CN104503265A - Synchronous driving system based on vehicle internet and control method thereof - Google Patents
Synchronous driving system based on vehicle internet and control method thereof Download PDFInfo
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- CN104503265A CN104503265A CN201410609097.6A CN201410609097A CN104503265A CN 104503265 A CN104503265 A CN 104503265A CN 201410609097 A CN201410609097 A CN 201410609097A CN 104503265 A CN104503265 A CN 104503265A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The invention belongs to the technical field of traffic safety, and especially relates to a synchronous driving system based on a vehicle internet. The system comprises a vehicle terminal arranged on a vehicle. The vehicle terminal comprises a signal acquisition unit, an execution unit, a processing unit, and a communication unit. The signal acquisition unit is used to acquire position, steering, accelerator, and braking information of vehicles and output the information to the processing unit. The execution unit executes vehicle braking, speeding-up, and steering of the vehicle according to the information output by the processing unit. Processing units of two vehicles realize information transmission through the communication units. The invention also relates to a control method of the system. After two vehicles are matched, the vehicle behind can completely realize automatic driving by following the front vehicle, thereby relieving driving burden of the back vehicle driver, and improving comfortableness of driving.
Description
Technical field
The invention belongs to traffic safety technical field, particularly a kind of synchronous control loop based on car networking and control method thereof.
Background technology
Along with the growth fast of automobile quantity, vehicle safety accident also rises year by year, causes a large amount of property damages and casualties.Wherein, long-duration driving easily causes that people's is tired out, slow in reacting, especially when highway driving, people's car is less, shift gears and add, to subtract the number of operations such as the speed of a motor vehicle few, very easily causes that people's is tired out, often there is process not in time when emergency case, thus cause serious consequence.According to statistics display, fatigue driving becomes one of major reason that traffic hazard occurs already.Along with the development of technology, although there are some fatigue drive prompting devices, effect has not been clearly, does not have fundamentally relieving fatigue to drive the traffic safety hidden danger brought.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of synchronous control loop based on car networking, provides more comfortable driving experience.
For realizing above object, the technical solution used in the present invention is: a kind of synchronous control loop based on car networking, vehicle is furnished with vehicle-mounted end, vehicle-mounted end comprises signal gathering unit, performance element, processing unit and communication unit, described signal gathering unit is used for collection vehicle position, turns to, throttle, brake information export processing unit to, the information and executing car brakeing that performance element exports according to processing unit, acceleration, steering operation, the processing unit of two cars realizes the transmission of information by communication unit.
Compared with prior art, there is following technique effect in the present invention: when after two car pairings, vehicle below can realize automatic Pilot by follower's front truck completely, removes the driving burden of rear car driver, improves the comfortableness of driving.
Another object of the present invention is the control method providing a kind of synchronous control loop based on car networking, can realize the automatic Pilot of following vehicle.
For realizing above object, the technical solution used in the present invention is: a kind of control method of synchronous control loop based on car networking, comprises the steps: that B driver that (A) is identical with A car drive route moves and follows after A car; (B) B car and A car match, and B car enters follows driving condition; (C) signal gathering unit of A car gather A car vehicle location, turn to, throttle, brake information export processing unit to; (D) information collected is exported to the processing unit of B car by the processing unit of A car by communication unit; (E) processing unit of B car output signal to B car performance element perform car brakeing, acceleration, steering operation; (F) A, B two car remove pairing, B car recover manual drive.
Compared with prior art, there is following technique effect in the present invention: when after two car pairings, vehicle below can realize automatic Pilot by follower's front truck completely, removes the driving burden of rear car driver, improves the comfortableness of driving.
Accompanying drawing explanation
Fig. 1 is theory diagram of the present invention;
Fig. 2 is the schematic flow sheet of control method of the present invention.
Embodiment
Below in conjunction with Fig. 1 to Fig. 2, the present invention is described in further detail.
Consult Fig. 1, a kind of synchronous control loop based on car networking, vehicle is furnished with vehicle-mounted end 10, vehicle-mounted end 10 comprises signal gathering unit 11, performance element 12, processing unit 13 and communication unit 14, described signal gathering unit 11 for collection vehicle position, turn to, throttle, brake information export processing unit 13 to, the information and executing car brakeing that performance element 12 exports according to processing unit 13, acceleration, steering operation, the processing unit 13 of two cars realizes the transmission of information by communication unit 14.Native system is applicable to the vehicle of same routes, after rear car is mated with front truck, after directly adopting follow the mode, can carry out automatic Pilot, remove the operation of rear car from, reduce the fatigue strength of driver.Further, according to the difference of road conditions, pairing can be cancelled, drives separately.
