CN105160865A - Vehicle formation driving control system and method - Google Patents
Vehicle formation driving control system and method Download PDFInfo
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- CN105160865A CN105160865A CN201510475604.6A CN201510475604A CN105160865A CN 105160865 A CN105160865 A CN 105160865A CN 201510475604 A CN201510475604 A CN 201510475604A CN 105160865 A CN105160865 A CN 105160865A
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Abstract
The invention provides a vehicle formation driving control system and method, and belongs to the field of vehicle driving control. The vehicle formation driving control system comprises a head vehicle and at least one rear vehicle. The head vehicle and the rear vehicles are provided with fleet queue control terminals and whole-vehicle controllers. The whole-vehicle controllers control the driving states of the vehicles. The fleet queue control terminals are connected with the whole-vehicle controllers through CAN buses. Each fleet queue control terminal comprises a wireless communication module used for mutual communication among the head vehicle and the rear vehicles; a distance detecting module used for detecting the distance between the vehicle and a front vehicle; a positioning module used for obtaining the real-time information position of itself; and a lane information obtaining module used for obtaining lane information. The vehicle formation driving control system and method maintain the stability of a fleet, enhance the driving safety and help fleet members successfully and rapidly reach destinations respectively; in addition, the system and method are simple and effective, the scheme is mature, the oil consumption can be reduced by as much as 50%, and the frequency of traffic accidents is effectively lowered.
Description
Technical field
The present invention relates to vehicle and travel control field, particularly relate to a kind of platooning drive-control system and method.
Background technology
Fleet's Convoy driving is current more popular research field, line up driving except can liberating driver's both hands, also have other advantages, such as: the magnitude of traffic flow can be improved and (be published in power electronics society of engineers journal data according to international research, 500% wagon flow efficiency can be promoted), shorten running time, and through science and technology such as collocation urban safety system, pedestrian detection system, adaptive cruise control systems, also likely realize zero accident and zero injures and deaths.The automatic Pilot of lining up to drive a vehicle also can be applicable to army and police/ambulance, fire truck, logistics express delivery vehicle etc., allow human pilot also can add working team, fully discharge both hands in the very first time or service is provided, patient' s family is provided as imposed most suitable emergency treatment to sufferer or preparing suitable treatment navigation message, especially in the remote districts of the country had a vast territory as Russia, China's Mainland, Canada and the U.S., this type of service can save manpower, or rescue fleet for the high-speed remote of urgent rescue, avoid long-distance transport error.
Although there is advantage so, also there is not very ripe scheme in Convoy driving.
Summary of the invention
For solving problems of the prior art, the invention provides a kind of platooning drive-control system.
Platooning of the present invention drive-control system comprises a car and at least one rear car, described head car and rear car are provided with fleet's control of queue terminal and entire car controller, described vehicle control unit controls vehicle running state, described fleet control of queue terminal is connected by CAN with entire car controller, described fleet control of queue terminal comprises wireless communication module: for head car and the mutual communication of rear car, distance detection module: for examining car and leading vehicle distance, locating module: for obtaining self real-time information position, lane information acquisition module: for obtaining lane information.
The present invention is further improved, and head car needs driver, is responsible for coordinating whole fleet.
The present invention is further improved, and described wireless communication module adopts the WAVE wireless communication technique of 5.9GHz frequency spectrum.
The present invention is further improved, and whole fleet queue length is less than 1000 meters.
The present invention is further improved, and described distance detection module is radar or range sensor.
The present invention is further improved, and described lane information acquisition module is camera.
Present invention also offers a kind of platooning that realizes and travel the method controlled, comprise the following steps: head car and rear car to be kept in communication state by wireless communication module; Head car regulation speed and track, be responsible for coordinating whole fleet, and process fleet vehicle patten transformation, distributes numbering to rear car vehicle; Fleet's state, track, speed, acceleration, brake, direction information are sent to rear car vehicle by head car; Rear car vehicle is implemented to obtain fleet's state, track, speed, acceleration, brake, direction information in real time, and the distance of monitoring and last car, the distance of self-adaptative adjustment and last car, sends track, speed, acceleration, positional information in real time to head car.
The present invention is further improved, and when vehicle is normal running mode, head car sends driving mode, track, speed, position, acceleration, brake public information in real time to rear car vehicle, and poll sends this fleet's number information to each rear car; Rear car sends track, speed, positional information to head car, so that head car obtains all rear car information of vehicles, safeguards that fleet numbers; The information that rear car sends according to head car and detection and the distance of last vehicle, control car speed, keep a safe distance.
