CN105824311A - Vehicle automatic driving method and device - Google Patents
Vehicle automatic driving method and device Download PDFInfo
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- CN105824311A CN105824311A CN201610067291.5A CN201610067291A CN105824311A CN 105824311 A CN105824311 A CN 105824311A CN 201610067291 A CN201610067291 A CN 201610067291A CN 105824311 A CN105824311 A CN 105824311A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The embodiment of the invention provides a vehicle automatic driving method and device. Vehicles include at least one master control vehicle and at least one controlled vehicle. The master control vehicle and the controlled vehicle are connected through a wireless communication mode. The method comprises the steps that the driving position of the master control vehicle and the corresponding driving state of the master control vehicle are recorded; the driving position of the controlled vehicle transmitted by the controlled vehicle is received; driving control information for the controlled vehicle is generated according to the driving position of the master control vehicle and the corresponding driving state of the master control vehicle and the driving position of the controlled vehicle, wherein the driving control information includes the driving state of the controlled vehicle; and the driving control information is transmitted to the controlled vehicle according to a preset time period, and the controlled vehicle is used for driving according to the driving state of the controlled vehicle to realize automatic control of the controlled vehicle so that the controlled vehicle is enabled not to require operation and control of a driver, and the objective of automatic driving can be achieved.
Description
Technical field
The present invention relates to automobile technical field, particularly relate to the automatic Pilot method and apparatus of a kind of vehicle.
Background technology
Automatic Pilot technology is always the emphasis of lot of domestic and foreign automaker research.In recent years, along with the development of automotive electronic technology, sensor technology and image processing techniques, the research of automatic Pilot technology also achieves huge progress.
At present, automatic Pilot relies primarily on various types of DAS (Driver Assistant System) and realizes.It is equipped with the vehicle of DAS (Driver Assistant System), it is possible to realize the auxiliary driving functions such as lane departure warning LDW (LaneDepartureWarning), or frontal collisions early warning FCW (ForwardCollisionWarning).Lane departure warning LDW system is a kind of to assist driver to reduce automobile the system of vehicle accident occurs because of deviation by the way of warning, frontal collisions early warning FCW is then to carry out real-time monitoring front vehicles by radar system, judging the distance between this car and front truck, orientation and relative velocity, when there is potential risk of collision, driver being alerted.In addition, senior DAS (Driver Assistant System) ADAS (AdvancedDriverAssistantSystem) can utilize the sensors such as vehicle-mounted photographic head, radar, environment around sensing in real time in vehicle traveling process, collect data, carry out static state, the identification of dynamic object, detect and follow the trail of, and navigation instrument map datum, carry out computing and the analysis of system, thus allow driver perceive contingent danger in advance, it is possible to increase comfortableness and the safety of car steering further.
But, above-mentioned various DAS (Driver Assistant System) all realizes by advance driver being carried out early warning, need nonetheless remain for operation and the control of driver, it it not automatic Pilot truly, and, the millimetre-wave radar of DAS (Driver Assistant System) cost intensive, particularly better performances is the most thousand of the most up to ten thousand, and not each automobile is suitable for.
Summary of the invention
Embodiments provide the automatic Pilot method and apparatus of a kind of vehicle, rely primarily on DAS (Driver Assistant System) in advance driver is carried out early warning in order to solve automatic Pilot of the prior art, need nonetheless remain for the defect by driver vehicle being operated and controlling, realize controlled vehicle is automatically controlled, so that controlled vehicle need not be operated by driver and control, reach the purpose of automatic Pilot.
Embodiments providing a kind of automatic Pilot method of vehicle, described vehicle includes at least one master control vehicle and at least one controlled vehicle, and described master control vehicle is connected by communication with controlled vehicle, and described method includes:
Record master control vehicle traveling-position and the master control vehicle running state of correspondence；
Receive the controlled vehicle traveling-position that controlled vehicle sends；
According to described master control vehicle traveling-position and the master control vehicle running state of correspondence, and, described controlled vehicle traveling-position, generate the traveling for described controlled vehicle and control information, described traveling controls information and includes controlled vehicle running state；
According to the default time cycle, sending described traveling control information to described controlled vehicle, described controlled vehicle is for travelling according to described controlled vehicle running state.
