carried out, and various systems such as signal control and information acquisition need to be redeployed, so that the workload is greatly increased, and the time consumption is increased. In addition, one automobile needs to be provided during field test, which is troublesome, and the vehicle-road cooperative equipment cannot be automatically moved to a designated position, which consumes manpower and material resources, increases the cost, and simultaneously cannot provide means for early planning and verification.

Disclosure of Invention

The present specification provides a mobile vehicle-road coordination system for overcoming at least one technical problem in the prior art.

According to an embodiment of the present specification, there is provided a mobile vehicle-road coordination system, including a roadside system and a drive-by-wire chassis connected to each other by a chute;

the roadside system comprises a supporting unit, a lifting unit, a calculating unit, a system electrical element, a power supply unit, a sensing unit and a communication unit; the supporting unit comprises a supporting box body and four telescopic supporting legs extending out of the lower surface of the supporting box body; the computing unit, the system electrical element and the power supply unit are respectively arranged in the supporting box body; the lower surface of the supporting box body is provided with the sliding chute and is mutually connected with the wire control chassis vehicle through the sliding chute; when the roadside system is lifted and fixed by the support legs, the drive-by-wire chassis is separated from the support box body; the lifting unit comprises a telescopic rod and a lifting box body; one end of the telescopic rod is fixedly arranged in the supporting box body, and the other end of the telescopic rod extends out of the supporting box body and is connected with the lifting box body; the sensing unit and the communication unit are arranged on the lifting box body; the drive-by-wire chassis vehicle is internally provided with vehicle-mounted equipment, and the vehicle-mounted equipment interacts with the roadside system through a V2X communication technology.

Optionally, the lifting unit further comprises a lifting air pump; the lifting air pump is arranged in the supporting box body, connected with the telescopic rod and used for driving the telescopic rod to extend or shorten.

Optionally, the support legs are motorized support legs; the supporting unit also comprises a supporting leg electric element arranged in the supporting box body; the supporting leg electric elements are respectively electrically connected with each supporting leg and used for controlling the extension or the contraction of each supporting leg.

Further optionally, the support box is internally provided with a plurality of relatively independent equipment installation spaces; the computing unit, the system electrical element, the power supply unit, the lifting air pump, the supporting leg electrical element and the telescopic rod are respectively arranged in the equipment installation space.

Optionally, the lifting unit further comprises a plurality of stiffening beams; one end of each reinforcing beam is fixed on the upper surface of the supporting box body, and the other end of each reinforcing beam is annularly arranged on the outer side wall of the telescopic rod.

Optionally, the sensing unit includes a plurality of cameras, a pan-tilt and a millimeter-wave radar; the cradle head is embedded in the lifting box body; the camera is arranged at the upper end of the lifting box body and is connected with the holder; the millimeter wave radar is arranged at the lower end of the lifting box body.

Optionally, the communication unit comprises an RSU device; the RSU device is arranged on one side surface of the lifting box body.

Optionally, the power supply unit includes a magnetic charging connector disposed on a lower surface of the supporting box; the upper end of the line control chassis vehicle is provided with a magnetic charging interface matched with the magnetic charging connector; the magnetic attraction charging connector is used for being connected with the magnetic attraction charging interface.

Further optionally, a magnetic attraction charging prompting lamp is further arranged on the supporting box body.

Optionally, the support legs are connected to the support feet by universal joints.

The beneficial effects of the embodiment of the specification are as follows:

the movable vehicle-road cooperative system adopts a mode that the drive-by-wire chassis vehicle and the road side system are integrated into a whole, so that the road side system can move through the drive-by-wire chassis vehicle, the field deployment and the movement of the road side system are facilitated, and the vehicle-road cooperative field test can be carried out at any time. The mobile vehicle-road cooperative system is convenient to install and simple to operate, greatly saves the time for construction, deployment and vehicle-road cooperative test, and can effectively verify the vehicle-road cooperative function.

