CN106994969B - A kind of fleet's formation control loop and method - Google Patents
A kind of fleet's formation control loop and method Download PDFInfo
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- CN106994969B CN106994969B CN201710184207.2A CN201710184207A CN106994969B CN 106994969 B CN106994969 B CN 106994969B CN 201710184207 A CN201710184207 A CN 201710184207A CN 106994969 B CN106994969 B CN 106994969B
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000015572 biosynthetic process Effects 0.000 title claims abstract description 23
- 238000012360 testing method Methods 0.000 claims abstract description 50
- 238000004891 communication Methods 0.000 claims abstract description 36
- 230000008859 change Effects 0.000 claims description 72
- 230000008569 process Effects 0.000 claims description 23
- 230000002708 enhancing effect Effects 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 7
- 230000006872 improvement Effects 0.000 claims description 7
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
- 206010039203 Road traffic accident Diseases 0.000 abstract description 9
- 230000000977 initiatory effect Effects 0.000 abstract description 5
- 230000008676 import Effects 0.000 description 7
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000011521 glass Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of fleet's formation control loop and methods, belong to automotive field.The present invention is by being respectively provided with positioning region, communication unit, adjacent lane test section and automatic Pilot control unit in each car, automatic Pilot control unit controls as the case may be is located at its front and vehicle driving adjacent thereto in the automatic following fleet of each follow the bus, so that at least in two cars in addition to first bus is by pilot steering, each follow the bus can follow first bus automatic running, without driver's pilot steering, reduce the probability because of driver tired driving or operation error initiation traffic accident, the safety of fleet's trip is improved, and saves manpower.
Description
Technical field
The present invention relates to automotive field, in particular to a kind of fleet's formation control loop and method.
Background technique
With the development of science and technology with the raising of living standards of the people, automobile has become the mankind and goes on a journey essential friendship
Logical tool, meanwhile, the safety in vehicle traveling process also becomes whole mankind's focus of attention problem.
According to statistics, in traffic accident in recent years, due to driver tired driving or the traffic accident of operation error initiation
60% or more of all traffic accidents is accounted for, the security of the lives and property of people has been seriously affected, therefore is badly in need of a kind of automatic Pilot skill
Art reduces the probability for causing traffic accident because of driver tired driving or operation error.
Summary of the invention
In order to solve to be badly in need of in the prior art a kind of automatic Pilot technology, to reduce because driver tired driving or operation lose
The problem of accidentally causing the probability of traffic accident, the embodiment of the invention provides a kind of fleet's formation control loop and methods.Institute
It is as follows to state technical solution:
In a first aspect, provide a kind of fleet's formation control loop, the system comprises at least two cars for traveling of forming into columns,
Positioning region, communication unit, adjacent lane test section and automatic Pilot control are mounted in each car in at least two cars
Portion；
Positioning region in each car is for positioning it；
Communication unit in each car is connect with its positioning region, and be located at its front and back and vehicle adjacent thereto
Communication unit communication connection, the communication unit in each car is used for being located at its rear and the communication of vehicle adjacent thereto
Portion sends its location information, and receives the location information for being located at its front and vehicle adjacent thereto；
The adjacent lane test section of each car is arranged at left and right sides of it, the adjacent vehicle for lane where detecting it
Whether vehicle process is had in preset range on road；
The automatic Pilot control unit of each car is connect with its positioning region, communication unit and adjacent lane test section respectively；
At least two cars formation driving status, the vehicle that forefront is located in at least two cars is first bus, by
Pilot steering, other vehicles are follow the bus, the location information of automatic Pilot control unit each follow the bus according in each follow the bus
And it is located at the location information of its front and vehicle adjacent thereto in fleet, judge to be located in fleet in front of it and adjacent thereto
Vehicle whether lane change, and according in fleet be located at each with front side and the vehicle adjacent with this follow the bus whether lane change, control
It makes and is located at its front and vehicle driving adjacent thereto in this follow the bus following fleet, or be located at this with front side in fleet
And when passing through in the preset range on the lane where the vehicle adjacent with this follow the bus without other vehicles, this follow the bus is controlled
Be located at this with front side and after the vehicle lane change adjacent with this follow the bus in following fleet, be located in following fleet its front and
Vehicle driving adjacent thereto.
Further, spacing test section is additionally provided in each car, the spacing test section is arranged in each car
Front, longitudinal spacing for detecting each car with being located at its front and vehicle adjacent thereto, the longitudinal direction spacing
It is two cars in the distance being parallel on lane line direction.
Specifically, the spacing test section is millimetre-wave radar.
Specifically, the spacing test section of each car is separately positioned on the top of its windshield glass.
