CN101882373A - Motorcade maintaining method and vehicle-mounted communication system - Google Patents
Motorcade maintaining method and vehicle-mounted communication system Download PDFInfo
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- CN101882373A CN101882373A CN 200910138206 CN200910138206A CN101882373A CN 101882373 A CN101882373 A CN 101882373A CN 200910138206 CN200910138206 CN 200910138206 CN 200910138206 A CN200910138206 A CN 200910138206A CN 101882373 A CN101882373 A CN 101882373A
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Abstract
The invention relates to a motorcade maintaining method and a vehicle-mounted communication system. In the motorcade maintaining method, the suggested advance vehicle speed of each vehicle is provided by utilizing the exchange and dispersion type algorithm of a vehicle position and vehicle speed information to maintain the degree of motorcade clustering. The method comprises the following steps of: grouping vehicles into a plurality of sub-motorcades and recognizing conducting vehicles and member vehicles in the sub-motorcades; obtaining position coordinates and advance vehicle speed of each vehicle in each sub-motorcade and converting the position coordinates of each vehicle into corresponding one-dimensional coordinates; calculating a sub-motorcade gravity center of each sub-motorcade and a motorcade gravity center of the whole motorcade according to the converted one-dimensional coordinates; and generating the suggested advance vehicle speed of all the conducting vehicles according to the gravity center distances of all the conducting vehicles and accordingly generating the suggested advance vehicle speed of all the member vehicles.
Description
Technical field
The present invention relates to a kind of Motorcade maintaining method and Vehicular communication system.
Background technology
Along with the progress of science and technology and the prosperity of the vehicles, modern people's mobile demand increases widely, so the user quite thirsts for the infosystem that a cover can provide destination guide or map guiding.Because the universalness of personal movable apparatus, (therefore the GPS guidance device produces for Global Position System, commercialization GPS) with GPS.
Present portable electronic devices can be in conjunction with the GPS technology, with purposes as navigator fix, main navigator fix in order to vehicles such as automobile, boats and ships and aircrafts, and above-mentioned portable electronic devices for example is mobile phone, personal digital aid (PDA) or the omniselector portable electronic devices such as (navigator) of built-in or plug-in gps antenna module.And in today that GPS popularizes day by day, people like carrying the electronic installation with GPS when tourism, and this electronic installation may store each regional navigation software and its map datum, in order to the driver assistance people in strange zone, the screen display of energy mat omniselector goes out the electronic chart of driver region, makes the driver can not get lost.
Yet above-mentioned GPS guidance device only can be informed the position of vehicle itself, and vehicle and present communicating by letter between the fleet but can't be provided.Can communicate by letter in order to make between vehicle, (Federal Communications Commission FCC) offers the frequency band of 5.85-5.925GHz between inter-vehicular communication and vehicle-wayside unit and communicates by letter in FCC.Specifically, each chassis all is furnished with some memory storages and Transmit-Receive Unit, so each chassis all can be as being a mobile route to be used for help storage or transmit message, wherein mainly is to be its application with vehicle-mounted money communication entertainment service and traffic safety.
(Vehicle Ad-hocNetwork VANET) can be considered mobile random network (Mobile Ad-hoc Network, special applications situation MANET) to formed automobile-used random network between the communicator of each vehicle.In automobile-used random network, vehicle is regarded as interspersing among the mobile node (Mobile Nodes) on the road, and moves with particular form and form network topology (Network Topology) and the network characteristic that is different from general mobile random network and is supposed.For example, when a fleet that comprises many vehicles goes on a tour, may cause the interruption of fleet's network with broken because of road conditions problems such as (ex: traffic lights, traffic congestion ...).The more important thing is that owing to lack reliable and stable transmission medium between the vehicle, (Quality of Service QoS) becomes and is difficult to reach the service quality of many services.
Fig. 1 illustrates the synoptic diagram that fleet advances.Please refer to Fig. 1, fleet comprises 8 cars such as vehicle 102,104,106,108,110,112,114 and 116, when fleet advances, vehicle 102,104,106,108,110,112,114 and 116 may because of road conditions (for example, environmental factor such as traffic lights, traffic congestion) makes the vehicle 102,104,106,108,110,112,114 and 116 in the fleet disperse, and can't confirm position each other.
Therefore, when people go on a tour in fleet's mode, how to avoid the vehicle in the fleet to wander away, the current position that perhaps allows the leader of fleet understand vehicle in the present fleet is important during fleet goes on a tour in the process quite.
Summary of the invention
The present invention proposes a kind of Motorcade maintaining method, is used to keep a fleet, and wherein this fleet has many vehicles.This Motorcade maintaining method comprises the vehicle in the fleet is grouped into a plurality of sub-fleets, and in each sub-fleet identification wherein a vehicle be that staff vehicles and other vehicles are member's vehicle.This Motorcade maintaining method also comprises the position coordinates of obtaining each vehicle in each sub-fleet and advances the speed of a motor vehicle, and the position coordinates of each vehicle is converted to a corresponding dimension coordinate.And this Motorcade maintaining method also comprises the sub-fleet center of gravity according to each sub-fleet of the pairing one dimension coordinate Calculation of each vehicle in each sub-fleet, and according to fleet's center of gravity of the whole fleet of center of gravity calculation of sub-fleet of all sub-fleets.Moreover this Motorcade maintaining method also comprises suggestion that the centroidal distance according to each staff vehicles produces each staff vehicles speed of a motor vehicle of advancing, and wherein the centroidal distance of each staff vehicles is to calculate according to the staff vehicles of correspondence and the distance between fleet's center of gravity.