The innovation points of the embodiment of the specification comprise:

1. in the embodiment, when the roadside system needs to be deployed and moved, the line control chassis vehicle and the roadside system are combined into a whole by the movable type vehicle-road cooperative system, and the road side system is driven by the line control chassis vehicle to move integrally, so that the deployment of the roadside system is more convenient and flexible, the deployment is easier to realize, the construction and deployment time is greatly reduced, and the working efficiency is improved; after the drive-by-wire chassis vehicle moves the roadside system to the required position and is deployed, the drive-by-wire chassis vehicle is separated from the roadside system, independently moves by itself and is matched with the roadside system in a test mode, the problem that an automobile needs to be additionally provided for a field test in the prior art is solved, the field timely test is facilitated, the time of the cooperative vehicle and road test is saved, and the cooperative vehicle and road function can be effectively verified.

2. In the embodiment, the roadside system takes an edge computing unit as a core, integrates sensing subsystems such as a high-definition camera and a millimeter wave radar, realizes identification, calculation and data release of real-time dynamic states of a road by collecting full-time and space dynamic information data of the road, and remotely controls the position, the track and the like of a vehicle body by performing data interaction with a line control chassis vehicle through a V2X communication technology.

3. In this embodiment, the trackside system stacks and can move on the line control chassis car in a flexible way, and adopt automatically controlled supporting leg, can transversely, vertically adjust, adapt to different road surfaces, can effectively prevent to turn on one's side, is favorable to the on-the-spot deployment, is convenient for deploy and defends.

4. In the embodiment, the road side system adopts the telescopic rod to support the sensing equipment and the like, can automatically lift, can ensure the stability of the mobile vehicle-road cooperative system in the motion process, can reduce the overall occupied space of the mobile vehicle-road cooperative system to the minimum, avoids collision with other equipment on the road in the moving process, and is convenient for the mobile vehicle-road cooperative system to freely move; meanwhile, the telescopic rod is arranged in the center of the whole roadside system, so that the load balance of the upper part and the overall stability during moving can be guaranteed.

5. In the embodiment, the sensing device composed of the camera and the millimeter wave radar detects motor vehicles, non-motor vehicles, pedestrians and other objects passing through the coverage area, and is horizontally calibrated with the holder, so that the angle can be controlled remotely and freely adjusted and locked, the area can be accurately locked, and the full-time and space dynamic information of road traffic can be acquired.

6. In this embodiment, the interface and the protocol of the drive-by-wire chassis vehicle are intercommunicated with the road side system, and the road side system and the vehicle end are interconnected and interacted through the RSU device to form a real vehicle-road cooperative system, thereby meeting the development and test requirements of the vehicle-road cloud integrated system for various scenes.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a road side system and a drive-by-wire chassis of a mobile vehicle-road cooperative system provided in an embodiment of the present specification;

fig. 2 is a schematic structural diagram illustrating a roadside system of the mobile vehicle-road cooperative system and a drive-by-wire chassis provided in the embodiment of the present disclosure;

fig. 3 is a schematic structural view of a telescopic rod of the mobile vehicle-road cooperative system provided in the embodiment of the present disclosure, in a retracted state, supporting a box body without a box cover;

FIG. 4 is an enlarged view of a portion of FIG. 3;

FIG. 5 is a schematic structural diagram of a supporting box portion of the mobile roadway coordination system provided in the embodiment of the present disclosure without a box cover;

fig. 6 is an overall architecture diagram of a mobile vehicle-road coordination system provided in the embodiments of the present disclosure;

description of reference numerals: the system comprises a drive-by-wire chassis, a support box body 2, a support leg 3, a calculation unit 4, a system electrical element 5, a power supply unit 6, a sliding chute 7, a telescopic rod 8, a lifting box body 9, a lifting air pump 10, a movable door 11, a reinforcing beam 12, a camera 13, a pan-tilt 14, a millimeter-wave radar 15, an RSU (remote station unit) 16, a support leg 17, a calculation unit installation space 18, a system electrical element installation space 19, a power supply unit installation space 20, a lifting air pump installation space 21, a support leg electrical element installation space 22, a telescopic rod installation space 23, a control switch external interface 24 and a long sliding block 25.

Detailed Description

The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.

It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present specification and the drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

The embodiment of the specification discloses a mobile vehicle-road cooperative system, which realizes a cooperative mobile vehicle-road cooperative system through cooperation and coordination between a mobile drive-by-wire chassis vehicle and a road side system. The following are detailed below.

