CN105374207A - Control system of driving of vehicle and vehicle fleet chained with vehicle - Google Patents
Control system of driving of vehicle and vehicle fleet chained with vehicle Download PDFInfo
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- CN105374207A CN105374207A CN201510922470.8A CN201510922470A CN105374207A CN 105374207 A CN105374207 A CN 105374207A CN 201510922470 A CN201510922470 A CN 201510922470A CN 105374207 A CN105374207 A CN 105374207A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D53/00—Tractor-trailer combinations; Road trains
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
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- General Physics & Mathematics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention relates to a control system of the driving of a vehicle and a vehicle fleet chained with the vehicle. The control system comprises a vehicle frame body, a power mechanism, a braking device, a steering device, a vehicle driving signal device, a vehicle speed detection device, a reversing switch, a braking switch, a vehicle fleet coordinated corner turning information service system, a vehicle fleet speed synchronization information comprehensive service system, a vehicle fleet driving signal service system, a vehicle-mounted computer, remote control telecommunication interfaces and a traction link device; information circuits of a steering stroke signal converter and a remote control telecommunication interface are connected with each other so as to form the vehicle fleet coordinated corner turning information service system; information circuits of the vehicle speed detection device and a remote control telecommunication interface are connected with each other so as to form the vehicle fleet speed synchronization information comprehensive service system; and information circuits of a steering signal switch and a remote control telecommunication interface are connected with each other so as to form the vehicle fleet driving signal service system. When the chained fleet drives, the vehicle fleet coordinated corner turning information service system provides control information for the coordinated corner turning of each vehicle in the vehicle fleet.
Description
Technical field
The present invention relates to the control system that a kind of automobile in field of vehicles and Xiang Lian fleet thereof travel.
Background technology
Existing automobile can travel to link fleet's mode on road, application number 2015107012004 provides a kind of automobile linking traveling, this application technical scheme travels in course changing control in link fleet and only only delivers turn signal switch signal between fleet, in link fleet driving process, link fleet relies on the hitching machinery power forced steering of trailer, this application scheme is obviously not suitable for comparatively long vehicle, when fleet turns on more tight-turning road, every chassis of link fleet relies on hitching machinery power forced steering to be also difficult to meet complex road condition needs.
The control system that an object of the present invention provides a kind of automobile and Xiang Lian fleet thereof to travel, further to reduce the integrated cost of link fleet driving mode.
The control system that another object of the present invention also provides a kind of automobile and Xiang Lian fleet thereof to travel.
Summary of the invention
The control system that a kind of automobile involved by the present invention program one and Xiang Lian fleet thereof travel is achieved in that and includes vehicle frame, actuating unit, clamping device, steering gear, vehicle running signal device, vehicle speed detector device, reversing switch, brake switch, it is characterized in that including fleet's coordinate turn information service system, fleet's speed sync information comprehensive service system, fleet's running signal service system, vehicle-mounted computer, Long-distance Control telecommunication interface, haulage chain connection device, described fleet coordinate turn information service system comprises by steering travel signal converter, the information circuit of Long-distance Control telecommunication interface is connected to form, described fleet speed sync information comprehensive service system comprises described vehicle speed detector device, the information circuit of Long-distance Control telecommunication interface is connected to form, fleet's running signal service system comprises by turn signal switch, the information circuit of Long-distance Control telecommunication interface is connected to form.
When this programme as fleet breakdown trailer use time, turn inside diameter information is passed to phase chain automobile by steering travel signal converter by described fleet coordinate turn information service system automatically, is convenient to realize all vehicles of fleet and turns to by the steering gear provided for oneself is collaborative on turning road.
When this programme as fleet breakdown trailer use time, described fleet speed sync information comprehensive service system sends phase chain automobile to by the Vehicle Speed electronic information of described vehicle speed detector device, and when being convenient to realize all vehicle driving ups of fleet, starting, braking, travel speed is synchronous.
When this programme as fleet breakdown trailer use time, described fleet running signal service system sends the running signal of vehicle to phase chain automobile, is convenient to realize all vehicles of fleet and externally sends consistent signal uniformly.
It is characterized in that described fleet speed sync information comprehensive service system comprises to be connected to form with the information circuit of described brake switch.
When vehicle is braked in the process of moving, car brakeing information is passed to automatically phase chain automobile, realize the also synchronous braking of all vehicles of fleet.
It is characterized in that described fleet speed sync information comprehensive service system comprises to be connected to form with the information circuit of the power settings circuit of described actuating unit.
Described fleet speed sync information comprehensive service system comprises and being connected with the information circuit of power settings circuit, the actuate message of vehicle is sent to phase chain automobile, on the one hand, when starting to walk, being convenient to realize all vehicle synchronous of fleet and starting; On the other hand, in fleet's driving process, when other vehicle power of fleet is closed, fleet is when going up a slope or start to walk, the power of each link vehicle needs to start, and fleet drivers completes the synchronous initiation of other vehicle power except breakdown trailer by other special switch or computer instruction and described fleet speed sync information comprehensive service system.
It is characterized in that described fleet speed sync information comprehensive service system comprises to be connected to form with the information circuit of described reversing switch.
Described fleet speed sync information comprehensive service system comprises being connected to form with the information circuit of reversing switch to be convenient to link fleet and to coordinate to fall back and travel.
It is characterized in that including fleet member communication system, described fleet member communication system comprises and being connected to form by the information circuit of sound equipment, Long-distance Control telecommunication interface.
