CN109318898A - A kind of intelligent driving automotive fleet cooperative control system - Google Patents
A kind of intelligent driving automotive fleet cooperative control system Download PDFInfo
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- CN109318898A CN109318898A CN201811313121.6A CN201811313121A CN109318898A CN 109318898 A CN109318898 A CN 109318898A CN 201811313121 A CN201811313121 A CN 201811313121A CN 109318898 A CN109318898 A CN 109318898A
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- 230000007613 environmental effect Effects 0.000 claims abstract description 4
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- 101001093748 Homo sapiens Phosphatidylinositol N-acetylglucosaminyltransferase subunit P Proteins 0.000 claims description 3
- 230000004927 fusion Effects 0.000 claims description 3
- RTZKZFJDLAIYFH-UHFFFAOYSA-N Diethyl ether Chemical compound CCOCC RTZKZFJDLAIYFH-UHFFFAOYSA-N 0.000 description 2
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- 206010039203 Road traffic accident Diseases 0.000 description 1
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Classifications
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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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- Mechanical Engineering (AREA)
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Abstract
A kind of intelligent driving automotive fleet cooperative control system, for reducing the manipulation strength of fleet drivers in traveling.It includes head vehicle, rear car and vehicular control unit, vehicular control unit includes Differential positioning module and its antenna, sensing module, wireless module and its antenna, wireless communication module, button of joining the team, dismisses button, industrial personal computer, interchanger and display module, Differential positioning module and its antenna position fleet vehicle position；Sensing module provides environmental data for follow the bus traveling；Wireless module and its antenna, for carrying out data exchange with other vehicles；Wireless communication module provides voice call function；Button of joining the team is for establishing fleet；Button is dismissed for dismissing fleet；Industrial personal computer, for running fleet's Collaborative Control software；Display module shows fleet information, passes through ethernet communication between interchanger and industrial personal computer, Differential positioning module, wireless module and sensing module.The system can mitigate the manipulation strength of driver in fleet.
Description
Technical field
The present invention relates to intelligent driving technical field, specifically a kind of intelligent driving automotive fleet Collaborative Control system
System.
Background technique
Now with the development of the industries such as logistics, passenger traffic, often there are more vehicles simultaneously with section composition fleet traveling
Scene.Currently, the form of fleet fully relies on the driving of driver, and driver must keep attention just and can guarantee that fleet has
Sequence traveling, the driving burden of driver is larger at this time.Therefore for the fleet in traveling, it is necessary to introduce a kind of Collaborative Control system
System reduces driver's manipulation strength, improves running efficiency.
Fleet's cooperative control system refers under the premise that security is guaranteed, by intelligent driving the relevant technologies, utilizes high speed
Several bicycles are formed flexible fleet, are led by first car (head vehicle), subsequent several bicycles (rear car) by the advantages such as highway
A vehicle traveling is successively followed, traffic accident caused by human factor can be effectively reduced, simplify traffic complex degree, traffic is reduced and gathers around
It is stifled, travel speed is improved, and energy saving on this basis, reduces traffic pollution.
Summary of the invention
The purpose of the present invention is to provide a kind of intelligent driving automotive fleet cooperative control systems, for reducing vehicle in traveling
The manipulation strength of team driver.