Fig. 1 and fig. 2 are diagrams illustrating a mobile vehicle-road coordination system provided according to an embodiment of the present disclosure. As shown in fig. 1 and 2, the mobile vehicle-road cooperative system comprises a roadside system and a drive-by-wire chassis 1, the roadside system and the drive-by-wire chassis 1 are flexibly designed, the roadside system and the drive-by-wire chassis 1 connected with the internet can be integrated and combined into an integrated device to form a movable integral structure, and the roadside system can be conveniently moved and deployed through the drive-by-wire chassis 1; the remote control chassis Vehicle can also be divided into a Vehicle system and a road system, the line control chassis Vehicle 1 can automatically run on the road, and can interact with a road side system through a Vehicle wireless communication technology (Vehicle to X, V2X) to realize remote control of the position, the track and the like of the Vehicle body.

Referring to fig. 5, the roadside system includes a supporting unit, a lifting unit, a calculating unit 4, a system electrical component 5, a power supply unit 6, a sensing unit and a communication unit, where the supporting unit and the lifting unit form an apparatus fixing and mounting bracket of the roadside system, and are used to provide appropriate mounting and fixing positions for the calculating unit 4, the system electrical component 5, the power supply unit 6, the sensing unit and the communication unit. The road side system takes the calculation unit 4 as a core, integrates the sensing sensors such as the camera 13 and the millimeter wave radar 15, realizes the identification, calculation and data distribution of the real-time dynamic state of the road by collecting the full-time space dynamic information data of the road, and simultaneously utilizes the power supply unit 6 to supply power for the road side system and charge the drive-by-wire chassis 1. In a specific embodiment, the computing unit 4 is an edge computing unit, and the camera 13 is a high-definition camera.

The supporting unit is used for installing and fixing a framework for the foundation of the road side system and providing a connecting position for the drive-by-wire chassis 1. Specifically, the supporting unit includes supporting box 2 and four supporting legs 3, and supporting box 2 provides the installation fixed position for calculating unit 4, system electrical component 5, power supply unit 6 etc. and supporting leg 3 carries out fixed support to supporting box 2 to the road side system removes to the assigned position and deploys. As shown in fig. 1, four support legs 3 extend from the lower surface of the support box 2 to fixedly support the support box 2. In a specific embodiment, the lower surface of the supporting box body 2 is forcedly supported by adopting electric supporting legs, supporting leg electric elements electrically connected with the supporting legs 3 are all arranged in the supporting box body 2, and the extension or the shortening of each supporting leg 3 is controlled by using the supporting leg electric elements to realize automatic regulation and control, and the supporting leg electric elements can be transversely and longitudinally regulated to adapt to different road surfaces so as to prevent side turning. When the roadside system and the drive-by-wire chassis 1 are integrated, the supporting legs 3 are automatically shortened, so that the roadside system is integrally fixed on the drive-by-wire chassis 1 and can move through the movement of the drive-by-wire chassis 1; when the roadside system and the drive-by-wire chassis 1 are separated, the supporting legs 3 automatically extend to stably fix the roadside system as a whole and lift the roadside system as a whole, so that the drive-by-wire chassis 1 is separated from the roadside system conveniently. Meanwhile, the structural beams of the supporting legs 3 are processed in a cross mode, so that upper stress points are averaged on the supporting legs 3. Furthermore, supporting leg 3 passes through universal joint connection supporting legs 17, and is stabilized the trackside system and must be fixed in the assigned position through supporting legs 17, simultaneously, adopts the universal joint can make trackside system adapt to various topography, can stabilize the deployment in various topography, strong adaptability, and the range of application is wide.

