CN105835882A - Automatic vehicle traveling method and device - Google Patents
Automatic vehicle traveling method and device Download PDFInfo
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- CN105835882A CN105835882A CN201610116153.1A CN201610116153A CN105835882A CN 105835882 A CN105835882 A CN 105835882A CN 201610116153 A CN201610116153 A CN 201610116153A CN 105835882 A CN105835882 A CN 105835882A
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- transport condition
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2550/00—Input parameters relating to exterior conditions
- B60W2550/40—Involving external transmission of data to or from the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2550/00—Input parameters relating to exterior conditions
- B60W2550/40—Involving external transmission of data to or from the vehicle
- B60W2550/408—Data transmitted between vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2750/00—Output or target parameters relating to exterior, e.g. between vehicles
- B60W2750/40—Involving external transmission of data to or from the vehicle
Abstract
Description
Technical field
The invention belongs to intelligent automobile field, specifically, relate to a kind of automatic traveling crane method and apparatus.
Background technology
When there is traffic congestion on highway, the traffic capacity of whole road can drastically decline.Because once occurring Traffic congestion, due to driver response delay, consider the reason such as safe driving distance, rear car is only at front truck Just can be with car after advance certain distance.This process is constantly propagated to fleet's tail, causes road slow.
As it is shown in figure 1, situation when the first row show traffic congestion, exist almost equal between car and car Safe distance.Second row show vehicle and can advance situation, and car 1 advances after S rice, and car 2 follows up. Car 1 the follow up required time T1=S/V, V of car 2 that pass through is the average speed of advance S rice of car 1. The third line show car 2 and follows up after S rice, and car three follows up.Car 1 car 3 that passes through follows up required time T2=S/V+S/V=2*S/V, then, car 1 passes through the time Tn=N* that the N car can follow up S/V.Whole fleet previous trip is slow, can expend a lot of time.
Summary of the invention
In view of this, embodiments provide a kind of automatic traveling crane method and apparatus, existing in order to solve Have in technology traffic congestion in the case of fleet's low running speed, the most more technical problem.
In order to solve above-mentioned technical problem, the embodiment of the invention discloses a kind of automatic traveling crane method, including: Upload gps data to server, to determine whether this car is in vehicle platoon；When this car is in car Time in queue, receive the front vehicle travelling state that described server is shared；The transport condition of this car is synchronized For described front vehicle travelling state.
In order to solve above-mentioned technical problem, the embodiment of the invention also discloses a kind of automatic traveling crane method, bag Include: upload gps data to server, to determine whether this car is in vehicle platoon；When this car place In described vehicle platoon and when being in Head-of-line in described vehicle platoon, upload the traveling of this car The transport condition of this car, to described server, is shared to described vehicle platoon by state by described server Other vehicles.
In order to solve above-mentioned technical problem, the embodiment of the invention also discloses a kind of automatic traveling crane method, bag Include: receive the gps data that vehicle is uploaded；Determine that described vehicle enters the most according to described gps data Enter a vehicle platoon；Have been enter into a vehicle platoon in response to described vehicle, receive in described vehicle team Row are in the transport condition of the vehicle of Head-of-line；Traveling shape by the described vehicle being in Head-of-line State is shared to described vehicle, makes the transport condition of described vehicle and the row of the described vehicle being in Head-of-line Sail state synchronized.
In order to solve above-mentioned technical problem, the embodiment of the invention also discloses a kind of automatic traveling crane method, bag Include: receive the gps data that vehicle is uploaded；Determine that described vehicle enters the most according to described gps data Enter a vehicle platoon；Have been enter into a vehicle platoon in response to described vehicle, receive in described vehicle team Row are in the transport condition of the vehicle of described vehicle front；The row of the vehicle of described vehicle front will be in Sail state tying extremely described vehicle, make the transport condition of described vehicle and the vehicle being in described vehicle front Transport condition synchronize.
In order to solve above-mentioned technical problem, the embodiment of the invention also discloses a kind of automatic traveling crane device, bag Include: transmission module on first, be used for uploading gps data to server, to determine whether this car is in car In queue；First receiver module, for when this car is in described vehicle platoon, receives described clothes The front vehicle travelling state that business device is shared；Synchronization module, before being described by the transport condition synchronization of this car Vehicle travelling state.