The embodiment of the present invention additionally provides a kind of automatic Pilot method of vehicle, and described vehicle includes at least one master control vehicle and at least one controlled vehicle, and described master control vehicle is connected by communication with controlled vehicle, and described method includes:
Controlled vehicle sends controlled vehicle traveling-position to master control vehicle, described master control vehicle is for according to described controlled vehicle traveling-position, and, the described master control vehicle traveling-position recorded and the master control vehicle running state of correspondence, generating the traveling for described controlled vehicle and control information, described traveling controls information and includes controlled vehicle running state；
The traveling that controlled vehicle receiver master control vehicle returns controls information；
Controlled vehicle travels according to described controlled vehicle running state.
The embodiment of the present invention additionally provides the servomechanism of a kind of vehicle, and described vehicle includes at least one master control vehicle and at least one controlled vehicle, and described master control vehicle is connected by communication with controlled vehicle, and described device includes:
First logging modle, for recording the master control vehicle running state of master control vehicle traveling-position and correspondence；
First receiver module, for receiving the controlled vehicle traveling-position that controlled vehicle sends；
First generation module, for according to described master control vehicle traveling-position and the master control vehicle running state of correspondence, and, described controlled vehicle traveling-position, generating the traveling for described controlled vehicle and control information, described traveling controls information and includes controlled vehicle running state；
First sending module, for according to the default time cycle, sending described traveling control information to described controlled vehicle；
First travels module, for being travelled according to described controlled vehicle running state by described controlled vehicle.
The embodiment of the present invention additionally provides the servomechanism of a kind of vehicle, and described vehicle includes at least one master control vehicle and at least one controlled vehicle, and described master control vehicle is connected by communication with controlled vehicle, and described method includes:
Second sending module, for being sent controlled vehicle traveling-position to master control vehicle by controlled vehicle；
Second generation module, for by described master control vehicle according to described controlled vehicle traveling-position, and, the described master control vehicle traveling-position recorded and the master control vehicle running state of correspondence, generating the traveling for described controlled vehicle and control information, described traveling controls information and includes controlled vehicle running state；
Second receiver module, controls information for the traveling returned by controlled vehicle receiver master control vehicle；
Second travels module, for being travelled according to described controlled vehicle running state by controlled vehicle.
The automatic Pilot method and apparatus of a kind of vehicle that the embodiment of the present invention provides, by obtaining master control vehicle traveling-position and the master control vehicle running state of correspondence, and controlled vehicle traveling-position, and then the traveling generating controlled vehicle controls information, then in the way of radio communication, traveling control information is sent to controlled vehicle by master control vehicle, make controlled vehicle can control information automatic running according to the traveling received, change automatic Pilot in prior art to rely primarily on DAS (Driver Assistant System) and in advance driver is carried out early warning, need nonetheless remain for the defect by driver vehicle being operated and controlling, realize controlled vehicle and can need not operation and the control of driver, reach the purpose of automatic Pilot.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in describing below is some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is automatic Pilot embodiment of the method one flow chart of a kind of vehicle of the present invention；
Fig. 2 is automatic Pilot embodiment of the method two flow chart of a kind of vehicle of the present invention；
Fig. 3 is automatic Pilot embodiment of the method three flow chart of a kind of vehicle of the present invention；
Fig. 4 is servomechanism embodiment one structural representation of a kind of vehicle of the present invention；
Fig. 5 is servomechanism embodiment two structural representation of a kind of vehicle of the present invention.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of protection of the invention.
With reference to Fig. 1, it is shown that automatic Pilot embodiment of the method one flow chart of a kind of vehicle of the present invention, specifically may include steps of:
Step 101, record master control vehicle traveling-position and the master control vehicle running state of correspondence；
In embodiments of the present invention, described vehicle can include at least one master control vehicle and at least one controlled vehicle, master control vehicle and controlled vehicle form fleet, and master control vehicle is operated control by driver, master control vehicle and controlled vehicle is attached by the way of radio communication.
Communication between master control vehicle and controlled vehicle can be carried out by IEEE802.11p agreement.IEEE802.11p agreement, also known as WAVE agreement (WirelessAccessintheVehicularEnvironment), is the communication protocol expanded by IEEE802.11 standard, is mainly used in vehicle electronics radio communication.It is the expansion extension of IEEE802.11, meets the related application of intelligent transportation system ITS (IntelligentTransportSystem).The application of IEEE802.11p agreement be capable of including between hot-short and between vehicle and ITS roadside infrastructure data exchange.