For guaranteeing roadside system upper portion load balance and remove in-process overall stability, this portable car way is in coordination system adopts the lift unit for roadside system's upper portion equipment oscilaltion, when the roadside system removes, through the lift unit, fall to the lower with upper portion equipment as far as possible, on the one hand, guarantee the stability in the portable car way is in coordination system motion process, on the other hand, with portable car way is in coordination system holistic occupation space and fall to minimum, avoid at the removal in-process with other equipment conflicts on the road, make things convenient for its free movement. In the embodiment of the present specification, the lifting unit includes a telescopic rod 8 and a lifting box 9, the lifting box 9 provides a mounting and fixing position for the upper equipment of the roadside system, and the lifting box 9 is connected to the supporting box 2 by using the telescopic rod 8. Specifically, perception unit, communication unit set up on lift box 9, in the operation of roadside system in-process, rise perception unit, communication unit to appointed height through telescopic link 8 to the full space-time dynamic information of real-time road of roadside sensor perception is convenient for. One end of the telescopic rod 8 is fixedly arranged in the supporting box body 2, and the other end of the telescopic rod extends out of the supporting box body 2 and is connected with the lifting box body 9. In the specific implementation process, for further guaranteeing the load balance of the upper part and the overall stability during movement, the telescopic rod 8 is arranged in the middle of the overall structure of the roadside system, namely the supporting box body 2 is symmetrically designed, and the telescopic rod 8 is fixed in the center of the supporting box body 2. Further, install a plurality of stiffening beams 12 additional on supporting box 2, the one end of a plurality of stiffening beams 12 is fixed in supporting box 2's upper surface, another end ring is located on the lateral wall of telescopic link 8, as shown in fig. 3 and 5, the one end fixed mounting of stiffening beam 12 is in supporting box 2's structure roof beam department, the lateral wall of telescopic link 8 is located to another end ring, play the effect of auxiliary stay to telescopic link 8, in order to guarantee that telescopic link 8 carries out the outrigger to lift box 9 and upper portion equipment, the load balance problem of roadside system has been solved.

In a specific embodiment, the lifting unit further includes a lifting air pump 10 disposed in the supporting box 2, the lifting air pump 10 is connected to the telescopic rod 8, and the lifting air pump 10 is used to drive the telescopic rod 8 to extend or shorten, so that the telescopic rod 8 can automatically extend and retract, and is highly automated and easier to control. Furthermore, the lifting air pump 10 and the control system can be integrated into a whole for controlling the lifting of the telescopic rod 8, and a built-in high-performance air pump can be adopted to support the functions of an air release valve, air pressure control and automatic stop.

In another specific embodiment, a plurality of relatively independent equipment installation spaces are arranged in the supporting box body 2, and the computing unit 4, the system electrical element 5, the power supply unit 6, the lifting air pump 10, the supporting leg electrical element and the telescopic rod 8 are respectively arranged in one equipment installation space, and are packaged in the supporting box body 2 and fixed. In the specific implementation process, as shown in fig. 5, a calculation unit installation space 18, a system electrical component installation space 19, a power supply unit installation space 20, a lifting air pump installation space 21, a support leg electrical component installation space 22 and a telescopic rod installation space 23 are arranged in the support box body 2, the computing unit 4 is disposed in the computing unit mounting space 18, the system electric components 5 are disposed in the system electric component mounting space 19, the power supply unit 6 is arranged in the power supply unit mounting space 20, the lifting air pump 10 is arranged in the lifting air pump mounting space 21, the supporting leg electric element is arranged in the supporting leg electric element mounting space 22, the telescopic rod 8 is arranged in the telescopic rod mounting space 23, in this case, the respective installation spaces may be relatively independent, and the computing unit installation space 18 and the system electric component installation space 19 may be provided as an independent space.

The supporting box body 2 is used for physically isolating equipment power supply and signals in the mobile vehicle-road cooperative system, and strong current and weak current are separated. The whole system adopts a 220V alternating current power supply cable, a direct current power supply line and a signal cable which are separately arranged, and wiring in the supporting box body 2 is divided by a wire groove. Furthermore, in order to ensure the safety of the whole power supply, a lightning protection module can be arranged and the configuration of overheat and overcurrent protection can be carried out. In addition, the support box body 2 is integrated with a battery display, a lifting switch, an electric switch, a control switch external interface 24, a USB interface and an RS232 interface, and the support box body 2 can be provided with a plurality of movable doors 11 corresponding to each installation space, so that the maintenance and replacement of internal equipment are facilitated. The problems of vibration caused by the lifting air pump 10, heat dissipation of the calculation unit 4 and the power supply unit, and the problems of shock absorption, heat dissipation and explosion prevention of a system battery and during charging can be solved through the design of the structure of the supporting box body 2 and the installation position of the built-in equipment.

In the embodiment of the present description, the computing unit mainly includes software and hardware of a roadside computing system, a high-performance GPU platform is used to provide a powerful computing power, and an acquisition card is used to perform video acquisition, distribution and processing, so as to ensure a low latency requirement.