Be convenient to exchange information of vehicles and fleet's peripheral information with other vehicle driver etc. of fleet.
It is characterized in that described fleet signal service system includes fleet's signal lamp at night.
Night, signal lamp was convenient to remind side or vehicles or pedestrians below when fleet travels evening, there is fleet in traveling, especially fleet head, fleet is except breakdown trailer, when the electrical equipment of other vehicle and illumination lamp & lantern all extinguish, fleet side or vehicles or pedestrians below possibly cannot identify that fleet is in traveling in time.
It is characterized in that including fleet and travel supervisory system, described fleet travels supervisory system and comprises and being connected to form by the information circuit of camera head, vehicle-mounted computer, Long-distance Control telecommunication interface.
Travel supervisory system by described fleet, in fleet, personnel can understand fleet's periphery situation, and when especially fleet is long, pedestrian or the vehicle on track road, side, when steering vehicle lane change, need be understood by fleet drivers by supervisory system.
The control system that a kind of automobile involved by the present invention program two and Xiang Lian fleet thereof travel, include vehicle frame, actuating unit, clamping device, steering gear, vehicle running signal device, vehicle speed detector device, reversing switch, brake switch, it is characterized in that including fleet's coordinate turn information service system, fleet's speed sync information comprehensive service system, fleet's running signal service system, vehicle-mounted computer, onboard wireless communication device, haulage chain connection device, described fleet coordinate turn information service system comprises by steering travel signal converter, the information circuit of onboard wireless communication device is connected to form, described fleet speed sync information comprehensive service system comprises described vehicle speed detector device, the information circuit of onboard wireless communication device is connected to form, fleet's running signal service system comprises by turn signal switch, the information circuit of onboard wireless communication device is connected to form.
Cable service system in scheme one is changed into onboard wireless Communications service mode by the present invention program two.
The advantage of scheme two is the link can saving communication line.
The deficiency of scheme two is, lacks fleet's electric power supply service system.
When vehicle link travels, the steering gear that fleet controls all vehicles of fleet by fleet's coordinate turn information service system is in the process of moving coordinated to turn to; When vehicle link travels, fleet controls the synchronous braking of link Travel vehicle team vehicle, starting, acceleration, unified to external signal by fleet's speed sync information comprehensive service system, fleet's running signal service system etc. in the process of moving;
Vehicle also can travel in independent self-driving.
The present invention is novel, practical, and has higher use value.
Below in conjunction with embodiment and accompanying drawing, the invention will be further described.
Accompanying drawing explanation
Shown in accompanying drawing 1 is one of embodiment involved by the present invention program one.
Shown in accompanying drawing 2 be in Fig. 1 embodiment one relate to one of vehicle control system ultimate principle figure.
Shown in accompanying drawing 3 is one of Long-distance Control telecommunication interface telecommunication passage distribution plan of relating to of the present invention program one.
Shown in accompanying drawing 4 is embodiment two involved by the present invention program one.
Shown in accompanying drawing 5 is one of vehicle control system ultimate principle figure of embodiment two in Fig. 4.
Shown in accompanying drawing 6 is the constitutional diagram that in Fig. 4, embodiment enters link fleet in fleet's link driving process.
Shown in accompanying drawing 7 is draw hook in Fig. 4 involved by embodiment and body connection structure partial view.
Shown in accompanying drawing 8 is one of embodiment involved by the present invention program two.
Shown in accompanying drawing 9 is one of vehicle control system ultimate principle figure of embodiment in Fig. 8.
Accompanying drawing 10 relates to one of vehicle-mounted the Internet service system diagram involved in the present invention.
In accompanying drawing, 1, vehicle frame; 101, pilothouse; 102, vehicle body; 103, car door; 104, vehicle frame; 105, railway carriage; 106, toilet; 107, seat; 2, motion; 201, wheel; 3, actuating unit; 301, battery; 302; Motor; 303, engine; 304, power settings circuit; 305, actuating motor; 4, work jibs device; 404, robot arm device Operation control module; 5, onboard wireless communication device; 6, control gear is linked; 601, haulage chain connection device; 603, self-locking device is drawn; 604, draw hook; 605, traction casing; 606, traction rope rolling control module; 607, draw hook signal generator; 608, brake hoist engine; 609, traction rope; 701, vehicle-mounted self-driving control system; 701c, turn signal switch; 701d, brake switch; 701e, rearview mirror; 702a, Long-distance Control telecommunication interface; 702b, vehicle-mounted computer; 702c, long-range brake control module; 702d, long-range turn signal switch; 702e, link power control module; 702f, speed measuring device; 702g, waterproof end cover; 702h, Long-distance Control telecommunication interface; 702i, distance measuring equipment; 702j, long-range brake signal control module; 703, vehicle running signal device; 704, telecommunication wire; 705, clamping device; 705a, brake pedal; 706, speed of a motor vehicle remote control module; 706a, electronic acceleration control module; 706b, electric clutch control module; 706c, electronic ripple case gear shift module; 708, fleet's power remote starter switch is linked; 709, global location and guider; 710, tractive force measuring appliance; 711, vehicle speed detector device; 711a, speed probe; 712, braking distance signal converter; 713, steering travel signal converter; 714, link travels master control switch; 715, the locking unlock switch of draw-gear; 717, fleet's emergency treatment module; 718, reversing switch circuit; 719, fleet's signal lamp at night; 720, sound equipment; 721, steering gear; 8, camera head; 801, car side camera head; 9, breakdown trailer.