Specifically, the adjacent lane test section is ultrasonic radar.
Further, lane detection portion, the lane detection part of each follow the bus are additionally provided in each car
It She Zhi not be connect at left and right sides of it, and with its automatic Pilot control unit, for the lane line position in lane where detecting it, institute
The automatic Pilot control unit of each follow the bus is stated according to the lane line position in lane where its location information and its, is controlled described every
The center line of follow the bus along the lane travels.
Second aspect, provides a kind of fleet's formation drive manner, and the method is applied to fleet formation and drives system
System, which comprises
Step 1: at least two cars are formed into columns, wherein first bus at least in two cars by pilot steering, other vehicles be with
Vehicle；
Step 2: the positioning region of each car obtains its location information respectively, and the communication unit of each follow the bus receives in fleet respectively
It is located at its rear and vehicle transmission adjacent thereto positioned at its front and the location information of vehicle adjacent thereto, and into fleet
Its location information, the adjacent lane test section of each follow the bus detect in the preset range on the adjacent lane in lane where it whether
There is vehicle process；
Step 3: automatic Pilot control unit in each follow the bus according to be located in its location information and fleet its front and
The location information of vehicle adjacent thereto, judge in fleet be located at its front and vehicle adjacent thereto whether lane change, and according to
In fleet be located at its front and vehicle adjacent thereto whether lane change, control in this follow the bus following fleet be located at its front and with
Adjacent vehicle driving, or in fleet be located at lane of this with front side and where the vehicle adjacent with this follow the bus on
Preset range in when passing through without other vehicles, control be located in this follow the bus following fleet this with front side and with this
After the adjacent vehicle lane change of follow the bus, its front and vehicle driving adjacent thereto are located in following fleet.
Specifically, before the automatic Pilot control unit in each described follow the bus is according to it is located in its location information and fleet
The location information of square and adjacent thereto vehicle, judge in fleet be located at its front and vehicle adjacent thereto whether lane change, packet
It includes:
Automatic Pilot control unit in each described follow the bus obtains its location information by its positioning region, passes through its communication unit
The location information for being located at its front and vehicle adjacent thereto in fleet is obtained, and is located at it according in its location information and fleet
The location information of front and vehicle adjacent thereto obtains in front of it and adjacent thereto in each described follow the bus and fleet
The lateral spacing of vehicle, the transverse direction spacing are two cars perpendicular to the distance on lane line direction；
Automatic Pilot control unit in each described follow the bus by comparing its be located at its front and adjacent thereto in fleet
Vehicle lateral spacing and lane width half size, judge in fleet be located at its front and vehicle adjacent thereto
Whether lane change.
Specifically, it is described according to be located in fleet its front and vehicle adjacent thereto whether lane change, control this follow the bus
In following fleet be located at its front and vehicle driving adjacent thereto, or in fleet be located at this with front side and with this with
When passing through in the preset range on lane where the adjacent vehicle of vehicle without other vehicles, control in this follow the bus following fleet
It is located at positioned at this with front side and after the vehicle lane change adjacent with this follow the bus, in following fleet in front of it and adjacent thereto
Vehicle driving, comprising:
If the automatic Pilot control unit of certain follow the bus judges to be located at its front and the non-lane change of vehicle adjacent thereto in fleet,
Then the automatic Pilot portion of this follow the bus is according to the position for being located at its front and vehicle adjacent thereto in its location information and fleet
Information controls and is located at its front and vehicle driving adjacent thereto in its following fleet；
If the automatic Pilot control unit of certain follow the bus judges to be located at its front and vehicle lane change adjacent thereto in fleet,
The pre- of lane rear where being located at its front and vehicle adjacent thereto in the fleet is detected by its adjacent lane test section
If whether there is vehicle process in range；
If being located at this in the fleet with front side and in the preset range at vehicle place lane rear adjacent thereto
There is no vehicle process, then after the automatic Pilot control unit of this follow the bus controls its lane change, in following fleet be located at its front and with
Adjacent vehicle driving；
If being located at this in the fleet with front side and in the preset range at vehicle place lane rear adjacent thereto
There is vehicle process, then the automatic Pilot control unit of this follow the bus controls its Reduced Speed Now, and passes through its adjacent lane test section weight
Whether newly detect where being located at its front and vehicle adjacent thereto in the fleet has vehicle in the preset range at lane rear
By not having until positioned at this with front side in the fleet and where vehicle adjacent thereto in the preset range at lane rear
When thering is vehicle to pass through, after the automatic Pilot control unit of this follow the bus controls this follow the bus lane change again, before being located at it in following fleet
Square and adjacent thereto vehicle driving.