The present invention is further improved, when vehicle be application fall in lines pattern time, apply for proposing to fall in lines application into train of vehicles, and track, speed, positional information issued a car; Head car to be fallen in lines vehicle location according to this application, and distributing serial numbers i, inserts the i-th-No. 1 vehicle, and in the middle of the i-th+No. 1 vehicle; The i-th-No. 1 vehicle position information is issued No. i-th car by head car in real time; The i-th+No. 1 vehicle deceleration, pulls open 2 parking stall distances with the i-th-No. 1 vehicle; The i-th+No. 1 vehicle transmitter ready signal is to head car; Head car sends license of falling in lines to applying for into train of vehicles; Apply for sailing track, fleet place into into train of vehicles, enter track completely when newly entering train of vehicles, self track, speed, positional information are issued a car, and transmit into row ready signal to head car; Head car receives information, changes fleet's state, enters normal transport condition; No. i-th vehicle starts the range information that vehicle below detects according to distance detection module, adjustment vehicle and leading vehicle distance.
The present invention is further improved, when vehicle be application fall out pattern time, application No. i-th vehicle of falling out is fallen out application; Start to fall out after No. i-th vehicle receiver to the license from head car; The state of falling out is sent to all rear car vehicles by head car; Head car weight newly gives the i-th+No. 1 later car number, all postpones one; After renumbeing, from No. i-th vehicle, vehicle below detects the range information of mould detection according to self distance, the distance of adjustment and last vehicle.
Compared with prior art, the invention has the beneficial effects as follows: utilize original entire car controller, integrate fleet's control of queue terminal, maintain fleet to stablize, strengthen drive safety and help fleet member to arrive respective destination smoothly, fast, effectively simple, scheme is ripe, can reduce by the oil consumption of nearly 50%, effectively reduces the occurrence frequency of traffic hazard.
Accompanying drawing explanation
Fig. 1 is platooning of the present invention drive-control system structural representation;
Fig. 2 is that platooning of the present invention travel control method application is fallen in lines pattern diagram.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further details.
As shown in Figure 1, platooning of the present invention drive-control system comprises a car and at least one rear car, described head car and rear car are provided with fleet's control of queue terminal and entire car controller, described vehicle control unit controls vehicle running state, described fleet control of queue terminal is connected by CAN with entire car controller, described fleet control of queue terminal comprises wireless communication module: for head car and the mutual communication of rear car, distance detection module: for examining car and leading vehicle distance, locating module: for obtaining self real-time information position, lane information acquisition module: for obtaining lane information.
Head car and rear car are all be connected respective entire car controller and fleet's control of queue terminal by CAN thus control vehicle running state.
Wherein, the conventional activity of head car mainly comprises front emergency monitoring and response, and head car needs driver, is responsible for coordinating whole fleet.
The mode that head car and rear car are kept in communication is the WAVE wireless technology using 5.9GHz frequency spectrum, motorcade length can more than 300 meters, more than 15 cars, IEEE802.11p is (also known as WAVE, WirelessAccessintheVehicularEnvironment) be the communication protocol expanded by IEEE802.11 standard, be mainly used in vehicle electronics radio communication, it is the expansion extension of IEEE802.11 in essence.The parameter of WAVE wireless technology sees the following form:
Due to the technical reason of WAVE wireless technology and in order to better communication, whole fleet queue length is less than 1000 meters.
Described distance detection module is radar, range sensor or other distance trap settings; Described lane information acquisition module is camera.
As shown in Figure 2, present invention also offers a kind of platooning travel control method, comprise the following steps: head car and rear car to be kept in communication state by wireless communication module;
Head car regulation speed and track, be responsible for coordinating whole fleet, and process fleet vehicle patten transformation, distributes numbering to rear car vehicle;
Fleet's state, track, speed, acceleration, brake, direction information are sent to rear car vehicle by head car;
Rear car vehicle is implemented to obtain fleet's state, track, speed, acceleration, brake, direction information in real time, and the distance of monitoring and last car, the distance of self-adaptative adjustment and last car, sends track, speed, acceleration, positional information in real time to head car.
Because of in vehicle travel process, need the conversion of various pattern, such as normally travel, vehicle application is fallen in lines, the application of rear car vehicle is fallen out, stop travelling.
As the first embodiment of the present invention, when vehicle is normal running mode, head car sends driving mode, track, speed, position, acceleration, brake public information in real time to rear car vehicle, and poll sends this fleet's number information to each rear car; Rear car sends track, speed, positional information to head car, so that head car obtains all rear car information of vehicles, safeguards that fleet numbers; The information that rear car sends according to head car and detection and the distance of last vehicle, control car speed, keep a safe distance.
As the second embodiment of the present invention, when vehicle be application fall in lines pattern time, apply for proposing to fall in lines application into train of vehicles, and track, speed, positional information issued a car; Head car to be fallen in lines vehicle location according to this application, and distributing serial numbers i, inserts the i-th-No. 1 vehicle, and in the middle of the i-th+No. 1 vehicle; The i-th-No. 1 vehicle position information is issued No. i-th car by head car in real time; The i-th+No. 1 vehicle deceleration, pulls open 2 parking stall distances with the i-th-No. 1 vehicle; The i-th+No. 1 vehicle transmitter ready signal is to head car; Head car sends license of falling in lines to applying for into train of vehicles; Apply for sailing track, fleet place into into train of vehicles, enter track completely when newly entering train of vehicles, self track, speed, positional information are issued a car, and transmit into row ready signal to head car; Head car receives information, changes fleet's state, enters normal transport condition; No. i-th vehicle starts the range information that vehicle below detects according to distance detection module, adjustment vehicle and leading vehicle distance.
