CN103280120A - Road train comprehensive decision-making device - Google Patents
Road train comprehensive decision-making device Download PDFInfo
- Publication number
- CN103280120A CN103280120A CN2013102148846A CN201310214884A CN103280120A CN 103280120 A CN103280120 A CN 103280120A CN 2013102148846 A CN2013102148846 A CN 2013102148846A CN 201310214884 A CN201310214884 A CN 201310214884A CN 103280120 A CN103280120 A CN 103280120A
- Authority
- CN
- China
- Prior art keywords
- module
- decision
- vehicle
- car
- decision making
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention relates to a road train comprehensive decision-making device. The road train comprehensive decision-making device is characterized by comprising an environment situation evaluation module, a comprehensive decision-making module and a human-computer interface module, wherein the environment situation evaluation module, the comprehensive decision-making module and the human-computer interface module are connected in sequence, the environment situation evaluation module is connected with a modeling module merging the surrounding environment of an organized team and a motorcade state sensing module of the state of a motorcade, and the human-computer interface module provides situation output and instruction input commands for a driver of a guide vehicle. The road train comprehensive decision-making device has the advantages that on the one hand, the guide vehicle of a road train can achieve automatic control over the following motorcade through the device, and on the other hand, the device can also be used as an auxiliary decision-making device with which the driver of the guide vehicle controls the organized team of vehicles so that the organized team of the vehicles can drive as a whole and the purpose of reducing driving safety threats and the purposes of energy conservation and emission reduction can be achieved.
Description
Technical field
The invention belongs to automatic driving vehicle and intelligent transportation, relate in particular under a kind of car networked environment the highway train decision making package device based on wireless communication technology.
Background technology
" highway train " is a kind of novel vehicle formation driving mode.In highway train, the formation of being made up of with specific configuration (as line style, square formation type etc.) many cars is guided forwardly to form into columns under the leading of car and is travelled, and the vehicle of following of back can be people's steering vehicle, driver assistance vehicle even automatic driving vehicle.The highway train is expected to solve numerous traffic problems: the collaborative driving between forming into columns by vehicle can reduce vehicle headway, therefore can reduce the air resistance of each car, thereby reduces fuel consumption; The reduction of vehicle headway has increased the traffic volume of road simultaneously, is expected to alleviate traffic jam issue; Vehicle can be driven a vehicle automatically according to the instruction of guiding car in forming into columns, and can liberate the driver, is expected to improve road-ability and reduces the dangerous hidden danger of artificial driving simultaneously, improves the traffic safety level.Since this century, abroad begun the highway train is launched pilot study, for example in November, 2009, European Union has supported a Sartre research project by name, and its research purpose allows many cars exercise on the highway in Europe in the mode of " row " exactly.Each highway train can once comprise eight independent vehicles, and as dolly, bus, truck etc., these cars will be mixed together and become a fleet.Sartre is just carrying out the gordian technique conceptual phase and is completing successfully once disclosing real train test at present.Because technical difficulty is higher, the external research of not seeing at present at the architectonical of highway train except Sartre, domestic research ground zero about the highway train.
Just extensively carry out at the research of unmanned car and intelligent transportation both at home and abroad at present, do not obtain important breakthrough yet but how to bring into play the advantage that unmanned car uses in Modern Traffic.It is that the unmanned car of performance is in a kind of potential means of traffic safety advantage that unmanned car is formed the highway train with the formation form.The development of highway train is subjected to the influence of unmanned driving skills art development level on the one hand, and forming into columns in real time, formulate the driving decision making package of forming into columns exactly for unmanned vehicle under the traffic environment of complexity on the other hand also is a great difficult point.The gordian technique of formulating the driving decision making package of forming into columns comprises unmanned driving skills art, wireless communication technology, intelligent decision technology etc.
The highway train has very strong practicality aspect military transportation.Serious flood took place in China in certain year, and army sets out a large amount of vehicle transport disaster relief supplies.Task amount is big, and a lot of drivers one connect a couple of days transportation of driving, and the fatigue driving phenomenon is serious, and the driver who has even fall asleep in vehicle drive has caused a lot of major traffic accidents.Obviously, the application of highway train can address this problem effectively.When vehicle had entered formation mode and independently travels, the driver in the Following Car just can rest a period of time, regains one's strength, and reduces the incidence of traffic hazard greatly.
On the other hand, when running into emergency condition driver lazy weight, and in the transport by road of various danger zones and environment (as various pollution roads, examine biochemical environment), highlight the advantage of highway train.