Further, the method also includes:
Different enhancing signal algorithms is set for different Driving Scenes, according to the reality in each described follow the bus driving procedure
Border parameter calculates enhancing signal, and calculates the absolute value of the difference of each enhancing signal and targets improvement signal, believes according to enhancing
Number optimize driving strategy with the direction that the absolute value of the difference of targets improvement signal reduces.
Technical solution provided in an embodiment of the present invention has the benefit that
The present invention, which passes through, is respectively provided with positioning region, communication unit, adjacent lane test section and automatic Pilot control unit in each car,
Automatic Pilot control unit controls as the case may be is located at its front and vehicle adjacent thereto in the automatic following fleet of each follow the bus
Traveling so that each follow the bus can follow first bus automatic running, without driving at least in two cars in addition to first bus is by pilot steering
The person's of sailing pilot steering reduces the probability because of driver tired driving or operation error initiation traffic accident, improves fleet's trip
Safety, and save manpower.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the structural schematic diagram for the automobile formation control loop that one embodiment of the invention provides；
Fig. 2 is the structural schematic diagram for the automobile formation control loop that further embodiment of this invention provides；
Fig. 3 is the structural schematic diagram for the automobile formation control loop that further embodiment of this invention provides；
Fig. 4 is the flow chart for the automobile formation drive manner that further embodiment of this invention provides；
Fig. 5 is the flow chart for the automobile formation drive manner that further embodiment of this invention provides.
Wherein:
1 first bus,
2 follow the buses,
3 import vehicle,
4 spacing test sections,
5 lane lines,
10 fleets.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Embodiment one
As shown in Figure 1, being also illustrated in combination with Fig. 2 and Fig. 3, forms into columns and drive the embodiment of the invention provides a kind of fleet
System, is mainly used in the straight way of highway and fleet's trip in approximate straight way section, which includes forming into columns traveling extremely
Lack two cars, is mounted on positioning region (not shown) in each car in at least two cars, communication unit (does not show in figure
Out), adjacent lane test section (not shown) and automatic Pilot control unit (not shown)；
Positioning region in each car is for positioning it；
Communication unit in each car is connect with its positioning region, and be located at its front and back and vehicle adjacent thereto
Communication unit communication connection, the communication unit in each car is used for being located at its rear and the communication of vehicle adjacent thereto
Portion sends its location information, and receives the location information for being located at its front and vehicle adjacent thereto；
The adjacent lane test section of each car is arranged at left and right sides of it, the adjacent vehicle for lane where detecting it
Whether vehicle process is had in preset range on road；
The automatic Pilot control unit of each car is connect with its positioning region, communication unit and adjacent lane test section respectively；
At least two cars formation driving status, the vehicle that forefront is located in at least two cars is first bus 1, by
Pilot steering, other vehicles are follow the bus 2, and the automatic Pilot control unit in each follow the bus 2 is believed according to the position of each follow the bus 2
Be located at the location information of its front and vehicle adjacent thereto in breath and fleet 10, judge to be located in fleet 10 its front and with
Adjacent vehicle whether lane change, and according to being located at 2 front of each follow the bus in fleet 10 and the vehicle adjacent with this follow the bus 2 is
No lane change controls and is located at its front and vehicle driving adjacent thereto in 2 following fleet of this follow the bus, or is located in fleet 10
Pass through in the preset range on lane where 2 front of this follow the bus and the vehicle adjacent with this follow the bus 2 without other vehicles
When, it controls after being located at 2 front of this follow the bus and the vehicle lane change adjacent with this follow the bus 2 in 2 following fleet 10 of this follow the bus, with
With being located at its front and vehicle driving adjacent thereto in fleet 10.
In embodiments of the present invention, at least two cars are formed into columns traveling, at least first car in two cars by pilot steering,
For first bus 1, other vehicles follow first bus 1 to travel automatically, are follow the bus 2.
In driving process, the positioning region of each car obtains its location information respectively, and the communication unit of each follow the bus 2 receives respectively
It is located at the location information of its front and vehicle adjacent thereto in fleet 10, and is located at into fleet 10 its rear and adjacent thereto
Vehicle send its location information；It is pre- on adjacent lane in lane where the adjacent lane test section of each follow the bus 2 detects it
If whether there is vehicle process in range；Automatic Pilot control unit in each follow the bus 2 obtains its location information by its positioning region,
The location information for being located at its front and vehicle adjacent thereto in fleet 10 is obtained by its communication unit, and according to its location information
Location information with its front and vehicle adjacent thereto is located in fleet 10, obtains in each follow the bus 2 and fleet 10 and is located at it
The lateral spacing Δ x of front and vehicle adjacent thereto, and the automatic Pilot control unit in each follow the bus 2 by comparing each with
Vehicle 2 is big with the half for the lateral spacing Δ x and lane width for being located at its front and vehicle adjacent thereto in fleet 10
It is small, judge to be located in fleet 10 2 front of each follow the bus and vehicle adjacent thereto whether lane change.