The present invention proposes a kind of Vehicular communication system, is applicable to be configured in the vehicle and to keep this vehicle in a fleet.This Vehicular communication system comprises microprocessor unit, sub-fleet grouped element, positioning unit, speed of a motor vehicle detecting unit, Transmit-Receive Unit, one dimension coordinate transformation unit, center of gravity calculation unit and suggestion speed of a motor vehicle generation unit.Sub-fleet grouped element is to be coupled to microprocessor unit and in order to being staff vehicles or member's vehicle with above-mentioned vehicle grouping to sub-fleet and decision vehicle.Positioning unit is to be coupled to microprocessor unit and in order to receive a plurality of positional informations to judge the position coordinates of above-mentioned vehicle from positioning system.Speed of a motor vehicle detecting unit is to be coupled to microprocessor unit and in order to detect the speed of a motor vehicle of advancing of above-mentioned vehicle.Transmit-Receive Unit be coupled to microprocessor unit and in order to the position coordinates that from least one other vehicles of sub-fleet, receives these other vehicles with advance the speed of a motor vehicle.The one dimension coordinate transformation unit is to be coupled to microprocessor unit and to be converted to a plurality of corresponding dimension coordinates in order to the position coordinates with above-mentioned vehicle with the position coordinates of other vehicles.The center of gravity calculation unit is to be coupled to microprocessor unit and in order to calculate the sub-fleet center of gravity of sub-fleet according to correspondence one dimension coordinate changed, and wherein other the sub-fleet centers of gravity that also receive from other staff vehicles in order to the foundation Transmit-Receive Unit of center of gravity calculation unit and the sub-fleet center of gravity calculated are calculated fleet's center of gravity of fleet.Suggestion speed of a motor vehicle generation unit is to be coupled to microprocessor unit, the suggestion that suggestion speed of a motor vehicle generation unit can produce above-mentioned vehicle according to the centroidal distance between fleet's center of gravity and the above-mentioned vehicle when wherein group fleet grouped element determined above-mentioned vehicle for the staff vehicles speed of a motor vehicle of advancing.
For above-mentioned feature and advantage of the present invention can be become apparent, embodiment cited below particularly, and conjunction with figs. is described in detail below.
Description of drawings
Fig. 1 illustrates the synoptic diagram that fleet advances.
Fig. 2 is the synoptic diagram that example embodiment illustrated according to the present invention fleet advances.
Fig. 3 is the vehicular communication unit that example embodiment illustrated according to the present invention.
Fig. 4 carries out the gather together process flow diagram of method of minimum identification code.
Fig. 5 (a)～(e) carries out the gather together example schematic of method of minimum identification code.
Fig. 6 is the synoptic diagram that illustrates conversion one dimension coordinate according to this example embodiment.
Fig. 7 is the operation workflow figure of the Motorcade maintaining method that example embodiment illustrated according to the present invention.
Fig. 8 is that example embodiment illustrates the advance detail flowchart of the speed of a motor vehicle of the suggestion that produces staff vehicles according to the present invention.
Fig. 9 is the operation workflow figure of the Motorcade maintaining method that another example embodiment illustrated according to the present invention.
[main element symbol description]
102,104,106,108,110,112,114,116: vehicle
202,204,206,208,210,212,214,216: vehicle
222,224,226,228,230,232,234,236: vehicular communication unit
282,284,286: wayside unit
252,254,256: sub-fleet
262: fleet's center of gravity
302: microprocessor unit
304: sub-fleet grouped element
306: positioning unit
308: speed of a motor vehicle detecting unit
310: Transmit-Receive Unit
312: the one dimension coordinate transformation unit
314: the center of gravity calculation unit
316: suggestion speed of a motor vehicle generation unit
S401, S403, S405, S407, S409, S411, S413, S415: the gather together execution in step of method of minimum identification code
S701, S703, S705, S707, S709, S711, S713, S901, S903: the execution in step of Motorcade maintaining method
S801, S803, S805, S807, S809: the suggestion that the produces staff vehicles step of the speed of a motor vehicle of advancing
Embodiment
Embodiments of the invention provide a kind of Motorcade maintaining method, and it can keep the degree of gathering together of vehicle effectively.
Embodiments of the invention provide a kind of inter-vehicle information system, and it can in time provide the suggestion of the vehicle speed of a motor vehicle of advancing, and thinks and holds vehicle in fleet.
According to the Motorcade maintaining method of this example embodiment is by stable and mode of connection cheaply, allow and (for example to intercourse information between the vehicle and vehicle in the same fleet, the position coordinates of each vehicle and the speed of a motor vehicle of advancing), and can be judged that by this information each vehicle answers the degree of acceleration and deceleration.That is to say, by these message exchanges, system can remind driving suitably to quicken when vehicle lags behind whole fleet, and when vehicle lead over whole fleet when too many then system can remind driving suitably to slow down, reach the fleet's degree of gathering together of keeping thus.
Fig. 2 is the synoptic diagram that example embodiment illustrated according to the present invention fleet advances.
Please refer to Fig. 2, fleet comprises 8 cars such as vehicle 202,204,206,208,210,212,214 and 216, wherein when fleet advances, vehicle 202,204,206,208,210,212,214 and 216 makes the vehicle 202,204,206,208,210,212,214 and 216 in the fleet be separated into a plurality of sub-fleets 252,254 and 256 because of road conditions, its neutron fleet 252 is made up of vehicle 202,204 and 206, sub-fleet 254 is made up of vehicle 208,210 and 212, and sub-fleet 256 is made up of vehicle 214 and 216.
Dispose vehicular communication unit 222,224,226,228,230,232,234 and 236 in the vehicle 202,204,206,208,210,212,214 and 216 respectively.Vehicular communication unit 222,224,226,228,230,232,234 and 236 is in order to communicate with one another with the current position coordinate that transmits corresponding vehicle 202,204,206,208,210,212,214 and 216 and the speed of a motor vehicle of advancing.Particularly, vehicular communication unit 222,224,226,228,230,232,234 and 236 can be offered suggestions respectively according to the present state of fleet and be advanced the speed of a motor vehicle to vehicle 202,204,206,208,210,212,214 and 216.
Fig. 3 is the vehicular communication unit that example embodiment illustrated according to the present invention.Vehicular communication unit 222,224,226,228,230,232,234 has identical structure and function with 236, will be that example describes with the vehicular communication unit 222 that is configured in the vehicle 202 below.
Please refer to Fig. 3, vehicular communication unit 222 comprises microprocessor unit 302, sub-fleet grouped element 304, positioning unit 306, speed of a motor vehicle detecting unit 308, Transmit-Receive Unit 310, one dimension coordinate transformation unit 312, center of gravity calculation unit 314 and suggestion speed of a motor vehicle generation unit 316.