Embodiment
Attachedly Figure 1 shows that the embodiment one that the present invention relates to.
Embodiment one in accompanying drawing 1 relates to the one specialty breakdown trailer that link travels fleet, also other traction with standard vehicle can be accepted, it is linked with associated vehicle by the mode of manually link of stopping, do not accept the link application of other vehicle outside fleet in the process of moving, be mainly used in drawing between trunk zone and come and go by the vehicle of appointment mode link traveling.
Shown in accompanying drawing 2 is one of vehicle control system ultimate principle figure of this embodiment.
In Fig. 1 and Fig. 2, include vehicle frame 1, motion 2, actuating unit 3, clamping device 705, steering gear 701a, vehicle running signal device 703, haulage chain connection device 601 form, described haulage chain connection device 601 is assemblied in described vehicle frame 1 rear portion; Described vehicle running signal device comprises steering indicating light, Brake lamp, backup lamp that existing vehicle must be joined, for reminding pedestrian or the vehicle on side.
Vehicle frame 1 comprises pilothouse 101, car door 103, vehicle frame 104, seat 107;
Described actuating unit 3 includes battery 301, engine 303, power settings circuit 304, actuating motor 305;
In the present embodiment, link control gear 6 comprises and being made up of haulage chain connection device 601, Long-distance Control telecommunication interface 702h, Long-distance Control telecommunication interface 702a; Haulage chain connection device 601 includes draw hook 604, traction casing 605; Long-distance Control telecommunication interface 702h, traction casing 605 are assemblied in described vehicle frame 1 rear portion, for drawing other vehicle; It is anterior that draw hook 604, Long-distance Control telecommunication interface 702a are assemblied in described vehicle frame 1, draws the present embodiment for other vehicle;
In the present embodiment, comprise by steering gear 721, turn signal switch 701c, brake switch 701d, vehicle running signal device 703, telecommunication wire 704, clamping device 705, vehicle-mounted computer 702b, link power control module 702e, Long-distance Control telecommunication interface 702h, telecommunication wire 704, link fleet power remote starter switch 708, global location and guider 709, tractive force measuring appliance 710, vehicle speed detector device 711, braking distance signal converter 712, steering travel signal converter 713, link travels master control switch 714, fleet's emergency treatment module 717, reversing switch 718, fleet's signal lamp at night 719, sound equipment 720, camera head 8, it (is comprehensive structure that car side camera head 801 forms the long-range control loop of link fleet, do not mark in figure), the long-range control loop of described link fleet is mainly used in the traveling controlling other vehicle of link fleet,
Described link fleet power remote starter switch 708 is assemblied on the bearing circle of steering gear 701a, is convenient to the manual operation of driver in fleet's driving process;
In the present embodiment, the long-range control loop of described link fleet (be comprehensive structure, do not mark in figure) comprises and being made up of steering gear 721, vehicle running signal device 703, telecommunication wire 704, clamping device 705, vehicle-mounted computer 702b, telecommunication wire 704, global location and guider 709, tractive force measuring appliance 710, vehicle speed detector device 711, link traveling master control switch 714, fleet's emergency treatment module 717, reversing switch 718, fleet's signal lamp at night 719, sound equipment 720, camera head 8, car side camera head 801; Described link fleet long-range control loop controls the traveling of this car when accepting the traction of other vehicle.
In the present embodiment, use when the equipment such as the described motion 2 that vehicle configures, actuating unit 3, battery 301, engine 303, power settings circuit 304, actuating motor 305, steering gear 721, vehicle running signal device 703, clamping device 705, brake pedal 705a, global location and guider 709, vehicle speed detector device 711, brake switch 701d, reversing switch 718 independently travels for vehicle.
Fig. 3 illustrates 11 telecommunication passage distribution plans of embodiment one Long-distance Control telecommunication interface 702h, and the A01 to A11 marked in Fig. 3 respectively represents a telecommunication passage respectively.
In this embodiment, fleet's coordinate turn information service system (be comprehensive structure, do not mark in figure) comprises and being made up of telecommunication passage A01, telecommunication passage A02, vehicle-mounted computer 702b, steering travel signal converter 713; The radius of turn relevant information such as axletree essential information before and after the corner of the steering gear of vehicle position or stroke, vehicle is linked the vehicle of traveling by described fleet coordinate turn information service system after being sent to by steering travel signal converter 713, link below the vehicle-mounted computer provided for oneself of driving vehicle calculates and the vehicle that draws oneself up at the corner of the steering gear of this traveling-position or stroke, to swing when whole fleet turns to and fleet's forced steering brings the injury of vehicle to reduce; Telecommunication passage A01 and telecommunication passage A02 turns to service-specific passage as fleet's network, to avoid the interference of out of Memory; In the present embodiment, one or more sensors in potentiometric sensor, rotary angle transmitter, displacement transducer selected as required by steering travel signal converter 713;
In this embodiment, fleet's speed sync information comprehensive service system (be comprehensive structure, do not mark in figure) comprises and being made up of telecommunication passage A03, telecommunication passage A04, telecommunication passage A05, vehicle-mounted computer 702b, vehicle speed detector device 711, braking distance signal converter 712, brake switch 701d, reversing switch 718, link fleet power remote starter switch 708, power settings circuit 304; Telecommunication passage A03, telecommunication passage A04, telecommunication passage A05 as fleet's network-specific service channel of fleet's speed sync information comprehensive service system, to avoid the interference of out of Memory.