In order to solve above-mentioned technical problem, the invention also discloses a kind of automatic traveling crane device, including: one Plant automatic traveling crane device, it is characterised in that including: transmission module on second, be used for uploading gps data To server, to determine whether this car is in vehicle platoon；Transmission module on 3rd, for when this car place In vehicle platoon and when being in Head-of-line in described vehicle platoon, upload the transport condition of this car To described server, described server the transport condition of this car is shared to described vehicle platoon its His vehicle.
In order to solve above-mentioned technical problem, the invention also discloses a kind of automatic traveling crane device, including: the Two receiver modules, for receiving the gps data that vehicle is uploaded；First processing module, for according to institute State gps data and determine whether described vehicle has been enter into a vehicle platoon；3rd receiver module, is used for Have been enter into a vehicle platoon in response to described vehicle, receive and be in Head-of-line in described vehicle platoon The transport condition of vehicle；First sharing module, for by the traveling of the described vehicle being in Head-of-line State tying, to described vehicle, makes the transport condition of described vehicle and the described vehicle being in Head-of-line Transport condition synchronizes.
In order to solve above-mentioned technical problem, the embodiment of the invention also discloses a kind of automatic traveling crane device, bag Include: the 4th receiver module, for receiving the gps data that vehicle is uploaded；Second processing module, is used for Determine whether described vehicle has been enter into a vehicle platoon according to described gps data；5th receiver module, For having been enter into a vehicle platoon in response to described vehicle, receive described in being in described vehicle platoon The transport condition of the vehicle of vehicle front；Second sharing module, for being in the car of described vehicle front Transport condition share to described vehicle, make the transport condition of described vehicle and be in described vehicle front Vehicle transport condition synchronize.
Compared with prior art, the automatic traveling crane method and apparatus that the embodiment of the present invention provides, the row of this car The state of sailing can synchronize according to this front vehicle travelling state, makes the traveling shape of rolling stock in vehicle platoon State keeps consistent, decreases judgement when artificially driving and waiting time, improves the traffic efficiency of road.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to reality Execute the required accompanying drawing used in example or description of the prior art to be briefly described, it should be apparent that under, Accompanying drawing during face describes 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.
Vehicle pass-through schematic diagram when Fig. 1 is to block up in prior art；
Fig. 2 is the scene schematic diagram of the automatic traveling crane method of the embodiment of the present invention；
Fig. 3 is control schematic diagram during embodiment of the present invention vehicle entrance automatic driving mode；
Fig. 4 is the block diagram of a kind of automatic traveling crane device that the embodiment of the present invention provides；
Fig. 5 is the block diagram of a kind of automatic traveling crane device that the embodiment of the present invention provides；
Fig. 6 is the block diagram of a kind of automatic traveling crane device that the embodiment of the present invention provides；
Fig. 7 is the block diagram of a kind of automatic traveling crane device that the embodiment of the present invention provides.
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 this Accompanying drawing in bright embodiment, is clearly and completely described the technical scheme in the embodiment of the present invention, Obviously, described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based on Embodiment in the present invention, those of ordinary skill in the art are obtained under not making creative work premise The every other embodiment obtained, broadly falls into the scope of protection of the invention.
In the embodiment of the present invention, vehicle is connected to server by the Internet in the process of moving, by this car Gps data be uploaded to this server, the gps data of all vehicles is analyzed by server, right The vehicle being in same section detects, with determine whether there is many cars be in same track and that These vehicles are then divided by the traveling under this state keeping certain safe distance if there is this situation To same vehicle platoon, the vehicle being divided in vehicle platoon can receive front garage from server Sailing state, the transport condition of this car can synchronize according to this front vehicle travelling state, makes in vehicle platoon The transport condition of rolling stock keeps consistent, decreases judgement when artificially driving and waiting time, improves The traffic efficiency of road, the vehicle platoon formed when traffic congestion or at normal many cars travelled is all Automatic traveling crane method provided by the present invention can be suitable for.