As the third embodiment of the present invention, when vehicle be application fall out pattern time, application No. i-th vehicle of falling out is fallen out application; Start to fall out after No. i-th vehicle receiver to the license from head car; The state of falling out is sent to all rear car vehicles by head car; Head car weight newly gives the i-th+No. 1 later car number, all postpones one; After renumbeing, from No. i-th vehicle, vehicle below detects the range information of mould detection according to self distance, the distance of adjustment and last vehicle.
Run into emergency when fleet or arrive behind destination, head car sends stop sign to rear car and stops, and detects with the distance of front truck and stop travelling after the rear car vehicle receiver signal that car sends to the end.
The embodiment of the above is better embodiment of the present invention; not limit specific embodiment of the invention scope with this; scope of the present invention comprises and is not limited to this embodiment, and all equivalence changes done according to the present invention are all in protection scope of the present invention.
Claims (10)
1. platooning's drive-control system, it is characterized in that: comprise a car and at least one rear car, described head car and rear car are provided with fleet's control of queue terminal and entire car controller, described vehicle control unit controls vehicle running state, described fleet control of queue terminal is connected by CAN with entire car controller, described fleet control of queue terminal comprises wireless communication module: for head car and the mutual communication of rear car, distance detection module: for examining car and leading vehicle distance, locating module: for obtaining self real-time information position, lane information acquisition module: for obtaining lane information.
2. platooning according to claim 1 drive-control system, is characterized in that: head car needs driver, is responsible for coordinating whole fleet.
3. platooning according to claim 1 drive-control system, is characterized in that: described wireless communication module adopts the WAVE wireless communication technique of 5.9GHz frequency spectrum.
4. platooning according to claim 3 drive-control system, is characterized in that: whole fleet queue length is less than 1000 meters.
5. platooning according to claim 1 drive-control system, is characterized in that: described distance detection module is radar or range sensor.
6. platooning according to claim 1 drive-control system, is characterized in that: described lane information acquisition module is camera.
7. realize platooning described in any one of claim 1-6 and travel the method controlled, it is characterized in that comprising the following steps: head car and rear car to be kept in communication state by wireless communication module;
Head car regulation speed and track, be responsible for coordinating whole fleet, and process fleet vehicle patten transformation, distributes numbering to rear car vehicle;
Fleet's state, track, speed, acceleration, brake, direction information are sent to rear car vehicle by head car;
Rear car vehicle is implemented to obtain fleet's state, track, speed, acceleration, brake, direction information in real time, and the distance of monitoring and last car, the distance of self-adaptative adjustment and last car, sends track, speed, acceleration, positional information in real time to head car.
8. platooning according to claim 7 travel control method, it is characterized in that: when vehicle is normal running mode, head car sends driving mode, track, speed, position, acceleration, brake public information in real time to rear car vehicle, and poll sends this fleet's number information to each rear car; Rear car sends track, speed, positional information to head car, so that head car obtains all rear car information of vehicles, safeguards that fleet numbers; The information that rear car sends according to head car and detection and the distance of last vehicle, control car speed, keep a safe distance.
9. platooning according to claim 7 travel control method, is characterized in that: when vehicle be application fall in lines pattern time, apply for proposing to fall in lines application into train of vehicles, and track, speed, positional information issued a car; Head car to be fallen in lines vehicle location according to this application, and distributing serial numbers i, inserts the i-th-No. 1 vehicle, and in the middle of the i-th+No. 1 vehicle; The i-th-No. 1 vehicle position information is issued No. i-th car by head car in real time; The i-th+No. 1 vehicle deceleration, pulls open 2 parking stall distances with the i-th-No. 1 vehicle; The i-th+No. 1 vehicle transmitter ready signal is to head car; Head car sends license of falling in lines to applying for into train of vehicles; Apply for sailing track, fleet place into into train of vehicles, enter track completely when newly entering train of vehicles, self track, speed, positional information are issued a car, and transmit into row ready signal to head car; Head car receives information, changes fleet's state, enters normal transport condition; No. i-th vehicle starts the range information that vehicle below detects according to distance detection module, adjustment vehicle and leading vehicle distance.
10. platooning according to claim 7 travel control method, is characterized in that: when vehicle be application fall out pattern time, application No. i-th vehicle of falling out is fallen out application; Start to fall out after No. i-th vehicle receiver to the license from head car; The state of falling out is sent to all rear car vehicles by head car; Head car weight newly gives the i-th+No. 1 later car number, all postpones one; After renumbeing, from No. i-th vehicle, vehicle below detects the range information of mould detection according to self distance, the distance of adjustment and last vehicle.
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