In the present embodiment, vehicle speed detector device 711 includes speed probe 711a, and speed probe 711a is assemblied on vehicle frame 1, for detecting wheel 201 rotating speed.
In concrete enforcement, speed probe 711a also can be assemblied on the gearing of vehicular power plant 3, and this structure belongs to the technology generally applied on most vehicle, does not draw herein, does not also in detail deeply describe.
Breakdown trailer driver is when starting to walk or going up a slope acceleration, described fleet speed sync information comprehensive service system passes to the vehicle-mounted computer of other vehicle of fleet by the velocity information of vehicle speed detector device 711, it is synchronous that the vehicle-mounted computer of other vehicle of fleet realizes fleet by the Long-distance Control speed of a motor vehicle;
Breakdown trailer driver is when braking or brake hard, and described fleet speed sync information comprehensive service system passes to the vehicle-mounted computer of other vehicle of fleet by the brake signal that braking distance signal converter 712 produces; Braking information also can be passed to the vehicle-mounted computer of other vehicle of fleet by the present embodiment by brake switch 701d, the braking moment of the difference correction clamping device of the velocity information of vehicle speed detector device 711 that other vehicle transmits according to described fleet speed sync information comprehensive service system and the velocity information of vehicle is to keep synchronous braking;
Fleet to ensure fleet's synchronization accuracy, avoids the braking in fleet's driving process, acceleration shock by described fleet speed sync information comprehensive service system;
In this embodiment, fleet's running signal service system (be comprehensive structure, do not mark in figure) comprises and being made up of telecommunication passage A06, telecommunication passage A07, vehicle-mounted computer 702b, vehicle running signal device 703, reversing switch 718, turn signal switch 701c, brake switch 701d, fleet's signal lamp at night 719; Telecommunication passage A06, telecommunication passage A07, as fleet's network-specific service channel of fleet's running signal service system, to avoid the interference of out of Memory, avoid signal side pedestrian or vehicle being sent to mistake.
Comprise and formed fleet travelled fleet's network service systems such as supervisory system, fleet member communication system, fleet's electric power supply system by telecommunication passage A08-A11, vehicle-mounted computer 702b, link power control module 702e, sound equipment 720, camera head 8, car side camera head 801.
The application of 11 telecommunication passages of Long-distance Control telecommunication interface 702h in particular embodiments, some designated lanes are adopted divided by upper scheme, also can be all share, all telecommunication passages can be the community network passage of the system such as fleet's coordinate turn information service system, fleet's speed sync information comprehensive service system, fleet's running signal service system, fleet traveling supervisory system, fleet member communication system, fleet's electric power supply system.
11 telecommunication passage distribution plans of embodiment one Long-distance Control telecommunication interface 702a are the same with the Long-distance Control telecommunication interface 702h in Fig. 3, are convenient to be connected with the Long-distance Control telecommunication interface 702h of the rear vehicle end executed before example one.
In concrete enforcement, the quantity of telecommunication passage and distribution thereof, function are formulated according to actual needs; The needs that number of different types vehicle travels in same link fleet can be met as far as possible, in link fleet, the use of each passage of all vehicles needs standard unified, otherwise, just be difficult to after link build fleet's coordinate turn information service system, fleet's speed sync information comprehensive service system, fleet's running signal service system, fleet traveling supervisory system, fleet member communication system, fleet's electric power supply system, even can cause the damage of vehicle.
The present embodiment is the same with existing common vehicle when can independently use, and just no longer introduces herein;
If need conglomeration go out self-driving travel time, first by reservation composition fleet; The present embodiment can be used for the special breakdown trailer linking fleet, and the vehicle of reservation need meet the condition of the present embodiment, as the vehicle the same with this car;
Before link fleet sets out, the traction chain for vehicle connection device 601 had before and after each car, Long-distance Control telecommunication interface linked together successively and form link fleet, in the present embodiment and fleet, the vehicle-mounted computer and equipping of each car forms fleet's coordinate turn information service system respectively, fleet's speed sync information comprehensive service system, fleet's running signal service system, fleet travel supervisory system, fleet member communication system, fleet's electric power supply system;
Before link fleet sets out, the present embodiment driver opens link and travels master control switch 714; In fleet's driving process, the present embodiment driver is when operating the turning of this car, braking, acceleration, lane change, fleet's coordinate turn information service system, fleet's speed sync information comprehensive service system, fleet's running signal service system be automatic each vehicle relevant information being delivered to fleet then, to ensure that each vehicle of fleet is synchronous with in acceleration in starting, braking, to ensure coordination when each turn inside diameter of fleet and lane change.
Be responsible for other vehicle in traction fleet by the haulage chain connection device 601 of this present embodiment in normal driving process to travel, normal level land is at the uniform velocity in driving process, in link fleet, other vehicle can cut out power, and on other vehicle, electric equipment such as air-conditioning provides electric power by this car by Long-distance Control telecommunication interface 702h and fleet's electric power supply system; When need start other vehicle when starting or upward slope, this car driver is by the power of all vehicles of link fleet's power remote starter switch 708 across-the-line starting, this car driver also can close the power of other vehicle in link fleet by link fleet power remote starter switch 708, like this, both safety, environmental protection again, use cost are low, and the power wearing and tearing of other vehicle are also less, improve the serviceable life of vehicle.