Microprocessor unit 302 is in order to control and the running of coordinating sub-fleet grouped element 304, positioning unit 306, speed of a motor vehicle detecting unit 308, Transmit-Receive Unit 310, one dimension coordinate transformation unit 312, center of gravity calculation unit 314 and suggestion speed of a motor vehicle generation unit 316.Wherein, coordinate sub-fleet grouped element 304, positioning unit 306, speed of a motor vehicle detecting unit 308, Transmit-Receive Unit 310, one dimension coordinate transformation unit 312, center of gravity calculation unit 314 and suggestion speed of a motor vehicle generation unit 316 also can in be built in the microprocessor unit 302.
Sub-fleet grouped element 304 be coupled to microprocessor unit 302 and in order to vehicle 202 grouping to a certain sub-fleet, and decision vehicle 202 in this sub-fleet is a staff vehicles or member's vehicle.Specifically, the sub-fleet grouped element 304 of vehicular communication unit 222 can communicate and consult with other vehicular communication units in the communication range of Transmit-Receive Unit 310 under the control of microprocessor unit 302, determining which vehicle is to belong to same sub-fleet, and determine which platform vehicle is a staff vehicles.At this, staff vehicles is to be responsible for the relevant information of integron fleet and to communicate by letter with the staff vehicles of other sub-fleets.
In example embodiment of the present invention, sub-fleet grouped element 304 is to use minimum identification code grouping algorithm (Lowest-ID Clustering Algorithm) to come to communicate and consult determining which vehicle is to belong to same sub-fleet with other vehicular communication units, and discerns the staff vehicles of this sub-fleet.
Fig. 4 carries out the gather together process flow diagram of method of minimum identification code, and Fig. 5 carries out the gather together example schematic of method of minimum identification code, and wherein hypothesis has 4 nodes to divide into groups.
Please refer to Fig. 4 and Fig. 5, in step S401 node can be assigned with a unique identifier (identification, ID) and initialization.For example, 4 nodes are respectively node 1, node 2, node 3 and node 4, and node 1, node 2, node 3 and node 4 can identification this as command node (Cluster-Head, CH), shown in Fig. 5 (a).
Then, in step S403, the ID message that each node can be broadcasted the ID message periodically and is received in other nodes in its communication range.
In step S405, each node can compare the ID of itself with the ID that received, with the ID that judges whether other nodes ID less than itself.If ID itself during less than the ID of other nodes, then can keep this as command node (node 1 as shown in Fig. 5 (b)) in step S407.If the ID that other nodes are arranged is during less than ID itself, then in step S409, the node of minimum ID can be identified as command node and will itself set associate member's node of command node (Quasi-Cluster-Member, QCM) (node 2,3 and 4 as shown in Fig. 5 (b)) for this reason.
Then, in step S411, can judge whether to receive the ID message of the command node of being discerned.If do not receive the ID message of the command node of being discerned, then can identification in step S413 this as command node (node 3 and 4 as shown in Fig. 5 (c)), and carry out once more execution in step S403 to broadcast the ID message periodically and to be received in the ID message of other nodes in its communication range and to discern the node (node 3 and 4 as shown in Fig. 5 (d)) of minimum ID.If receive the ID message of the command node of being discerned, then can affirmation itself in step S415 the member node of command node (node 2 as shown in Fig. 5 (b)) for this reason, and execution in step S411 continues to judge whether to receive the ID message of the command node of being discerned afterwards.
Please refer to Fig. 5, node 1 can be kept this and can confirm as the member node of node 1 as command node and node 2 in (a)～(c), and node 3 can confirm can to confirm as command node and node 4 member node of node 3 in (d)～(e).
In example embodiment of the present invention, sub-fleet grouped element 304 is that to discern vehicle 202 according to the described step of Fig. 4 be to belong to that sub-fleet and decision vehicle 202 is staff vehicles or member's vehicle.Yet, it must be appreciated, although being to use the minimum identification code method of gathering together in this example embodiment divides into groups and the identification staff vehicles, but the invention is not restricted to this, in another example embodiment of the present invention, the highest binding degree grouping algorithm (High Connectivity Clustering Algorithm) or other grouping algorithms that is fit to also can be applicable to the present invention.
Referring again to Fig. 3, positioning unit 306 is to be coupled to microprocessor unit 302 and in order to receive a plurality of positional informations to judge the position coordinates of vehicle 202 from a location system (not illustrating).For example, in this example embodiment, positioning unit 306 is a global position system, and in order to receiving position information from multi-satellite to calculate the position coordinates of vehicle 202.Yet, the invention is not restricted to this, in another example embodiment of the present invention, positioning unit 306 also can be the position coordinates that calculates vehicle 202 by the base station receiving position information of mobile communication system, for example the auxiliary parameter positioning system (Assisted GPS, A-GPS).
Speed of a motor vehicle detecting unit 308 is to be coupled to microprocessor unit 302 and in order to detect the speed of a motor vehicle of advancing of vehicle 202.In this example embodiment, speed of a motor vehicle detecting unit 302 is to be connected to vehicle 202 vehicular computers (not illustrating) that disposed own to obtain the speed of a motor vehicle of advancing of vehicle 202.Yet, the invention is not restricted to this, in another example embodiment of the present invention, speed of a motor vehicle detecting unit 308 also can be the speed of a motor vehicle of advancing that continues to calculate by the position coordinates that positioning unit 306 is calculated vehicle 202.
Transmit-Receive Unit 310 is to be coupled to microprocessor unit 302 and in order to receive and to send signal.Specifically, Transmit-Receive Unit 310 can be under the control of microprocessor unit 302 from the vehicular communication unit of other vehicles (for example, Vehicular communication system 224 and inter-vehicle information system 226) in receive message (for example, advance information such as the speed of a motor vehicle or position coordinates) and send the vehicular communication unit of message to other vehicles.In this example embodiment, Transmit-Receive Unit 310 is for meeting the communicator of IEEE 802.11p standard.That is to say, Transmit-Receive Unit 310 can make vehicular communication unit 222 and contiguous vehicular communication unit (for example, vehicular communication unit 224 and vehicular communication unit 226) form an automobile-used random network (VehicleAd-hoc Network, VANET).