Fig. 2 is the scene configuration diagram of the embodiment of the present invention, and many Herba Plantaginis enter on road and simultaneously Communication connection is set up with server 10 by the Internet.Vehicle can be by vehicle-mounted WIFI module or mobile number It is linked into the Internet, vehicle-mounted WIFI module or mobile data module according to module and can be arranged on vehicle-mounted control In the mobile terminal that platform processed, car antenna or driver are used, the mobile terminal that driver is used Can be mobile phone, computer, digital broadcast terminal, messaging devices, game console, flat Board device, armarium, body-building equipment, personal digital assistant etc..
Each car uploads gps data to server 10, and gps data comes from vehicle GPS module, car Carry GPS module and can also be arranged on what onboard control console, car antenna or driver were used In mobile terminal.
The gps data that vehicle is uploaded by server 10 is analyzed, and can form vehicle team to identify The multi-section vehicle of row.
In one embodiment, server 10 can identify the car that some section is formed when traffic congestion Queue.First from real-time road data, obtain current section slowly, then pass through slowly to being in The vehicle in section is according to different tracks Further Division, and before and after being in same track, multi-section vehicle is drawn It is divided into a vehicle platoon.The vehicle platoon now formed is vehicle platoon during traffic congestion.
After identifying the vehicle platoon formed in traffic congestion section, server 10 can be in this vehicle platoon Vehicle send prompting message, to point out driver to have been enter into a vehicle platoon, this car enters and automatically drives Sail pattern；Or chosen whether to enter automatic driving mode by driver.
After entering automatic driving mode, vehicle can follow the transport condition of front vehicles, now needs service Front vehicle travelling state is shared to the front vehicle in vehicle platoon by device 10.Transport condition includes but does not limits In status informations such as speed, acceleration, travel directions.
The shared in the following manner that includes for front vehicle travelling state:
(1) transport condition being in the vehicle 11 of Head-of-line in vehicle platoon is shared to vehicle team Every other vehicle in row；(2) in vehicle platoon, transport condition the most rearward vehicle is carried out Share, i.e. transport condition is shared to second car by the first car in vehicle platoon, and second car will row Sail state tying to the 3rd car, the like.
So, the vehicle 11 being in Head-of-line in this vehicle platoon can become particularly important, travels shape Sharing of state is all from the beginning of the transport condition of the vehicle 11 of Head-of-line.Therefore, no matter server 10 Use which kind of sharing mode above-mentioned, be in after the vehicle 11 of Head-of-line enters automatic driving mode, meeting Transport condition is uploaded onto the server 10.
When server 10 uses above-mentioned (1st) to plant transport condition sharing mode, head of the queue position can will be in The transport condition of the vehicle 11 put sends other vehicles to vehicle platoon, it is achieved be in Head-of-line Vehicle 11 transport condition share.When the transport condition of first car 11 changes, car The transport condition of other vehicles in queue all can change along with first car 11.
When server 10 uses above-mentioned (2nd) to plant transport condition sharing mode, server can receive All vehicles such as first car 11 in vehicle platoon, second car 12, the 3rd car 13 are uploaded (sometimes, the vehicle being in tail of the queue position can need not upload transport condition to transport condition, and works as tail of the queue When having again new vehicle to join in vehicle platoon, then this car needs to upload transport condition, will travel shape State shares to the vehicle that rear is newly added in vehicle platoon).Server 10 is by the row of first car 11 Sail state tying to second car 12, the transport condition of second car 12 shared to the 3rd car 13, The like, the transport condition of such first car 11 changes, it will cause the company of front vehicle Lock reactor.
For the vehicle 11 being in Head-of-line, it can artificially be driven by driver and change traveling State, or change transport condition by automatic Pilot.When using automatic Pilot, first car 11 Vehicle-mounted camera (may be disposed at car body outer surface) can be passed through and come collection vehicle front and surrounding road condition Image, through the analysis of characteristics of image being triggered the control instruction of automatic Pilot, or by driving Monitor gathers forward image, triggers the control instruction of automatic Pilot after being identified forward image.