More preferably, also comprise server end 20, described communication unit 14 comprises GPRS module or 3G/4G mixed-media network modules mixed-media 141, DSRC module 142, carry out Near Field Communication by DSRC module 142 between two vehicle-mounted ends 10, vehicle-mounted end 10 and server end 20 carry out communication by GPRS module or 3G/4G mixed-media network modules mixed-media 141.In order to the realization to vehicle implementing monitoring and other functions, be provided with server end 20 here.When vehicle travels in high speed, want the vehicle strange with other to match, will know the driving path of other vehicles, whether consistent with the driving path of this car, only when path is consistent, this car could match with it and follow.DSRC is a kind of wireless communication technology efficiently, it can be implemented in territory, specific cell and (is generally tens of rice) to the identification of the moving target under high-speed motion and two-way communication, DSRC module 142 is used to carry out communication between the vehicle after coupling, reliably more convenient.
Further, described signal gathering unit 11 comprises GPS module 111, abs controller 112, gyroscope 113, steering wheel angle sensor 114, brake pedal angular displacement sensor 115, gas pedal angular displacement sensor 116 and radar probe 117.Collecting unit 11 can collect vehicle position information, periphery situation and the operation information to vehicle, and the front vehicle conveniently matched makes identical operation.
Particularly, described performance element 12 comprises clamping device 121, accelerator 122, steering gear 123 and emergency alarm device 124.Performance element 12 is for manipulating rear car, and its manipulation depends on the manipulation of front truck, and when the data that road conditions are complicated or front truck gathers have abnormal, emergency alarm device 124 performs warning, reminds rear car driver to process.
Consult Fig. 2, for single unit vehicle, native system does not work, and it is mainly used in two car couplings and only uses.Adopt the aforesaid control method of synchronous control loop based on car networking, comprise the steps: that B driver that (A) is identical with A car drive route moves and follow after A car; (B) B car and the successful matching of A car, B car enters follows automatic Pilot state; (C) signal gathering unit 11 of A car gather A car vehicle location, turn to, throttle, brake information export processing unit 13 to; (D) information collected is exported to the processing unit 13 of B car by the processing unit 13 of A car by communication unit 14; (E) performance element 12 that the processing unit 13 of B car outputs signal to B car performs car brakeing, acceleration, steering operation; (F) A, B two car remove pairing, B car recover manual drive.In order to increase applicability, when the many car couplings of needs, also have C car after such as B car, now C car mates with A car or B car, and when mating with A car, C car is the same with B car, belongs to subordinate vehicle, follows A car and carries out automatic Pilot; When mating with B car, the processing unit 13 of B car not only outputs signal to performance element 12, also outputs signal to the processing unit 13 of C car.In like manner, more vehicle is followed, can one follow one, but now at a high speed on car speed disunity, many vehicles are followed exists certain risk, it is still further preferred that bicycle is followed.
Preferably, described steps A comprises the steps: that vehicle position information, routing information, pairing request are uploaded to server end 20 by (a) vehicle-mounted end 10; B another vehicle-mounted end 10 that the routing information uploaded according to B car of () server end 20 is identical with B bus or train route footpath with pairing request search; C () server end 20 sends the A truck position information searched to B car; D () B car is manually followed after A car according to A truck position information.For strange vehicle, need the path judging two cars whether identical before matching, only have and just carry out under identical circumstances matching and following.Carried out the coupling of routing information by server end 20, make native system better perfect.
Preferably, in described step a, the information that vehicle-mounted end 10 is uploaded to server end 20 comprises starting point and the endpoint information of vehicle, the starting point that server end 20 is uploaded according to vehicle-mounted end 10 and endpoint information are selected optimum driving path and export to vehicle-mounted end 10, and vehicle-mounted end 10 exports the driving path information after confirming or the driving path information after adjustment to server end 20.The starting point that server end 20 can also be uploaded according to vehicle-mounted end 10 and endpoint information, select optimum path, Integrated navigation system, provides convenient for driving.
Claims (7)
1. the synchronous control loop based on car networking, it is characterized in that: vehicle is furnished with vehicle-mounted end (10), vehicle-mounted end (10) comprises signal gathering unit (11), performance element (12), processing unit (13) and communication unit (14), described signal gathering unit (11) is for collection vehicle position, turn to, throttle, brake information also exports processing unit (13) to, the information and executing car brakeing that performance element (12) exports according to processing unit (13), accelerate, steering operation, the processing unit (13) of two cars realizes the transmission of information by communication unit (14).
2. as claimed in claim 1 based on the synchronous control loop of car networking, it is characterized in that: also comprise server end (20), described communication unit (14) comprises GPRS module or 3G/4G mixed-media network modules mixed-media (141), DSRC module (142), carry out Near Field Communication by DSRC module (142) between two vehicle-mounted ends (10), vehicle-mounted end (10) and server end (20) carry out communication by GPRS module or 3G/4G mixed-media network modules mixed-media (141).
3., as claimed in claim 1 based on the synchronous control loop of car networking, it is characterized in that: described signal gathering unit (11) comprises GPS module (111), abs controller (112), gyroscope (113), steering wheel angle sensor (114), brake pedal angular displacement sensor (115), gas pedal angular displacement sensor (116) and radar probe (117).