In addition, when group fleet grouped element 304 identification vehicles 202 were staff vehicles, Transmit-Receive Unit 310 was also in order to communicate by letter with the vehicular communication unit of other staff vehicles to transmit and to receive message.For example, in this example embodiment, Transmit-Receive Unit 310 can (Roadside Unit RSU) communicates by letter, and communicates by letter with the vehicular communication unit of other staff vehicles by wayside unit with wayside unit.As shown in Figure 2, Transmit-Receive Unit 310 can link with wayside unit 284, and by wayside unit 284 with 282 and wayside unit 284 and 286 between binding (for example, wire communication or radio communication) and sub-fleet 254 and 256 staff vehicles (for example, vehicle 208 and 214) communicate by letter.In this example embodiment, wayside unit 282,284 and 286 also is the communicator that meets IEEE 802.11p standard.Yet, the invention is not restricted to this, wayside unit also can be the base station of mobile communications network in another example embodiment of the present invention.
One dimension coordinate transformation unit 312 is to be coupled to microprocessor unit 302 and in order to the position coordinates of vehicle 202 being converted to a corresponding dimension coordinate under the control of microprocessor unit 302, and the position coordinates of other vehicles of being received is converted to a corresponding dimension coordinate.Specifically, when vehicle 202 was identified as staff vehicles, one dimension coordinate transformation unit 312 can be collected the position coordinates of other vehicles in the vehicle 202 pairing sub-fleets.Yet because vehicle must advance according to real road, so the dimension coordinate of vehicle distance each other after must changing with the travel path of corresponding fleet represented (as shown in Figure 6).
Center of gravity calculation unit 314 is the sub-fleet centers of gravity that are coupled to microprocessor unit 302 and calculate sub-fleet 252 in order to correspondence one dimension coordinate that foundation one dimension coordinate transformation unit 312 is calculated.Specifically, when vehicle 202 was identified as staff vehicles, center of gravity calculation unit 314 can calculate the sub-fleet center of gravity of vehicle 202 pairing sub-fleets under the control of microprocessor unit 302, and its neutron fleet center of gravity is to calculate according to following formula 0-1:
G wherein
a(t) the sub-fleet center of gravity of the sub-a of fleet of expression when time t, P
i(t) be the dimension coordinate of vehicle i when time t, n
aQuantity for vehicle in the sub-fleet.
Particularly, be identified as in the example of staff vehicles at vehicle 202, Transmit-Receive Unit 310 can be communicated by letter with the vehicular communication unit of other staff vehicles, (for example send other staff vehicles to fleet's center of gravity with sub-fleet 252, vehicle 214) vehicular communication unit communication (for example, vehicular communication unit 234) and from the communication of the vehicular communication unit of other staff vehicles, receive the sub-fleet center of gravity of other sub-fleets.In addition, after receiving the sub-fleet center of gravity of other sub-fleets, the sub-fleet center of gravity of the sub-fleet center of gravity of center of gravity calculation unit 314 meetings foundation under the control of microprocessor unit 302 itself and other received sub-fleets is calculated fleet's center of gravity 262 (as shown in Figure 6) of whole fleet, and wherein fleet's center of gravity is to calculate according to following formula 0-2:
G wherein
g(t) the fleet center of gravity of expression fleet when time t, G
i(t) be the sub-fleet center of gravity of the sub-i of fleet when time t, SG is the set of neutron fleet of fleet, n
iBe the number of vehicle among the sub-i of fleet, N is the vehicle number of whole fleet, and M is the quantity of sub-fleet.
Suggestion speed of a motor vehicle generation unit 316 is to be coupled to microprocessor unit 302 and in order to the suggestion that produces vehicle 202 speed of a motor vehicle of advancing.
In this example embodiment, when group fleet grouped element 304 identification vehicles 202 are staff vehicles, advise that then speed of a motor vehicle generation unit 316 can receive the speed of a motor vehicle of advancing of vehicle 202 from speed of a motor vehicle detecting unit 308, and 316 meetings of suggestion speed of a motor vehicle generation unit are calculated average relative according to the speed of a motor vehicle of advancing that Transmit-Receive Unit 310 is received in other vehicles (that is vehicle 204 and 206) in the sub-fleet 252.For example, suggestion speed of a motor vehicle generation unit 316 can calculate the difference of the speed of a motor vehicle of advancing of vehicle 202 and vehicle 204, and calculate the difference of the speed of a motor vehicle of advancing of vehicle 202 and vehicle 206, then these differences are averaged computing, to obtain the average relative of vehicle 202.In addition, suggestion speed of a motor vehicle generation unit 316 can calculate the distance of one between vehicle 202 and the fleet's center of gravity 262 as centroidal distance according to fleet's center of gravity that center of gravity calculation unit 314 is calculated.At last, suggestion speed of a motor vehicle generation unit 316 can be according to the suggestion that the speed of a motor vehicle of advancing, centroidal distance and the average relative of vehicle 202 are calculated vehicle 202 speed of a motor vehicle of advancing.
Specifically, in this example embodiment, suggestion speed of a motor vehicle generation unit 316 can be center calculation center of gravity district's reference distance and linear zone reference distance with fleet's center of gravity according to the communication distance of Transmit-Receive Unit 310.For example, in this example embodiment, center of gravity district reference distance is to be the distance away from the communication distance of fleet's center of gravity preset multiple away from the distance of 1 times of communication distance of fleet's center of gravity and linear zone reference distance, and wherein preset multiple is to be set up on their own by the user, and preset multiple is the value greater than 1.In this example, preset multiple is set to 5.Then, whether suggestion speed of a motor vehicle generation unit 316 can surpass center of gravity district reference distance and linear zone reference distance according to the centroidal distance of vehicle 202 and decide the suggestion of vehicle 202 speed of a motor vehicle of advancing.In this mandatory declaration is that in this example embodiment, center of gravity district reference distance and linear zone reference distance are to calculate in order to divide into the speed of a motor vehicle adjustment of carrying out different schemes with the current position of difference vehicle 202 in three zones.Yet, the invention is not restricted to this, in another example embodiment of the present invention, also can 2 or more a plurality of zone distinguish the current position of vehicle.