In section traffic congestion occur, the transport condition of the first car 11 of Current vehicle queue is by stopping change During for moving forward, other vehicles at rear move forward the most therewith；Traveling shape when first car 11 When state is become from moving forward stopping, other vehicles at rear stop the most therewith；Decrease when artificially driving In the response time of each driver, improve road efficiency during traffic congestion.If taking every vehicle all Carry out synchronize mode with the transport condition of the vehicle in oneself front, then can further function as and automatically drive Sail the effect reducing the probability that knocks into the back under state.Wherein, the vehicle in front can be in vehicle platoon It is in the first car of this front side, as above-mentioned (2nd) plants transport condition sharing mode；The car in front Can also is that the N (N >=2) being in this front side in vehicle platoon, can be according to different Actual application scenarios presets the value of N at server 10.And use and be in this front side first Car carries out the mode of transport condition synchronization, it is possible to make the transport condition of vehicle pass successively in vehicle platoon Pass, while realizing automatic Pilot, also bring more preferably safety.
In another embodiment, server 10 can identify in the section being in normal pass state The vehicle platoon formed, i.e. when multi-section vehicle normally travels in a certain section, if being in same Track and remain certain safe distance each other, then can be divided into one by this multi-section vehicle Vehicle platoon.
Server 10 is identical with a upper embodiment for the method for synchronization of the transport condition of this vehicle platoon, It is not repeated.When the vehicle being in Head-of-line starts to give it the gun, in vehicle platoon Other vehicles give it the gun the most therewith；When the vehicle being in Head-of-line reduces speed now traveling, vehicle team Other vehicles in row give it the gun the most therewith.Make vehicle can also be added into car in the normal section travelled Queue also enters automatic driving mode.
In the various embodiments described above, the control of self transport condition can be come real by vehicle in the following manner Existing.As it is shown on figure 3, onboard control console 20 sets up communication connection, car with server 10 by the Internet Carry control station 20 by vehicle interior bus (such as CAN, LIN bus, MOST bus, FLEXRAY bus etc.) respectively with the electronic control unit (Electronic of electronic accelerator system Control Unit, ECU) 21 and electronic brake system,electronic antiskid system ECU22 communication connection, right in order to send The control instruction answered.Current vehicle transport condition is in time stopping becoming travelling, and onboard control console 20 is to electronics The ECU21 of throttle system sends the first control instruction, makes vehicle become moving forward from stopping；Currently Vehicle travelling state is when traveling becomes stopping, and onboard control console 20 is sent out to the ECU22 of electronic brake system,electronic antiskid system Send the second control instruction, make vehicle become stopping from traveling；When current vehicle is given it the gun, onboard control console 20 send the 3rd control instruction to the ECU21 of electronic accelerator system, make vehicle give it the gun；Current vehicle During Reduced Speed Now, onboard control console 20 sends the 4th control instruction to the ECU22 of electronic accelerator system, Vehicle deceleration is made to travel.In one embodiment, if the vehicle in front changes a travel direction (such as left side Turn or turn right), in vehicle platoon, other vehicles at rear can also follow its change direction.Now, Onboard control console 20 is communicated to connect by the ECU of system bus with steering wheel, to send corresponding control Instruction.
Fig. 4 is a kind of automatic traveling crane device that the embodiment of the present invention provides, and is positioned at vehicle-mounted terminal equipment side, The mobile terminal that this vehicle-mounted terminal equipment can be onboard control console or driver is used, this device bag Include:
Transmission module 30 on first, are used for uploading gps data to server, to determine whether this car is in In vehicle platoon；
First receiver module 31, for when this car is in vehicle platoon, receives what server was shared Front vehicle travelling state；
Synchronization module 32, for synchronizing the transport condition of this car as front vehicle travelling state.
In one embodiment, this first receiver module 31 farther includes:
First receives submodule, for when this car is in vehicle platoon, receive that server shares Vehicle platoon is in the transport condition of the vehicle of Head-of-line；
This synchronization module 32 farther includes:
First synchronizes submodule, for synchronizing the transport condition of this car for be in described vehicle platoon The transport condition of the vehicle of Head-of-line.
In one embodiment, this first receiver module 31 farther includes:
First uploads submodule, for uploading the transport condition of this car to server；
Second receive submodule, for receive server share in vehicle platoon, be in this front side The transport condition of vehicle；
This synchronization module 32 farther includes:
Second synchronizes submodule, for synchronizing the transport condition of this car for be in this car in vehicle platoon The transport condition of the vehicle in front.
In one embodiment, this on first transmission module 30 farther include:
Second uploads submodule, is used for uploading gps data to server, to determine whether this car is in In the normal vehicle platoon travelled.