In embodiments of the present invention, can be with real time record master control vehicle traveling-position and the master control vehicle running state of correspondence.
Described traveling-position may include that the longitude of present position, latitude, height above sea level in described master control vehicle current driving, and, for the information such as data precision of the data such as longitude, latitude, height above sea level.
Corresponding transport condition may include that described master control vehicle travels the speed when current location, acceleration, travel direction, and, gear information etc..
In implementing, traveling-position can pass through global position system GPS (GlobalPositioningSystem) or China Beidou satellite navigation system BDS (BeiDouNavigationSatelliteSystem) obtains.Certainly, those skilled in the art are according to actual needs, can also pass through the either type in global navigation satellite system GNSS (GlobalNavigationSatelliteSystem) and obtain the traveling-position of described master control vehicle, this is not limited by the present invention.
Corresponding transport condition can carry out real time record by the electronic control unit ECU (ElectronicControlUnit) of described master control vehicle self.Electronic control unit ECU is otherwise known as car running computer, vehicle-mounted computer etc., it it is a kind of microcomputerized controller of automobile specified, it is the same with common computer, it is made up of microprocessor (CPU), memorizer (ROM, RAM), input/output interface (I/O), analog-digital converter (A/D) and the large scale integrated circuit such as shaping, driving, possesses the function of the current transport condition of vehicle described in real time record.
Step 102, receives the controlled vehicle traveling-position that controlled vehicle sends；
In implementing, master control vehicle can receive, by communications such as IEEE802.11p agreements, the controlled vehicle traveling-position that controlled vehicle sends.
Generally, controlled vehicle traveling-position can also be obtained by GPS system or dipper system.
The car-mounted terminal of the parts such as in a kind of preferred exemplary of the present invention, the communication between master control vehicle and controlled vehicle can be by including CPU module, power supply module, supports the wireless module of IEEE802.11p agreement, liquid crystal display module completes.Such as, the car-mounted terminal of master control vehicle can obtain self traveling-position information and velocity information from GPS system, set up network by the wireless module of support IEEE802.11p agreement with controlled vehicle to be connected simultaneously, receive the traveling-position information of controlled vehicle, processed by CPU calculating, and show in liquid crystal display screen.
Step 103, according to described master control vehicle traveling-position and the master control vehicle running state of correspondence, and, described controlled vehicle traveling-position, generate the traveling for described controlled vehicle and control information；
In implementing, after receiving controlled vehicle traveling-position, the distance between master control vehicle and controlled vehicle can be calculated further according to master control vehicle traveling-position and the master control vehicle running state of correspondence of controlled vehicle traveling-position and record.Such as, for the master control vehicle travelled on same path and controlled vehicle, if time at a time, the current location of controlled vehicle is at 1600 meters of described road, and at the current location of master control vehicle is described road 1700 meters, then can determine that between master control vehicle and controlled vehicle at a distance of 100 meters.
On the metastable road of road environment and traffic state, the master control vehicle operated by the driver transport condition in a certain position, can be as controlled vehicle at the reference transport condition arriving this position, such that it is able to generate the traveling for described controlled vehicle to control information, described traveling control information includes controlled vehicle running state.
Step 104, according to the default time cycle, sends described traveling control information to described controlled vehicle, and described controlled vehicle is for travelling according to described controlled vehicle running state.
In implementing, after generating for the traveling control information of controlled vehicle, according to the default time cycle, described traveling control information can be sent to controlled vehicle.The time cycle sending traveling control information can determine according to the speed that master control vehicle and controlled vehicle are current.If the travel speed of master control vehicle and controlled vehicle is very fast, then can the time cycle be arranged shorter, within the most every 1 second or 2 seconds, just send once, so that controlled vehicle can receive described traveling control information in time.
Owing to including the transport condition for controlled vehicle in travelling control information, thus controlled vehicle can travel according to the requirement of described transport condition, it is achieved the automatic Pilot of controlled vehicle.