In this example embodiment, when the centroidal distance between vehicle 202 and the fleet's center of gravity 262 does not surpass center of gravity district reference distance, advise that then speed of a motor vehicle generation unit 316 can be with the speed of a motor vehicle of on average advancing of all vehicles 202,204,206,208,210,212,214 in the fleet and 216 as the suggestion of vehicle 202 speed of a motor vehicle of advancing.
In this example embodiment, when the centroidal distance between vehicle 202 and the fleet's center of gravity 262 surpasses center of gravity district reference distance but surpasses the linear zone reference distance, advise that then speed of a motor vehicle generation unit 316 can be according to the suggestion that formula 1 calculates vehicle 202 speed of a motor vehicle of advancing:
V
T+1=V
t+ α * (D
I, g/ (D
LR+ D
GR)) * A+ (1-α) * V
I, t(formula 1)
V wherein
T+1Be the suggestion of vehicle 202 speed of a motor vehicle of advancing, V
tBe the speed of a motor vehicle of advancing of vehicle 202, α is 0%～100%, D
I, gBe the centroidal distance of vehicle 202, D
LRBe linear zone reference distance, D
GRBe center of gravity district reference distance, A is a peak acceleration, V
I, tAverage relative for vehicle 202.
In this example embodiment, A is set up on their own by the user, wherein heals when big when the A value, and then vehicle 202 can be adjusted the speed of a motor vehicle with bigger amplitude, otherwise A value more hour, and then vehicle 202 can be with the less amplitude adjustment speed of a motor vehicle.In addition, the α value also is can be set up on their own by the user, and wherein α more hour, then vehicle 202 can be adjusted the speed of a motor vehicle with reference to the speed of a motor vehicle of advancing of its contiguous vehicle, otherwise α is healed when big, and then vehicle 202 can more not adjusted the speed of a motor vehicle with reference to the speed of a motor vehicle of advancing of its contiguous vehicle.In this example embodiment, A is set at per second squares 3 meters, and α is set at 60%.
In this example embodiment, when the centroidal distance between vehicle 202 and the fleet's center of gravity 262 surpasses the linear zone reference distance, then advise suggestion that speed of a motor vehicle generation unit 316 calculates vehicle 202 according to formula 2 speed of a motor vehicle of advancing:
V
T+1=V
t± A (formula 2)
Wherein when the position of vehicle 202 be before fleet's center of gravity the time, advise that then speed of a motor vehicle generation unit 316 can be with (V
t-A) as the suggestion speed of a motor vehicle of advancing, and when the position of vehicle 202 be after fleet's center of gravity the time, advise that then speed of a motor vehicle generation unit 316 can be with (V
t+ A) as the suggestion speed of a motor vehicle of advancing.
In addition, in this example embodiment, when group fleet grouped element 304 identification vehicles 202 are member's vehicle, advise that then speed of a motor vehicle generation unit 316 can receive the speed of a motor vehicle of advancing of vehicle 202 from speed of a motor vehicle detecting unit 308, and suggestion speed of a motor vehicle generation unit 316 can be received in the speed of a motor vehicle calculating average relative of advancing of other vehicles (that is vehicle 204 and 206) in the sub-fleet 252 according to Transmit-Receive Unit 310.At last, suggestion speed of a motor vehicle generation unit 316 can be according to the suggestion that the advance speed of a motor vehicle and the average relative of vehicle 202 are calculated vehicle 202 speed of a motor vehicle (as formula 3) of advancing:
V
T+1=V
t+ V
I, t(formula 3)
Wherein average relative must be not more than peak acceleration, that is to say, when average relative during greater than peak acceleration, then the value with peak acceleration replaces the average relative of being calculated.
In the present invention's one example embodiment, vehicular communication unit 222 also comprises suggestion speed of a motor vehicle Tip element (not illustrating), is shown to the driving of vehicle 202 in order to will advise suggestion that speed of a motor vehicle generation unit 316 the is produced speed of a motor vehicle of advancing.At this, suggestion speed of a motor vehicle Tip element can be a display screen or a voice playing device.
Comprehensively above-mentioned, in this example embodiment, when vehicle 202 was identified as staff vehicles, vehicular communication unit 222 can be responsible for collecting the information of other vehicles in the sub-fleet and communicate with the suggestion that determines vehicle 202 speed of a motor vehicle of advancing with other sub-fleets.Otherwise, when vehicle 202 is identified as member's vehicle, then the vehicular communication unit 222 of vehicle 202 can provide relevant information to the staff vehicles in its communication range, and according to the speed of a motor vehicle adjustment of advancing of other member's vehicles in staff vehicles and the sub-fleet speed of a motor vehicle of advancing.
Fig. 7 is the operation workflow figure of the Motorcade maintaining method that example embodiment illustrated according to the present invention.
Please refer to Fig. 7, in step S701, the vehicle in the fleet be grouped into a plurality of sub-fleets, and in each sub-fleet identification selection wherein a vehicle be staff vehicles, discerning other vehicles simultaneously is member's vehicle.Vehicle grouping and select the method for staff vehicles cooperated Fig. 4 and Fig. 5 describe in detail as before, no longer be repeated in this description at this.In addition, because the running in each sub-fleet is identical, following step will explain with the vehicle in the sub-fleet 252.
In step S703, can obtain the position coordinates of each vehicle in each sub-fleet and the speed of a motor vehicle of advancing.