The technical scheme adopted by the invention to solve the technical problem is that: a kind of intelligent driving automotive fleet Collaborative Control system
System, characterized in that it includes a vehicle, several rear cars and the vehicular control unit being arranged in head vehicle and rear car, vehicle-mounted control
Unit include Differential positioning module and its antenna, sensing module, wireless module and its antenna, wireless communication module, button of joining the team,
Button, industrial personal computer, interchanger and display module, Differential positioning module and its antenna are dismissed, using RTK Differential positioning mode, tool
There is inertial navigation system, for being accurately positioned fleet vehicle position, signal is connected between Differential positioning module and antenna；
Sensing module provides environmental data for follow the bus traveling；
Wireless module and its antenna, using DSRC short-range communication technology, antenna is mounted on vehicle roof, for and fleet in
Other vehicles carry out data exchange；Wireless module is connect with aerial signal；
Wireless communication module provide driver between voice call function, understand in time convenient for driver other staff and
Vehicle condition；
Button of joining the team establishes fleet for head vehicle or rear car application is joined the team or head vehicle agrees to enqueue/dequeue；
It dismisses button and goes out team for the entire troop of head vehicle dismission or rear car application；
Industrial personal computer, for running fleet's Collaborative Control software；Collaborative Control software includes locating module, flexible cooperative module
With automatic Pilot module；Locating module is for determining the current geographical location of vehicle；Flexible cooperative module is for dynamically managing vehicle
Join the team, follow the bus, the dismission for going out team and fleet；Automatic Pilot module judges present road for merge sensor data
Situation automatically controls this vehicle line control system according to head vehicle and front truck situation, according to head bus or train route line and present case automatic Pilot；
Display module, it is quantity including the vehicle in fleet, each for showing current fleet information and Ben Che information of vehicles
A route or travel by vehicle, travel speed, early warning situation and this car state, display module are connect by VGA with industrial personal computer signal；
Interchanger and industrial personal computer, interchanger and Differential positioning module, interchanger and wireless module and interchanger and perception
It is connected between module by ethernet communication.
Further, sensing module includes machine vision sensor, millimetre-wave radar sensor, laser radar sensor etc.
Multiple sensors are used for fusion recognition front vehicles, roadmarking, speed(-)limit sign, side vehicle, front vehicle, surrounding obstacle
Object distance.
It, can be with the beneficial effects of the present invention are: a kind of intelligent driving automotive fleet cooperative control system provided by the invention
The flexible management for realizing fleet can dynamically join the team, go out team；A vehicle driver is only needed to keep attention, rear car only needs security official,
And security official is in most cases in non-operating state in the normally travel of vehicle, therefore manipulation strength is small.
Detailed description of the invention
Fig. 1 is fleet's group column form schematic diagram；
Fig. 2 is the structure chart of vehicular control unit.
Specific embodiment
As shown in Figure 1 to Figure 2, the invention mainly comprises head vehicle, several rear cars and the vehicles being arranged in head vehicle and rear car
Control unit is carried, head vehicle and rear car are arranged successively from front to back, are carried out below to the structure and working principle of vehicular control unit
Detailed description.
Vehicular control unit includes Differential positioning module and its antenna, sensing module, wireless module and its antenna, channel radio
It talks about module, button of joining the team, dismiss button, industrial personal computer, interchanger and display module.
Differential positioning module and its antenna are had inertial navigation system, can accurately be determined using RTK Differential positioning mode
Position fleet vehicle position, location frequency are greater than or equal to 10Hz.Signal connects between Differential positioning module and antenna.
Sensing module includes a variety of sensings such as machine vision sensor, millimetre-wave radar sensor, laser radar sensor
Device is used for fusion recognition front vehicles, roadmarking, speed(-)limit sign, side vehicle, front vehicle, surrounding obstacle distance, is
Follow the bus traveling provides environmental data.
Wireless module and its antenna, using DSRC short-range communication technology, antenna is mounted on vehicle roof suitable position, is used for
Data exchange is carried out with other vehicles in fleet；Wireless module is connect with aerial signal.
Wireless communication module provide driver between voice call function, understand in time convenient for driver other staff and
Vehicle condition.
Button of joining the team establishes fleet for head vehicle or rear car application is joined the team or head vehicle agrees to enqueue/dequeue.
It dismisses button and goes out team for the entire troop of head vehicle dismission or rear car application.
Industrial personal computer, for running fleet's Collaborative Control software；Collaborative Control software includes locating module, flexible cooperative module
With automatic Pilot module.Locating module is for determining the current geographical location of vehicle.Flexible cooperative module is for dynamically managing vehicle
Join the team, follow the bus, the dismission for going out team and fleet.Automatic Pilot module judges present road for merge sensor data
Situation automatically controls this vehicle line control system according to head vehicle and front truck situation, according to head bus or train route line and present case automatic Pilot.
Display module, it is quantity including the vehicle in fleet, each for showing current fleet information and Ben Che information of vehicles
A route or travel by vehicle, travel speed, early warning situation and this car state, display module are connect by VGA with industrial personal computer signal.
Interchanger is used to connect industrial personal computer, Differential positioning module, wireless module and sensing module, and ether is used between them
Network Communication.