With reference to Fig. 1, if the automatic Pilot control unit of certain follow the bus 2 judges to be located in fleet 10 its front and adjacent thereto
The non-lane change of vehicle, then the automatic Pilot portion of this follow the bus 2 according to its location information and its be located at its front and it is adjacent thereto
Vehicle in the distance being parallel on 5 direction of lane line, control in each automatic following fleet 10 of follow the bus 2 be located at its front and therewith
Adjacent vehicle driving.
With reference to Fig. 2, if the automatic Pilot control unit of certain follow the bus 2 judges to be located in fleet 10 its front and adjacent thereto
Vehicle lane change, and its adjacent lane test section detects and is located at its front in fleet 10 and behind vehicle place lane adjacent thereto
Pass through in the preset range of side without vehicle, then the automatic Pilot control unit of this follow the bus 2 is according to its location information and fleet 10
In be located at the location information of its front and vehicle adjacent thereto, control 2 lane change of this follow the bus followed by fleet 10 and be located at it
Front and vehicle driving adjacent thereto.
With reference to Fig. 3, if the automatic Pilot control unit of certain follow the bus 2 judges to be located in fleet 10 its front and adjacent thereto
Vehicle lane change, and its adjacent lane test section detects and is located at its front in fleet 10 and behind vehicle place lane adjacent thereto
There is vehicle process in the preset range of side, then the automatic Pilot control unit of this follow the bus 2 controls 2 Reduced Speed Now of this follow the bus, and
It is detected in its adjacent lane test section and is located at the default of lane rear in front of it and where vehicle adjacent thereto in fleet 10
When passing through in range without vehicle, 2 lane change of this follow the bus is controlled followed by being located at its front and vehicle adjacent thereto in fleet 10
Traveling.
Wherein, the automatic Pilot control unit in each follow the bus 2 is located in front of its by comparing each follow the bus 2 with fleet 10
And the size of the half of the lateral spacing Δ x and lane width of vehicle adjacent thereto, judge to be located at each in fleet 10
The front of follow the bus 2 and vehicle adjacent thereto whether lane change, specifically:
If the lateral spacing Δ x for being located at its front and vehicle adjacent thereto in certain follow the bus 2 and fleet 10 is greater than lane
The half of width, then the automatic Pilot control unit of this follow the bus 2 judges to be located in fleet 10 in front of it and adjacent thereto
Vehicle lane change；
If the lateral spacing Δ x for being located at its front and vehicle adjacent thereto in certain follow the bus 2 and fleet 10 is less than lane
The half of width, then the automatic Pilot control unit of this follow the bus 2 judges to be located in fleet 10 in front of it and adjacent thereto
The non-lane change of vehicle.
The present invention, which passes through, is respectively provided with positioning region, communication unit, adjacent lane test section and automatic Pilot control unit in each car,
Automatic Pilot control unit controls in front of it and adjacent thereto in each automatic following fleet 10 of follow the bus 2 as the case may be
Vehicle driving, so that each follow the bus 2 can follow 1 automatic running of first bus at least in two cars in addition to first bus 1 is by pilot steering,
Without driver's pilot steering, the probability because of driver tired driving or operation error initiation traffic accident is reduced, fleet is improved
The safety of 10 trips, and save manpower.
As shown in Figure 1, also can be found in Fig. 2 and Fig. 3, in embodiments of the present invention, spacing inspection is additionally provided in each car
The front of each car is arranged in survey portion 4, the spacing test section 4, for detect each car be located at its front and
Longitudinal spacing Δ y of vehicle adjacent thereto, the longitudinal direction spacing Δ y be two cars be parallel on 5 direction of lane line away from
From.
In embodiments of the present invention, when have other vehicles import fleet 10 in when, because import vehicle 3 can not in fleet 10
Vehicle carry out truck traffic, therefore by each car be arranged spacing test section 4, when have vehicle import fleet 10 in when, lead to
Longitudinal spacing Δ y that the spacing test section 4 in each car detects it with imports between vehicle 3 is crossed, guarantees each follow the bus 2 and is located at
Its front and vehicle adjacent thereto between longitudinal spacing Δ y and target carriage away from the distance between be less than default value.