Fig. 5 is a kind of automatic traveling crane device that the embodiment of the present invention provides, and is positioned at vehicle-mounted terminal equipment side, The mobile terminal that this vehicle-mounted terminal equipment can be onboard control console or driver is used, this device bag Include:
Transmission module 33 on second, are used for uploading gps data to server, to determine whether this car is in In vehicle platoon；
Transmission module 34 on 3rd, for being in this car is in vehicle platoon and in vehicle platoon During Head-of-line, upload the transport condition of this car to server, by server by the transport condition of this car altogether Other vehicles enjoyed to vehicle platoon.
Fig. 6 is a kind of automatic traveling crane device that the embodiment of the present invention provides, and is positioned at server side, this device Including:
Second receiver module 40, for receiving the gps data that vehicle is uploaded；
According to gps data, first processing module 41, for determining whether vehicle has been enter into a vehicle team Row；
3rd receiver module 42, for having been enter into a vehicle platoon in response to vehicle, receives at vehicle Queue is in the transport condition of the vehicle of Head-of-line；
First sharing module 43, for the transport condition of the vehicle being in Head-of-line is shared to vehicle, The transport condition making vehicle is Tong Bu with the transport condition of the vehicle being in Head-of-line.
Fig. 7 is a kind of automatic traveling crane device that the embodiment of the present invention provides, and is positioned at server side, this device Including:
4th receiver module 44, for receiving the gps data that vehicle is uploaded；
According to gps data, second processing module 45, for determining whether described vehicle has been enter into a car Queue；
5th receiver module 46, for having been enter into a vehicle platoon in response to vehicle, receives at vehicle Queue is in the transport condition of the vehicle of vehicle front；
Second sharing module 47, for the transport condition of the vehicle being in vehicle front is shared to vehicle, The transport condition making vehicle is Tong Bu with the transport condition of the vehicle being in vehicle front.
Come real additionally, the embodiment of the present invention can be passed through hardware processor (hardware processor) Existing each functional module above-mentioned.
Embodiments providing a kind of automatic traveling crane device, be positioned at vehicle-mounted terminal equipment side, this is vehicle-mounted The mobile terminal that terminal unit can be onboard control console or driver is used, this device includes: One processor；For storing the first memory of first processor executable instruction；Wherein, described first Processor is configured to: upload gps data to server, to determine whether this car is in vehicle platoon In；When this car is in vehicle platoon, receive the front vehicle travelling state that described server is shared；To this The transport condition of car synchronizes as described front vehicle travelling state.
In one embodiment, described when this car is in vehicle platoon, receive described server and share Front vehicle travelling state include: when this car is in vehicle platoon, receive described server share Described vehicle platoon is in the transport condition of the vehicle of Head-of-line；
The described transport condition by this car synchronizes to include for described front vehicle travelling state: by the traveling shape of this car State synchronizes the transport condition of the vehicle for being in Head-of-line in described vehicle platoon.
In one embodiment, described when this car is in vehicle platoon, receive described server and share Front vehicle travelling state include: upload the transport condition of this car to server；Receive described server to share The transport condition of the vehicle being in this front side in described vehicle platoon；
The described transport condition by this car synchronizes to include for described front vehicle travelling state: by the traveling shape of this car State synchronizes the transport condition of the vehicle for being in this front side in described vehicle platoon.
In one embodiment, gps data is uploaded to server, to determine whether this car is in described in Vehicle platoon includes: upload gps data to server, to determine whether this car is in normal traveling Vehicle platoon in.
Embodiments providing a kind of automatic traveling crane device, be positioned at vehicle-mounted terminal equipment side, this is vehicle-mounted The mobile terminal that terminal unit can be onboard control console or driver is used, this device includes: Two processors；For storing the second memory of the second processor executable；Wherein, described second Processor is configured to: upload gps data to server, to determine whether this car is in vehicle platoon In；When, during this car is in vehicle platoon and when being in Head-of-line in described vehicle platoon, uploading this The transport condition of this car, to described server, is shared to described car by the transport condition of car by described server Other vehicles in queue.