The sensing part of the sensing unit mainly comprises a plurality of cameras 13 and millimeter wave radars 15, a sensing sensor group of a road side system is formed by the cameras 13 and the millimeter wave radars 15, motor vehicles, non-motor vehicles, pedestrians and other objects passing through the coverage area are detected, meanwhile, the area is locked accurately and controllably by a holder 14, edge calculation and analysis are carried out on sensing information by a road side edge calculation unit, full-time and space dynamic information of road traffic is obtained, and then real-time data communication of a vehicle road and a road cloud is realized with the line control chassis 1 through RSU equipment 16. Specifically, the sensing unit includes a plurality of cameras 13, cloud platform 14 and millimeter wave radar 15, and cloud platform 14 inlays and locates in lift box 9, and sensing equipment carries out horizontal calibration with cloud platform 14, and then but the free adjustment of remote control angle, locking. The camera 13 is arranged at the upper end of the lifting box body 9 and is connected with the cloud platform 14, the camera 13 is combined with the cloud platform 14, the camera 13 can be remotely controlled to be adjusted in angle up, down, left and right, the position is locked after adjustment, and the adjusted position information is fed back to the system. The millimeter wave radar 15 is arranged at the lower end of the lifting box body 9, can adjust the angle, and locks the angle through an external structural member. The cradle head 14 may be an industrial cradle head, and the locking position is realized and self-recovery is performed.

The lifting box body 9 adopts a modular design, and a sensing module is integrated inside to supply power, a switch and other equipment. Because the sensing equipment is required to be loaded on the rod body, and meanwhile, the cloud deck 14 needs to rotate, the cloud deck 14 and the sensing equipment are embedded into the lifting box body 9, and corresponding cables and accessories are also placed in the lifting box body 9. The lifting box body 9 not only can play a role in fixing and supporting, but also can be sealed and waterproof, and plays a role in protecting equipment on the lifting box body.

The communication unit mainly comprises the RSU device 16, i.e. LTE-V2X. Since the RSU device 16 is provided with an antenna, it cannot be placed above or below the elevator car 9, and can only be placed on one side surface of the elevator car 9. In a specific implementation process, due to the overlapping problem existing in the lifting process of the telescopic rod 8, the RSU device 16 is structurally fixed on the side of the lifting box body 9 in an extending and fixing mode. In addition, the power supply unit 6 adopts a dedicated power supply for charging a battery used for the device and for charging.

The drive-by-wire chassis 1 is internally provided with vehicle-mounted equipment (not shown in the figure), the vehicle-mounted equipment interacts with a road side system through a V2X communication technology, and the drive-by-wire chassis 1 and the vehicle-mounted equipment in the drive-by-wire chassis form a vehicle end of the mobile vehicle-road cooperative system. When the system integrally moves, the drive-by-wire chassis 1 and the roadside system are structurally unified, so that the roadside system can move more quickly and conveniently. As shown in fig. 4, a sliding groove 7 is formed in the lower surface of the supporting box body 2, the drive-by-wire chassis 1 and the roadside system are connected with each other through the sliding groove 7, the roadside system is driven to move integrally, and pin holes are additionally formed in the nodes of the drive-by-wire chassis 1 and the supporting box body 2 to guarantee the stability strength in the moving process for avoiding the roadside system from shaking in the moving process of the drive-by-wire chassis 1 as much as possible. After the supporting legs 3 fix the roadside system, the whole framework of the roadside system can be lifted, and then the vehicle body can be separated, namely the drive-by-wire chassis 1 is separated from the supporting box body 2. In a specific embodiment, the drive-by-wire chassis vehicle 1 internally integrates the vehicle-mounted device, the power supply and the like, the power supply unit 6 comprises a magnetic charging connector arranged on the lower surface of the supporting box body 2, the upper end of the drive-by-wire chassis vehicle 1 is provided with a magnetic charging interface matched with the magnetic charging connector, and the magnetic charging connector is used for being connected with the magnetic charging interface. In the specific implementation process, the power supply unit 6 comprises a 24V/200AH lithium battery, the system can normally work for 8 hours, all-weather uninterrupted operation is realized, a magnetic power supply mode is adopted between the lithium battery and the drive-by-wire chassis 1, and the drive-by-wire chassis 1 is powered through a magnetic charging connector and a magnetic charging interface so as to ensure the cruising ability of the drive-by-wire chassis 1. Further, when external power source charges the lithium cell, the accessible magnetism is inhaled the joint connection magnetism and is inhaled the interface that charges, charges lithium cell and drive-by-wire chassis car 1 simultaneously.