For example, as shown in Figure 2, staff vehicles in sub-fleet 252,254 and 256 is respectively vehicle 202,208 and 214 (promptly, other vehicles 204,206,210,212,216 are member's vehicle) example in, the vehicular communication unit 222 of vehicle 202 can be obtained the position coordinates of vehicle 204 and the speed of a motor vehicle of advancing from the vehicular communication unit 224 of vehicle 204 in sub-fleet 252, and obtains the position coordinates of vehicle 206 and the speed of a motor vehicle of advancing from the vehicular communication unit 226 of vehicle 206.And the vehicular communication unit 224 of vehicle 204 also can be obtained the speed of a motor vehicle and obtain the speed of a motor vehicle of advancing of vehicle from the vehicular communication unit 226 of vehicle 206 of advancing of vehicle 202 from the vehicular communication unit 222 of vehicle 202.In addition, the vehicular communication unit 226 of vehicle 206 also can be obtained the speed of a motor vehicle and obtain the speed of a motor vehicle of advancing of vehicle from the vehicular communication unit 224 of vehicle 204 of advancing of vehicle 202 from the vehicular communication unit 222 of vehicle 202.
Then, in step S705 with fleet in the position coordinates of all vehicles be converted to a corresponding dimension coordinate.Afterwards, the dimension coordinate according to each vehicle in each sub-fleet in step S707 calculates sub-fleet center of gravity, and can calculate fleet's center of gravity of fleet in step S709 according to all sub-fleet centers of gravity.
Then, the suggestion that in step S711, produces each staff vehicles speed of a motor vehicle of advancing according to the centroidal distance of each staff vehicles.Fig. 8 is the advance detail flowchart of the speed of a motor vehicle of the suggestion of the generation staff vehicles that example embodiment illustrated according to the present invention.Below will step among Fig. 8 be described with the suggestion that produces vehicle 202 speed of a motor vehicle of advancing.
Please refer to Fig. 8, can judge in step S801 whether the centroidal distance between staff vehicles 202 and the fleet's center of gravity 262 surpasses center of gravity district reference distance, wherein the account form of center of gravity district reference distance has been described as above, is not repeated in this description at this.When if the centroidal distance of staff vehicles 202 is no more than center of gravity district reference distance, then can be in step S803 with fleet in the speed of a motor vehicle of on average advancing of all vehicles as the suggestion of vehicle 202 speed of a motor vehicle of advancing.Specifically, the vehicular communication unit 222 of staff vehicles 202 can be obtained the speed of a motor vehicle of advancing of each vehicle in the sub-fleet 252 in step S703, and the vehicular communication unit 222 of staff vehicles 202 can be shared the vehicular communication unit 234 of vehicular communication unit 228 that these information give staff vehicles 208 and staff vehicles 214 and obtain the speed of a motor vehicle of advancing of the vehicle in sub-fleet 254 and 256 from the vehicular communication unit 234 of the vehicular communication unit 228 of staff vehicles 208 and staff vehicles 214 by wayside unit 282,284 with 286.
When if the centroidal distance of staff vehicles 202 surpasses center of gravity district reference distance, whether the centroidal distance that then can judge staff vehicles 202 in step S805 surpasses the linear zone reference distance, wherein the account form of linear zone reference distance has been described as above, is not repeated in this description at this.When if the centroidal distance of staff vehicles 202 is no more than the linear zone reference distance, the suggestion that in step S807, can calculate staff vehicles 202 according to above-mentioned formula 1 speed of a motor vehicle of advancing then.When if the centroidal distance of staff vehicles 202 surpasses the linear zone reference distance, then can be in step S809 according to the suggestion that above-mentioned formula 2 calculates staff vehicles 202 speed of a motor vehicle of advancing.
In sum, the suggestion of calculating each staff vehicles according to the speed of a motor vehicle of advancing, centroidal distance and the average relative of the staff vehicles of the correspondence speed of a motor vehicle of advancing, wherein the average relative of each staff vehicles is to calculate according to the speed of a motor vehicle of advancing of other vehicles in the advance speed of a motor vehicle and the pairing sub-fleet of staff vehicles of the staff vehicles of correspondence.
Referring again to Fig. 7, last, the suggestion that in step S713, can produce each the member's vehicle speed of a motor vehicle (as shown in Equation 3) of advancing according to the advance speed of a motor vehicle and the average relative of each member's vehicle.
What deserves to be mentioned is, in another example embodiment of the present invention, can be more determine whether execution in step S711 and step S713 according to the degree of gathering together of fleet.Fig. 9 is the operation workflow figure of the Motorcade maintaining method that another example embodiment illustrated according to the present invention.
Please refer to Fig. 9, also comprised the degree of gathering together (step S901) of calculating fleet before step S711, wherein the degree of gathering together of fleet is to calculate according to following formula 4:
G wherein
DiffThe degree of gathering together of expression fleet, G
g(t) the fleet center of gravity of expression fleet when time t, G
j(t) be the sub-fleet center of gravity of the sub-j of fleet when time t, SG is the set of neutron fleet of fleet, n
jBe the number of vehicle among the sub-j of fleet, N is the vehicle number of whole fleet, and M is the quantity of neutron fleet of fleet.
Afterwards, can judge that in step S903 the fleet calculated gathers together degree whether greater than the fleet degree threshold value of gathering together.In this example embodiment, fleet's degree threshold value of gathering together is the nonnegative number value that is set up on their own by the user, wherein fleet's degree threshold value of gathering together is low more, then produce suggestion advance the frequency of the speed of a motor vehicle can be high more, otherwise, the degree threshold value is gathered together when high more by fleet, then produce suggestion advance the frequency of the speed of a motor vehicle can be low more.In this example embodiment, fleet's degree threshold value of gathering together is to be set at 1000.
When degree is gathered together the degree threshold value greater than fleet if the fleet of being calculated gathers together, execution in step S711 then.Except step S901 and step S903, other steps of Fig. 9 are to be same as the described step of Fig. 7, are not repeated in this description at this.
In sum, the Motorcade maintaining method of example embodiment of the present invention is the suggestion road speed that produces staff vehicles in the sub-fleet according to fleet's center of gravity, and member's vehicle is that the speed of a motor vehicle of advancing according to other vehicles in the sub-fleet produces, and the vehicle in the fleet can be maintained one thus and gather together in the degree.In addition, by transmitting information each other between the vehicle in the vehicular communication unit communication range of example embodiment of the present invention, to keep advancing in the sub-fleet, can transmit the relevant information of sub-fleet by wayside unit between the staff vehicles simultaneously, to keep advancing between the sub-fleet, this can reach the target of avoiding vehicle to take off team base.