In embodiments of the present invention, spacing test section 4 is millimetre-wave radar.As shown in Figure 1, also can be found in Fig. 2, in this hair
In bright embodiment, the top of its windshield glass is arranged in the spacing test section in each car.
In embodiments of the present invention, millimetre-wave radar is arranged by the top of the windshield glass in each car and measures remittance
Longitudinal spacing Δ y in vehicle 3 and fleet 10 between 3 rear of remittance vehicle and follow the bus 2 adjacent thereto guarantees fleet
Longitudinal spacing Δ y between vehicle in 10 and remittance vehicle is suitble to.
And in embodiments of the present invention, adjacent lane test section is ultrasonic radar, can be detected to adjacent lane
Range is wider.
In embodiments of the present invention, it is preferable that 5 test section of lane line, the lane line of each follow the bus 2 are additionally provided in each car
5 test sections are separately positioned on its left and right sides, and connect with its automatic Pilot control unit, the lane for lane where detecting it
5 position of line, lane line 5 position of the automatic Pilot control unit of each follow the bus 2 according to lane where its location information and its, control
Center line of each follow the bus 2 along lane is made to travel.
Detect two lane lines 5 in the lane where each follow the bus 2 by 5 test section of lane line, and each follow the bus 2 from
Dynamic drive control section is travelled according to its center line along lane of 5 position of lane line and its position control, avoids 2 driving process of follow the bus
In offset to other lanes so that be mistaken for the lane change of first bus 1 positioned at the vehicle at its rear in fleet 10 and follow its lane change, and
It avoids colliding due to follow the bus 2 offsets to other lanes with the vehicle on other lanes.
Embodiment two
As shown in figure 4, the method is applied to as implemented the embodiment of the invention provides a kind of fleet's formation drive manner
Fleet's formation control loop described in example one, this method comprises:
In step 201, at least two cars are formed into columns, wherein the first bus at least in two cars is by pilot steering, other vehicles
For follow the bus.
In embodiments of the present invention, after the completion of at least two cars are formed into columns, the relative ranks of any two cars in driving process
It is no longer changed, to guarantee the order of automatic Pilot.
In step 202, the positioning region of each car obtains its location information respectively, and the communication unit of each follow the bus receives respectively
It is located at the location information of its front and vehicle adjacent thereto in fleet, and is located at its rear and vehicle adjacent thereto into fleet
Send its location information, the preset range where the adjacent lane test section of each follow the bus detects it on adjacent lane in lane
Inside whether there is vehicle process.
In embodiments of the present invention, the positioning region of each car is GPS system, and communication unit is truck traffic system, vehicle
It is millimetre-wave radar away from test section, lane detecting portion is ultrasonic radar.
In step 203, the automatic Pilot control unit in each follow the bus is located at it according in its location information and fleet
The location information of front and vehicle adjacent thereto, judge in fleet be located at its front and vehicle adjacent thereto whether lane change,
And according to be located in fleet its front and vehicle adjacent thereto whether lane change, control before being located at it in this follow the bus following fleet
Square and adjacent thereto vehicle driving, or it is located at this with front side and where the vehicle adjacent with this follow the bus in fleet
When passing through in the preset range on lane without other vehicles, control be located at this in this follow the bus following fleet with front side and
After the vehicle lane change adjacent with this follow the bus, its front and vehicle driving adjacent thereto are located in following fleet.
The present invention, which passes through, is respectively provided with positioning region, communication unit, adjacent lane test section and automatic Pilot control unit in each car,
Automatic Pilot control unit controls as the case may be is located at its front and vehicle adjacent thereto in the automatic following fleet of each follow the bus
Traveling so that each follow the bus can follow first bus automatic running, without driving at least in two cars in addition to first bus is by pilot steering
The person's of sailing pilot steering reduces the probability because of driver tired driving or operation error initiation traffic accident, improves fleet's trip
Safety, and save manpower.
Embodiment three
As shown in figure 5, this method is applied to such as embodiment the embodiment of the invention provides a kind of fleet's formation drive manner
Fleet's formation control loop described in one comprising:
In step 301, at least two cars are formed into columns.
In embodiments of the present invention, after the completion of at least two cars are formed into columns, the relative ranks of any two cars in driving process
It is no longer changed, to guarantee the order of automatic Pilot.
In step 302, the positioning region of each car obtains its location information respectively, and the communication unit of each follow the bus receives respectively
It is located at the location information of its front and vehicle adjacent thereto in fleet, and is located at its rear and vehicle adjacent thereto into fleet
Send its location information, the preset range where the adjacent lane test section of each follow the bus detects it on adjacent lane in lane
Inside whether there is vehicle process.