In addition, still be provided with magnetism on supporting box 2 and inhale the warning light that charges, when magnetism is inhaled the joint that charges and is inhaled the interface that charges with magnetism and be connected, magnetism is inhaled the warning light that charges and is lighted, plays the effect of suggestion.

In a specific embodiment, in order to ensure that the drive-by-wire chassis 1 slides out or slides below a loop side system, accurate positioning can be performed between the two, stable firmness of connection is ensured, the width of the chute 7 arranged on the lower surface of the support box body 2 is gradually reduced, the upper surface of the drive-by-wire chassis 1 is provided with a long slider 25 corresponding to the chute 7, the width of each part of the long slider 25 is matched with the width of the narrowest part of the chute 7, when the drive-by-wire chassis 1 drives into the lower part of the support box body 2, the long slider 25 on the drive-by-wire chassis 1 slides in from the wide end of the chute 7, connection is easier, and along with the gradual reduction of the width of the chute 7, the drive-by-wire chassis 1 and the loop side system are accurately positioned, so as to ensure. As shown in fig. 4, a pair of chutes 7 are provided, and since the drive-by-wire chassis 1 and the roadside system are connected by the chutes 7, the drive-by-wire chassis 1 can only slide in from the direction designated for the roadside system, so that the distance between two adjacent support legs 3 at two sides of the pair of chutes 7 can be designed to be smaller than the length and width of the drive-by-wire chassis 1, so that the drive-by-wire chassis 1 cannot drive into the lower portion of the support box 2 from the direction, and the distance between the other two adjacent support legs 3 is designed to be larger than the length and width of the drive-by-wire chassis 1, so as to ensure that the drive-by-wire chassis 1 can drive into the lower portion of the support box 2 from the direction. Further, for guaranteeing the connection and positioning between the subsequent drive-by-wire chassis car 1 and the road side system, the distance between every two other supporting legs 3 can be designed through the design, so that the drive-by-wire chassis car 1 can smoothly run out and run in, and the deviation of the set connection position is not too far, thereby preliminarily guaranteeing the positioning accuracy between the road side system and the drive-by-wire chassis car 1.

The location between trackside system and the drive-by-wire chassis car 1 still can judge through magnetism the warning light that charges, because after accurate location, magnetism on the supporting box 2 is inhaled the joint that charges and can be connected with the magnetism on the drive-by-wire chassis car 1 that inhales the interface that charges, and the magnetism is inhaled the warning light that charges and is bright this moment, then can judge the location accuracy between the two, otherwise, then need readjust the position of drive-by-wire chassis car 1 to fix a position again. Simultaneously, still can inhale the magnetism power of charging between joint and the magnetism interface that charges through magnetism and accurately fix a position drive-by-wire chassis car 1 below supporting box 2 to guarantee that it can accurate positioning connection on the trackside system, guarantee that the return is accurate, and can realize the synchronous charge-discharge with the lithium cell.

In the embodiment of the present specification, the interface and protocol of the drive-by-wire chassis 1 are intercommunicated with the road side system, and the road side system and the vehicle end are interconnected and interacted through the RSU device 16, so as to form a real vehicle-road coordination system. This portable car road cooperative system passes through drive-by-wire chassis car 1 and removes the required position department with the roadside system, and the deployment of the roadside system of being more convenient for is expanded and is deployed after the roadside system reaches the assigned position, later, drive-by-wire chassis car 1 and the separation of roadside system. Real-time road full-time space dynamic information data information sensed by a sensing sensor in the road side system is interacted with the drive-by-wire chassis 1 through a V2X communication technology, so that a vehicle end has beyond-the-horizon sensing capability, and the road side sensor and the vehicle sensor can be interconnected through a camera 13, a millimeter wave radar 15, a holder 14, an RSU device 16, vehicle-mounted equipment in the drive-by-wire chassis 1 and the like.