Though the present invention with embodiment openly as above; right its is not in order to qualification the present invention, those skilled in the art, without departing from the spirit and scope of the present invention; when doing a little change and retouching, so protection scope of the present invention is as the criterion when looking the appended claims person of defining.
Claims (17)
1. a Motorcade maintaining method is used to keep a fleet, and wherein this fleet has many vehicles, and this Motorcade maintaining method comprises:
These vehicles are grouped into a plurality of sub-fleets, and at each in this a little fleet identification these vehicles one of them be that staff vehicles and other these vehicles are member's vehicle;
A position coordinates and one of obtaining at each in this a little fleet each these vehicle speed of a motor vehicle of advancing;
These position coordinateses of these vehicles are converted to a plurality of corresponding dimension coordinates;
Calculate a sub-fleet center of gravity of each this a little fleet, wherein this sub-fleet center of gravity of each this a little fleet is according to this correspondence one dimension coordinate Calculation of these vehicles in this sub-fleet of correspondence;
Fleet's center of gravity according to this this fleet of center of gravity calculation of a little fleet of this a little fleet; And
A suggestion that produces each these staff vehicles according to a centroidal distance of each these staff vehicles speed of a motor vehicle of advancing, wherein this centroidal distance of each these staff vehicles is apart from calculating according to one between this staff vehicles of correspondence and this fleet's center of gravity.
2. Motorcade maintaining method as claimed in claim 1, wherein the advance step of the speed of a motor vehicle of this suggestion that produces each these staff vehicles according to this centroidal distance of each these staff vehicles comprises:
The suggestion of calculating each these staff vehicles according to this speed of a motor vehicle of advancing, this centroidal distance and an average relative of this staff vehicles of the correspondence speed of a motor vehicle of advancing, wherein this average relative of each these staff vehicles is to calculate according to the speed of a motor vehicle of advancing of other these vehicles in the advance speed of a motor vehicle and pairing this sub-fleet of this staff vehicles of this staff vehicles of correspondence.
3. Motorcade maintaining method as claimed in claim 1, comprise also that according to this of this member's vehicle of correspondence this suggestion that the speed of a motor vehicle and an average relative produce each these member's vehicle speed of a motor vehicle of advancing of advancing wherein this average relative of each these member's vehicle is to calculate according to the speed of a motor vehicle of advancing of other these vehicles in the advance speed of a motor vehicle and pairing this sub-fleet of this member's vehicle of this member's vehicle of correspondence.
4. Motorcade maintaining method as claimed in claim 1, also comprise the degree of gathering together according to this a little fleet center of gravity and this fleet's center of gravity calculation one fleet, and this suggestion that only when this fleet degree of gathering together is gathered together the degree threshold value greater than a fleet, produces each these staff vehicles according to this centroidal distance of each these staff vehicles speed of a motor vehicle of advancing.
5. Motorcade maintaining method as claimed in claim 1 also is included in each these vehicle configuration one vehicular communication unit, in order to form an automobile-used random network in this a little fleet at each.
6. Motorcade maintaining method as claimed in claim 5, wherein obtain at each this position coordinates of each these vehicle in this a little fleet and the step of this speed of a motor vehicle of advancing and comprise:
By these position coordinateses and these speed of a motor vehicle of advancing that receive these member's vehicles in the vehicular communication unit of this vehicular communication unit these member's vehicles from this sub-fleet of correspondence of each these staff vehicles.
7. Motorcade maintaining method as claimed in claim 5, also comprise configuration one communication system in order to link the vehicular communication unit of these commander fleets, wherein this communication system is a mobile communications network or is by a wireless network or a cable network a plurality of wayside unit connected to one another.
8. Motorcade maintaining method as claimed in claim 5, wherein these wayside unit and these vehicular communication units are to meet IEEE 802.11p standard.
9. Motorcade maintaining method as claimed in claim 1, the step that wherein these vehicles is grouped into this a little fleet comprises that use one minimum identification code grouping algorithm is grouped into this a little fleet with these vehicles.
10. Motorcade maintaining method as claimed in claim 2, wherein the advance step of the speed of a motor vehicle of the suggestion of calculating each these staff vehicles according to this speed of a motor vehicle of advancing, this centroidal distance and this average relative of this staff vehicles of correspondence comprises:
Communication distance according to this vehicular communication unit calculates a center of gravity district reference distance and a linear zone reference distance, and wherein this center of gravity district reference distance is multiplied by a preset multiple for this communication distance and this linear zone reference distance for this communication distance;
Whether the distance of judging this corresponding staff vehicles and this fleet's center of gravity is greater than this center of gravity district reference distance;
If the distance of this corresponding staff vehicles and this fleet's center of gravity is non-during greater than this center of gravity district reference distance, the speed of a motor vehicle of then suggestion of this staff vehicles of correspondence being advanced is set at one of these vehicles speed of a motor vehicle of on average advancing;
If the distance of this corresponding staff vehicles and this fleet's center of gravity is during greater than this center of gravity district reference distance, judge that then whether the distance of this corresponding staff vehicles and this fleet's center of gravity is greater than this linear zone reference distance, if wherein the distance of Dui Ying this staff vehicles and this fleet's center of gravity is non-during greater than this linear zone reference distance, the suggestion of calculating this corresponding staff vehicles speed of a motor vehicle of advancing then according to formula 1:
V
T+1=V
t+ α * (D
I, g/ (DLR+D
GR)) * A+ (1-α) * V
I, t(formula 1),
V wherein
T+1Be the suggestion of this staff vehicles of the correspondence speed of a motor vehicle of advancing, V
tBe the speed of a motor vehicle of advancing of this staff vehicles of correspondence, α is 0%～100%, D
I, gBe the centroidal distance of this staff vehicles of correspondence, D
LRBe this linear zone reference distance, D
GRBe this center of gravity district reference distance, A is a peak acceleration, V
I, tBe the average relative of this staff vehicles of correspondence,
When wherein if the distance of Dui Ying this staff vehicles and this fleet's center of gravity is greater than this linear zone reference distance, the suggestion of calculating this corresponding staff vehicles speed of a motor vehicle of advancing then according to formula 2:
V
T+1=V
t± A (formula 2).