4., as claimed in claim 1 based on the synchronous control loop of car networking, it is characterized in that: described performance element (12) comprises clamping device (121), accelerator (122), steering gear (123) and emergency alarm device (124).
5. adopt a control method for the synchronous control loop based on car networking according to claim 1, comprise the steps:
(A) identical with A car drive route B driver is dynamic to be followed after A car;
(B) B car and the successful matching of A car, B car enters follows automatic Pilot state;
(C) signal gathering unit (11) of A car gather A car vehicle location, turn to, throttle, brake information export processing unit (13) to;
(D) information collected is exported to the processing unit (13) of B car by the processing unit (13) of A car by communication unit (14);
(E) processing unit (13) of B car output signal to B car performance element (12) perform car brakeing, acceleration, steering operation;
(F) A, B two car remove pairing, B car recover manual drive.
6. as claimed in claim 5 based on the control method of the synchronous control loop of car networking, it is characterized in that: also comprise server end (20), described communication unit (14) comprises GPRS module or 3G/4G mixed-media network modules mixed-media (141), DSRC module (142), carry out Near Field Communication by DSRC module (142) between two vehicle-mounted ends (10), vehicle-mounted end (10) and server end (20) carry out communication by GPRS module or 3G/4G mixed-media network modules mixed-media (141); Described steps A comprises the steps:
A vehicle position information, routing information, pairing request are uploaded to server end (20) by () vehicle-mounted end (10);
B another vehicle-mounted end (10) that the routing information uploaded according to B car of () server end (20) is identical with B bus or train route footpath with pairing request search;
C () server end (20) sends the A truck position information searched to B car;
D () B car is manually followed after A car according to A truck position information.
7. as claimed in claim 6 based on the control method of the synchronous control loop of car networking, it is characterized in that: in described step a, the information that vehicle-mounted end (10) is uploaded to server end (20) comprises starting point and the endpoint information of vehicle, the starting point that server end (20) is uploaded according to vehicle-mounted end (10) and endpoint information are selected optimum driving path and export to vehicle-mounted end (10), and vehicle-mounted end (10) exports the driving path information after confirming or the driving path information after adjustment to server end (20).
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Cited By (11)
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| CN104867325A (en) * | 2015-06-16 | 2015-08-26 | 颜士兵 | Motor vehicle travelling method |
| CN105059214A (en) * | 2015-08-12 | 2015-11-18 | 浙江吉利汽车研究院有限公司 | Wrong work inhibiting method and device of active safety function of vehicle and vehicle |
| CN105467902A (en) * | 2016-01-14 | 2016-04-06 | 贵州大学 | Multiple intelligent small car cooperation controlling device based on ZigBee |
| CN105824311A (en) * | 2016-01-29 | 2016-08-03 | 乐卡汽车智能科技（北京）有限公司 | Vehicle automatic driving method and device |
| CN107738647A (en) * | 2017-10-26 | 2018-02-27 | 吉林大学 | A kind of intelligent vehicle connects equipment |
| CN108682144A (en) * | 2018-05-21 | 2018-10-19 | 温州中佣科技有限公司 | A kind of same road segment vehicle series connection driving system |
| CN109689466A (en) * | 2016-10-12 | 2019-04-26 | 矢崎总业株式会社 | Vehicular system |
| CN111028543A (en) * | 2017-11-17 | 2020-04-17 | 南京视莱尔汽车电子有限公司 | Multi-vehicle synchronous operation control method for automatic driving vehicle |
| TWI722652B (en) * | 2019-11-15 | 2021-03-21 | 財團法人車輛研究測試中心 | Automatic driving cooperative control system and control method |
| US10983531B2 (en) | 2015-12-11 | 2021-04-20 | Avishtech, Llc | Autonomous vehicle towing system and method |
| CN114348024A (en) * | 2022-01-30 | 2022-04-15 | 中国第一汽车股份有限公司 | Vehicle and automatic driving system thereof |
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| CN105467902A (en) * | 2016-01-14 | 2016-04-06 | 贵州大学 | Multiple intelligent small car cooperation controlling device based on ZigBee |
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| CN107738647A (en) * | 2017-10-26 | 2018-02-27 | 吉林大学 | A kind of intelligent vehicle connects equipment |
| CN111028543A (en) * | 2017-11-17 | 2020-04-17 | 南京视莱尔汽车电子有限公司 | Multi-vehicle synchronous operation control method for automatic driving vehicle |
| CN108682144A (en) * | 2018-05-21 | 2018-10-19 | 温州中佣科技有限公司 | A kind of same road segment vehicle series connection driving system |
| TWI722652B (en) * | 2019-11-15 | 2021-03-21 | 財團法人車輛研究測試中心 | Automatic driving cooperative control system and control method |
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