In embodiments of the present invention, the positioning region of each car is GPS system, and communication unit is truck traffic system, vehicle
It is millimetre-wave radar away from test section, lane detecting portion is ultrasonic radar.
According to the front and a vehicle adjacent thereto is located in a follow the bus following fleet below it is principle in follow the bus, keeps away
Exempt from the system judgement when encountering road with certain curvature and error occurs, so when driving, after each car positions respectively,
Its location information is sent to the vehicle for being located at its rear in fleet by the vehicle of front, to allow the automatic Pilot control of subsequent follow the bus
Portion processed controls its vehicle driving for following front automatically according to the relative position of two vehicles.
In step 303, the automatic Pilot control unit in each described follow the bus obtains its location information by its positioning region,
Obtain the location information for being located at its front and vehicle adjacent thereto in fleet by its communication unit, and according to its location information with
It is located at the location information of its front and vehicle adjacent thereto in fleet, obtain it and is located at its front and adjacent thereto in fleet
Vehicle lateral spacing, it is described transverse direction spacing be two cars perpendicular to the distance on lane line direction.
In embodiments of the present invention, when fleet travel on highway straight way or approximate straight way section when, fleet
It substantially travels in the center namely each follow the bus and fleet in lane and is located at the lateral vehicle in its front and vehicle adjacent thereto
Away from smaller, when the transverse direction spacing reaches certain numerical value, it was demonstrated that the vehicle lane change positioned at front.
In step 304, the automatic Pilot control unit in each described follow the bus by comparing its in fleet be located at its before
The size of the half of the lateral spacing and lane width of square and adjacent thereto vehicle, judge in fleet be located at its front and
Vehicle adjacent thereto whether lane change.
In embodiments of the present invention, since the lane width on highway is substantial constant, therefore in each follow the bus from
Dynamic drive control section can be wide with the lateral spacing and lane that are located at its front and vehicle adjacent thereto in fleet by comparing it
The size of the half of degree, judge in fleet be located at this with front side and vehicle adjacent thereto whether lane change, wherein if
It is located in front of it in certain follow the bus and fleet and the lateral spacing of vehicle adjacent thereto is greater than the half of lane width, then
The automatic Pilot control unit of this follow the bus judges to be located at its front and vehicle lane change adjacent thereto in fleet；If certain follow the bus with
The lateral spacing for being located at its front and vehicle adjacent thereto in fleet is less than the half of lane width, then this follow the bus
Automatic Pilot control unit judges to be located at its front and the non-lane change of vehicle adjacent thereto in fleet.
In embodiments of the present invention, if the automatic Pilot control unit of certain follow the bus judge in fleet be located at its front and therewith
The non-lane change of adjacent vehicle, then enter step 305；If the automatic Pilot control unit of certain follow the bus judges to be located at its front in fleet
And vehicle lane change adjacent thereto, then enter step 306.
In step 305, the automatic Pilot control unit of each follow the bus control in its following fleet be located at its front and therewith
Adjacent vehicle driving.
In embodiments of the present invention, it is preferable that when being located at its front and vehicle adjacent thereto in each follow the bus following fleet
When driving, it is preferable that each follow the bus and longitudinal spacing between its front and vehicle adjacent thereto and target carriage away from
Between absolute value of the difference be less than default value.
Within step 306, by being located at the phase of lane change rear of vehicle and follow the bus adjacent thereto of last in fleet
Whether described last of adjacent lane detecting portion detection has vehicle process in the preset range at lane rear where lane change vehicle,
If not there is vehicle process, 307 are entered step, enters step 308 if having vehicle to pass through.
In step 307, in fleet last lane change rear of vehicle and follow the bus adjacent thereto are automatically driven
It sails control unit and controls its lane change followed by this last lane change vehicle driving.
In step 308, in fleet last lane change rear of vehicle and follow the bus adjacent thereto are automatically driven
It sails control unit and controls its Reduced Speed Now, and pass through last described lane change vehicle of its adjacent lane test section detection again detection
Whether there is vehicle process in the preset range at lane rear where, the lane rear where last lane change vehicle
When passing through in preset range without vehicle, last in fleet lane change rear of vehicle and follow the bus adjacent thereto should be located at
Automatic Pilot control unit controls its lane change followed by this last lane change vehicle driving again.
If the automatic Pilot control unit of certain follow the bus judges to be located at its front and vehicle lane change adjacent thereto in fleet, and
Its adjacent lane test section, which detects, is located at the default of in front of it and vehicle adjacent thereto place lane rear in the fleet
When thering is vehicle to pass through in range, to avoid the lane change of this follow the bus from colliding in the process with other vehicles, other vehicles need to be allowed first
Row.