Summary of the invention
The objective of the invention is to overcome the deficiency of above-mentioned technology, a kind of highway train decision making package device is provided, at the formation driving problem of highway train system under complicated traffic environment, utilize a computer realization that disposes on the guide car.The running information that this device is formed into columns based on the highway train Following Car of real-time collection, by means of the formation environment is carried out modeling, thereby peripheral situation is assessed to forming into columns, make the driving decision-making of forming into columns in real time based on this, decision information is informed the guide car driver by man-machine interface on the one hand, assign to all by radio communication on the one hand and follow vehicle, thereby realize the driving of highway train formation general safety.
The present invention for achieving the above object, by the following technical solutions: a kind of highway train decision making package device is characterized in that: comprise environment situation evaluation module, decision making package module and human-machine interface module,
Described environment situation evaluation module connects the environmental modeling module of fusion formation surrounding enviroment and fleet's block of state of fleet's oneself state, it is input as current formation mode, comprise that all follow the information of vehicle, current road conditions of living in and current highway train surrounding enviroment information, the current environment state is assessed, determine formation traffic safety grade, make determining of formation driving pattern as certificate;
The situation information of described decision making package module reception environment situation evaluation module, highway train driving decision-making is analyzed and formulated, and decision information passed to follow the vehicle control driving in real time of forming into columns, described decision making package module realize formulating highway train flight pattern, with car independently drive a vehicle instruction, with car report to the police, starting braking and Following Car adding or the decision-making order withdrawed from;
Described human-machine interface module receives the decision-making order of described decision making package module, for the guide car driver provides situation output and input command.
Described decision making package module comprises that flight pattern keeps module, fleet vehicle real-time status computing module, form into columns driving danger warning module, special driving mode module, fleet's evolution module, realize formulating highway train flight pattern, with car independently drive a vehicle instruction, with car report to the police, starting braking and Following Car adding or the decision-making order withdrawed from.
Described decision making package device is disposed in the highway train guide car, it is with all are followed vehicle Vehicular road train environment sensing module and link to each other by Zigbee thereafter, in order to obtain surrounding enviroment information that all Following Cars learn by onboard sensor in real time and all follow vehicle real-time status information; The vehicle of following as decision object carries out autonomous driving according to the real-time decision information that the guide car decision making device generates.
Described human-machine interface module carries out data communication by the RS422 serial ports, is that the guide car driver provides situation output and instruction input function with screen display and touch screen mode.
Beneficial effect: functions such as the perception of highway train decision making package device comprehensive integration environment situation, decision making package, man-machine interface realize that in one the decision making package of highway train real time execution is formulated and carried out.This device is formulated form into columns driving decision-making and the concrete driver behavior decision-making of each Following Car for highway train traveling process, and comprising: flight pattern is determined in real time; Speed, directional information that each Following Car is real-time; Be in the warning message of dangerous driving pattern Following Car; Special action such as fleet's starting, parking; The outer vehicle of forming into columns adds and the interior vehicle of forming into columns withdraws from highway train decision information etc.Can realize the real-time decision-making that the highway train is formed into columns and driven a vehicle, safety, stable during operation, complete function can provide required all kinds of decision informations for highway train formation driving process.
Description of drawings
Fig. 1 is system architecture diagram of the present invention;
Fig. 2 is the highway train whole decision process block diagram of proceeding in formation;
Fig. 3 is that vehicle adds the decision process block diagram of forming into columns;
Fig. 4 follows vehicle to withdraw from formation decision process block diagram.
Embodiment
Describe the specific embodiment of the present invention in detail below in conjunction with preferred embodiment.
Embodiment
As shown in Figure 1, the invention provides a kind of highway train decision making package device, comprise environment situation evaluation module, decision making package module and human-machine interface module, environment situation evaluation module connects the environmental modeling module of fusion formation surrounding enviroment and fleet's block of state of fleet's oneself state, it is input as current formation mode, comprise that all follow the information of vehicle, current road conditions of living in and current highway train surrounding enviroment information, the current environment state is assessed, determine formation traffic safety grade, make determining of formation driving pattern as certificate; The situation information of decision making package module reception environment situation evaluation module, highway train driving decision-making is analyzed and formulated, and decision information passed to follow the vehicle control driving in real time of forming into columns, described decision making package module realize formulating highway train flight pattern, with car independently drive a vehicle instruction, with car report to the police, starting braking and Following Car adding or the decision-making order withdrawed from; Human-machine interface module receives the decision-making order of described decision making package module, for the guide car driver provides situation output and input command.The decision making package module comprises that flight pattern keeps module, fleet vehicle real-time status computing module, form into columns driving danger warning module, special driving mode module, fleet's evolution module, realize formulating highway train flight pattern, with car independently drive a vehicle instruction, with car report to the police, starting braking and Following Car adding or the decision-making order withdrawed from.The decision making package device is disposed in the highway train guide car, it is with all are followed vehicle Vehicular road train environment sensing module and link to each other by Zigbee thereafter, in order to obtain surrounding enviroment information that all Following Cars learn by onboard sensor in real time and all follow vehicle real-time status information; The vehicle of following as decision object carries out autonomous driving according to the real-time decision information that the guide car decision making device generates.Human-machine interface module carries out data communication by the RS422 serial ports, is that the guide car driver provides situation output and instruction input function with screen display and touch screen mode.