Rear car supports line control system, line control system can be controlled by CAN bus Vehicular turn, acceleration and deceleration, braking,
The vehicle control system of light.Line control system is connect with CAN interface signal, and CAN interface is connected by Ethernet and industrial personal computer signal
It connects.
The working principle of the invention is described below:
(1) successively arrangement and stop-for-waiting, head garage sail to the head of the queue of fleet to all vehicles of fleet on road；
(2) head vehicle establishes fleet by button of joining the team, and after establishing fleet, head vehicle vehicular control unit passes through wireless mould immediately
Block broadcasts fleet information, and fleet information includes head vehicle title, license plate number, geographical location information, minimum following distance and destination,
And other vehicle applications is waited to join the team；
(3) after the wireless module of other vehicles receives fleet information, fleet information is shown over the display, and security official is logical
It crosses and clicks the button application addition fleet that joins the team.Head vehicle driver according to actual needs, agrees to or refusal rear car is joined the team application.
(4) after the completion of fleet establishes, head vehicle is ready by wireless communication module, notice rear car security official, Suo Youche
After being ready to complete, head vehicle starts driver and operates vehicle to start running that rear car is travelled automatically according to preceding wheel paths；
(5) in driving process, front truck driver according to actual needs, controls Vehicle Speed, doubling of overtaking other vehicles, rear car is certainly
Dynamic control loop successively travels, doubling of overtaking other vehicles in due course according to front truck speed, track movement and this vehicle vehicle-periphery；
(6) needed to stop when driving when head vehicle encounters urgent or other situations, at any time can the parking of operating head vehicle, other vehicles
Successively stop；
(7) if rear car needs team out, rear car driver informs head vehicle driver by wireless communication module, and is closing
In due course machine adapter tube vehicle, and control vehicle lane change and go out team, head vehicle vehicular control unit can be detected immediately upon vehicle and exit automatically
Driving mode, and team out, then reduce rear car quantity, while all rear cars being notified to have vehicle to go out team, out the front vehicle of team's vehicle
Automatically deletion sites are filled up；
(8) when there is vehicle to need to join the team, the preparation driver that joins the team is operated in vehicle lane change insertion fleet or immediately following fleet
Rear presses application and joins the team button according to the fleet information on display, and head vehicle driver according to circumstances permits joining the team, prepare
Join the team vehicle vehicular control unit receive and join the team license after, start automated driving system, and notify that driver joins the team completion,
Into automatic driving mode；
(9) head vehicle arrives at the destination, and according to real road situation, stops in suitable position, and rear car is automatically stopped and successively
It arranging, head vehicle notifies driver to prepare adapter tube vehicle by voice broadcast service, and head vehicle presses dismission button, and fleet is dismissed in preparation, after
Preparation dismission is shown on vehicle display module, is waited all rear car security official adapter tube vehicles and is pressed and dismisses button confirmation dismission, it is preceding
After vehicle receives the dismission confirmation of whole rear cars, dismission button is pressed again, dismisses fleet.
The flexible management of fleet may be implemented in the present invention, can dynamically join the team, go out team；A vehicle driver is only needed to keep paying attention to
Power, rear car only needs security official, and security official is in most cases in non-operating state in the normally travel of vehicle, therefore
Manipulation strength is small.