In embodiments of the present invention, to enable follow the bus to drive safely, in follow the bus driving process, different driver training grounds can be directed to
Scape sets different enhancing signal algorithms, calculates enhancing signal according to the actual parameter in each follow the bus driving procedure, and calculate
The difference of each enhancing signal and targets improvement signal, the direction reduced according to the difference of enhancing signal and targets improvement signal are excellent
Change driving strategy.Such as:
Referring to fig. 2, when the automatic Pilot control unit of certain follow the bus judges to be located at its front and vehicle adjacent thereto in fleet
Lane change, and after its adjacent lane test section detects lane where being located at its front and vehicle adjacent thereto in the fleet
Pass through in the preset range of side without vehicle, when driving, enhancing signal can be counted the lane change of this follow the bus according to following formula (1)
It calculates:
In formula (1), r be enhancing signal, θ be the lane change of this follow the bus before in fleet be located at its front and it is adjacent thereto
The line of vehicle and the angle of lane line or this follow the bus lane change before be located at its front and vehicle adjacent thereto in fleet
The line for other vehicles that rear imports and the angle of lane line, Δ y are to be located at its front and therewith in this follow the bus and fleet
The longitudinal spacing or this follow the bus of adjacent vehicle and vehicle centering are located at the vehicle that its front and rear of vehicle adjacent thereto import
Longitudinal spacing, l be target carriage away from.
By formula (1) it is found that the numerical value that the numerical value of targets improvement signal is -2, r more levels off to -2, show that this follow the bus exists
The angle turned over when lane change is smaller, is more connect when lane change with the longitudinal spacing for being located at its front and vehicle adjacent thereto
Close-target spacing is driven a vehicle safer, and system records driving strategy when r is closest to -2 in driving procedure, encounters phase in next time
With Driving Scene when, which is advanced optimized, with the driving strategy optimized.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of fleet's formation control loop, which is characterized in that the system comprises form into columns traveling at least two cars, it is described extremely
Positioning region, communication unit, adjacent lane test section and automatic Pilot control unit are mounted in each car in few two cars；
Positioning region in each car is for positioning it；
Communication unit in each car is connect with its positioning region, and be located at its front and back and vehicle adjacent thereto
Communication unit communication connection, the communication unit in each car are used for being located at its rear and the communication unit of vehicle adjacent thereto hair
Its location information is given, and receives the location information for being located at its front and vehicle adjacent thereto；
The adjacent lane test section of each car is arranged at left and right sides of it, the adjacent lane for lane where detecting it
Preset range in whether have vehicle process；
The automatic Pilot control unit of each car is connect with its positioning region, communication unit and adjacent lane test section respectively；
At least two cars formation driving status, the vehicle that forefront is located in at least two cars is first bus, by artificial
Drive, other vehicles are follow the bus, the location information of automatic Pilot control unit each follow the bus according in each follow the bus and
It is located at the location information of its front and vehicle adjacent thereto in fleet, judges to be located at its front and vehicle adjacent thereto in fleet
Whether lane change, and according in fleet be located at each with front side and the vehicle adjacent with this follow the bus whether lane change, control should
Be located at its front and vehicle driving adjacent thereto in follow the bus following fleet, or be located in fleet this with front side and with
When passing through in the preset range on lane where the adjacent vehicle of this follow the bus without other vehicles, controls this follow the bus and follow
It is located at this with front side and after the vehicle lane change adjacent with this follow the bus in fleet, its front and therewith is located in following fleet
Adjacent vehicle driving；
Lane detection portion is additionally provided in each car, the lane detection portion of each follow the bus is separately positioned on its left and right
Two sides, and being connect with its automatic Pilot control unit, for the lane line position in lane where detecting it, each follow the bus from
Dynamic drive control section controls each described follow the bus along the vehicle according to the lane line position in lane where its location information and its
The center line in road travels.
2. system according to claim 1, which is characterized in that be additionally provided with spacing test section, the vehicle in each car
The front of each car is set away from test section, for detecting each car and being located at its front and vehicle adjacent thereto
Longitudinal spacing, it is described longitudinal direction spacing be two cars in the distance being parallel on lane line direction.
3. system according to claim 2, which is characterized in that the spacing test section is millimetre-wave radar.
4. system according to claim 3, which is characterized in that before the spacing test section of each car is separately positioned on it
The top of windshield.
5. system according to claim 1, which is characterized in that the adjacent lane test section is ultrasonic radar.