Decision making package module in the highway train decision making package device comprises that the formation of formulating vehicle formation decision information and each Following Car driving decision information according to environmental model and current estimation situation keeps module, Following Car computing module, special driving mode module, bicycle to add/withdraw from module and alarm module, realize formulating highway train flight pattern, with car independently drive a vehicle instruction, with car report to the police, starting braking and Following Car adding or the decision-making order withdrawed from.Highway train decision making package device relates to gordian techniquies such as radio communication, environmental modeling, intelligent decision, this device is formulated form into columns driving decision-making and the concrete driver behavior decision-making of each Following Car for highway train traveling process, and specifically comprise: 1. flight pattern is determined in real time; 2. real-time speed, the directional information of each Following Car; 3. be in the warning message of dangerous driving pattern Following Car; Special action such as 4. fleet's starting, parking; 5. the outer vehicle of forming into columns adds and the interior vehicle of forming into columns withdraws from highway train decision information etc.
Shown in Fig. 2-4, form the decision making package process block diagram that highway train decision making package device carries out evolution, the flight pattern conversion decision-making that vehicle adds/withdraws from is the most frequently used and the process of most important decision-making.
By a computer realization that is installed on the guide car; Inquiry Following Car status information generates highway train real time execution model in real time; Formulate the decision-making of formation vehicle driving in real time, safeguard the formation configuration; Man-machine interface with the driver is provided, and the driver can intervene the autonomous enforcement of fleet in case of necessity.
Basic functional principle: highway train decision making package device is assemblied in the highway train guide car, the ITX series A F10X1 mainboard that processor adopting VIA Technologies Inc. produces, system adopts WindowXP, has the decision making package program and reach the control program that is used for human-computer interaction interface reality in main board memory; The human-machine interface module of highway train decision making package device adopts the RS422 serial ports that data are passed to display screen and watches for the guide car driver, and display screen adopts PWS5.7 cun touch-screen.Highway train decision making package device, receives and follows vehicle environmental modeling module and vehicle-state sensing module information, and send control information to following vehicle control module with all are followed vehicle and communicate thereafter by Zigbee.
Concrete implementation detail is as follows:
(1) the environment situation evaluation module of highway train decision making package device is input as current formation mode, all follow information such as vehicle location, speed, acceleration, phase mutual edge distance, current road conditions of living in (straight line road, curve road, be in turning, enter turning etc.), current highway train surrounding enviroment information (front and back information of vehicles, track, both sides information of vehicles, traffic coherent element information etc.) is to the current environment state and assess, determine formation traffic safety grade, make determining of formation driving pattern as certificate.
(2) see Fig. 2 for details, the situation information of the decision making package module reception environment situation evaluation module of decision making package device, driving decision-making is analyzed and is formulated to the highway train, and decision information passed to follows the vehicle control driving in real time of forming into columns.In normally driving process of highway train, the decision making package device is at first carried out the flight pattern hold mode, and in decision-making double counting is constantly formed into columns next step driving states of vehicle.Make dangerous driving states according to environmental information and vehicle formation information on this basis and estimate and judgement, formulate the danger warning decision-making for the vehicle that has potential threat.
(3) see Fig. 3 and Fig. 4 for details, judge simultaneously whether the vehicle flight pattern needs to change, as the demand execution formation variation decision process that changes, comprise that the vehicle adding formation in addition of forming into columns is made a strategic decision and the interior vehicle derailing formation of forming into columns is made a strategic decision.
(4) human-machine interface module to the operation situation that the guide car driver provides whole vehicle to form into columns, is that guide car driver provide direct control interface in the touch screen mode in the mode of display screen, and the guide car driver right of priority of making a strategic decision is the highest.
The above only is preferred embodiment of the present invention, is not structure of the present invention is done any pro forma restriction.Every foundation technical spirit of the present invention all still belongs in the scope of technical scheme of the present invention any simple modification, equivalent variations and modification that above embodiment does.