In fleet's driving process, fleet passenger travels supervisory system by fleet and understands fleet's transport condition;
In fleet's driving process, fleet passenger works hard in glove with and understanding mutually by fleet member communication system, and exchanges information.
Fleet is in night driving process, and fleet's signal lamp at night 719 will be opened, and organize the lamp battle array grown the same as fleet in a row, be enough to the vehicle reminding pedestrian and side at night.
After long-distance, arrive wherein a destination time, each car of fleet can free independent driving action.
In this embodiment, also provided onboard wireless communication device 5, this system is convenient to contacting between vehicle and fleet before being mainly used in vehicle link traveling; Certainly, when the telecommunication wire 704 of onboard wireless communication device 5 in emergency situations as connected between fore-aft vehicle breaks down, be convenient to the contact of personnel between vehicle in fleet, in some specific embodiments, the contact channel of part running signal between vehicle is can be used as when also can meet an urgent need, the synchronous braking controlling fleet as being mainly used in is stopped, and to fix a breakdown further or fault car to be separated, avoids fleet produce severe traffic accidents or delay other vehicle travel of fleet.
As from the foregoing, when the present embodiment travels as fleet's towing vehicle, when vehicle link travels, the steering gear that fleet controls all vehicles of fleet by fleet's coordinate turn information service system is in the process of moving coordinated to turn to; When vehicle link travels, fleet controls the synchronous braking of link Travel vehicle team vehicle, starting, acceleration, unified to external signal by fleet's speed sync information comprehensive service system, fleet's running signal service system etc. in the process of moving.
The embodiment two involved by the present invention program one shown in accompanying drawing 4.
Embodiment two in accompanying drawing 4 relates to the vehicle that a kind of intelligent interlinking travels fleet, it both can be used as the breakdown trailer in intelligent interlinking traveling fleet, fleet's traction can be travelled by intelligent interlinking again to travel, also can independently travel, this embodiment scheme can be applicable to family expenses dolly, lorry, caravan, passenger vehicle and composition intelligent interlinking thereof and travels fleet.
Shown in accompanying drawing 5 is one of vehicle control system ultimate principle figure of embodiment two involved in the present invention.
In Fig. 4 and Fig. 5, vehicle frame 1 comprises and being made up of pilothouse 101, vehicle body 102, car door 103, vehicle frame 104, mobile washroom 106, and mobile washroom 106 is convenient to occupant in long-distance link traveling and is used;
Motion 2 comprises and being made up of wheel 201;
Actuating unit 3 comprises and being made up of battery 301, engine 303;
Self-driving control system (be comprehensive structure, do not mark in figure) comprises and being made up of vehicle running signal device 703, clamping device 705, steering gear 721, rearview mirror 701e etc.;
Link control gear 6 comprises and being made up of haulage chain connection device 601, Long-distance Control telecommunication interface 702a, haulage chain connection device 601, Long-distance Control telecommunication interface 702h, Long-distance Control telecommunication interface 702a and haulage chain connection device 601 are for being connected with vehicle above, and Long-distance Control telecommunication interface 702h and haulage chain connection device 601 are for being connected with vehicle below; The haulage chain connection device 601 of vehicle frame system front end comprises traction casing 603 and forms, and the haulage chain connection device 601 of vehicle frame system rear end comprises traction self-locking device 601, draw hook 604 forms;
The long-range control loop of link fleet (is comprehensive structure, do not mark in figure) comprise by robot arm device Operation control module 404, vehicle running signal device 703, telecommunication wire 704, clamping device 705, vehicle-mounted computer 702b, link power control module 702e, speed measuring device 702f, Long-distance Control telecommunication interface 702h, distance measuring equipment 702i, vehicle running signal device 703, telecommunication wire 704, link fleet power remote starter switch 708, global location and guider 709, tractive force measuring appliance 710, vehicle speed detector device 711, braking distance signal converter 712, steering travel signal converter 713, link travels master control switch 714, the locking unlock switch 715 of draw-gear, camera head 8, car side camera head 801 forms, the long-range control loop of link fleet is for controlling the traveling of other vehicle of fleet.
In this embodiment, work jibs device 4 belongs to intelligent machine mechanical arm, is assemblied in the front portion of vehicle frame system, is mainly used in the intelligent interlinking of vehicle.
Link fleet's tele-control system (be comprehensive structure, do not mark in figure) comprises and being made up of steering gear 701a, Long-distance Control telecommunication interface 702a, vehicle-mounted computer 702b, long-range brake control module 702c, long-range turn signal switch 702d, Long-distance Control telecommunication interface 702h, long-range brake signal control module 702j, clamping device 705; Described link fleet tele-control system is used for the traveling that fleet controls this car.
In embodiment two, the self-driving Some principles structure of this car is the same with existing vehicle, does not just introduce herein.
In embodiment two, fleet's coordinate turn information service system, fleet's speed sync information comprehensive service system, fleet's running signal service system, fleet travel the part such as supervisory system, fleet's electric power supply system, the same with embodiment one, just do not introduce in detail herein.