6. a kind of fleet's formation drive manner, which is characterized in that the method is applied to any one of claim 1-5 right such as and wants
Seek fleet's formation control loop, which comprises
Step 1: at least two cars are formed into columns, wherein for the first bus at least in two cars by pilot steering, other vehicles are follow the bus；
Step 2: the positioning region of each car obtains its location information respectively, and the communication unit of each follow the bus receives in fleet respectively to be located at
The location information of its front and vehicle adjacent thereto, and it is located at its rear into fleet and vehicle adjacent thereto sends its position
Confidence breath, the adjacent lane test section of each follow the bus detect in the preset range on the adjacent lane in its place lane whether have vehicle
Pass through；
Step 3: automatic Pilot control unit in each follow the bus is according to being located at its front and therewith in its location information and fleet
The location information of adjacent vehicle, judge to be located in fleet its front and vehicle adjacent thereto whether lane change, and according to fleet
In be located at its front and vehicle adjacent thereto whether lane change, control and be located at its front and phase therewith in this follow the bus following fleet
Adjacent vehicle driving, or be located in fleet pre- on lane of this with front side and where the vehicle adjacent with this follow the bus
If pass through in range without other vehicles, control in this follow the bus following fleet be located at this with front side and with this follow the bus
After adjacent vehicle lane change, its front and vehicle driving adjacent thereto are located in following fleet；
Automatic Pilot control unit in each described follow the bus is according to being located at its front and therewith phase in its location information and fleet
The location information of adjacent vehicle, judge to be located in fleet its front and vehicle adjacent thereto whether lane change, comprising:
Automatic Pilot control unit in each described follow the bus obtains its location information by its positioning region, is obtained by its communication unit
It is located at the location information of its front and vehicle adjacent thereto in fleet, and is located in front of its according in its location information and fleet
And the location information of vehicle adjacent thereto, it obtains in each described follow the bus and fleet and is located at its front and vehicle adjacent thereto
Lateral spacing, it is described transverse direction spacing be two cars perpendicular to the distance on lane line direction；
Automatic Pilot control unit in each described follow the bus by comparing its be located at its front and vehicle adjacent thereto in fleet
Lateral spacing and lane width half size, judge in fleet be located at its front and vehicle adjacent thereto be
No lane change.
7. according to the method described in claim 6, it is characterized in that, described in front of it and adjacent thereto according to being located in fleet
Vehicle whether lane change, control and be located at its front and vehicle driving adjacent thereto in this follow the bus following fleet, or in fleet
It is passed through in the preset range on lane of this with front side and where the vehicle adjacent with this follow the bus without other vehicles
It is out-of-date, it controls and is located at this in this follow the bus following fleet with front side and after the vehicle lane change adjacent with this follow the bus, follow
It is located at its front and vehicle driving adjacent thereto in fleet, comprising:
If the automatic Pilot control unit of certain follow the bus judges to be located at its front and the non-lane change of vehicle adjacent thereto in fleet, should
The automatic Pilot portion of follow the bus according to the location information for being located at its front and vehicle adjacent thereto in its location information and fleet,
It controls and is located at its front and vehicle driving adjacent thereto in its following fleet；
If the automatic Pilot control unit of certain follow the bus judges to be located at its front and vehicle lane change adjacent thereto in fleet, pass through
Its adjacent lane test section, which detects, is located at its front and the default model at vehicle place lane rear adjacent thereto in the fleet
Whether there is vehicle process in enclosing；
If be located at this in the fleet does not have with front side and where vehicle adjacent thereto in the preset range at lane rear
Vehicle passes through, then is located at its front and therewith phase after the automatic Pilot control unit of this follow the bus controls its lane change, in following fleet
Adjacent vehicle driving；
If being located at this in the fleet has vehicle with front side and where vehicle adjacent thereto in the preset range at lane rear
Pass through, then the automatic Pilot control unit of this follow the bus controls its Reduced Speed Now, and is examined again by its adjacent lane test section
Whether survey in the fleet where being located at its front and vehicle adjacent thereto has vehicle process in the preset range at lane rear,
Until be located in the fleet this with where front side and vehicle adjacent thereto in the preset range at lane rear without vehicle
When passing through, be located at after the automatic Pilot control unit of this follow the bus controls this follow the bus lane change again, in following fleet its front and
Vehicle driving adjacent thereto.
8. according to method described in any one of claim 6-7 claim, which is characterized in that the method also includes:
Different enhancing signal algorithms is set for different Driving Scenes, according to the practical ginseng in each described follow the bus driving procedure
Number calculates enhancing signal, and calculates the absolute value of the difference of each enhancing signal and targets improvement signal, according to enhancing signal and mesh
The direction that the absolute value of the difference of mark enhancing signal reduces optimizes driving strategy.
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