Claims (4)
1. highway train decision making package device is characterized in that: comprise environment situation evaluation module, decision making package module and human-machine interface module,
Described environment situation evaluation module connects the environmental modeling module of fusion formation surrounding enviroment and fleet's block of state of fleet's oneself state, it is input as current formation mode, comprise that all follow the information of vehicle, current road conditions of living in and current highway train surrounding enviroment information, the current environment state is assessed, determine formation traffic safety grade, make determining of formation driving pattern as certificate;
The situation information of described decision making package module reception environment situation evaluation module, highway train driving decision-making is analyzed and formulated, and decision information passed to follow the vehicle control driving in real time of forming into columns, described decision making package module realize formulating highway train flight pattern, with car independently drive a vehicle instruction, with car report to the police, starting braking and Following Car adding or the decision-making order withdrawed from;
Described human-machine interface module receives the decision-making order of described decision making package module, for the guide car driver provides situation output and input command.
2. highway train decision making package device according to claim 1, it is characterized in that: described decision making package module comprises that flight pattern keeps module, fleet vehicle real-time status computing module, form into columns driving danger warning module, special driving mode module, fleet's evolution module, realize formulating highway train flight pattern, with car independently drive a vehicle instruction, with car report to the police, starting braking and Following Car adding or the decision-making order withdrawed from.
3. highway train decision making package device according to claim 1 and 2, it is characterized in that: described decision making package device is disposed in the highway train guide car, it is with all are followed vehicle Vehicular road train environment sensing module and link to each other by Zigbee thereafter, in order to obtain surrounding enviroment information that all Following Cars learn by onboard sensor in real time and all follow vehicle real-time status information; The vehicle of following as decision object carries out autonomous driving according to the real-time decision information that the guide car decision making device generates.
4. highway train decision making package device according to claim 1 and 2, it is characterized in that: described human-machine interface module carries out data communication by the RS422 serial ports, is that the guide car driver provides situation output and instruction input function with screen display and touch screen mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102148846A CN103280120A (en) | 2013-05-31 | 2013-05-31 | Road train comprehensive decision-making device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102148846A CN103280120A (en) | 2013-05-31 | 2013-05-31 | Road train comprehensive decision-making device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103280120A true CN103280120A (en) | 2013-09-04 |
Family
ID=49062622
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013102148846A Pending CN103280120A (en) | 2013-05-31 | 2013-05-31 | Road train comprehensive decision-making device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103280120A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105374203A (en) * | 2014-08-14 | 2016-03-02 | 中国移动通信集团公司 | Vehicle fleet control method based on Internet-of-vehicles and on-vehicle device |
| CN107195176A (en) * | 2017-07-07 | 2017-09-22 | 北京汽车集团有限公司 | Control method and device for fleet |
| CN107506022A (en) * | 2017-07-06 | 2017-12-22 | 北京理工大学 | A kind of someone/unmanned collaboration teams and groups Command Aided System |
| CN107784865A (en) * | 2017-11-17 | 2018-03-09 | 南京视莱尔汽车电子有限公司 | A kind of more car synchronous operation control methods of autonomous driving vehicle |
| CN109523179A (en) * | 2018-11-23 | 2019-03-26 | 英华达（上海）科技有限公司 | Fleet management's method, apparatus, system, electronic equipment, storage medium |
| CN112016784A (en) * | 2019-05-30 | 2020-12-01 | 丰田自动车株式会社 | Queue arranging device, queue arranging method, and queue arranging program |
| CN113012448A (en) * | 2021-02-08 | 2021-06-22 | 清华大学 | Intelligent driving system for vehicle distribution formation for solving intersection traffic jam |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101101702A (en) * | 2007-07-16 | 2008-01-09 | 陈拙夫 | Automatic driving system for automobile information sharing between automobile and its control method |