Different structure in the long-range control loop of fleet and embodiment one is linked: fleet's intelligent interlinking network service system in embodiment two;
Fleet's intelligent interlinking network service system of embodiment two comprises and being made up of robot arm device Operation control module 404, traction rope rolling control module 606, Long-distance Control telecommunication interface 702a, vehicle-mounted computer 702b, Long-distance Control telecommunication interface 702h.Vehicle is with in fleet's driving process, and the work jibs device 4 on each realizes link by fleet's intelligent interlinking network service system and controls with chain rupture; Fleet's link passes through fleet's intelligent interlinking network service system process with chain rupture order by the breakdown trailer of fleet.
Shown in accompanying drawing 6 is that the vehicle of embodiment two involved in the present invention enters link and travels constitutional diagram in vehicle link driving process.Fig. 6 also show the constitutional diagram being made up of link fleet traveling this embodiment, and this fleet also can be responsible for traction by the breakdown trailer of specialty and travel.
In Fig. 6, in driving process, for avoiding vehicle below shorter with the distance of fleet above at fast state, easy generation is dangerous, not easily link, have employed the technical scheme of traction rope 609 and brake hoist engine 608, before starting link, fleet's breakdown trailer all enters the standby condition of docking with reservation vehicle above, when the vehicle preengage below close to fleet to certain distance time, above fleet's vehicle below by brake hoist engine 608 constantly to put down with the anti-speed degree of fleet travel speed the draw hook 604 being with traction rope 609, avoid draw hook 604 to tow on the ground as far as possible, with signal generator 607 on draw hook 604, the robot arm device 4 of vehicle can identify rapidly and find draw hook 604 below, being picked up by draw hook 604 is put in the traction casing 605 of oneself front part of vehicle, traction self-locking device 603 also installs by robot arm device 4, then, vehicle below progressively can further and put in place by fleet above, the Long-distance Control telecommunication interface 702h of the Long-distance Control telecommunication interface 702a of this car and fleet's preceding vehicle couples together and locks by robot arm device 4 again, just can enter normal linking status.Draw hook 604 with on vehicle frame between adopt sphere to be connected with ball bowl mode, as shown in Figure 7, to ensure the fleet's any swing of draw hook 604 within the scope of certain angle in the process of moving, meet in normal driving process turn to and Uneven road time fore-aft vehicle between angle difference; If pavement state is too poor, traction rope 609 can be discharged one section by brake hoist engine 608, to avoid damaging draw hook 604 and traction rope 609.In link process, due to have employed signal generator 607 technical scheme and in advance reservation with link before preparation, robot arm device 4 comparatively easily automatically identifies and completes link in the process of moving.Signal generator 607 can adopt a kind of signal or more than one signals in magnetic, electrical, optical etc. as required, is convenient to vehicle mechanical arm assembly 4 below and identifies.
The chain breaking process of vehicle is contrary with link process, does not just introduce in detail herein.
As from the foregoing, when the present embodiment travels as fleet's towing vehicle, pass to phase chain automobile by information such as described fleet coordinate turn information service system, fleet's speed sync information comprehensive service system, fleet's running signal service system turn inside diameter, starting, upward slope, acceleration, braking, signals, when being convenient to realize fleet's all vehicles, travel speed synchronous, collaborative turns to, externally sends consistent signal uniformly.
Accompanying drawing 8 relates to one of embodiment involved by the present invention program two.
Embodiment in accompanying drawing 8 relates to the vehicle that a kind of intelligent interlinking travels fleet, it both can be used as the breakdown trailer in intelligent interlinking traveling fleet, fleet's traction can be travelled by intelligent interlinking again to travel, can be applicable to electronic underloading lorry, electronic underloading caravan, electronic underloading passenger vehicle and composition intelligent interlinking thereof and travel fleet.
Shown in accompanying drawing 9 is one of vehicle control system ultimate principle figure of embodiment in Fig. 8.
In Fig. 8 and Fig. 9, include vehicle frame 1, motion 2, actuating unit 3, clamping device 705, steering gear 701a, vehicle running signal device 703, haulage chain connection device 601, reversing switch 718, turn signal switch 701c, brake switch 701d, fleet's signal lamp at night 719;
In this embodiment, fleet's coordinate turn information service system (be comprehensive structure, do not mark in figure) comprises and being made up of vehicle-mounted computer 702b, steering travel signal converter 713, onboard wireless communication device 5; Described fleet coordinate turn information service system links the vehicle of traveling after the radius of turn relevant informations such as axletree essential information before and after the corner of vehicle position, vehicle being sent to, the vehicle-mounted computer that link driving vehicle is provided for oneself below calculates the steering angle of oneself vehicle at this traveling-position, to reduce the injury swinging when whole fleet turns to and bring vehicle with fleet's forced steering.
In this embodiment, fleet's speed sync information comprehensive service system (be comprehensive structure, do not mark in figure) comprises and being made up of vehicle-mounted computer 702b, vehicle speed detector device 711, braking distance signal converter 712, brake switch 701d, reversing switch 718, link fleet power remote starter switch 708, power settings circuit 304, onboard wireless communication device 5.
Fleet to ensure fleet's synchronization accuracy, avoids the braking in fleet's driving process, acceleration shock by described fleet speed sync information comprehensive service system;
In this embodiment, fleet's running signal service system (be comprehensive structure, do not mark in figure) comprises and being made up of vehicle-mounted computer 702b, vehicle running signal device 703, reversing switch 718, turn signal switch 701c, brake switch 701d, fleet's signal lamp at night 719, onboard wireless communication device 5; This embodiment sends signal by fleet's running signal service system to side pedestrian or vehicle.