11. a Vehicular communication system is applicable to be configured in the vehicle and to keep this vehicle in a fleet that this Vehicular communication system comprises:
One microprocessor unit;
One sub-fleet grouped element, be coupled to this microprocessor unit and in order to the grouping of this vehicle to a sub-fleet and determine that this vehicle is a staff vehicles or member's vehicle;
Locating unit is coupled to this microprocessor unit and in order to receive a plurality of positional informations to judge a position coordinates of this vehicle from a location system;
One speed of a motor vehicle detecting unit is coupled to this microprocessor unit and in order to detect one of this vehicle speed of a motor vehicle of advancing;
One Transmit-Receive Unit, be coupled to this microprocessor unit and in order to the position coordinates that from least one other vehicles of this sub-fleet, receives these at least one other vehicles with advance the speed of a motor vehicle;
The dimension coordinate converting unit is coupled to this microprocessor unit and is converted to a plurality of corresponding dimension coordinates in order to the position coordinates with this vehicle with the position coordinates of these at least one other vehicles one by one;
One center of gravity calculation unit, be coupled to this microprocessor unit and in order to calculate a sub-fleet center of gravity of this sub-fleet according to these corresponding dimension coordinates, wherein this center of gravity calculation unit fleet's center of gravity of also calculating this fleet in order at least one other sub-fleet centers of gravity of from least one other staff vehicles, receiving according to this Transmit-Receive Unit and this sub-fleet center of gravity; And
One suggestion speed of a motor vehicle generation unit is coupled to this microprocessor unit,
This suggestion speed of a motor vehicle generation unit can produce one of this vehicle according to the centroidal distance between this fleet's center of gravity and this vehicle and advise advancing the speed of a motor vehicle when wherein group fleet grouped element determined this vehicle for this staff vehicles.
12. Vehicular communication system as claimed in claim 11, wherein group fleet grouped element determines this vehicle this suggestion that this suggestion speed of a motor vehicle generation unit also calculates this vehicle according to this speed of a motor vehicle of advancing, this centroidal distance and an average relative of this vehicle when this staff vehicles speed of a motor vehicle of advancing, and wherein this average relative of this vehicle is to calculate according to the speed of a motor vehicle of advancing of the advance speed of a motor vehicle and these at least one other vehicles of this vehicle.
13. Vehicular communication system as claimed in claim 11, when wherein group fleet grouped element determines this vehicle for this member's vehicle, this suggestion speed of a motor vehicle generation unit can be according to this of this vehicle this suggestion that the speed of a motor vehicle and an average relative produce this vehicle speed of a motor vehicle of advancing of advancing, and wherein this average relative of this vehicle is to calculate according to the speed of a motor vehicle of advancing of the advance speed of a motor vehicle and these at least one other vehicles of this vehicle.
14. Vehicular communication system as claimed in claim 11, when wherein group fleet grouped element determines this vehicle for this staff vehicles, this suggestion speed of a motor vehicle generation unit can calculate the fleet degree of gathering together according to this sub-fleet center of gravity, these at least one other fleet's centers of gravity and this fleet's center of gravity, and this suggestion that only this suggestion speed of a motor vehicle generation unit produces this vehicle according to this centroidal distance when this fleet degree of gathering together is gathered together the degree threshold value greater than fleet speed of a motor vehicle of advancing.
15. Vehicular communication system as claimed in claim 11, wherein this Transmit-Receive Unit is to meet the IEEE802.11p standard.
16. Vehicular communication system as claimed in claim 11, wherein this sub-fleet grouped element uses a minimum identification code grouping algorithm to divide into groups this vehicle to this sub-fleet and determines that this vehicle is this staff vehicles or this member's vehicle.
17. Vehicular communication system as claimed in claim 12, wherein group fleet grouped element determines this vehicle when this staff vehicles, this suggestion speed of a motor vehicle generation unit also in order to:
Communication distance according to this Transmit-Receive Unit calculates a center of gravity district reference distance and a linear zone reference distance, and wherein this center of gravity district reference distance is multiplied by a preset multiple for this communication distance and this linear zone reference distance for this communication distance;
Whether the distance of judging this vehicle and this fleet's center of gravity is greater than this center of gravity district reference distance;
If the distance of this vehicle and this fleet's center of gravity is non-during greater than this center of gravity district reference distance, the speed of a motor vehicle of then suggestion of this vehicle being advanced is set at one of this fleet speed of a motor vehicle of on average advancing;
If the distance of this vehicle and this fleet's center of gravity is during greater than this center of gravity district reference distance, whether the distance of then judging this vehicle and this fleet's center of gravity is greater than this linear zone reference distance, if wherein the distance of this vehicle and this fleet's center of gravity is non-during greater than this linear zone reference distance, the suggestion of calculating this vehicle speed of a motor vehicle of advancing then according to formula 1:
V
T+1=V
t+ α * (D
I, g/ (D
LR+ D
GR)) * A+ (1-α) * V
I, t(formula 1),
V wherein
T+1Be the suggestion of this vehicle speed of a motor vehicle of advancing, V
tBe the speed of a motor vehicle of advancing of this vehicle, α is 0%～100%, D
I, gBe the centroidal distance of this vehicle, D
LRBe this linear zone reference distance, D
GRBe this center of gravity district reference distance, A is a peak acceleration, V
I, tBe the average relative of this vehicle,
When wherein if the distance of this vehicle and this fleet's center of gravity is greater than this linear zone reference distance, the suggestion of calculating this vehicle speed of a motor vehicle of advancing then according to formula 2:
V
T+1=V
t± A (formula 2).
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| CN 200910138206 CN101882373B (en) | 2009-05-08 | 2009-05-08 | Motorcade maintaining method and vehicle-mounted communication system |
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| CN 200910138206 CN101882373B (en) | 2009-05-08 | 2009-05-08 | Motorcade maintaining method and vehicle-mounted communication system |
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