In embodiments of the present invention, by traveling-position and the transport condition of correspondence of record master control vehicle, after the traveling-position receiving controlled vehicle, the traveling for controlled vehicle can be generated and control information, controlled vehicle can be travelled according to the transport condition travelled in control information, it is no longer necessary to by driver vehicle be operated and control, thus realizes the automatic Pilot of controlled vehicle.
With reference to Fig. 2, it is shown that automatic Pilot embodiment of the method two flow chart of a kind of vehicle of the present invention, specifically may include steps of:
Step 201, record master control vehicle traveling-position and the master control vehicle running state of correspondence；
In embodiments of the present invention, described vehicle can include that at least one master control vehicle and at least one controlled vehicle, master control vehicle and controlled vehicle form fleet, and master control vehicle is operated control by driver.Master control vehicle can be attached with controlled vehicle by the way of the radio communications such as IEEE802.11p agreement.
In order to realize the purpose of the present invention, the traveling-position of master control vehicle first can be recorded by GPS system or dipper system, such as longitude, latitude, height above sea level, data precision etc..Further, it is also possible to record and the transport conditions such as the master control corresponding speed of vehicle traveling-position, acceleration, travel direction, gear information.Transport condition can be obtained by the electronic control unit ECU of master control vehicle self.
Step 202, receives the controlled vehicle traveling-position that controlled vehicle sends；
In implementing, can receive, by communications such as IEEE802.11p agreements, the controlled vehicle traveling-position that controlled vehicle sends.
Step 203, according to described master control vehicle traveling-position and described controlled vehicle traveling-position, calculates the distance between described master control vehicle and controlled vehicle；
Step 204, according to the distance between described master control vehicle and controlled vehicle, and, described master control vehicle traveling-position and the master control vehicle running state of correspondence, generate the controlled vehicle running state corresponding with the traveling-position of described controlled vehicle.
In embodiments of the present invention, after receiving controlled vehicle traveling-position, the distance between master control vehicle with controlled vehicle and relative position can be calculated according to master control vehicle traveling-position.
Owing to master control vehicle is operated by driver, it is thus possible to adapt to the driving demand of present road completely.If the road environment of present road is relative with traffic state stable, then front vehicle can travel according to corresponding transport condition.
Therefore, in embodiments of the present invention, can according to the distance between described master control vehicle and controlled vehicle, and, described master control vehicle traveling-position and the master control vehicle running state of correspondence, generate the controlled vehicle running state corresponding with the traveling-position of described controlled vehicle.
In implementing, if master control vehicle and controlled vehicle lay respectively at 1700 meters of a certain bar road and at 1600 meters, the traveling-position of the master control vehicle according to record and the master control vehicle running state corresponding to current driving location (such as can include the speed of master control vehicle, acceleration, travel direction, gear information etc.), it is believed that controlled vehicle is when arriving current location (at 1700 meters of described road) of master control vehicle, should travel according to master control vehicle transport condition in this place, thus generate the controlled vehicle controlled vehicle running state corresponding at 1700 meters.More preferably, according to the travel speed that controlled vehicle is current, and the distance between master control vehicle and controlled vehicle, it is also possible to obtain the controlled vehicle time needed for arriving at 1700 meters, such that it is able to generate the controlled vehicle running state corresponding with particular moment.Above description is only a kind of example of the embodiment of the present invention, and those skilled in the art can also determine that the controlled vehicle running state generated, present invention contrast are not especially limited according to actual needs.In addition, master control vehicle and the position corresponding to the relative mileage that the current location of controlled vehicle can be a certain bar road, can also is that according to a certain traveling-position based on more precise informations such as longitude, latitude and height above sea level determined by road conditions condition, those skilled in the art can select according to actual needs, and this is not especially limited by the present invention.
Step 205, according to the default time cycle, sends described controlled vehicle running state to described controlled vehicle, and described controlled vehicle is for travelling according to described controlled vehicle running state.
In implementing, can be according to the master control vehicle speed current with controlled vehicle, according to the default time cycle, by communications such as IEEE802.11p agreements, controlled vehicle running state is sent to controlled vehicle, enables controlled vehicle to travel according to described transport condition.