In this embodiment, fleet's intelligent interlinking network service system comprises and being made up of robot arm device Operation control module 404, traction rope rolling control module 606, vehicle-mounted computer 702b, onboard wireless communication device 5.
In this embodiment, fleet's traveling supervisory system comprises and being made up of vehicle-mounted computer 702b, camera head 8, car side camera head 801;
Link fleet tele-control system, controls motor 303 rotating speed and the speed of a motor vehicle by electronic acceleration control module 706a.
As from the foregoing, when the present embodiment travels as fleet's towing vehicle, when vehicle link travels, the steering gear that fleet controls all vehicles of fleet by fleet's coordinate turn information service system is in the process of moving coordinated to turn to; When vehicle link travels, fleet controls the synchronous braking of link Travel vehicle team vehicle, starting, acceleration, unified to external signal by fleet's speed sync information comprehensive service system, fleet's running signal service system etc. in the process of moving.
Accompanying drawing 10 shows that the step flow process of vehicle-mounted the Internet service system involved in the present invention is rapid.
The car owner that need link driving vehicle completes the registration of this car in this system by internet, comprises the relevant information of this car of input, comprises vehicle, telephone number, owner information, license plate number etc.;
Breakdown trailer or be ready that the car owner of the vehicle bearing breakdown trailer task completes the registration of this car in this system by internet.
When vehicle need be set out on a journey and be used, the driver that this car is relevant logs in this system, the link traction fleet information of query aim path relevant time period, traffic behavior, input need add application and the relevant information of link driving vehicle, comprise and estimate link time, expectation link section, expectation chain rupture section, confirm to submit AR awaiting reply to.
Then inquire about answer, confirm link time, link section, chain rupture section, estimated time of arrival (ETA), estimated charges
Driver keeps in touch with traction fleet, enters link travel the preproduction phase by expectation requirement; Both sides enter and start to link and complete link; Enter link fleet transport condition, in link fleet driving process, between the driver of driver and traction fleet by vibrating, intercommunication, mobile phone, vehicle-mounted mobile to communicate etc. in one or more modes keep in touch, controlled the traveling of fleet by the driver drawing fleet; Enter the chain rupture preproduction phase according to scheduled plan, both sides start chain rupture; Complete chain rupture and closed the account by internet system; In way, need change stroke if any special circumstances, need to submit to link to travel modification application at once, and enter the chain rupture preproduction phase, both sides start chain rupture; Complete chain rupture and closed the account by internet system;
Breakdown trailer is responsible for operating this Internet service system by full-time civilian in the process of moving, fleet is driven in driver's sole duty of breakdown trailer, then can arrange the operation being in charge of the Internet service system of this fleet by the driver on second car below as not having full-time civilian.
Vehicle-mounted the Internet service system also can increase with Vehicle manufacturers as required, fix a point to keep in repair manufacturer, vehicle administration office, the traffic route command and control center in city, the message exchange of website service system.
The vehicle condition that the fixed point maintenance manufacturer of responsible maintenance and vehicle administration office transmit this car by internet is evaluated in the recent period, and up-to-standard vehicle participates in link traveling, effectively can ensure the safety of fleet.
Vehicle administration office transmits the recent annual examination information of the relevant driver of this car by internet, the vehicle avoiding vehicle to examine backlog demand annually participates in the traveling of link fleet.
The traffic route command and control center in city provides the traffic behavior of road and the lights state at crossing in real time; Global location and guider will provide the positional information of fleet and driving vehicle to be linked, are convenient to fleet drivers and each car driver understands position and road conditions mutually.
Vehicle-mounted the Internet service system also can increase the service of resident as required, and the citizen that need take vehicle or fleet by mobile communication phone registration and Sign-On services system, to be preengage by both sides and the standard clearing program of system is closed the account.
The present invention in particular embodiments, global location and guider will provide the information of road residing for vehicle, and the long-range control loop of described link fleet is assisted fleet's upward slope, descending by the navigation of global location and guider, turns to, braked, the Driving control such as unlatching, power acceleration of power.
In particular embodiments, the driver that described fleet Emergency treatment System is convenient to link fleet in emergency circumstances takes related emergency process action by each vehicle of fleet running in the present invention.
The present invention in particular embodiments, car side camera head 801 can be assemblied on the lift rotating equipment of vehicle frame, the lifting rotation of car side camera head 801 can be controlled like this, be convenient to the whole state that breakdown trailer driver observes fleet and neighbouring road below, lift rotating equipment belongs to known general application technology, does not just describe in detail herein.
In particular embodiments, the vehicle driver of fleet front end closes the power of phase chain automobile as required by link fleet power remote starter switch 708, also automatically can be closed the power of phase chain automobile by vehicle-mounted control loop in the present invention.
Above embodiment only for technical conceive of the present invention and feature are described, can not limit the scope of the invention.All equalizations done with the claims in the present invention scope change and modify, and all should belong to the covering scope of the claims in the present invention.
Claims (8)
1. the control system of an automobile and Xiang Lian fleet traveling thereof, include vehicle frame, actuating unit, clamping device, steering gear, vehicle running signal device, vehicle speed detector device, reversing switch, brake switch, it is characterized in that including fleet's coordinate turn information service system, fleet's speed sync information comprehensive service system, fleet's running signal service system, vehicle-mounted computer, Long-distance Control telecommunication interface, haulage chain connection device, described fleet coordinate turn information service system comprises by steering travel signal converter, the information circuit of Long-distance Control telecommunication interface is connected to form, described fleet speed sync information comprehensive service system comprises described vehicle speed detector device, the information circuit of Long-distance Control telecommunication interface is connected to form, fleet's running signal service system comprises by turn signal switch, the information circuit of Long-distance Control telecommunication interface is connected to form.