| DE102010001581A1 (en) * | 2010-02-04 | 2011-08-04 | Robert Bosch GmbH, 70469 | Driver assistance system for automated driving of car in environment, has measuring device measuring future driving conditions based on detected current driving conditions, and checking device checking automatic guiding possibility of car |
-
2013
- 2013-05-31 CN CN2013102148846A patent/CN103280120A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101101702A (en) * | 2007-07-16 | 2008-01-09 | 陈拙夫 | Automatic driving system for automobile information sharing between automobile and its control method |
| DE102010001581A1 (en) * | 2010-02-04 | 2011-08-04 | Robert Bosch GmbH, 70469 | Driver assistance system for automated driving of car in environment, has measuring device measuring future driving conditions based on detected current driving conditions, and checking device checking automatic guiding possibility of car |
Non-Patent Citations (3)
| Title |
|---|
| 徐友春: "车辆队列行驶系统总体设计", 《中国农业机械学会2008年学术年会论文集》 * |
| 易振国: "车路协同实验测试系统及安全控制技术研究", 《中国博士学位论文全文数据库》 * |
| 高峰: "节能环保的运输方式：公路火车", 《交通与运输》 * |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105374203A (en) * | 2014-08-14 | 2016-03-02 | 中国移动通信集团公司 | Vehicle fleet control method based on Internet-of-vehicles and on-vehicle device |
| CN107506022A (en) * | 2017-07-06 | 2017-12-22 | 北京理工大学 | A kind of someone/unmanned collaboration teams and groups Command Aided System |
| CN107506022B (en) * | 2017-07-06 | 2020-07-28 | 北京理工大学 | Manned/unmanned cooperative team auxiliary command system |
| CN107195176A (en) * | 2017-07-07 | 2017-09-22 | 北京汽车集团有限公司 | Control method and device for fleet |
| CN107784865A (en) * | 2017-11-17 | 2018-03-09 | 南京视莱尔汽车电子有限公司 | A kind of more car synchronous operation control methods of autonomous driving vehicle |
| CN107784865B (en) * | 2017-11-17 | 2019-11-29 | 南京视莱尔汽车电子有限公司 | A kind of more vehicles synchronous operation control methods of autonomous driving vehicle |
| CN109523179A (en) * | 2018-11-23 | 2019-03-26 | 英华达（上海）科技有限公司 | Fleet management's method, apparatus, system, electronic equipment, storage medium |
| CN109523179B (en) * | 2018-11-23 | 2021-02-19 | 英华达（上海）科技有限公司 | Fleet management method, device, system, electronic equipment and storage medium |
| CN112016784A (en) * | 2019-05-30 | 2020-12-01 | 丰田自动车株式会社 | Queue arranging device, queue arranging method, and queue arranging program |
| CN113012448A (en) * | 2021-02-08 | 2021-06-22 | 清华大学 | Intelligent driving system for vehicle distribution formation for solving intersection traffic jam |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103280120A (en) | Road train comprehensive decision-making device | |
| Liu et al. | Can autonomous vehicle reduce greenhouse gas emissions? A country-level evaluation | |
| EP3533681B1 (en) | Method for detecting safety of driving behavior, apparatus and storage medium | |
| US20230415732A1 (en) | Testing predictions for autonomous vehicles | |
| CN105109491B (en) | A kind of vehicle traveling course prediction device and Forecasting Methodology based on bend longitudinal curvature | |
| CN105513425A (en) | Vehicle collision risk algorithm and accident pre-warning method | |
| CN105599773A (en) | Driver state indicating device and method based on vehicle moving state | |
| Mo et al. | Simulation and analysis on overtaking safety assistance system based on vehicle-to-vehicle communication | |
| Huang et al. | Cooperative adaptive cruise control and exhaust emission evaluation under heterogeneous connected vehicle network environment in urban city | |
| CN107395757B (en) | Parallel vehicle networking system based on ACP method and social physical information system | |
| Aryal | Optimization of geometric road design for autonomous vehicle | |
| CN205365591U (en) | Driver's state suggestion device based on vehicle motion gesture | |
| CN104167096A (en) | Urban traffic congestion early warning method, device and system | |
| CN109656242A (en) | A kind of automatic Pilot planning driving path planning system | |
| Pi et al. | Automotive platoon energy-saving: A review | |
| CN103927897A (en) | Automatic detection system for following driving signal lamp | |
| CN208915163U (en) | A kind of automobile autonomous parking alarm set and control system | |
| CN107291074A (en) | A kind of miniature intelligent vehicle system | |
| CN102945600A (en) | Segmented car-following micro-traffic flow modeling method in view of interrupt drive | |
| CN102938201A (en) | Electron hole microscopic traffic flow modeling method in density unsaturation state | |
| CN205177177U (en) | Settle in safe driving of cross road mouth intelligence reminding device | |
| Wang et al. | Route control and behavior decision of intelligent driverless truck based on artificial intelligence technology | |
| CN102938202A (en) | Electron hole microscopic traffic flow modeling method in density saturation state | |
| Li et al. | Develop right‐turn real‐time crash warning system at arterial access considering driver behaviour | |
| Chen et al. | Vehicle and city simulation with Gazebo and ROS |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20130904 |