A road side system in the mobile vehicle-road cooperative system collects full-time and spatial dynamic information data of a road by combining with the RSU equipment 16 and interacts with the drive-by-wire chassis 1, vehicle end-road side cooperative sensing is achieved, and detection identification and tracking accuracy and a sensing range are improved. As shown in fig. 6, the whole system is divided into a roadside data acquisition and calculation system, which interacts with a vehicle through a V2X communication technology, and acquires full-time dynamic information data of a road, including but not limited to images, coordinates, angular velocities, and other information, through sensing devices of a roadside system disposed on a road side. The edge calculation unit fuses and analyzes the data and effectively outputs the result in real time. Through the RSU device 16, data interaction is carried out with the vehicle, and the vehicle is cooperatively decided and controlled.

The above is an explanation of the components of the mobile vehicle-road coordination system and the connection relationship between the components, and the following is a detailed description of the working principle of the mobile vehicle-road coordination system with reference to fig. 1 to 6.

In the embodiment of the specification, the mobile vehicle-road cooperative system adopts an integrated design of integration and separation collocation, combines the roadside sensing equipment with the mobile drive-by-wire chassis 1 and the calculation and communication units, can be flexibly moved and deployed on a road, is convenient for acquiring real-time roadside information, realizing functions of calculation, communication and the like, and meanwhile, the drive-by-wire chassis 1 can independently move and interact with the roadside system.

In order to facilitate on-site deployment at a flexible position, the drive-by-wire chassis 1 and a roadside system are integrally designed, and a flexible body design is adopted. The roadside system is integrally provided with an electric control supporting leg, so that the roadside system can be arranged on the drive-by-wire chassis vehicle 1 in a stacked mode, and flexible movement is achieved. In addition, the roadside system adopts the integral type telescopic link 8, freely stretches out and draws back, and is convenient fixed. The sensing sensor is additionally provided with a holder 14, so that the angle can be conveniently adjusted. Meanwhile, various external interfaces are arranged, so that local checking and debugging are facilitated.

The whole system also comprises perception target recognition, edge calculation technology, vehicle body position control, vehicle body track planning and the like. The high-definition camera 13 is matched with the holder 14 and the millimeter wave radar 15 to establish a full-time space scene database, and identification is performed by using an artificial intelligence algorithm, such as a regional convolution neural network, a fast regional convolution neural network and the like. In the embodiment of the present specification, the edge calculation has data processing, distribution, and control functions, and performs planning and control on the line control chassis 1, and can complete service processing such as a local scene algorithm and a vehicle route cooperative test.

To sum up, this description discloses a portable car road cooperative system, this portable car road cooperative system be for collecting roadside perception, edge calculation, communication, drive-by-wire chassis 1 in the system's equipment of integration, realize to road full-time empty dynamic information acquisition, calculation and information issuing, highly integrated with drive-by-wire chassis 1 simultaneously, the roadside system of being convenient for is at any time moved by oneself, is deployed, when testing, drive-by-wire chassis 1 can move on the road and the roadside system is mutual, makes things convenient for on-the-spot timely test. The development and test requirements of the vehicle-road cloud integrated system for various scenes are met.

The mobile vehicle-road cooperative system provides real-time perception synchronous calculation for supporting the multi-channel high-definition camera 13, the controllable holder 14 and the millimeter wave radar 15, and supports real-time fusion calculation of field perception results. Meanwhile, after the road side system of the drive-by-wire chassis 1 reaches the designated position and is deployed, the system can move on the road by itself, and the cooperation of the on-site vehicle and the road is realized.

In addition, the mobile vehicle-road cooperative system integrates a high-performance edge computing unit, is embedded with a deep learning algorithm and a control algorithm, adopts a high-strength shell and a systematic structural design, integrates multi-mode perception access, a self-lifting system, a V2X transmission system and vehicle-mounted control, collects full-time empty dynamic information of a road in real time, and performs live-action interaction with the drive-by-wire chassis vehicle 1.

Those of ordinary skill in the art will understand that: the figures are merely schematic representations of one embodiment, and the blocks or flow diagrams in the figures are not necessarily required to practice the present invention.

Those of ordinary skill in the art will understand that: modules in the devices in the embodiments may be distributed in the devices in the embodiments according to the description of the embodiments, or may be located in one or more devices different from the embodiments with corresponding changes. The modules of the above embodiments may be combined into one module, or further split into multiple sub-modules.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.