2. the control system of a kind of automobile according to claim 1 and Xiang Lian fleet traveling thereof, is characterized in that described fleet speed sync information comprehensive service system comprises and is connected to form with the information circuit of described brake switch.
3. the control system of a kind of automobile according to claim 1 and Xiang Lian fleet traveling thereof, is characterized in that described fleet speed sync information comprehensive service system comprises and is connected to form with the information circuit of the power settings circuit of described actuating unit.
4. the control system of a kind of automobile according to claim 1 and Xiang Lian fleet traveling thereof, is characterized in that described fleet speed sync information comprehensive service system comprises and is connected to form with the information circuit of described reversing switch.
5. the control system that travels of a kind of automobile according to claim 1 and Xiang Lian fleet thereof, is characterized in that including fleet member communication system, and described fleet member communication system comprises and being connected to form by the information circuit of sound equipment, Long-distance Control telecommunication interface.
6. the control system of a kind of automobile according to claim 5 and Xiang Lian fleet traveling thereof, is characterized in that described fleet signal service system includes fleet's signal lamp at night.
7. the control system of a kind of automobile according to claim 1 and Xiang Lian fleet traveling thereof, it is characterized in that including fleet and travel supervisory system, described fleet travels supervisory system and comprises and being connected to form by the information circuit of camera head, vehicle-mounted computer, Long-distance Control telecommunication interface.
8. the control system of an automobile and Xiang Lian fleet traveling thereof, include vehicle frame, actuating unit, clamping device, steering gear, vehicle running signal device, vehicle speed detector device, reversing switch, brake switch, it is characterized in that including fleet's coordinate turn information service system, fleet's speed sync information comprehensive service system, fleet's running signal service system, vehicle-mounted computer, onboard wireless communication device, haulage chain connection device, described fleet coordinate turn information service system comprises by steering travel signal converter, the information circuit of onboard wireless communication device is connected to form, described fleet speed sync information comprehensive service system comprises described vehicle speed detector device, the information circuit of onboard wireless communication device is connected to form, fleet's running signal service system comprises by turn signal switch, the information circuit of onboard wireless communication device is connected to form.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510922470.8A CN105374207A (en) | 2015-12-09 | 2015-12-09 | Control system of driving of vehicle and vehicle fleet chained with vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510922470.8A CN105374207A (en) | 2015-12-09 | 2015-12-09 | Control system of driving of vehicle and vehicle fleet chained with vehicle |
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| CN105374207A true CN105374207A (en) | 2016-03-02 |
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| CN201510922470.8A Pending CN105374207A (en) | 2015-12-09 | 2015-12-09 | Control system of driving of vehicle and vehicle fleet chained with vehicle |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106846864A (en) * | 2017-01-23 | 2017-06-13 | 斑马信息科技有限公司 | For the vehicle guide system and method for guiding vehicles of depot |
| CN107767658A (en) * | 2016-08-15 | 2018-03-06 | 福特全球技术公司 | Form a team autonomous vehicle navigation sensor exchange |
| CN110001800A (en) * | 2019-04-22 | 2019-07-12 | 马锡秀 | A kind of Automobile Transportation device and its workflow |
| CN110033609A (en) * | 2017-11-27 | 2019-07-19 | 丰田自动车株式会社 | Fleet's control device |
| CN110228469A (en) * | 2018-03-05 | 2019-09-13 | 上海汽车集团股份有限公司 | A kind of control method for vehicle, apparatus and system |
| CN113409564A (en) * | 2020-03-17 | 2021-09-17 | 北京金山云网络技术有限公司 | Safety management method, device and equipment for motorcade |
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2015
- 2015-12-09 CN CN201510922470.8A patent/CN105374207A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107767658A (en) * | 2016-08-15 | 2018-03-06 | 福特全球技术公司 | Form a team autonomous vehicle navigation sensor exchange |
| CN107767658B (en) * | 2016-08-15 | 2022-02-08 | 福特全球技术公司 | Team autonomous vehicle navigation sensor interchange |
| CN106846864A (en) * | 2017-01-23 | 2017-06-13 | 斑马信息科技有限公司 | For the vehicle guide system and method for guiding vehicles of depot |
| CN110033609A (en) * | 2017-11-27 | 2019-07-19 | 丰田自动车株式会社 | Fleet's control device |
| CN110033609B (en) * | 2017-11-27 | 2021-08-17 | 丰田自动车株式会社 | Vehicle fleet control device |
| CN110228469A (en) * | 2018-03-05 | 2019-09-13 | 上海汽车集团股份有限公司 | A kind of control method for vehicle, apparatus and system |
| CN110001800A (en) * | 2019-04-22 | 2019-07-12 | 马锡秀 | A kind of Automobile Transportation device and its workflow |
| CN113409564A (en) * | 2020-03-17 | 2021-09-17 | 北京金山云网络技术有限公司 | Safety management method, device and equipment for motorcade |
| CN113409564B (en) * | 2020-03-17 | 2022-09-02 | 北京金山云网络技术有限公司 | Safety management method, device and equipment for motorcade |
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