Claims (2)
1. a kind of intelligent driving automotive fleet cooperative control system, characterized in that it includes that head vehicle, several rear cars and setting exist
Vehicular control unit on head vehicle and rear car, vehicular control unit includes Differential positioning module and its antenna, sensing module, wireless
Module and its antenna, button of joining the team, dismiss button, industrial personal computer, interchanger and display module, Differential positioning at wireless communication module
Module and its antenna have inertial navigation system using RTK Differential positioning mode, in place for being accurately positioned fleet vehicle institute
It sets, signal connects between Differential positioning module and antenna；
Sensing module provides environmental data for follow the bus traveling；
Wireless module and its antenna, using DSRC short-range communication technology, antenna is mounted on vehicle roof, for its in fleet
He carries out data exchange by vehicle；Wireless module is connect with aerial signal；
Wireless communication module provides the voice call function between driver, understands other staff and vehicle in time convenient for driver
Situation；
Button of joining the team establishes fleet for head vehicle or rear car application is joined the team or head vehicle agrees to enqueue/dequeue；
It dismisses button and goes out team for the entire troop of head vehicle dismission or rear car application；
Industrial personal computer, for running fleet's Collaborative Control software；Collaborative Control software include locating module, flexible cooperative module and from
It is dynamic to drive module；Locating module is for determining the current geographical location of vehicle；Flexible cooperative module is for dynamically managing vehicle
It joins the team, follow the bus, the dismission for going out team and fleet；Automatic Pilot module judges present road situation for merge sensor data,
This vehicle line control system is automatically controlled according to head vehicle and front truck situation, according to head bus or train route line and present case automatic Pilot；
Display module, for showing current fleet information and Ben Che information of vehicles, quantity, Ge Geche including the vehicle in fleet
Travel route, travel speed, early warning situation and this car state, display module are connect by VGA with industrial personal computer signal；
Interchanger and industrial personal computer, interchanger and Differential positioning module, interchanger and wireless module and interchanger and sensing module
Between pass through ethernet communication connect.
2. a kind of intelligent driving automotive fleet cooperative control system according to claim 1, characterized in that sensing module packet
The multiple sensors such as machine vision sensor, millimetre-wave radar sensor, laser radar sensor are included, in front of fusion recognition
Vehicle, roadmarking, speed(-)limit sign, side vehicle, front vehicle, surrounding obstacle distance.
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| CN201811313121.6A CN109318898A (en) | 2018-11-06 | 2018-11-06 | A kind of intelligent driving automotive fleet cooperative control system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110609558A (en) * | 2019-10-09 | 2019-12-24 | 国网浙江省电力有限公司衢州供电公司 | Unmanned fleet control system and control method thereof |
| CN110641390A (en) * | 2019-09-19 | 2020-01-03 | 杨柏青 | Intelligent automobile driving auxiliary device |
| CN110796884A (en) * | 2019-10-29 | 2020-02-14 | 北京百度网讯科技有限公司 | Formation driving decision method, device and equipment and computer readable storage medium |
| CN111696373A (en) * | 2019-03-15 | 2020-09-22 | 北京图森智途科技有限公司 | Motorcade cooperative sensing method, motorcade cooperative control method and motorcade cooperative control system |
| CN111862680A (en) * | 2019-04-25 | 2020-10-30 | 通用汽车环球科技运作有限责任公司 | Dynamic forward collision warning system |
| CN112277942A (en) * | 2019-07-12 | 2021-01-29 | 北京图森智途科技有限公司 | Queue control method for automatically driving vehicle, vehicle-mounted device and system |
| CN113570845A (en) * | 2021-07-23 | 2021-10-29 | 东风汽车集团股份有限公司 | Networked vehicle formation driving method and system |
| CN113997945A (en) * | 2021-11-25 | 2022-02-01 | 东风悦享科技有限公司 | V2X-based vehicle formation driving system and method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111696373A (en) * | 2019-03-15 | 2020-09-22 | 北京图森智途科技有限公司 | Motorcade cooperative sensing method, motorcade cooperative control method and motorcade cooperative control system |
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| CN111862680A (en) * | 2019-04-25 | 2020-10-30 | 通用汽车环球科技运作有限责任公司 | Dynamic forward collision warning system |
| CN112277942A (en) * | 2019-07-12 | 2021-01-29 | 北京图森智途科技有限公司 | Queue control method for automatically driving vehicle, vehicle-mounted device and system |
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| CN110796884A (en) * | 2019-10-29 | 2020-02-14 | 北京百度网讯科技有限公司 | Formation driving decision method, device and equipment and computer readable storage medium |
| CN110796884B (en) * | 2019-10-29 | 2021-08-03 | 北京百度网讯科技有限公司 | Formation driving decision method, device and equipment and computer readable storage medium |
| CN113570845A (en) * | 2021-07-23 | 2021-10-29 | 东风汽车集团股份有限公司 | Networked vehicle formation driving method and system |
| CN113997945A (en) * | 2021-11-25 | 2022-02-01 | 东风悦享科技有限公司 | V2X-based vehicle formation driving system and method |
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