Embodiments providing a kind of automatic traveling crane device, be positioned at server side, this device includes: 3rd processor；For storing the 3rd memorizer of the 3rd processor executable；Wherein, described Three processors are configured to: receive the gps data that vehicle is uploaded；Institute is determined according to described gps data State whether vehicle has been enter into a vehicle platoon；Have been enter into a vehicle platoon in response to described vehicle, connect It is received in the transport condition of the vehicle being in Head-of-line in described vehicle platoon；It is in Head-of-line by described The transport condition of vehicle share to described vehicle, make the transport condition of described vehicle be in head of the queue with described The transport condition of the vehicle of position synchronizes.
Embodiments providing a kind of automatic traveling crane device, be positioned at server side, this device includes: Fourth processor；For storing the 4th memorizer of fourth processor executable instruction；Wherein, described Four processors are configured to: receive the gps data that vehicle is uploaded；Institute is determined according to described gps data State whether vehicle has been enter into a vehicle platoon；Have been enter into a vehicle platoon in response to described vehicle, connect It is received in the transport condition of the vehicle being in described vehicle front in described vehicle platoon；Described vehicle will be in The transport condition of the vehicle in front is shared to described vehicle, make the transport condition of described vehicle be in described The transport condition of the vehicle of vehicle front synchronizes.
Device embodiment described above is only schematically, wherein said illustrates as separating component Unit can be or may not be physically separate, the parts shown as unit can be or Person may not be physical location, i.e. may be located at a place, or can also be distributed to multiple network On unit.Some or all of module therein can be selected according to the actual needs to realize the present embodiment The purpose of scheme.Those of ordinary skill in the art are not in the case of paying performing creative labour, the most permissible Understand and implement.
Through the above description of the embodiments, those skilled in the art is it can be understood that arrive each reality The mode of executing can add the mode of required general hardware platform by software and realize, naturally it is also possible to by firmly Part.Based on such understanding, the portion that prior art is contributed by technique scheme the most in other words Dividing and can embody with the form of software product, this computer software product can be stored in computer can Read in storage medium, such as ROM/RAM, magnetic disc, CD etc., including some instructions with so that one Computer equipment (can be personal computer, server, or the network equipment etc.) performs each to be implemented The method described in some part of example or embodiment.
Last it is noted that above example is only in order to illustrate technical scheme, rather than to it Limit；Although the present invention being described in detail with reference to previous embodiment, the ordinary skill of this area Personnel it is understood that the technical scheme described in foregoing embodiments still can be modified by it, or Person carries out equivalent to wherein portion of techniques feature；And these amendments or replacement, do not make corresponding skill The essence of art scheme departs from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (14)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610116153.1A CN105835882A (en) | 2016-03-01 | 2016-03-01 | Automatic vehicle traveling method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610116153.1A CN105835882A (en) | 2016-03-01 | 2016-03-01 | Automatic vehicle traveling method and device |
| PCT/CN2016/096461 WO2017148113A1 (en) | 2016-03-01 | 2016-08-24 | Automatic driving method and device |
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| CN105835882A true CN105835882A (en) | 2016-08-10 |
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| CN108297878A (en) * | 2018-02-06 | 2018-07-20 | 北京百度网讯科技有限公司 | Control method for vehicle, device, car-mounted terminal, server and medium |
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| US10474166B2 (en) | 2011-07-06 | 2019-11-12 | Peloton Technology, Inc. | System and method for implementing pre-cognition braking and/or avoiding or mitigation risks among platooning vehicles |
| EP3465371A1 (en) | 2016-05-31 | 2019-04-10 | Peloton Technology Inc. | Platoon controller state machine |
| US10369998B2 (en) | 2016-08-22 | 2019-08-06 | Peloton Technology, Inc. | Dynamic gap control for automated driving |
| WO2018039134A1 (en) | 2016-08-22 | 2018-03-01 | Peloton Technology, Inc. | Automated connected vehicle control system architecture |
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| WO2017148113A1 (en) * | 2016-03-01 | 2017-09-08 | 乐视控股（北京）有限公司 | Automatic driving method and device |
| CN108297878A (en) * | 2018-02-06 | 2018-07-20 | 北京百度网讯科技有限公司 | Control method for vehicle, device, car-mounted terminal, server and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017148113A1 (en) | 2017-09-08 |
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