With reference to Fig. 3, it is shown that automatic Pilot embodiment of the method three flow chart of a kind of vehicle of the present invention, specifically may include steps of:
Step 301, controlled vehicle sends controlled vehicle traveling-position to master control vehicle；
In embodiments of the present invention, described vehicle can include that at least one master control vehicle and at least one controlled vehicle, master control vehicle and controlled vehicle form fleet, and master control vehicle is operated control by driver.Master control vehicle is connected by the way of the radio communications such as IEEE802.11p agreement with controlled vehicle.
In order to realize the purpose of the present invention, the traveling-position obtained by GPS system or dipper system can be sent to master control vehicle by controlled vehicle.
On the other hand, master control vehicle can be according to the described controlled vehicle traveling-position received, and, the master control vehicle traveling-position recorded by the electronic control unit ECU of self and the master control vehicle running state of correspondence, generating the traveling for described controlled vehicle and control information, described traveling controls information and includes controlled vehicle running state.
In embodiments of the present invention, master control vehicle generates according to the described controlled vehicle traveling-position received, and, the master control vehicle traveling-position recorded by the electronic control unit ECU of self and the master control vehicle running state of correspondence, the traveling control information for described controlled vehicle that generates specifically may include steps of:
Step S11, master control vehicle, according to described master control vehicle traveling-position and described controlled vehicle traveling-position, calculates the distance between described master control vehicle and controlled vehicle；
Step S12, master control vehicle according to the distance between described master control vehicle and controlled vehicle, and, described master control vehicle traveling-position and the master control vehicle running state of correspondence, generate the controlled vehicle running state corresponding with the traveling-position of described controlled vehicle.
In embodiments of the present invention, master control vehicle can receive controlled vehicle traveling-position, then according to master control vehicle traveling-position, calculates the distance between master control vehicle with controlled vehicle and relative position.
On the metastable road of road environment and traffic state, the transport condition of each vehicle is relatively fixed, therefore, in embodiments of the present invention, can be according to the transport condition of the master control vehicle operated by driver, generate the traveling for controlled vehicle and control information, then described traveling control information is sent to controlled vehicle by communication.Described traveling control information can include controlled vehicle running state corresponding with controlled vehicle traveling-position.
Step 302, the traveling that controlled vehicle receiver master control vehicle returns controls information；
In embodiments of the present invention, owing to master control vehicle is attached by radio communication with controlled vehicle, therefore, controlled vehicle can receive the traveling control information that master control vehicle returns in time.
Step 303, controlled vehicle travels according to described controlled vehicle running state.
In implementing, controlled vehicle, after the information that controls the traveling received carries out dissection process, can travel according to the controlled vehicle running state travelled in control information, it is achieved the automatic Pilot of controlled vehicle.
In embodiments of the present invention, controlled vehicle is by sending the traveling-position of self to master control vehicle, then receive by master control vehicle return traveling control information, and then travel according to the controlled vehicle running state travelled in control information, without being carried out operating control to controlled vehicle by driver, it is achieved that the automatic Pilot of controlled vehicle.
With reference to Fig. 4, show servomechanism embodiment one structural representation of a kind of vehicle of the present invention, described vehicle includes at least one master control vehicle and at least one controlled vehicle, described master control vehicle is connected by communication with controlled vehicle, and described device specifically can include such as lower module:
First logging modle 401, for recording the master control vehicle running state of master control vehicle traveling-position and correspondence；
First receiver module 402, for receiving the controlled vehicle traveling-position that controlled vehicle sends；
First generation module 403, for according to described master control vehicle traveling-position and the master control vehicle running state of correspondence, and, described controlled vehicle traveling-position, generating the traveling for described controlled vehicle and control information, described traveling controls information and includes controlled vehicle running state；
First sending module 404, for according to the default time cycle, sending described traveling control information to described controlled vehicle；
First travels module 405, for being travelled according to described controlled vehicle running state by described controlled vehicle.
In embodiments of the present invention, described first generation module 403 specifically can include following submodule:
First calculating sub module 4031, for according to described master control vehicle traveling-position and described controlled vehicle traveling-position, calculates the distance between described master control vehicle and controlled vehicle；
First generates submodule 4032, for according to the distance between described master control vehicle and controlled vehicle, and, described master control vehicle traveling-position and the master control vehicle running state of correspondence, generate the controlled vehicle running state corresponding with the traveling-position of described controlled vehicle.
In embodiments of the present invention, described traveling-position includes: the longitude of described vehicle, latitude, height above sea level, and/or, data precision；
In embodiments of the present invention, described transport condition includes: the speed of described vehicle, acceleration, travel direction, and/or, gear information.
With reference to Fig. 5, show servomechanism embodiment two structural representation of a kind of vehicle of the present invention, described vehicle includes at least one master control vehicle and at least one controlled vehicle, described master control vehicle is connected by communication with controlled vehicle, and described device specifically can include such as lower module:
Second sending module 501, for being sent controlled vehicle traveling-position to master control vehicle by controlled vehicle；
Second generation module 502, for by described master control vehicle according to described controlled vehicle traveling-position, and, the described master control vehicle traveling-position recorded and the master control vehicle running state of correspondence, generating the traveling for described controlled vehicle and control information, described traveling controls information and includes controlled vehicle running state；
Second receiver module 503, controls information for the traveling returned by controlled vehicle receiver master control vehicle；
Second travels module 504, for being travelled according to described controlled vehicle running state by controlled vehicle.
In embodiments of the present invention, described second generation module 502 specifically can include following submodule:
Second calculating sub module 5021, is used for by master control vehicle according to described master control vehicle traveling-position and described controlled vehicle traveling-position, calculates the distance between described master control vehicle and controlled vehicle；
Second generates submodule 5022, for by master control vehicle according to the distance between described master control vehicle and controlled vehicle, and, described master control vehicle traveling-position and the master control vehicle running state of correspondence, generate the controlled vehicle running state corresponding with the traveling-position of described controlled vehicle.
In embodiments of the present invention, described traveling-position includes: the longitude of described vehicle, latitude, height above sea level, and/or, data precision；
In embodiments of the present invention, described transport condition includes: the speed of described vehicle, acceleration, travel direction, and/or, gear information.
Device embodiment described above is only schematically, the wherein said unit illustrated as separating component can be or may not be physically separate, the parts shown as unit can be or may not be physical location, i.e. may be located at a place, or can also be distributed on multiple NE.Some or all of module therein can be selected according to the actual needs to realize the purpose of the present embodiment scheme.Those of ordinary skill in the art, in the case of not paying performing creative labour, are i.e. appreciated that and implement.
Through the above description of the embodiments, those skilled in the art is it can be understood that can add the mode of required general hardware platform by software to each embodiment and realize, naturally it is also possible to pass through hardware.Based on such understanding, the part that prior art is contributed by technique scheme the most in other words can embody with the form of software product, this computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD etc., including some instructions with so that a computer equipment (can be personal computer, server, or the network equipment etc.) perform the method described in some part of each embodiment or embodiment.
Last it is noted that above example is only in order to illustrate technical scheme, it is not intended to limit；Although the present invention being described in detail with reference to previous embodiment, it will be understood by those within the art that: the technical scheme described in foregoing embodiments still can be modified by it, or wherein portion of techniques feature is carried out equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. the automatic Pilot method of a vehicle, it is characterised in that described vehicle includes at least one master control vehicle and at least one controlled vehicle, described master control vehicle is connected by communication with controlled vehicle, and described method includes:
Record master control vehicle traveling-position and the master control vehicle running state of correspondence；
Receive the controlled vehicle traveling-position that controlled vehicle sends；
According to described master control vehicle traveling-position and the master control vehicle running state of correspondence, and, described controlled vehicle traveling-position, generate the traveling for described controlled vehicle and control information, described traveling controls information and includes controlled vehicle running state；
According to the default time cycle, sending described traveling control information to described controlled vehicle, described controlled vehicle is for travelling according to described controlled vehicle running state.
Method the most according to claim 1, it is characterized in that, described according to described master control vehicle traveling-position and the master control vehicle running state of correspondence, and, described controlled vehicle traveling-position, generates the step travelling control information for described controlled vehicle and includes:
According to described master control vehicle traveling-position and described controlled vehicle traveling-position, calculate the distance between described master control vehicle and controlled vehicle；
According to the distance between described master control vehicle and controlled vehicle, and, described master control vehicle traveling-position and the master control vehicle running state of correspondence, generate the controlled vehicle running state corresponding with the traveling-position of described controlled vehicle.
Method the most according to claim 1 and 2, it is characterised in that described traveling-position includes: the longitude of described vehicle, latitude, height above sea level, and/or, data precision；Described transport condition includes: the speed of described vehicle, acceleration, travel direction, and/or, gear information.
4. the automatic Pilot method of a vehicle, it is characterised in that described vehicle includes at least one master control vehicle and at least one controlled vehicle, described master control vehicle is connected by communication with controlled vehicle, and described method includes:
Controlled vehicle sends controlled vehicle traveling-position to master control vehicle, described master control vehicle is for according to described controlled vehicle traveling-position, and, the described master control vehicle traveling-position recorded and the master control vehicle running state of correspondence, generating the traveling for described controlled vehicle and control information, described traveling controls information and includes controlled vehicle running state；
The traveling that controlled vehicle receiver master control vehicle returns controls information；
Controlled vehicle travels according to described controlled vehicle running state.
Method the most according to claim 4, it is characterized in that, described master control vehicle according to described controlled vehicle traveling-position, and, the described master control vehicle traveling-position of record and the master control vehicle running state of correspondence, generate the step travelling control information for described controlled vehicle and include:
Master control vehicle, according to described master control vehicle traveling-position and described controlled vehicle traveling-position, calculates the distance between described master control vehicle and controlled vehicle；
Master control vehicle according to the distance between described master control vehicle and controlled vehicle, and, described master control vehicle traveling-position and the master control vehicle running state of correspondence, generate the controlled vehicle running state corresponding with the traveling-position of described controlled vehicle.
6. according to the method described in claim 4 or 5, it is characterised in that described traveling-position includes: the longitude of described vehicle, latitude, height above sea level, and/or, data precision；Described transport condition includes: the speed of described vehicle, acceleration, travel direction, and/or, gear information.
7. the servomechanism of a vehicle, it is characterised in that described vehicle includes at least one master control vehicle and at least one controlled vehicle, described master control vehicle is connected by communication with controlled vehicle, and described device includes:
First logging modle, for recording the master control vehicle running state of master control vehicle traveling-position and correspondence；
First receiver module, for receiving the controlled vehicle traveling-position that controlled vehicle sends；
First generation module, for according to described master control vehicle traveling-position and the master control vehicle running state of correspondence, and, described controlled vehicle traveling-position, generating the traveling for described controlled vehicle and control information, described traveling controls information and includes controlled vehicle running state；
First sending module, for according to the default time cycle, sending described traveling control information to described controlled vehicle；
First travels module, for being travelled according to described controlled vehicle running state by described controlled vehicle.
Device the most according to claim 7, it is characterised in that described first generation module includes:
First calculating sub module, for according to described master control vehicle traveling-position and described controlled vehicle traveling-position, calculates the distance between described master control vehicle and controlled vehicle；
First generates submodule, is used for according to the distance between described master control vehicle and controlled vehicle, and, described master control vehicle traveling-position and the master control vehicle running state of correspondence, generate the controlled vehicle running state corresponding with the traveling-position of described controlled vehicle.
9. the servomechanism of a vehicle, it is characterised in that described vehicle includes at least one master control vehicle and at least one controlled vehicle, described master control vehicle is connected by communication with controlled vehicle, and described method includes:
Second sending module, for being sent controlled vehicle traveling-position to master control vehicle by controlled vehicle；
Second generation module, for by described master control vehicle according to described controlled vehicle traveling-position, and, the described master control vehicle traveling-position recorded and the master control vehicle running state of correspondence, generating the traveling for described controlled vehicle and control information, described traveling controls information and includes controlled vehicle running state；
Second receiver module, controls information for the traveling returned by controlled vehicle receiver master control vehicle；
Second travels module, for being travelled according to described controlled vehicle running state by controlled vehicle.
Device the most according to claim 9, it is characterised in that described second generation module includes:
Second calculating sub module, is used for by master control vehicle according to described master control vehicle traveling-position and described controlled vehicle traveling-position, calculates the distance between described master control vehicle and controlled vehicle；
Second generates submodule, for by master control vehicle according to the distance between described master control vehicle and controlled vehicle, and, described master control vehicle traveling-position and the master control vehicle running state of correspondence, generate the controlled vehicle running state corresponding with the traveling-position of described controlled vehicle.
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